Intelligent fertilization system for pine tree planting based on unmanned aerial vehicle

Abstract

The invention discloses a pine tree planting intelligent fertilization system based on an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle intelligent fertilization, the system comprises a route setting module, an operation module, a monitoring module and a fertilization module; the route setting module is used for carrying out real-time positioning on the current position of the unmanned aerial vehicle through the GPS navigation positioning technology. The fertilization module is arranged, angle compensation data of a fertilization discharging port are calculated through an angle compensation algorithm according to data information monitored by a wind speed and wind direction sensor, and opening compensation data of the fertilization discharging port are calculated through a wind speed proportion algorithm; therefore, the microcontroller can adjust the angle and size of the discharge port of the fertilizer applicator according to the calculated data to realize compensation, so that the fertilizer applicator on the unmanned aerial vehicle can cope with external wind interference, it is ensured that the fertilizer is accurately scattered into a target planting area, the fertilization precision is further improved, and the fertilization efficiency is improved. And the fertilizer supply required during pine tree planting is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of drone intelligent fertilization, and in particular to a drone-based intelligent fertilization system for pine tree planting. Background Art

[0002] As the importance of environmental protection and sustainable development of forest resources continues to increase, the planting area of ​​pine trees, as an important afforestation tree species, is expanding. UAV technology has been widely used and developed in agriculture, forestry and other fields, providing a new way to solve the problems of traditional fertilization methods. UAVs have the advantages of strong maneuverability, flexible operation, and no terrain restrictions. They can quickly and efficiently cover large planting areas and realize precise fertilization operations.

[0003] In the existing technology, when fertilizing a pine tree planting area using a drone, the design of the drone fertilizing device is based on a windless environment. As a result, after being affected by external wind, the fertilizer particles sprinkled from the drone outlet drift, making it difficult for the fertilizer to accurately fall within the predetermined pine tree planting area.

[0004] Therefore, a UAV-based intelligent fertilization system for pine planting is proposed to solve the above problems. Summary of the Invention

[0005] The main purpose of the present invention is to provide a pine tree planting intelligent fertilization system based on drones to solve the problems raised in the above background.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a pine tree planting intelligent fertilization system based on drone, the system comprising a route setting module, an operation module, a monitoring module and a fertilization module;

[0007] The route setting module is used to locate the current position of the UAV in real time through GPS navigation and positioning technology, and set the fertilization route based on the current geographic information data provided by GIS;

[0008] The operation module is used by the ground control station to start the UAV, so that it can guide the UAV to fly along the set fertilization route through the positioning information provided by the GPS in real time;

[0009] The monitoring module is used to monitor the wind direction and speed on the fertilization route set by the drone through the wind speed and direction sensor and generate data information, and transmit the generated data information to the intelligent decision chip for comparison. When the wind speed is detected to be too strong, a return message is issued; when the wind speed is detected to be moderate, a fertilization permission message is issued;

[0010] The fertilization module calculates the angle compensation data of the fertilizer outlet through an angle compensation algorithm based on the data information monitored and generated by the wind speed and direction sensor, and calculates the opening compensation data of the fertilizer outlet through a wind speed ratio algorithm. The fertilizer applicator is adjusted according to the angle compensation data and the opening compensation data, and then fertilization is carried out.

[0011] Furthermore, the data indicating excessive wind speed in the monitoring module is set to 7-10 m / s, and the data indicating moderate wind speed is set to 2-6 m / s.

[0012] Furthermore, the current geographic information data provided by the GIS in the route setting module includes topography and the boundaries and distribution of pine tree planting areas.

[0013] Furthermore, the monitoring module includes a monitoring unit and a transmission unit;

[0014] The monitoring unit uses a wind speed and direction sensor to monitor the wind direction and speed on the fertilization route set by the drone and generate data information;

[0015] The transmission unit compares the data information generated by the wind speed and direction sensor through the intelligent decision-making chip. When it detects that the wind speed is too strong, it sends a return message to the ground control station. When it detects that the wind speed is moderate, it sends a fertilization permission message to the ground control station and enters the fertilization unit.

[0016] Furthermore, the fertilizing unit includes an angle adjustment unit, an opening adjustment unit, an execution unit and a fertilizing unit.

[0017] Furthermore, the execution unit receives the calculated opening compensation data and angle compensation data through the microcontroller, and then transmits them to the fertilization unit.

[0018] Furthermore, the fertilizing unit adjusts the angle and size of the fertilizer outlet after receiving the data received by the microcontroller, thereby ensuring that the fertilizer is accurately spread to the target area.

