Mechanical fertilizer spraying device and method for planting flower border plants

Abstract

The invention discloses a mechanical fertilizer spraying device and method for planting flower border plants. The mechanical fertilizer spraying device comprises a fixed sleeve, a lifting sleeve, a fertilizer spraying mechanism and a hose, wherein the lifting sleeve is arranged in the fixed sleeve and ascends and descends in the fixed sleeve; the fertilizer spraying mechanism and the hose are arranged at the upper end of the lifting sleeve; the fixed sleeve is installed on one side of a flower border, during fertilizer spraying, the lifting sleeve ascends, a multispectral image of a flower border area is obtained through the imaging equipment, the image is processed, a plant center point coordinate and a growth area are generated, the spraying angle and intensity parameters of the fertilizer spraying device are calculated, and a spraying execution instruction is generated. Precise fertilization can be achieved within the limited spraying area, waste is reduced, and the environment is protected.

Description

Technical Field

[0001] The invention relates to the field of plant planting, in particular to a mechanized fertilizer spraying device and method for planting flower border plants. Background Art

[0002] As an essential component of modern landscape design, flower borders, with their diverse and aesthetically pleasing plant arrangements, place an urgent demand on precision maintenance technologies. Precision fertilization technology is crucial in flower border maintenance, not only improving plant growth quality but also reducing resource waste and environmental pollution.

[0003] However, most existing fertilizer spraying devices adopt a fixed or manually adjusted spraying method. For example, the application number is 202421544553.9, and the patent name is a utility model patent for an integrated water and fertilizer spraying reel sprinkler. It includes a mounting base, the upper surface of which is fixedly connected to two support frames, and a reel is rotatably connected between the two support frames. The outer surface of one side of the support frame is fixedly connected to a drive motor, and the outer surface of the reel is wrapped with an irrigation hose, and one end of the irrigation hose is fixedly connected to a spray can.

[0004] The application number is 202420383098.2, and the patent name is a fertilizer spraying machine. A liquid fertilizer tank (6) is provided on one side of the upper end surface of the frame plate (1), and a pesticide tank (8) is provided on the other side of the upper end surface of the frame plate (1). The upper ends of the liquid fertilizer tank (6) and the pesticide tank (8) are both provided with a feed port (7). One end of the upper end surface of the frame plate (1) is provided with a spray assembly for spraying medicine and fertilizer; the spray assembly includes a rotating column (16), and the rotating column (16) is rotatably connected to the positions on both sides of one end of the upper end surface of the frame plate (1). A medicine spraying pipe (9) and a fertilizer spraying pipe (10) are fixedly connected to the rotating column (16), and the medicine spraying pipe (9) and the fertilizer spraying pipe (10) are arranged in parallel. The frame plate (1) is fixedly connected to two fixing frames (22) at a position between the two rotating columns (16), and two intermediate pipes (23) are fixedly connected between the two fixing frames (22). A hose (21) is connected between the intermediate pipe (23) and the medicine spraying pipe (9) and the fertilizer spraying pipe (10), and nozzles are installed on the intermediate pipe (23), the medicine spraying pipe (9) and the fertilizer spraying pipe (10).

[0005] The application number is 202410882811.2, and the patent name is a device for spraying medicine, disinfecting, and spraying fertilizer by imitating artificial swinging, including: a swing link mounting bracket, one side of the swing link mounting bracket is connected to a fixed bracket, one end of the fixed bracket is provided with a swing mechanism, the top of the swing mechanism is fixedly connected to a top plate, the bottom of the top plate is rotatably connected to a first connecting plate, the outer side of the first connecting plate is rotatably connected to a nozzle mounting plate, the outer side of the nozzle mounting plate is fixedly connected to a pair of fixed plates and a nozzle, and the second lever arm is driven to rotate by a driving motor. Under the cooperation of the third lever arm, the fourth lever arm, the fifth lever arm and the first lever arm, it is beneficial to drive the nozzle on one side of the nozzle mounting plate to imitate artificial swinging to spray medicine and fertilizer.

[0006] However, the aforementioned fertilizer spraying devices have the following problems: 1. They are difficult to adapt to complex scenarios where plant species are diverse and unevenly distributed within flower borders. These methods often suffer from inaccurate spray ranges, low fertilizer utilization, and insufficient operational efficiency. This is particularly true in flower borders with complex plant contours and irregular growth zones, making targeted fertilizer application difficult. 2. Fertilizer may be sprayed onto non-plant areas, resulting in resource waste and environmental pollution. Summary of the Invention

[0007] The purpose of the present invention is to solve the above problems and provide a mechanized fertilizer spraying device and method for planting flower border plants, which can achieve precise fertilization within a limited spraying area, reduce waste and protect the environment.

