Solid chemical fertilizer compressing and spraying device of agricultural plant protection unmanned aerial vehicle

Abstract

The invention discloses an agricultural plant protection unmanned aerial vehicle solid fertilizer compressing and spraying device which comprises a feeding device, a compressing device, a holder adjusting module, an infrared positioning module, a wind speed measuring module, an unmanned aerial vehicle, a central control module and a ground control terminal. In a working state, solid chemical fertilizer in the feeding device automatically rolls into the bottom of the box body due to gravity, the spiral feeding device in the feeding device pushes the solid chemical fertilizer into the compression device under driving of a motor, high-speed solid particle flow is formed after high-pressure compression, interference of branches is avoided in combination with infrared positioning and holder adjustment, and accurate tracing of the spraying position is achieved. The system solves the problems of uneven spraying, easy blocking by branches and leaves, fuzzy drop points and serious chemical fertilizer waste in a complex orchard environment in the prior art, has the advantages of strong anti-interference performance, accurate positioning, high chemical fertilizer utilization rate, convenient operation and the like, and is suitable for accurate plant protection operation in close planting environments such as orange forests and the like.

Description

Technical Field

[0001] This invention relates to the fields of drone application technology and agricultural plant protection equipment, specifically to an agricultural plant protection drone solid fertilizer compression spraying device with trajectory recording and reuse functions, suitable for precision fertilizer spraying operations in complex vegetation environments such as orchards. Background Technology

[0002] Traditional solid fertilizer application in citrus orchards relies mainly on manual spreading or ground machinery dispersal, which suffers from extremely low application efficiency, high labor intensity, and significant waste of solid fertilizer. Manual spreading is limited by the height and density of citrus trees, making it difficult to accurately apply fertilizer to the target areas and easily leading to direct contact between operators and fertilizer. Ground machinery is limited by the row spacing of citrus orchards, resulting in poor flexibility, easy crushing of citrus tree roots and branches, and uneven dispersal. Although general-purpose drone spreading devices have emerged in existing technologies, most of these devices lack targeted pressure adjustment designs. Solid fertilizer is dispersed by conventional gravity, resulting in weak particle penetration. In the complex environment of citrus orchards with intertwined branches, it is easily blocked by branches and leaves, leading to missed application in key areas. At the same time, the airflow from the drone propellers during dispersal can easily disturb branches, causing solid fertilizer to splash and be wasted, and may also damage fruit and tender branches. Especially in mature orange groves and other densely foliaged environments, it is necessary to achieve precise and comprehensive application of solid fertilizer to each orange tree while minimizing branch interference and fertilizer waste. Traditional methods and existing general-purpose devices are difficult to meet these requirements and have the following technical defects: the application process relies on manual labor or general-purpose equipment, resulting in low efficiency and serious omissions; there is a lack of targeted pressure optimization design, the solid particles have insufficient penetration power and are easily blocked by branches; after spraying, it is impossible to accurately locate the fertilizer landing point, which cannot ensure full coverage and is prone to repeated spraying or omissions; the device has poor adaptability and cannot match the complex planting environment of orange groves. Summary of the Invention

[0003] To address the problems of existing fertilizer spraying devices in citrus orchards, such as severe interference from tree branches, uneven spraying of solid fertilizer, unclear landing point positioning, and poor linkage between feeding and compression, this invention provides an agricultural plant protection drone solid fertilizer compression spraying device. The device includes a feeding device, a compression device, a gimbal adjustment module, an infrared positioning module, a wind speed measurement module, a drone, a central control module, and a ground control terminal. In operation, the solid fertilizer in the feeding device automatically rolls into the bottom of the container due to gravity. The spiral feeding device inside, driven by a motor, pushes the solid fertilizer into the compression device. After high-pressure compression, it forms a high-speed solid particle stream. Combined with infrared positioning and gimbal adjustment to avoid tree branch interference, it achieves precise tracking of the spraying location, improving the application effect and resource utilization rate of solid fertilizer in citrus orchards.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] This invention provides a solid fertilizer compression spraying device for agricultural plant protection drones, including a feeding device, a compression device, a gimbal adjustment module, an infrared positioning module, a wind speed measurement module, a drone, a central control module, and a ground control terminal. The feeding device is installed at the bottom of the drone and is used to store and transport solid fertilizer. The compression device is fixed at the front end of the feeding device and connected to it, and is used to pressurize and spray the solid fertilizer in a directional manner. The infrared positioning module is used to project infrared point markers onto the ground of the work area. The gimbal adjustment module is used to collect images of the work area and infrared point markers in real time. The wind speed measurement module is used to monitor the environmental wind field in real time. The central control module is located inside the drone and interacts bidirectionally with the feeding device, the compression device, the gimbal adjustment module, the infrared positioning module, and the wind speed measurement module to control the coordinated work of each module and record the work trajectory and work parameters for reuse. The ground control terminal interacts remotely with the central control module.