[0019] Furthermore, the angle adjustment unit uses an angle compensation algorithm to calculate the angle compensation data of the fertilizer outlet. The calculation formula is as follows:

[0020] Among them, θ compensation Represents the angle compensation data of the discharge port, V w Represents the real-time wind speed during flight, V d represents the flight speed of the drone, and a represents the angle between the wind direction and the flight direction of the drone.

[0021] Furthermore, the opening adjustment unit uses a wind speed ratio algorithm to calculate the opening compensation data of the fertilizer outlet. The calculation formula is as follows:

[0022] S=S0×(1+k×(V w +V w0 )):

[0023] Among them, S represents the opening compensation data of the discharge port, S0 represents the size of the discharge port in the windless state, k represents the proportional coefficient of the increase in the discharge port size, V w Represents the current wind speed, V w0 Represents the lower limit of moderate wind speed.

[0024] The present invention has the following beneficial effects:

[0025] 1. In the present invention, a fertilization module is set up, and data information monitored by wind speed and direction sensors is used. The angle compensation data of the fertilizer outlet is calculated through an angle compensation algorithm, and the opening compensation data of the fertilizer outlet is calculated through a wind speed ratio algorithm. Therefore, the microcontroller can adjust the angle and size of the fertilizer outlet according to the calculated data to achieve compensation, so that the fertilizer spreader on the drone can cope with external wind interference and ensure that the fertilizer is accurately sprinkled into the target planting area, further improving the accuracy of fertilization and ensuring the supply of fertilizer required for pine tree planting.

[0026] 2. In the present invention, the current position of the UAV is located in real time by using GPS navigation and positioning technology, and the fertilization route of the UAV is drawn in combination with the current topography and the boundaries and distribution of the pine planting area provided by GIS to ensure the accurate fertilization of the UAV. Then, the staff guides the UAV to fly along the set fertilization route through the positioning information provided by the ground control station and GPS in real time, and monitors the wind speed and direction on the fertilization route in real time through the wind speed and direction sensors on the UAV, and compares the wind speed and direction through the intelligent decision-making chip. When the wind speed is detected to be too strong, a return message is issued. When the wind speed is detected to be moderate, a fertilization permission message is issued, ensuring that the UAV performs fertilization operations in a suitable environment and fertilization route. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a flow chart of a pine tree planting intelligent fertilization system based on drones of the present invention;

[0028] Figure 2 This is a flow chart of the monitoring module of a UAV-based pine tree planting intelligent fertilization system of the present invention;

[0029] Figure 3 This is a flow chart of the fertilization module of the drone-based intelligent fertilization system for pine planting in the present invention. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Implementation

[0032] See also Figure 1-Figure 3 ,The present invention provides a technical solution: an intelligent fertilization system for pine planting based on drones, the system includes a route setting module, an operation module, a monitoring module and a fertilization module;

[0033] The route setting module is used to locate the current position of the UAV in real time through GPS navigation and positioning technology, and set the fertilization route after combining the current geographic information data provided by GIS;

[0034] The operation module is used by the ground control station to start the UAV, so that it can guide the UAV to fly along the set fertilization route through the positioning information provided by GPS in real time;

[0035] The monitoring module is used to monitor the wind direction and speed on the fertilization route set by the drone through wind speed and direction sensors and generate data information. The generated data information is transmitted to the intelligent decision-making chip for comparison. When the wind speed is detected to be too strong, a return message is issued. When the wind speed is detected to be moderate, a fertilization permission message is issued.

[0036] The fertilization module is based on the data information monitored and generated by the wind speed and direction sensors. It calculates the angle compensation data of the fertilizer outlet through the angle compensation algorithm, and calculates the opening compensation data of the fertilizer outlet through the wind speed ratio algorithm. The fertilizer applicator is adjusted according to the angle compensation data and the opening compensation data, and then fertilization work is carried out.

[0037] The data for excessive wind speed in the monitoring module is set to 7-10m / s, and the data for moderate wind speed is set to 2-6m / s.

[0038] The current geographic information data provided by GIS in the route setting module includes topography and the boundaries and distribution of pine tree planting areas.

[0039] The monitoring module includes a monitoring unit and a transmission unit;

[0040] The monitoring unit uses wind speed and direction sensors to monitor the wind direction and speed on the fertilization route set by the drone and generate data information;

[0041] The transmission unit compares the data information generated by the wind speed and direction sensors through the intelligent decision-making chip. When it detects that the wind speed is too strong, it sends a return message to the ground control station. When it detects that the wind speed is moderate, it sends a fertilization permission message to the ground control station and enters the fertilization unit.