[0008] The technical solution adopted by the present invention to solve the technical problem is: A mechanized fertilizer spraying device for planting flower border plants comprises a fixed sleeve, a lifting sleeve arranged in the fixed sleeve and lifting and lowering in the fixed sleeve, a fertilizer spraying mechanism and a hose arranged at the upper end of the lifting sleeve; The fertilizer spraying mechanism includes a bracket arranged at the upper end of the lifting sleeve, a rotating shaft arranged on the bracket and rotating on the bracket, and a driving mechanism arranged on the bracket to drive the rotating shaft to rotate back and forth. The hose passes through the fixed sleeve and the lifting sleeve from bottom to top, the nozzle at the upper end of the hose is connected to the upper end of the rotating shaft, and the hose is provided with a solenoid valve; The driving mechanism includes a swivel, a door-shaped frame and a connecting rod which are arranged on the bracket and rotate on the bracket. A support plate is provided in the swivel. The support plate includes a vertical portion in the middle and inclined portions symmetrically arranged at both ends of the vertical portion. A slider sliding on the inclined portion is provided on the inclined portion on one side. The open end of the door-shaped frame is rotatably connected to the rotating shaft. The lower end of the connecting rod passes through the door-shaped frame and is slidably connected to the door-shaped frame. The upper end of the connecting rod is movably connected to the slider.

[0009] Furthermore, a slider is provided on the outer cylindrical surface of the lifting sleeve, a sliding groove cooperating with the slider is provided on the inner wall of the fixed sleeve, a first motor is provided at the upper end of the fixed sleeve, a gear is provided on the output shaft of the first motor, and a rack meshing with the gear is provided on the outer cylindrical surface of the lifting sleeve.

[0010] Furthermore, a protective cover is provided at the upper end of the fixed sleeve, the fertilizer spraying mechanism is located inside the protective cover, and a cover plate is provided at the upper end of the protective cover.

[0011] Furthermore, the upper end of the lifting sleeve is connected to the cover plate via a connecting rod, the lower end of the connecting rod is rotatably connected to the upper end of the lifting sleeve, and the upper end of the connecting rod is rotatably connected to the cover plate.

[0012] Furthermore, a material trough is provided at the upper end of the rotating shaft, and a fixing hole for fixing the nozzle is provided on the side wall of the material trough.

[0013] Furthermore, a column is provided on the bracket, a rotating shaft of the rotating ring passes through the column and is rotatably connected to the upper end of the column, and a second motor is provided on the upper end of the column to drive the rotating ring to rotate.

[0014] Furthermore, a guide hole for guiding the sliding direction of the slider is provided on the inclined portion on one side, a lead screw for driving the slider to slide is provided on the corresponding inclined portion, and a third motor for driving the lead screw to rotate is provided on the corresponding inclined portion.

[0015] Furthermore, fixed shafts are symmetrically provided on the rotating shaft, and the open ends of the door-shaped frame are rotatably connected to the corresponding fixed shafts.

[0016] Furthermore, the upper end of the connecting rod and the slider are connected via a universal joint.

[0017] Furthermore, a mechanized fertilizer spraying method for planting flower border plants comprises the following steps: S101 acquires a multispectral image of a flower border area through an imaging device to generate a first image containing plant outlines and distribution information; S102 performs image segmentation on the first image, extracts plant outline features, and generates a second image containing clear outlines; S103 determines the plant distribution density and regional boundaries based on the outline features of the second image, and generates a third data set containing the coordinates of the plant center point and the growth area; S104 divides the sub-areas and calculates the injection priority based on the third data set to generate a fourth data set containing the sub-area division and priority; S105 calculates the injection angle and intensity parameters of the fertilizer spraying device based on the fourth data set, and generates an injection execution instruction; S106 executes the injection execution instruction through a closed-loop control system and records the fertilization execution data.

[0018] The beneficial effects of the present invention are: 1. The fertilizer spraying mechanism of the present invention includes a bracket arranged at the upper end of the lifting sleeve, a rotating shaft arranged on the bracket and rotating on the bracket, and a driving mechanism arranged on the bracket to drive the rotating shaft to rotate back and forth. The hose passes through the fixed sleeve and the lifting sleeve from bottom to top, and the nozzle at the upper end of the hose is connected to the upper end of the rotating shaft. The hose is provided with a solenoid valve; when working, the lifting sleeve rises, the solenoid valve opens, the nozzle sprays the water-fertilizer mixed liquid, and atomizes the liquid and sprays it out. The driving mechanism drives the rotating shaft to drive the nozzle to swing continuously, spraying the atomized liquid onto the plants. The existing dedicated fertilizer spraying nozzle will spray fertilizer all over, resulting in great waste. The technical solution of the present application can be set at different positions according to the complex scene of many plant species and uneven distribution in the flower border, and the direction of the nozzle can be set. By continuously swinging the nozzle, different plants can be sprayed with fertilizer, ensuring the accuracy of the spray range, improving the utilization rate of fertilizer, and the fertilizer will not be sprayed into non-plant areas, reducing resource waste and protecting the environment.