[0006] Furthermore, the feeding device includes a storage bin, a screw feeder, and a feeding motor. The storage bin is mounted on the connecting frame at the bottom of the drone via a quick-release connector 2. The top of the storage bin has an inlet for loading solid fertilizer into it. The bottom of the storage bin has an outlet that connects to the inlet of the compression device. The screw feeder is located at the outlet of the storage bin. Driven by the feeding motor, the screw feeder spirally pushes the solid fertilizer in the storage bin to the outlet and then transports it from the outlet to the compression device.

[0007] Furthermore, the compression device includes a compression drive motor, a compression mechanism, a compression chamber, a sleeve limiting mechanism, and a spray nozzle assembly; the compression chamber is connected to the feeding device through a feed inlet; the compression drive motor drives the compression mechanism to pressurize the solid fertilizer in the compression chamber through a gear and rack mechanism; the spray nozzle assembly is hinged at the bottom outlet position of the guide cylinder, and the spray nozzle assembly is opened and closed by the sleeve limiting mechanism. After the pressure reaches the target, the limiting constraint of the spray nozzle assembly is released to achieve directional spraying of solid fertilizer.

[0008] Furthermore, the compression mechanism includes an upper cover plate and a lower cover plate. A spring compression mechanism and a proximity switch are installed between the upper cover plate and the lower cover plate. A stop is provided at the bottom of the upper cover plate, and a locking sleeve assembly corresponding to the position of the stop is provided on the upper part of the lower cover plate. Under the drive of the compression drive motor, the compression mechanism moves axially along the compression chamber to pressurize the solid fertilizer in the compression chamber. When the pressurization stroke of the compression mechanism reaches the position corresponding to the preset pressure level, the stop and the locking sleeve assembly lock and limit the movement. At this time, the proximity switch is triggered and sends a pressure compliance signal to the central control module.

[0009] Furthermore, the compression chamber is located between the guide cylinder, the compression mechanism, and the injection port assembly.

[0010] Furthermore, the injection nozzle assembly includes multiple injection nozzle baffles, which are arranged in a conical shape and are respectively hinged to the bottom port of the guide cylinder by hinges; the sleeve limiting mechanism controls the opening and closing of the injection nozzle baffles by engaging or releasing with the hinges.

[0011] Furthermore, the sleeve limiting mechanism includes a sleeve, a small drive motor, and a spiral cam transmission mechanism; the sleeve is sleeved around the outer periphery of the bottom end of the guide cylinder, the small drive motor is fixed to the outer wall of the guide cylinder, the small drive motor is connected to the inner wall of the sleeve through the spiral cam transmission mechanism, and the bottom end of the sleeve is engaged with the hinge of the spray nozzle assembly to limit the spray nozzle assembly; the small drive motor drives the sleeve to rise along the guide cylinder and disengage from the hinge, so that the spray nozzle assembly is released from the locking constraint, and the solid fertilizer in the compression chamber is sprayed out directionally from the spray nozzle under pressure, completing the spraying action.

[0012] Furthermore, the gimbal adjustment module is a three-axis mechanical gimbal equipped with a high-definition image acquisition component.