[0042] The current position of the UAV is located in real time through GPS navigation and positioning technology, and the fertilization route of the UAV is drawn in combination with the current topography and the boundaries and distribution of the pine planting area provided by GIS to ensure the accurate fertilization of the UAV. Then the staff guides the UAV to fly along the set fertilization route through the positioning information provided by the ground control station and GPS in real time, and monitors the wind speed and direction on the fertilization route in real time through the wind speed and direction sensors on the UAV, and compares the wind speed and direction through the intelligent decision-making chip. When the wind speed is detected to be too strong, a return message is issued. When the wind speed is detected to be moderate, a fertilization permission message is issued, ensuring that the UAV performs fertilization operations in a suitable environment and fertilization route.

[0043] Implementation 2

[0044] See also Figure 1-Figure 3 ,The present invention provides a technical solution: an intelligent fertilization system for pine planting based on drones, the system includes a route setting module, an operation module, a monitoring module and a fertilization module;

[0045] The route setting module is used to locate the current position of the UAV in real time through GPS navigation and positioning technology, and set the fertilization route after combining the current geographic information data provided by GIS;

[0046] The operation module is used by the ground control station to start the UAV, so that it can guide the UAV to fly along the set fertilization route through the positioning information provided by GPS in real time;

[0047] The monitoring module is used to monitor the wind direction and speed on the fertilization route set by the drone through wind speed and direction sensors and generate data information. The generated data information is transmitted to the intelligent decision-making chip for comparison. When the wind speed is detected to be too strong, a return message is issued. When the wind speed is detected to be moderate, a fertilization permission message is issued.

[0048] The fertilization module is based on the data information monitored and generated by the wind speed and direction sensors. It calculates the angle compensation data of the fertilizer outlet through the angle compensation algorithm, and calculates the opening compensation data of the fertilizer outlet through the wind speed ratio algorithm. The fertilizer applicator is adjusted according to the angle compensation data and the opening compensation data, and then fertilization work is carried out.

[0049] The fertilization module includes an angle adjustment unit, an opening adjustment unit, an execution unit and a fertilization unit.

[0050] The execution unit receives the calculated opening compensation data and angle compensation data through the microcontroller and then transmits them to the fertilization unit.

[0051] The fertilizing unit adjusts the angle and size of the fertilizer outlet after receiving the data from the microcontroller to ensure that the fertilizer is accurately spread to the target area.

[0052] The angle adjustment unit uses the angle compensation algorithm to calculate the angle compensation data of the fertilizer outlet. The calculation formula is as follows:

[0053] Among them, θ compensation Represents the angle compensation data of the discharge port, V w Represents the real-time wind speed during flight, V d represents the flight speed of the drone, and a represents the angle between the wind direction and the flight direction of the drone.

[0054] The opening adjustment unit uses the wind speed proportional algorithm to calculate the opening compensation data of the fertilizer outlet. The calculation formula is as follows:

[0055] S=S0×(1+k×(V w +V w0 )):

[0056] Among them, S represents the opening compensation data of the discharge port, S0 represents the size of the discharge port in the windless state, k represents the proportional coefficient of the increase in the discharge port size, V w Represents the current wind speed, V w0 Represents the lower limit of moderate wind speed.

[0057] By setting up a fertilization module and using data information monitored by wind speed and direction sensors, the angle compensation data of the fertilizer outlet is calculated through an angle compensation algorithm, and the opening compensation data of the fertilizer outlet is calculated through a wind speed ratio algorithm. The microcontroller can adjust the angle and size of the fertilizer outlet according to the calculated data to achieve compensation, so that the fertilizer spreader on the drone can cope with external wind interference and ensure that the fertilizer is accurately sprinkled into the target planting area, further improving the accuracy of fertilization and ensuring the supply of fertilizer required for pine tree planting.

[0058] In the present invention, a pine tree planting intelligent fertilization system based on a drone is provided. The route setting module is used to locate the current position of the drone in real time through GPS navigation and positioning technology, and set the fertilization route after combining the current geographic information data provided by GIS. The operation module is used to start the drone at the ground control station, so that the drone is guided to fly along the set fertilization route through the positioning information provided by GPS in real time, so that the staff can guide the drone to fly along the set fertilization route through the positioning information provided by the ground control station and GPS in real time, thereby ensuring the accuracy of fertilizing the pine trees. At the same time, the monitoring module is used to monitor the wind direction and speed on the fertilization route set by the drone through the wind speed and direction sensor and generate data information, and transmit the generated data information to the intelligent decision chip for comparison. When the wind speed is detected to be too strong, a return message is issued. When the wind speed is detected to be moderate, a fertilization permission message is issued, so that the drone When flying on the fertilization route, the wind speed and direction sensors can be used for real-time monitoring, and the intelligent decision-making chip can make judgments. When the wind speed is too high, the drone can return in time to reduce the stall and crash of the drone when the wind speed is too high. When the wind speed is moderate, fertilization can be carried out, ensuring the safety of the drone and the fertilizer applicator and improving the service life. At the same time, when the wind speed is moderate, the data information monitored by the wind speed and direction sensors can be used through the setting of the fertilization module. The angle compensation data of the fertilizer outlet can be calculated through the angle compensation algorithm, and the opening compensation data of the fertilizer outlet can be calculated through the wind speed ratio algorithm. The microcontroller can adjust the angle and size of the fertilizer outlet through the calculated data to achieve compensation, so that the fertilizer applicator on the drone can cope with external wind interference and ensure that the fertilizer is accurately sprinkled into the target planting area, further improving the accuracy of fertilization and ensuring the supply of fertilizer required for pine tree planting.