[0019] 2. The drive mechanism of the present invention comprises a swivel mounted on the support and rotatable thereon, a gate-shaped frame, and a connecting rod. A support plate is disposed within the swivel. The support plate comprises a central vertical portion and inclined portions symmetrically disposed at either end of the vertical portion. A slider is mounted on one inclined portion and slides on the inclined portion. The open end of the gate-shaped frame is rotatably connected to the rotating shaft. The lower end of the connecting rod passes through the gate-shaped frame and is slidably connected thereto. The upper end of the connecting rod is movably connected to the slider. Rotation of the swivel causes the connecting rod to continuously swing, which in turn causes the gate-shaped frame to continuously swing left and right, thereby driving the reciprocating rotation of the rotating shaft. Simultaneously, the connecting rod is slidably connected to the gate-shaped frame, and the gate-shaped frame swings up and down on the rotating shaft without locking. During the fertilization process, the position of the slider can be adjusted according to the distribution of vegetation. This changes the diameter of the circular path of the connecting rod end, thereby adjusting the left and right swing angle of the gate-shaped frame, and consequently, the swing angle of the sprinkler head. This allows for adjustable fertilization angles within a defined spraying area. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 A top view of the internal structure of the present invention; Figure 3 This is a schematic diagram of the lifting sleeve structure of the present invention; Figure 4 Schematic diagram of the fertilizer spraying mechanism structure of the present invention Figure 1 ; Figure 5 Schematic diagram of the fertilizer spraying mechanism structure of the present invention Figure 2 ; Figure 6 Flowchart of the present invention; Figure 7 A flow chart for generating a first image of the present invention; Figure 8 A flow chart for generating a first image of the present invention; Figure 9 A flow chart is generated for the fourth data set of the present invention.

[0022] In the figure: fixed sleeve 1, lifting sleeve 2, bracket 3, rotating shaft 4, swivel 5, support plate 6, hose 7, solenoid valve 8, slider 9, door frame 10, connecting rod 11, slider 12, first motor 13, gear 14, rack 15, protective cover 16, cover plate 17, connecting rod 18, trough 19, fixing hole 20, second motor 21, guide hole 22, screw 23, third motor 24, fixed shaft 25. DETAILED DESCRIPTION

[0023] like Figure 1 and Figure 3 As shown, a mechanized fertilizer spraying device for planting flower border plants includes a fixed sleeve 1, a lifting sleeve 2 arranged in the fixed sleeve 1 and lifted and lowered in the fixed sleeve 1, a fertilizer spraying mechanism and a hose 7 arranged at the upper end of the lifting sleeve 2. The fixed sleeve 1 can be buried underground or installed on the ground; the fixed sleeve 1 is installed on one side of the flower border. When spraying fertilizer, the lifting sleeve 2 rises, and a multispectral image of the flower border area is obtained by an imaging device, and the image is processed to generate a signal containing the coordinates of the plant center point and the growth area, calculate the spraying angle and intensity parameters of the fertilizer spraying device, and generate a spraying execution instruction, which can achieve precise fertilization within a limited spraying area, reduce waste, and protect the environment.

[0024] like Figure 3 and Figure 4As shown, the fertilizer spraying mechanism includes a bracket 3 arranged at the upper end of the lifting sleeve 2, a rotating shaft 4 arranged on the bracket 3 and rotating on the bracket 3, and a driving mechanism arranged on the bracket 3 to drive the rotating shaft 4 to rotate back and forth. The hose 7 passes through the fixed sleeve 1 and the lifting sleeve 2 from bottom to top, and the nozzle at the upper end of the hose 7 is connected to the upper end of the rotating shaft 4. The hose 7 is provided with a solenoid valve 8. When working, the lifting sleeve 2 rises, the solenoid valve 8 opens, the nozzle sprays the water-fertilizer mixed liquid, and sprays the liquid in an atomized form, and the driving mechanism drives the rotating shaft 4. The rotating shaft drives the nozzle to swing continuously, spraying the atomized liquid onto the plants. The existing dedicated fertilizer spraying nozzles will spray fertilizer all over the plant, resulting in great waste. The technical solution of the present application can be used according to the complex scene of a wide variety of plants and uneven distribution in the flower bed. The fixed sleeve 1 can be set in different positions and the direction of the nozzle can be set. The continuous swing of the nozzle can realize the spraying of fertilizers on different plants, ensure the accuracy of the spraying range, improve the utilization rate of fertilizers, and the fertilizers will not be sprayed into non-plant areas, thereby reducing resource waste and protecting the environment.

