Rape flower sea landscape modeling method based on unmanned aerial vehicle suspender cutting and topping and matched device

Abstract

The invention discloses a rape flower sea landscape modeling method based on unmanned aerial vehicle suspender cutting and topping and a matched device, and the method comprises the steps: carrying out the selective cutting and topping operation of a preset pattern region of a rape field in a bolting period through an unmanned aerial vehicle suspender cutting and topping device by utilizing the characteristic that rape crops can recover to grow within a period of time after bolting is removed; the flowering time difference of the oilseed rapes in the cutting area and the non-cutting area is realized, so that the landscape visual effect of twice flowering periods is formed. The growth process of the rape in the flowering period in the pattern area is reversely regulated and controlled through topping, the flower sea landscape modeling effect under the single-variety planting condition of the rape crops is rapidly achieved within a short period, and the viewing duration is prolonged by about two weeks. Compared with a traditional multi-variety mixed planting crop landscape modeling method, selective treatment only needs to be conducted in the bud and bolting period of conventional rape planting, operation is flexible, the device is simple, landscape modeling is high in timeliness and reliability, and special treatment is not needed during later grain harvesting.

Description

Technical Field

[0001] This invention relates to the field of agricultural low-altitude technology, specifically to a method and supporting device for creating rapeseed flower sea landscapes based on drone boom cutting and topping. Background Art

[0002] Creative landscape design for field crops utilizes differentiated planting or growth regulation to create visually impactful landscapes during specific growth periods. This aims to create an atmosphere, attract tourists, and facilitate advertising, ultimately increasing the economic value of field crops. Among related technical solutions, Chinese patent CN118760202A discloses a segmented, on-demand start-stop control method for a multi-row aerial seeding drone, enabling selective seeding of landscape and non-landscape areas through segmented control of the seeding units. Chinese patent CN116305408A discloses a method for designing and planting multi-color plant landscape patterns based on drones. This method uses drones to collect high-definition images of landscape fields at low altitudes and obtain coordinate information, then plants plants of corresponding colors are planted according to the images and coordinates to form a landscape. Chinese patent CN112540623B invented a method for realizing field crop landscape patterns based on high-precision positioning drone aerial seeding. This method utilizes drones equipped with inkjet / powder spraying capabilities to fly along the landscape boundary trajectory and complete the spraying operation, followed by planting corresponding crops to form the landscape.

[0003] Existing drone-based landscape design methods employ intercropping of multiple crops, utilizing the color differences among the various crops to create landscape patterns with striking color and outline contrasts in different areas. This approach has several drawbacks: First, it suffers from poor timeliness and high pattern risk. The long time from sowing to flowering, coupled with uncertainties in germination, emergence, and growth, increases the risk of pattern formation. Second, for complex landscape patterns with large areas and numerous details, mechanized harvesting is not feasible during the optimal harvest period. To address the timely need for designing rapeseed flower field landscapes, this invention discloses a "reduction-type" landscape design method based on a drone platform. Unlike the aforementioned "growth-type" crop landscape design methods using intercropping, topping-type landscape design is a "reduction-type" technique. This technology achieves controllable reduction of plant morphology through reverse regulation: selectively controlling the growth of local plants within a target area, and using the morphological differences between the treated area and the natural growth area to create a visual contrast effect to present the landscape pattern. This method avoids the dependence of traditional techniques on specific varieties, shortens the landscape creation cycle by reversely controlling the growth sequence of local crops, and realizes the rapid creation and dynamic presentation of creative landscape patterns of field crops while ensuring the integrity of the farmland ecosystem. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings and deficiencies of existing technologies by providing a method and supporting device for creating rapeseed flower field landscapes based on drone-mounted boom cutting and topping.

[0005] To solve the above technical problems, the present invention adopts the following technical solution:

[0006] A method for shaping rapeseed flower fields using drone-based boom cutting and topping techniques includes the following steps:

[0007] Step S1: Determine the rapeseed flower seascape design and select suitable rapeseed fields that have been planted in the seedling stage according to conventional methods as needed;

[0008] Step S2: Obtain the boundary data of the target rapeseed field, adapt and integrate the field boundary with the landscape pattern in terms of size and orientation to obtain the planting area, and divide the planting area into the pattern area and the background area; calculate and plan the drone cutting and topping operation route of the pattern area according to the working width W of the drone cutting and topping device.