[0059] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0060] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and the scope of the invention will be limited.

Claims

1. An intelligent fertilization system for pine tree planting based on drones, characterized in that: The system includes a route setting module, an operation module, a monitoring module and a fertilization module; The route setting module is used to locate the current position of the UAV in real time through GPS navigation and positioning technology, and set the fertilization route based on the current geographic information data provided by GIS; The operation module is used by the ground control station to start the UAV, so that it can guide the UAV to fly along the set fertilization route through the positioning information provided by the GPS in real time; The monitoring module is used to monitor the wind direction and speed on the fertilization route set by the drone through the wind speed and direction sensor and generate data information, and transmit the generated data information to the intelligent decision chip for comparison. When the wind speed is detected to be too strong, a return message is issued; when the wind speed is detected to be moderate, a fertilization permission message is issued; The fertilization module calculates the angle compensation data of the fertilizer outlet through an angle compensation algorithm based on the data information monitored and generated by the wind speed and direction sensor, and calculates the opening compensation data of the fertilizer outlet through a wind speed ratio algorithm. The fertilizer applicator is adjusted according to the angle compensation data and the opening compensation data, and then fertilization is carried out.

2. The UAV-based pine tree planting intelligent fertilization system according to claim 1 is characterized by: The data of excessive wind speed in the monitoring module is set to 7-10m / s, and the data of moderate wind speed is set to 2-6m / s.

3. The UAV-based pine tree planting intelligent fertilization system according to claim 1 is characterized by: The current geographic information data provided by the GIS in the route setting module includes topography and the boundaries and distribution of pine tree planting areas.

4. The UAV-based intelligent fertilization system for pine tree planting according to claim 1 is characterized in that: The monitoring module includes a monitoring unit and a transmission unit; The monitoring unit uses a wind speed and direction sensor to monitor the wind direction and speed on the fertilization route set by the drone and generate data information; The transmission unit compares the data information generated by the wind speed and direction sensor through the intelligent decision-making chip. When it detects that the wind speed is too strong, it sends a return message to the ground control station. When it detects that the wind speed is moderate, it sends a fertilization permission message to the ground control station and enters the fertilization unit.

5. The UAV-based intelligent fertilization system for pine tree planting according to claim 1 is characterized in that: The fertilization module includes an angle adjustment unit, an opening adjustment unit, an execution unit and a fertilization unit.

6. The UAV-based intelligent fertilization system for pine tree planting according to claim 5 is characterized by: The execution unit receives the calculated opening compensation data and angle compensation data through the microcontroller, and then transmits them to the fertilization unit.

7. The UAV-based pine tree planting intelligent fertilization system according to claim 1 is characterized by: The fertilizing unit adjusts the angle and size of the fertilizer outlet after receiving the data received by the microcontroller, thereby ensuring that the fertilizer is accurately spread to the target area.

8. The UAV-based pine tree planting intelligent fertilization system according to claim 1 is characterized by: The angle adjustment unit uses an angle compensation algorithm to calculate the angle compensation data of the fertilizer outlet. The calculation formula is as follows: Among them, θ compensation Represents the angle compensation data of the discharge port, V w Represents the real-time wind speed during flight, V d represents the flight speed of the drone, and a represents the angle between the wind direction and the flight direction of the drone.

9. The UAV-based pine tree planting intelligent fertilization system according to claim 1 is characterized in that: The opening adjustment unit uses a wind speed ratio algorithm to calculate the opening compensation data of the fertilizer outlet. The calculation formula is as follows: S=S0×(1+k×(V w +V w0 )); Among them, S represents the opening compensation data of the discharge port, S0 represents the size of the discharge port in the windless state, k represents the proportional coefficient of the increase in the discharge port size, V w Represents the current wind speed, V w0 Represents the lower limit of moderate wind speed.

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