[0025] like Figure 3 and Figure 4 As shown, the drive mechanism includes a swivel 5, which is mounted on and rotates on the bracket 3, a portal frame 10, and a connecting rod 11. The swivel 5 is provided with a support plate 6, which includes a central vertical portion and inclined portions symmetrically arranged at either end of the vertical portion. One inclined portion is provided with a slider 9 that slides on the inclined portion. The open end of the portal frame 10 is rotatably connected to the rotating shaft 4. The lower end of the connecting rod 11 passes through the portal frame 10 and is slidably connected thereto. The upper end of the connecting rod 11 is movably connected to the slider 9. When the swivel 5 rotates, it causes the connecting rod 11 to continuously swing, which in turn causes the portal frame 10 to continuously swing left and right, thereby driving the reciprocating rotation of the rotating shaft. Simultaneously, the connecting rod is slidably connected to the portal frame 10, and the portal frame 10 swings up and down on the rotating shaft 4 without locking. During the fertilization process, the position of the slider 9 can be moved according to the distribution of vegetation. The diameter of the circular trajectory of the end of the connecting rod 11 changes, thereby adjusting the left and right swing angle of the door frame 10, and the swing angle of the sprinkler head will change accordingly. That is, the spraying angle can be adjusted, and precise fertilization can be achieved within a limited spraying area.

[0026] like Figure 2 and Figure 3 As shown, a slider 12 is provided on the outer cylindrical surface of the lifting sleeve 2, a slide groove is provided on the inner wall of the fixed sleeve 1 to cooperate with the slider 12, a first motor 13 is provided on the upper end of the fixed sleeve 1, a gear 14 is provided on the output shaft of the first motor 13, and a rack 15 is provided on the outer cylindrical surface of the lifting sleeve 2 to mesh with the gear 14. The first motor 13 drives the lifting sleeve 2 to rise and fall through the gear rack, thereby achieving fertilizer spraying at different heights.

[0027] like Figure 2 As shown, a protective cover 16 is provided at the upper end of the fixed sleeve 1, the fertilizer spraying mechanism is located within the protective cover 16, a cover plate 17 is provided at the upper end of the protective cover 16, and the first motor 13 is mounted at the bottom of the protective cover. When fertilizer is not sprayed, the lifting sleeve 2 descends, the fertilizer spraying mechanism sinks into the protective cover 16, and the cover plate 17 covers the protective cover 16.

[0028] like Figure 2 and Figure 3 As shown, the upper end of the lifting sleeve 2 is connected to the cover plate 17 via a connecting rod 18, the lower end of the connecting rod 18 is rotatably connected to the upper end of the lifting sleeve 2, and the upper end of the connecting rod 18 is rotatably connected to the cover plate 17. When the lifting sleeve 2 rises, the cover plate 17 is opened synchronously under the action of the connecting rod 18. When the lifting sleeve 2 descends and the fertilizer spraying mechanism sinks into the protective cover 16, the cover plate 17 is closed synchronously under the action of the connecting rod 18.

[0029] like Figure 3 As shown, a trough 19 is provided at the upper end of the rotating shaft 4. The trough 19 is in the shape of an inverted cone. A fixing hole 20 is provided on the sidewall of the trough 19 for securing a nozzle. The nozzle passes through the fixing hole. A through hole is provided at the lower end of the trough 19 for a hose to pass through. When solid fertilizer needs to be sprayed, the through hole at the bottom of the trough 19 is blocked, solid fertilizer is added to the trough, and a negative pressure suction device is installed at the fixing hole 20 to spray the solid fertilizer in the trough.

[0030] like Figure 4 As shown, a column is provided on the bracket 3, and the rotating shaft of the rotating ring 5 passes through the column and is rotatably connected to the upper end of the column. The upper end of the column is provided with a second motor 21 that drives the rotating ring 5 to rotate.

[0031] like Figure 4 As shown, the inclined portion on one side is provided with a guide hole 22 for guiding the sliding direction of the slider 9, the slider 9 is arranged in the guide hole 22 and slides in the guide hole 22, and the corresponding inclined portion is provided with a screw 23 for driving the slider 9 to slide, and the two ends of the screw 23 are rotatably connected to the inclined portion, the slider 9 is provided with a nut threadedly connected to the screw 23, and the corresponding inclined portion is provided with a third motor 24 for driving the screw 23 to rotate.

[0032] like Figure 4 As shown, fixed shafts 25 are symmetrically provided on the rotating shaft 4 , and the open ends of the door-shaped frame 10 are rotatably connected to the corresponding fixed shafts 25 , thereby enabling the door-shaped frame 10 to swing up and down on the rotating shaft 4 .

[0033] like Figure 5 As shown, the upper end of the connecting rod 11 is connected to the slider 9 via a universal joint.

[0034] like Figure 6As shown, a mechanized fertilizer spraying method for planting flower border plants includes the following steps: S101 acquires a multispectral image of a flower border area through an imaging device to generate a first image containing plant outlines and distribution information; S102 performs image segmentation on the first image, extracts plant outline features, and generates a second image containing clear outlines; S103 determines the plant distribution density and regional boundaries based on the outline features of the second image, and generates a third data set containing the coordinates of the plant center point and the growth area; S104 divides the sub-areas and calculates the injection priority based on the third data set to generate a fourth data set containing the sub-area division and priority; S105 calculates the injection angle and intensity parameters of the fertilizer spraying device based on the fourth data set, and generates an injection execution instruction; S106 executes the injection execution instruction through a closed-loop control system and records the fertilization execution data.