[0009] Step S3: After the rapeseed grows to the budding stage, set the drone cutting flight parameters according to the rapeseed growth, start the cutting and topping drone, and cut, topping and remove the buds of the rapeseed in the pattern area according to the flight path planned in step S2.

[0010] Step S4: After waiting for 1-2 weeks, the rapeseed in the background area will enter the flowering period, while the rapeseed in the pattern area will still be in the budding stage, presenting a landscape effect where the background area is yellow and the pattern area is green.

[0011] After waiting for another 2-3 weeks, the rapeseed in the background area will enter the pod stage, while the rapeseed in the pattern area will enter the flowering stage, creating a reverse landscape effect where the background area is green and the pattern area is yellow.

[0012] After step S4, once the rapeseed in the patterned area enters the pod stage, plant protection drones are used to selectively spray growth regulators to promote the rapeseed in the patterned area to mature synchronously and be harvested uniformly with the rapeseed in the background area.

[0013] A supporting device for a rapeseed flower field landscape shaping method based on drone-mounted rod cutting includes a drone and a working platform. The working platform includes a "Y"-shaped rigid-flexible connection component, an extension rod component, and a nylon rope rotary cutting module. The "Y"-shaped rigid-flexible connection component is installed below the drone and is used to connect the drone and the extension rod component. The extension rod component is used to increase the distance between the drone body and the nylon rope rotary cutting module, reducing the disturbance of the wind field on the rapeseed top. The nylon rope rotary cutting module is symmetrically hinged to the extension rod component and is used to rotate and cut the rapeseed top to achieve reverse regulation of the rapeseed growth process during the budding stage.

[0014] Preferably, the "Y"-shaped rigid-flexible connection assembly includes an external crossbar for the drone, nylon ropes, and one-way buckles. The external crossbar for the drone is securely connected to the drone frame perpendicular to the drone's forward direction via symmetrical cross-shaped universal buckles. The nylon ropes, arranged in a "Y" shape, symmetrically connect the external crossbar for the drone and the upper crossbar of the extension rod assembly via one-way buckles, forming an isosceles trapezoid with the upper crossbar of the extension rod assembly as the upper base and the external crossbar for the drone as the lower base. This is used to reduce the impact of the inertial sway of the suspended load on the drone body.

[0015] Preferably, the extension rod assembly includes a hollow carbon fiber tube, a T-joint connector, a tube folding component, and an electromagnet folding module. Multiple T-joint connectors and the hollow carbon fiber tube together construct two rectangular structures. Symmetrically arranged tube folding components connect the two frames for convenient folding and transportation of the assembly. The upper two sides of the extension rod assembly are used to connect nylon ropes, and the lower end connects to the electromagnet folding module via the T-joint connector to symmetrically arranged nylon rope cutting modules. When the electromagnet folding module is energized, a limiting rod inserts into a limiting hole to form a mechanical lock, restricting the degree of freedom of the nylon rope cutting module relative to the extension rod assembly. This ensures the nylon rope cutting module maintains a stable horizontal posture, ensuring the nylon rope is parallel to the ground and in its lowest working position for vertical cutting of rapeseed stalks.

[0016] Preferably, the nylon rope rotary cutting module includes a motor support, a motor, a bushing positioning component, a bearing, a flat key, a bearing housing assembly, a spinning disc, and a nylon rope. The motor support is fixed to the lower crossbar of the extension rod assembly via a pin, used to secure the motor. The motor is fixed to the motor support, providing cutting power. The bearing housing assembly consists of an upper bearing housing and a lower bearing housing, used to secure the bearing. The bushing positioning component is installed on the inner ring of the bearing and fixed to the motor shaft via a flat key, used for positioning and power transmission, ensuring axial fixation of the spinning disc. The spinning disc secures the nylon rope between the bushing positioning component and the spinning disc with bolts for future replacement.