[0013] Furthermore, the central control module includes a multi-module data fusion management module, a work path planning and optimization module, an infrared point identification and decision-making module, an equipment linkage control module, a work data storage and traceability module, and a remote communication interaction module, supporting both manual control spraying and automatic fixed-point spraying operation modes.

[0014] Furthermore, the multi-module data fusion management module is responsible for synchronously receiving the feeding status data of the feeding device, the pressure feedback data of the compression device, the environmental scanning data and ground infrared point marker data of the infrared positioning module, the attitude data of the gimbal adjustment module and the flight data of the UAV, and generating a fused operation dataset.

[0015] The operation path planning and optimization module plans the operation path based on the fused operation data, combined with manually recorded flight trajectories or preset electronic maps of the operation area, and dynamically adjusts the planned path.

[0016] The infrared point identification and decision-making module is equipped with a pre-trained image recognition model to identify the ground infrared point images transmitted by the gimbal adjustment module, and combine them with the preset spraying area coordinates to determine whether it is the target operation area.

[0017] The equipment linkage control module makes operational decisions based on the acquired data and issues control commands to each execution module, including: sending start / stop and flow rate adjustment commands to the feeding device; sending pressure level adjustment commands to the compression device; sending angle calibration and obstacle avoidance adjustment commands to the gimbal adjustment module; and sending flight attitude correction commands to the UAV.

[0018] The operation data storage and traceability module stores the drone's flight trajectory, operation parameters of each module, and infrared point images;

[0019] The remote communication interaction module enables bidirectional data transmission with the ground control terminal.

[0020] The present invention has the following beneficial effects:

[0021] Strong resistance to tree branch interference: Through the compressed directional spray design, the solid fertilizer is pressurized to form a concentrated jet, which solves the problem of spraying obstruction caused by the dense branches and leaves of the orange grove, and the fertilizer reaches the target area directly.

[0022] Precise and traceable spraying positioning: The combination of infrared positioning module and GPS dual-mode positioning accurately records the coordinates of each spraying point, generates a complete operation trajectory map, supports full coverage verification and subsequent traceability, and avoids repeated spraying or omissions.

[0023] High utilization rate of solid fertilizer: The graded compression device is adapted to different citrus forest environments and can adjust the spray pressure and particle distribution, reducing fertilizer scattering and waste. Compared with traditional spraying methods, the fertilizer utilization rate is increased by more than 30%, reducing plant protection costs.

[0024] Excellent adaptability and stability: The modular design is compatible with various plant protection drones and solid fertilizer types. The three-axis gimbal anti-shake design and high-pressure jet structure ensure that factors such as drone flight vibration and wind speed do not affect the spraying effect, adapting to the complex working environment of orange groves.

[0025] Easy to operate and highly adaptable: It supports the linkage mode of "manual trajectory recording - automatic reuse spraying". In complex areas, the trajectory can be recorded by manual operation once, and subsequent automatic fixed-point precise spraying can be carried out without manual intervention, which greatly reduces the difficulty of operation. At the same time, it is compatible with real-time manual operation and automatic operation, adapting to orange forest environments of different complexity, with an operation efficiency of 10-15 acres / hour, which is significantly better than manual plant protection.

[0026] Adaptive wind speed precision spraying: By monitoring the environmental wind field in real time through a miniature wind speed measuring device, the spray angle and the flight status of the drone are dynamically adjusted to solve the problem of fertilizer deviation caused by wind speed, and adapt to the operation in orange groves under complex weather conditions. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a plant protection drone solid fertilizer compression spraying device according to an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the assembly state of the feeding device and the compression device after filling with fertilizer according to an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the assembly state of the feeding device and the compression device after compressing fertilizer according to an embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram of the feeding device described in an embodiment of the present invention.

[0031] Figure 5 This is a cross-sectional view of the feeding device structure in an embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of the compression device structure described in an embodiment of the present invention.

[0033] Figure 7 This is a cross-sectional schematic diagram of the compression device structure described in an embodiment of the present invention.