[0035] like Figure 7 As shown, in step S101, original image data of the flower border area is obtained by a high-resolution camera, and the color difference characteristics of plant leaves and background are captured using multispectral imaging technology to obtain a first image containing plant outlines and distribution information.

[0036] like Figure 8 As shown, in step S102, a pre-trained convolutional neural network model is used to perform image segmentation processing on the first image, extract plant contour features from plant leaves and background, determine the boundary of the leaf overlapping area, and obtain a second image containing a clear contour.

[0037] The first image is preprocessed using a pretrained convolutional neural network, and the pixel value range is adjusted using a standardization method to obtain a preprocessed image. Based on the preprocessed image, a convolutional neural network is used for image segmentation to separate the leaf region from the plant leaf and the background, resulting in a preliminary segmented image. Contour features are extracted from the preliminary segmented image. If the edge strength of the contour feature is below a preset threshold, the edge is enhanced through morphological operations to obtain an enhanced contour image. Based on the enhanced contour image, the overlapping area of ​​the leaves is determined. If the pixel point belongs to the overlapping area of ​​multiple leaves, the boundary is demarcated using a region growing algorithm to obtain a boundary demarcation image. Using the boundary demarcation image, the contour lines of the overlapping area are optimized, and the boundaries are smoothed using a curve fitting method to obtain a smoothed contour image. Based on the smoothed contour image, a mask with a clear contour is generated and superimposed on the first image to obtain a second image containing a clear contour. Based on the second image, the contour integrity is verified. If a contour break is detected, it is repaired through interpolation to obtain the final contour image.

[0038] Using a U-Net network, a preprocessed image is input and a preliminary segmented image is output. For example, in an image of a flower border, leaves appear green against a soil background. By learning color and texture features, the network labels the leaf areas white and the background black. Extracting contour features from the preliminary segmented image is an optimization step.

[0039] Use the Canny edge detection algorithm to calculate edge strength. For example, areas with edge strength below a threshold of 50 are considered fuzzy boundaries. Morphological operations such as dilation and erosion are used to enhance edge clarity in these areas.

[0040] Determining the overlapping leaf areas based on the enhanced contour image is a complex task. As you can understand, the region growing algorithm uses seed point diffusion to delineate boundaries. For example, if the pixel values ​​of two overlapping leaves in a flower border are similar, the algorithm uses the center pixel as a seed and expands outward until it encounters a boundary with a significant difference in intensity.

[0041] Curve fitting is key to optimizing the contours of overlapping regions. For example, cubic spline interpolation can be used to smooth the boundaries and create more natural contours. A mask with a clear outline is generated for the smoothed contour image and superimposed on the first image to form the second image.

[0042] Use linear interpolation to repair broken contours. For example, if a leaf contour is detected to be 5 pixels discontinuous, interpolation is used to fill in the gaps and restore continuity.

[0043] In step S103, the distribution density and regional boundary information of the plants are obtained according to the contour features in the second image, and the center point coordinates and growth area range of each plant are determined by a clustering algorithm to obtain a third data set of plant distribution.

[0044] Contour features are obtained from the second image, and the plant contour information is extracted using an edge detection algorithm to determine a contour feature set. Based on the contour feature set, the plant distribution density is calculated, and the number of contours per unit area is counted using a grid partitioning method to obtain a density distribution map. Regional boundaries are extracted from the density distribution map, and continuous boundaries are divided using a contour tracing algorithm to determine a boundary coordinate set. Based on the boundary coordinate set, the contour features are clustered using a K-means clustering algorithm to determine the center point coordinates of each plant. The growth area is obtained from the center point coordinates, and the control range of each center point is divided using a Voronoi segmentation algorithm to obtain a growth area set. Based on the growth area set and the center point coordinates, a third data set of plant distribution is generated, which contains the center point coordinates and growth area range of each plant.

[0045] When extracting contour features from the second image, edge detection algorithms are key tools. The Sobel operator can be used to detect contours, highlighting edges by calculating the gradient of pixels in the image. This method is sensitive to noise, so image preprocessing such as smoothing filtering is often necessary. Combining this with Gaussian blurring makes edge detection more stable and enhances the continuity of the leaf contour.

[0046] The gridding method is simple and efficient. The image is divided into multiple 50x50 pixel grid cells. The density distribution is then reflected by counting the number of contour pixels within each cell. To extract region boundaries from the density distribution map, the Moore-Neighbor tracing method is used to generate continuous boundary lines by searching along the neighborhood of contour pixels.