[0017] Preferably, the length of the external crossbar of the UAV is 1m-1.5m;

[0018] Preferably, the nylon rope is 0.5 cm long and has an angle of 10° with the horizontal plane;

[0019] Preferably, the rectangular mechanism of the extension rod assembly has a total length of 1.5-2.0m and a width of 0.4m;

[0020] Preferably, the working radius of the nylon rope rotary cutting module is 0.2m;

[0021] Preferably, the number of nylon rope rotary cutting modules is 1-3;

[0022] Preferably, the rigid carbon fiber hollow tube has a wall thickness of 1 mm and an inner diameter of 10 mm-20 mm.

[0023] Preferably, the cutting height of the rapeseed during the budding stage is 0.2m.

[0024] Compared with the prior art, the present invention, by adopting the above technical solution, has the following advantages:

[0025] By leveraging the high-precision positioning of drones using BeiDou RTK and modular cutting devices, precise operations can be achieved. By controlling the topping of a single rapeseed variety during its budding stage, a two-color field landscape can be created by utilizing growth differences, eliminating the need for multiple varieties and significantly reducing restrictions on planting varieties. At the same time, it eliminates the complex process of sowing multiple varieties, reduces labor input, and shortens the landscape formation cycle. It effectively avoids the problems of high labor costs, long formation cycles, and difficulties in harvesting multiple varieties in the later stages of traditional technologies, thus balancing the efficiency of landscape creation with the practicality of agricultural production. Attached Figure Description

[0026] Figure 1 A schematic diagram illustrating the principle of a rapeseed flower field landscape design method based on drone-based boom cutting and topping.

[0027] Figure 2 A flowchart illustrating a method for creating a rapeseed flower field landscape using drone-based boom cutting and topping techniques.

[0028] Figure 3 This is a boundary data map of the fields to be processed;

[0029] Figure 4 This is a boundary data map of the landscape pattern;

[0030] Figure 5 This is a map of the merged regional boundary data;

[0031] Figure 6 This is a map showing the calculated flight path of the unmanned aerial vehicle (UAV).

[0032] Figure 7 A structural diagram of a drone for landscape cutting and shaping.

[0033] Figure 8 This is a schematic diagram of the structure of a small wheelbase UAV;

[0034] Figure 9 A schematic diagram of a Y-shaped rigid-flexible connection component;

[0035] Figure 10 This is a schematic diagram of the extension rod assembly.

[0036] Figure 11 This is a schematic diagram of the nylon rope rotary cutting module;

[0037] Figure 12 This is a cross-sectional view of the nylon rope rotary cutting module;

[0038] Figure 13 A schematic diagram of a drone landing for landscape sculpting.

[0039] The list of attachments represented by each number is as follows:

[0040] 1. Small wheelbase multi-rotor flight platform;

[0041] 2. Y-shaped rigid-flexible connection component;

[0042] 2-1. External crossbar for the drone; 2-2. Steel wire nylon rope; 2-3. One-way buckle.

[0043] 3. Extension rod assembly;

[0044] 3-1. Upper crossbar, 3-2. Vertical hollow carbon fiber tube, 3-3. T-connector, 3-4. Tube folding piece, 3-5. Middle reinforcing crossbar, 3-6. Bottom crossbar, 3-7. Electromagnet limit mounting piece, 3-8. Electromagnet limit rod.

[0045] 4. Nylon rope rotary cutting module;

[0046] 4-1. Motor, 4-2. Motor support, 4-3. Upper bearing housing, 4-4. Lower bearing housing, 4-5. Shaft sleeve positioning component, 4-6. Swing disc, 4-7. Nylon rope Detailed Implementation

[0047] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0048] A principle and method for creating rapeseed flower field landscapes based on drone-mounted boom cutting and topping, the principle of which includes the following:

[0049] like Figure 1 As shown, a small-wheelbase multi-rotor drone with RTK positioning for precise flight is used as a carrier, equipped with a stable cutting module. Leveraging the drone's precise positioning and flight trajectory control, combined with the cutting module's vertical cutting capability of the rapeseed stems, the drone, carrying the cutting module, performs cutting operations on the top of the rapeseed in the budding stage according to a pre-set landscape pattern. This topping method reverses the growth process of the rapeseed during the budding stage, creating a significant visual contrast between the cut and uncut areas during the flowering period, thus achieving a single-variety, two-color crop landscape pattern.