[0034] Figure 8 This is a schematic diagram of the operation data acquired and displayed by the ground control terminal in an embodiment of the present invention.

[0035] In the picture:

[0036] 1-Feeding device; 2-Compression device; 3-Gimbal adjustment module; 4-Infrared positioning module; 5-UAV; 6-Wind speed measurement module;

[0037] 11-Storage bin; 12-Quick-release connector; 13-Screw feeder; 14-Feeding motor;

[0038] 21-Compression drive motor; 22-Gear and rack mechanism; 23-Compression mechanism; 24-Compression chamber; 25-Small drive motor; 26-Sleeve; 27-Hinge; 28-Injection nozzle baffle; 29-Guide cylinder; 231-Upper cover plate; 232-Lower cover plate; 233-Stop block; 234-Locking sleeve assembly; 291-Feed inlet. Detailed Implementation

[0039] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments:

[0040] like Figures 1 to 7As shown, this embodiment is an agricultural plant protection drone solid fertilizer compression spraying device, the main structure of which consists of a feeding device 1, a compression device 2, a gimbal adjustment module 3, an infrared positioning module 4, a wind speed measurement module 6, a drone 5, a central control module and a ground control terminal. The feeding device 1 is mounted on the connecting frame at the bottom of the UAV 5 via a quick-release connector 12; the compression device is fixed to the front end of the feeding device 1 and connected to the discharge port of the feeding device 1, used to pressurize the solid fertilizer conveyed by the feeding device 1 and spray it out in a directional manner; the infrared positioning module 4 is fixed to the front end of the compression device, used to project infrared point markers onto the ground of the work area; the gimbal adjustment module 3 is fixed to the front bottom of the UAV, used to collect images of the work area and the infrared point marker images projected by the infrared positioning module 4 in real time; the wind speed measurement module 6 is fixed to the bottom of the UAV, used to monitor the environmental wind field in real time; the central control module is located inside the UAV, and it interacts bidirectionally with the feeding device 1, the compression device 2, the gimbal adjustment module 3, the infrared positioning module 4 and the wind speed measurement module 6, respectively, collects the data collected by each module and sends command data to each module, controls the coordinated work of each module, and records the work trajectory and work parameters for reuse; the ground control terminal interacts remotely with the central control module in a bidirectional manner.

[0041] The entire device has two linked operation modes: manual control spraying and automatic fixed-point precision spraying. It supports the "manual trajectory recording - automatic reuse spraying" function: when facing a complex orange grove environment, the operator can switch to manual control spraying mode and send instructions to the central control module through the ground control terminal to control the drone's flight trajectory in real time. The operator can also control the feeding device 1's start and stop and its rate, as well as the pressurization level of the compression device 2, to accurately avoid special situations such as sudden tree branch obstruction. During this process, the central control module will automatically record the drone's flight trajectory, spray point coordinates, and corresponding operation parameters. When repeated plant protection is required for the same area or similar citrus groves, no manual operation is needed. The system can be switched to automatic fixed-point precision spraying mode: the central control module directly calls the previously recorded drone flight trajectory, spray point coordinates and corresponding operation parameters, the infrared positioning module assists in calibrating the position deviation, the central control module automatically drives the drone to fly according to the recorded flight trajectory, and synchronously instructs the feeding device 1 and the compression device 2 to work together according to the operation parameters to spray solid fertilizer in a directional manner to the target area. The gimbal adjustment module 3 verifies the spray point in real time to form a complete trajectory traceability map to ensure no omissions and no repeated spraying.

[0042] Furthermore, such as Figures 1 to 5As shown, the feeding device 1 is an independent module responsible for the storage and stable delivery of solid fertilizer. The feeding device 1 includes a storage bin 11, a quick-release connector 12, a screw feeder 13, and a feeding motor 14. The storage bin 11 is mounted on the connecting frame at the bottom of the UAV 5 via the quick-release connector 12. The storage bin 11 has an inlet at the top, through which solid fertilizer is loaded into the storage bin 11. The storage bin 11 has an outlet at the bottom, which is connected to the inlet 291 of the compression device 2. The screw feeder 13 is located at the outlet of the storage bin 11. Driven by the feeding motor 14, the screw feeder 13 spirally pushes the solid fertilizer in the storage bin 11 to the outlet and then delivers it to the compression device 2.