[0047] When using the K-means clustering algorithm to cluster contour features, the goal is to determine the center point of each plant. For example, after entering a set of boundary coordinates and setting the number of clusters to 5, the algorithm divides the contour points into five clusters based on the spatial distribution of the coordinates, with each cluster center representing the location of a plant.

[0048] It should be noted that the choice of the initial center point will affect the results, and multiple iterations can improve accuracy. When obtaining the growth area from the center point coordinates, the Voronoi segmentation algorithm can effectively divide the control range.

[0049] When generating a third dataset based on the growth region set and center point coordinates, data structure design is crucial. A dataset might include the center point coordinates of each plant, such as (500, 600), and the corresponding growth region range, such as 3000 pixels. For example, a dataset of five plants in a flower border can be used to analyze plant spacing and distribution patterns. Clearly recording the correspondence between center point coordinates and growth regions facilitates subsequent spatial planning or optimization.

[0050] like Figure 9 As shown, in step S104, if the plant distribution density in the third data set is higher than the preset threshold, the flower border area is divided into multiple sub-areas using a grid division algorithm, and the spraying priority is calculated for each sub-area to obtain a fourth data set including sub-area division and priority.

[0051] If the plant distribution density in the third dataset exceeds a preset threshold, plant distribution density data is retrieved from the third dataset. Density analysis is used to determine the triggering conditions for segmentation, resulting in a density analysis result. A gridding algorithm is used to segment the flower border area. Multiple subregions are generated based on the density analysis results, generating subregion segmentation data. For each subregion, spatial distribution features are extracted from the subregion segmentation data. A feature extraction algorithm is used to calculate the plant density and boundary complexity of the subregion, generating a subregion feature set. Based on the subregion feature set, the injection priority of each subregion is calculated using the priority calculation formula P=w1D+w2C (where P is the injection priority, D is the plant density, C is the boundary complexity, and w1 and w2 are preset weights), generating a priority sequence. If any subregions in the priority sequence have a priority value above the preset threshold, these subregions are sorted and an optimized priority sequence is generated from high to low priority. Through data integration, the subregion segmentation data and the optimized priority sequence are combined to generate a fourth dataset containing both subregion segmentation and injection priority information.

[0052] The percentage of outline pixels in each grid cell of a flower border image reflects density. For example, if the preset threshold is 60%, and the average percentage of outline pixels in a particular area reaches 75%, density analysis is triggered. Density analysis can use hotspot analysis to identify clustering patterns in dense areas.

[0053] The center of the flower border is marked as a high-density hotspot, while the edge areas have lower density. The analysis results intuitively reflect the plant distribution trend. When using the meshing algorithm to segment the flower border area, sub-areas can be generated based on the density analysis results.

[0054] The flower border is generated into five subregions, with the central subregion containing the most plants and the border subregions containing fewer plants. The subregion demarcation data records the coordinate range and density value of each subregion, providing a basis for subsequent analysis. When extracting spatial distribution features from the subregion demarcation data, feature extraction algorithms can be used to calculate plant density and boundary complexity.

[0055] When calculating injection priority based on the sub-region feature set, the priority calculation formula combines density and boundary complexity. The weights w1 and w2 can be adjusted according to actual needs.

[0056] The fourth data set records the coordinates, density, boundary complexity and priority value of each sub-area. For example, the coordinate range of the central sub-area is (200,300) to (600,700), and the priority is 0.85. The data structure is clear and easy to call by the injection device. In step S105, the center point of the plant outline in each sub-region is obtained through the sub-region division and priority in the fourth data set, and the spray angle of the fertilizer spraying device is calculated using a geometric transformation algorithm to obtain the spray angle parameters of each sub-region.

[0057] Through the fourth data set, a clustering algorithm is used to divide the sub-regions, and the region allocation is determined based on the priority sorting to obtain the boundary data of the sub-regions. For the boundary data of the sub-regions, a contour detection algorithm is used to extract the plant contours in each sub-region and generate the pixel coordinates of the plant contours. From the pixel coordinates of the plant contours, the geometric center point of each contour is calculated to obtain the spatial coordinates of the center point. If the spatial coordinates of the center point deviate from the sub-region boundary, the coordinate correction algorithm is used to adjust the position of the center point to obtain the corrected spatial coordinates. Using the corrected spatial coordinates, a geometric transformation algorithm is used to calculate the spray angle of the fertilizer sprayer relative to the center point to generate the spray angle data. According to the spray angle data, combined with the physical parameters of the fertilizer sprayer, the angle parameters are calculated to obtain the spray angle parameters of each sub-region.

[0058] Assume that the fourth data set contains five sub-regions, whose priorities are 0.85, 0.75, 0.6, 0.45, and 0.4 from high to low. The clustering algorithm can group sub-regions with similar priorities into one category.

[0059] When extracting plant outlines, the contour detection algorithm generates the outline by identifying pixel variations along the edges of the plants in the image. Specifically, if a subregion contains densely packed leaves, contour detection can capture continuous pixels along the leaf edges, forming a closed curve.