[0050] A principle and method for creating rapeseed flower field landscapes using drone-based boom cutting and topping techniques, with a flowchart as follows: Figure 2 As shown, the specific steps include:

[0051] Step S1, as follows Figure 3As shown, planting and field management are carried out according to the requirements of rapeseed planting. When the rapeseed grows to the bolting stage, the boundary data of the field to be operated is determined by RTK positioning or aerial drone high-definition mapping.

[0052] Step S2, as follows Figure 4 As shown, the boundary data of the landscape pattern is determined;

[0053] Step S3, as follows Figure 5 As shown, based on the size and orientation of the field boundary data, the vectorized landscape pattern is imported into professional processing software. The size and orientation of the landscape pattern boundary data are then adjusted using scaling, translation, and rotation. Figure 6 As shown, the regional boundary data after the fusion of the two is obtained, and the cutting and topping operation route of the pattern area is calculated and planned according to the working width W of the UAV cutting and topping device.

[0054] Step S4: When the rapeseed grows to the budding stage, set the drone cutting flight parameters according to the growth of the rapeseed, start the cutting and topping drone, manually remote control operation (requires a built-in overhead camera or a third-party aerial photography drone) or start its autonomous operation mode, and cut, topping and remove the buds of the rapeseed in the preset pattern area according to the flight path planned in step S3.

[0055] Step S5: Wait 1-2 weeks. When the rapeseed in the background area enters the flowering period, the rapeseed in the pattern area will still be in the budding stage, presenting a landscape effect where the background area is yellow and the pattern area is green.

[0056] Step S6: Continue to wait for about 2-3 weeks. When the rapeseed in the background area enters the pod stage, the rapeseed in the pattern area enters the flowering stage, presenting a reverse landscape effect with the background area being green and the pattern area being yellow, and extending the viewing period by about 2 weeks.

[0057] Step S7: If the patterned area is large, once the rapeseed inside enters the pod stage, plant protection drones can be used to selectively spray growth regulators to promote synchronous ripening and uniform harvesting of the rapeseed in the background area.

[0058] The principle and characteristics of a rapeseed flower field landscape cutting and topping device based on drone boom:

[0059] like Figure 7 As shown, the rapeseed flower field landscape cutting device is mounted on a small-wheelbase multi-rotor flight platform. The rapeseed flower field landscape cutting device working platform consists of a "Y"-shaped rigid-flexible connection component 2, an extension rod component 3, and a nylon rope rotary cutting module 4, and is installed directly below the small-wheelbase multi-rotor flight platform 1. Figure 8As shown, the small-wheelbase multi-rotor flight platform 1 has RTK positioning for precise flight. During operation, the wind field generated by its rotors is relatively small, causing less disturbance to the rapeseed straw. It can provide a stable carrier for the entire operation platform and provide reliable protection for the operation process through precise positioning. The "Y"-shaped rigid-flexible connection component 2 connects the small-wheelbase multi-rotor flight platform 1 and the extension rod component 3, which is used to reduce the impact of the inertial sway of the suspended load on the small-wheelbase multi-rotor flight platform 1. The extension rod component 3 adopts a rectangular frame structure to extend the distance from the fuselage to the nylon rope cutting module 4, reducing the disturbance of the rotor wind field of the small-wheelbase multi-rotor flight platform 1 to the rapeseed top. The nylon rope cutting module 4 is symmetrically hinged to the extension rod component 3, which is used to rotate and cut the rapeseed top to achieve reverse regulation of the rapeseed growth process during the budding stage.

[0060] like Figure 9 As shown, the "Y"-shaped rigid-flexible connection component 2 includes an external crossbar 2-1 for the UAV, a steel wire nylon rope 2-2, and a one-way buckle 2-3. The external crossbar 2-1 for the UAV is fastened to the frame of the small wheelbase multi-rotor flight platform 1 through symmetrical one-way buckles 2-3 perpendicular to the forward direction of the UAV. The steel wire nylon rope is symmetrically connected to the external crossbar 2-1 for the UAV and the upper crossbar 3-1 of the extension rod assembly in a "Y" shape through the one-way buckles 2-3, forming an isosceles trapezoid with the upper crossbar 3-1 of the extension rod assembly as the upper base and the external crossbar 2-1 for the UAV as the lower base. This is used to reduce the impact of the inertial swing of the suspended load on the UAV body and to facilitate landing.