[0060] The center point reflects the spatial center of gravity of the contour. For example, if the pixel coordinates of the contour of a subregion are distributed between (300, 400) and (500, 600), the center point may be located at (400, 500) through average calculation.

[0061] When using the coordinate correction algorithm to adjust the position, for example, assuming that the center point (400, 500) is too close to the sub-region boundary (600, 700), only 50 pixels away, the correction algorithm can adjust it to (450, 550), closer to the sub-region core.

[0062] Correction can be based on a distance threshold, such as setting a minimum distance of 100 pixels to ensure that the center point does not deviate too much. This adjustment makes the fertilizer coverage more uniform.

[0063] The angle reflects the relative position of the fertilizer sprayer to the center point. For example, if the center point is at (450,550) and the fertilizer sprayer is at (300,300), the transformation algorithm can calculate the spray angle to be approximately 30 degrees.

[0064] In step S105, the plant distribution density and contour area in the corresponding sub-region are obtained according to the spray angle parameters obtained in the fifth step, and the spray intensity is calculated by a preset fertilizer application model to obtain the spray intensity parameters of each sub-region.

[0065] The spray angle parameters are obtained in step 5. A data extraction algorithm is used to extract the plant distribution density and contour area of ​​the corresponding sub-region, generating a sub-region feature dataset. A pre-set fertilizer application model is used as input for the sub-region feature dataset to calculate the spray intensity and fertilizer amount, generating fertilization parameters.

[0066] A data extraction algorithm was used to extract plant distribution density and contour area from the sub-regions, generating a dataset that reflects plant distribution characteristics. Plant distribution density reflects the density of plants per unit area, while contour area quantifies the coverage of plants within the sub-region.

[0067] For example, assuming a sub-area of ​​1,000 square meters, the algorithm uses image processing technology to identify pixels covered by plants and calculates a distribution density of 0.6, indicating that 60% of the area is covered by plants. The contour area is then determined using an edge detection algorithm to extract the boundaries of plant leaves, resulting in a total area of ​​600 square meters. This method quantifies the spatial distribution of plants and provides basic data for subsequent fertilization parameter calculations.

[0068] The pre-set fertilizer application model uses a dataset of sub-area characteristics to calculate the spray intensity and fertilizer dosage, creating initial fertilization parameters. This model typically uses characteristics such as plant species, density, and area, combined with empirical agricultural formulas. For example, for a sub-area with a density of 0.6, the model might set the spray intensity to 2.5 bar.

[0069] In step S105, based on the obtained spray angle parameters and spray intensity parameters, a servo motor control algorithm is used to drive the nozzle of the fertilizer spraying device to adjust the angle and intensity in real time, and an adjusted spray execution instruction is obtained.

[0070] The injection angle parameters and injection intensity parameters are obtained, formatted and filtered through the data preprocessing module to obtain a standardized parameter set.

[0071] A servo motor control algorithm is used to calculate the target angle and target intensity of the fertilizer spraying device nozzle based on a standardized parameter set to generate a motor drive signal.

[0072] The real-time data processing module is used to monitor the operating status of the fertilizer spraying device. If the operating status deviates from the preset threshold, the motor drive signal is adjusted to obtain a corrected drive signal.

[0073] Based on the corrected drive signal, the servo motor is controlled to adjust the nozzle angle, generating an angle adjustment command. Based on the corrected drive signal, the servo motor is controlled to adjust the nozzle spray intensity, generating an intensity adjustment command. Through the command generation mechanism, the angle adjustment command and the intensity adjustment command are integrated to generate the spray execution command.

[0074] A real-time feedback module is used to obtain the deviation between the actual injection state of the nozzle and the injection execution instruction. If the deviation exceeds the preset threshold, the standardized parameter set is updated and the drive signal is recalculated.

[0075] In step S105, the real-time feedback data of the fertilizer spraying device is obtained by executing the spraying instruction to determine whether the spraying range covers the target plant outline. If the deviation exceeds the preset threshold, the angle and intensity parameters are recalculated to obtain the optimized spraying instruction.

[0076] The spraying device executes the spraying instruction, obtains real-time feedback data, and determines the spraying range. The spraying range characteristics are extracted from the real-time feedback data to determine whether the target plant outline is covered, and the coverage deviation value is obtained. If the coverage deviation value exceeds the preset threshold, the data processing module analyzes the deviation distribution and determines the adjustment requirements. Based on the adjustment requirements, the parameter calculation model is used to recalculate the angle parameters and intensity parameters to obtain the optimized parameter set. The optimized parameter set is used to generate the optimized spraying instruction and update the spray execution instruction. The updated real-time feedback data is obtained from the spraying device to determine the coverage effect of the spraying range. If the coverage effect still exceeds the preset threshold, the deviation analysis and parameter optimization are repeated to obtain the final spraying instruction.

Claims

1. A mechanized fertilizer spraying device for planting flower border plants, characterized in that: It comprises a fixed sleeve (1), a lifting sleeve (2) arranged in the fixed sleeve (1) and lifting and lowering in the fixed sleeve (1), a fertilizer spraying mechanism and a hose (7) arranged at the upper end of the lifting sleeve (2); The fertilizer spraying mechanism comprises a bracket (3) arranged at the upper end of the lifting sleeve (2), a rotating shaft (4) arranged on the bracket (3) and rotating on the bracket (3), and a driving mechanism arranged on the bracket (3) for driving the rotating shaft (4) to rotate back and forth. The hose (7) passes through the fixed sleeve (1) and the lifting sleeve (2) from bottom to top. The spray head at the upper end of the hose (7) is connected to the upper end of the rotating shaft (4). The hose (7) is provided with a solenoid valve (8); The driving mechanism comprises a rotating ring (5) arranged on the bracket (3) and rotating on the bracket (3), a door-shaped frame (10) and a connecting rod (11), a support plate (6) is provided in the rotating ring (5), the support plate (6) comprises a vertical portion in the middle and inclined portions symmetrically arranged at both ends of the vertical portion, a slider (9) sliding on the inclined portion is provided on one side of the inclined portion, the open end of the door-shaped frame (10) is rotatably connected to the rotating shaft (4), the lower end of the connecting rod (11) passes through the door-shaped frame (10) and is slidably connected to the door-shaped frame (10), and the upper end of the connecting rod (11) is movably connected to the slider (9).

2. A mechanized fertilizer spraying device for planting flower border plants according to claim 1, characterized in that: A slider (12) is provided on the outer cylindrical surface of the lifting sleeve (2), a sliding groove cooperating with the slider (12) is provided on the inner wall of the fixed sleeve (1), a first motor (13) is provided on the upper end of the fixed sleeve (1), a gear (14) is provided on the output shaft of the first motor (13), and a rack (15) meshing with the gear (14) is provided on the outer cylindrical surface of the lifting sleeve (2).

3. A mechanized fertilizer spraying device for planting flower border plants according to claim 1, characterized in that: A protective cover (16) is provided at the upper end of the fixed sleeve (1), the fertilizer spraying mechanism is located inside the protective cover (16), and a cover plate (17) is provided at the upper end of the protective cover (16).

4. A mechanized fertilizer spraying device for planting flower border plants according to claim 3, characterized in that: The upper end of the lifting sleeve (2) is connected to the cover plate (17) via a connecting rod (18), the lower end of the connecting rod (18) is rotatably connected to the upper end of the lifting sleeve (2), and the upper end of the connecting rod (18) is rotatably connected to the cover plate (17).

5. The mechanized fertilizer spraying device for planting flower border plants according to claim 1, characterized in that: A material trough (19) is provided at the upper end of the rotating shaft (4), and a fixing hole (20) for fixing the nozzle is provided on the side wall of the material trough (19).

6. A mechanized fertilizer spraying device for planting flower border plants according to claim 1, characterized in that: The bracket (3) is provided with a column, the rotating shaft of the rotating ring (5) passes through the column and is rotatably connected to the upper end of the column, and the upper end of the column is provided with a second motor (21) for driving the rotating ring (5) to rotate.

7. The mechanized fertilizer spraying device for planting flower border plants according to claim 1, characterized in that: A guide hole (22) for guiding the sliding direction of the slider (9) is provided on the inclined portion on one side, a lead screw (23) for driving the slider (9) to slide is provided on the corresponding inclined portion, and a third motor (24) for driving the lead screw (23) to rotate is provided on the corresponding inclined portion.

8. The mechanized fertilizer spraying device for planting flower border plants according to claim 1, characterized in that: The rotating shaft (4) is symmetrically provided with fixed shafts (25), and the open ends of the door-shaped frame (10) are respectively rotatably connected to the corresponding fixed shafts (25).

9. The mechanized fertilizer spraying device for planting flower border plants according to claim 1, characterized in that: The upper end of the connecting rod (11) and the slider (9) are connected via a universal joint.

10. A mechanized fertilizer spraying method for planting flower border plants, using the device according to claims 1 to 9, characterized in that: The following steps are involved: S101 acquires a multispectral image of a flower border area through an imaging device to generate a first image containing plant outlines and distribution information; S102 performs image segmentation on the first image, extracts plant outline features, and generates a second image containing clear outlines; S103 determines the plant distribution density and regional boundaries based on the outline features of the second image, and generates a third data set containing the coordinates of the plant center point and the growth area; S104 divides the sub-areas and calculates the injection priority based on the third data set to generate a fourth data set containing the sub-area division and priority; S105 calculates the injection angle and intensity parameters of the fertilizer spraying device based on the fourth data set, and generates an injection execution instruction; S106 executes the injection execution instruction through a closed-loop control system and records the fertilization execution data.

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