[0061] like Figure 10 As shown, the extension rod assembly 3 includes an upper crossbar 3-1, a vertical hollow carbon fiber tube 3-2, a three-way connector 3-3, a tube folding component 3-4, a middle reinforcing crossbar 3-5, a bottom crossbar 3-6, and an electromagnet folding module consisting of an electromagnet limiting mounting component 3-7 and an electromagnet limiting rod 3-8; multiple three-way connectors 3-3 together with the vertical hollow carbon fiber tube 3-2 and the middle reinforcing crossbar 3-5 jointly construct two rectangular structures, with the tube folding component 3-4 symmetrically installed in the middle for easy folding and transportation; The upper two sides of component 3 are used to connect steel wire nylon ropes 2-2, and the lower end is connected to the symmetrically arranged nylon rope cutting module 4 via a three-way connector 3-3. When the electromagnet folding module is energized, the limiting rod 3-8 is inserted into the limiting hole of the three-way connector 3-3 to form a mechanical lock, which restricts the degree of freedom of the nylon rope cutting module 4 relative to the extension rod component 3, so that the nylon rope cutting module 4 maintains a stable horizontal posture, ensuring that the nylon rope 4-7 is parallel to the ground and in the lowest working position, so as to vertically cut the top stem of rapeseed.

[0062] like Figure 11 , Figure 12As shown, the nylon rope rotary cutting module 4 includes a motor 4-1, a motor support 4-2, a bushing positioning component 4-5, a bearing, a flat key, a bearing seat assembly consisting of an upper bearing seat 4-3 and a lower bearing seat 4-4, a spinning disc 4-6, and a nylon rope 4-7. This module achieves the cutting of the rapeseed top stems through the high-speed rotation of the nylon rope 4-7. The motor support 4-2 is fixed to the bottom crossbar 3-6 of the extension rod assembly via a pin to secure the motor 4-1. The motor 4-1 is fixed to the motor support 4-2 and provides the rotary cutting power. The bearing seat assembly, consisting of an upper bearing seat 4-3 and a lower bearing seat 4-4, is used to fix the bearing. The bushing positioning component 4-5 is installed on the inner ring of the bearing and fixed to the motor shaft via a flat key, serving to position and transmit the rotary cutting power and ensure the axial fixation of the spinning disc 4-6. The spinning disc 4-6 uses bolts to fasten the nylon rope 4-7 between the bushing positioning component 4-5 and the spinning disc 4-6 for future replacement of the nylon rope 4-7.

[0063] like Figure 7 , Figure 13 As shown, during operation, the steel wire nylon rope 2-2 will be in a taut state due to gravity, effectively reducing the impact of the inertial sway caused by the suspended load on the small wheelbase multi-rotor flight platform 1; during the landing process, thanks to the good flexibility of the steel wire nylon rope, it can play a buffering role in the cutting device, effectively reducing the impact during landing and achieving a safe landing of the cutting device.

Claims

1. A method for shaping rapeseed flower field landscapes based on drone-mounted boom cutting and topping, characterized in that, The following steps are involved: Step S1: Determine the rapeseed flower seascape design and select suitable rapeseed fields that have been planted in the seedling stage according to conventional methods as needed; Step S2: Obtain the boundary data of the target rapeseed field, adapt and integrate the field boundary with the landscape pattern in terms of size and orientation to obtain the planting area, and divide the planting area into the pattern area and the background area; calculate and plan the drone cutting and topping operation route of the pattern area according to the working width W of the drone cutting and topping device. Step S3: After the rapeseed grows to the budding stage, set the drone cutting flight parameters according to the rapeseed growth, start the cutting and topping drone, and cut, topping and remove the buds of the rapeseed in the pattern area according to the flight path planned in step S2. Step S4: After waiting for 1-2 weeks, the rapeseed in the background area will enter the flowering period, while the rapeseed in the pattern area will still be in the budding stage, presenting a landscape effect where the background area is yellow and the pattern area is green. After waiting for another 2-3 weeks, the rapeseed in the background area will enter the pod stage, while the rapeseed in the pattern area will enter the flowering stage, creating a reverse landscape effect where the background area is green and the pattern area is yellow.

2. The method for shaping rapeseed flower sea landscapes based on drone-mounted boom cutting and topping as described in claim 1, characterized in that, After step S4, once the rapeseed in the patterned area enters the pod stage, plant protection drones are used to selectively spray growth regulators to promote the rapeseed in the patterned area to mature synchronously and be harvested uniformly with the rapeseed in the background area.

3. A supporting device for a method of shaping rapeseed flower field landscapes based on drone-mounted boom cutting and topping, characterized in that, The system includes a drone and a working platform. The working platform includes a "Y"-shaped rigid-flexible connection assembly, an extension rod assembly, and a nylon rope rotary cutting module. The "Y"-shaped rigid-flexible connection assembly is installed below the drone and is used to connect the drone and the extension rod assembly. The extension rod assembly is used to increase the distance between the drone body and the nylon rope rotary cutting module, reducing the disturbance of the wind field to the rapeseed top. The nylon rope rotary cutting module is symmetrically hinged to the extension rod assembly and is used to rotate and cut the rapeseed top to achieve reverse regulation of the rapeseed growth process during the budding stage.

4. The drone-mounted boom cutting and topping device for the rapeseed flower sea landscape shaping method according to claim 3, characterized in that, The "Y"-shaped rigid-flexible connection assembly includes an external crossbar for the UAV, nylon ropes, and one-way buckles. The external crossbar for the UAV is securely connected to the UAV frame via symmetrical cross-shaped universal buckles perpendicular to the direction of travel of the UAV. The two ends of the nylon rope are connected to the external crossbar for the UAV and the upper crossbar of the extension rod assembly via one-way buckles, forming an isosceles trapezoid with the upper crossbar of the extension rod assembly as the upper base and the external crossbar for the UAV as the lower base. This is used to reduce the impact of the inertial sway of the suspended load on the UAV body and to facilitate landing.

5. The drone-mounted boom cutting and topping device for the rapeseed flower sea landscape shaping method according to claim 3, characterized in that, The extension rod assembly includes hollow carbon fiber tubes, a three-way connector, a tube folding component, and an electromagnet folding module. Multiple hollow carbon fiber tubes form a ladder-like structure, with symmetrical tube folding components installed on the middle hollow carbon fiber tubes to facilitate convenient folding and transportation of the extension rod assembly. The upper two sides of the extension rod assembly are used to connect nylon ropes to the "Y"-shaped rigid-flexible connection assembly, and the lower end is connected to the nylon rope cutting module via the three-way connector and the electromagnet folding module. After the electromagnet folding module extends, it can be inserted into the nylon rope cutting module, so that the extension rod assembly and the nylon rope cutting module are relatively fixed, thereby making the nylon rope cutting module perpendicular to the extension rod assembly and maintaining a stable horizontal posture, ensuring that the nylon rope is parallel to the ground and in the lowest working position for vertical cutting of rapeseed stalks.

6. The drone-mounted boom cutting and topping device for the rapeseed flower sea landscape shaping method according to claim 2, characterized in that, The nylon rope rotary cutting module includes a motor support, a motor, a bushing positioning component, a bearing, a flat key, a bearing housing assembly, a spinning disc, and a nylon rope. The motor support is fixed to the lower crossbar of the extension rod assembly via a pin, used to secure the motor. The motor is fixed to the motor support, providing cutting power. The bearing housing assembly consists of an upper bearing housing and a lower bearing housing, used to secure the bearing. The bushing positioning component is installed on the inner ring of the bearing and fixed to the motor shaft via a flat key, used for positioning and power transmission, ensuring axial fixation of the spinning disc. The spinning disc secures the nylon rope between the bushing positioning component and the spinning disc using bolts. The motor drives the nylon rope to rotate, thus achieving the cutting function.

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