[0043] Preferably, in this embodiment, the storage bin 11 is made of food-grade stainless steel with a capacity of 5-10L and an anti-corrosion coating on the inner wall to prevent solid fertilizer from getting damp and sticking together; the screw feeding device 13 adopts a screw structure and the feeding rate can be adjusted within the range of 0.5-2L / min to accurately control the amount of fertilizer entering the compression device 2, providing a uniform and stable material base for subsequent compression and spraying.

[0044] Furthermore, such as Figure 2 , Figure 3 , Figure 6 , Figure 7 As shown, in this embodiment, the compression device 2 is an independent working module, mainly composed of a compression drive motor 21, a gear and rack mechanism 22, a compression mechanism 23, a guide cylinder 29, a sleeve limiting mechanism, and an injection port assembly. The guide cylinder 29 is provided with a feed inlet 291, which is sealed to the screw feeding mechanism 13 of the feeding device 1. The compression mechanism 23 is located inside the guide cylinder 29 and above the feed inlet 291. The spray nozzle assembly is hinged to the bottom outlet of the guide cylinder 29. The inner cavity of the guide cylinder 29, the compression mechanism 23, and the spray nozzle assembly form a compression chamber. The compression drive motor 21 is fixed to the outer wall of the guide cylinder 29 and provides power for the compression action. The output shaft of the compression drive motor 21 is connected to the compression mechanism 23 through a gear and rack mechanism 22 to drive the compression mechanism 23 to move up and down along the inner wall of the guide cylinder 29, thereby pressurizing the solid fertilizer delivered by the feeding device 1 to the compression chamber 24. The spray nozzle assembly is opened and closed by a sleeve limiting mechanism installed on the outer periphery of the bottom of the guide cylinder 29. When the sleeve limiting mechanism releases the limit on the spray nozzle assembly, the spray nozzle assembly unfolds into an open structure, spraying the solid fertilizer in the compression chamber 24 out.

[0045] Preferably, the compression mechanism 23 includes an upper cover plate 231 and a lower cover plate 232. A spring compression mechanism and a proximity switch are installed between the upper and lower cover plates. A stop block 233 is provided at the bottom of the upper cover plate 231, and a locking sleeve assembly corresponding to the position of the stop block 233 is provided on the upper part of the lower cover plate 232. Under the drive of the compression drive motor 21, the compression mechanism 23 moves axially along the guide cylinder 29 to pressurize the solid fertilizer in the compression chamber 24. When the pressurization stroke of the compression mechanism 23 reaches the position corresponding to the preset pressure level, the stop block 233 and the locking sleeve assembly 234 lock and limit the movement. At this time, the proximity switch is triggered and immediately sends a pressure compliance signal to the central control module, indicating that the pressure in the compression chamber 204 has met the set requirements and is ready for injection.

[0046] Specifically, in this embodiment, the stop block 233 is provided with a card interface, and the locking sleeve assembly 234 includes a locking sleeve, a locking sleeve drive motor, and a buckle provided on the locking sleeve. The locking sleeve is rotatably connected to the upper cover plate 232, and the locking sleeve is driven to rotate by the locking sleeve drive motor. The locking between the upper and lower cover plates is completed by the buckle cooperating with the card interface on the stop block.

[0047] Preferably, in this embodiment, the injection nozzle assembly includes a plurality of injection nozzle baffles 28, which are arranged in a conical shape and are respectively hinged to the bottom port of the guide cylinder 29 by hinges 27; the sleeve limiting mechanism controls the opening and closing of the injection nozzle baffles 28 by engaging or releasing with the hinges 27.

[0048] Preferably, in this embodiment, the sleeve limiting mechanism includes a sleeve 26, a small drive motor 25, and a helical cam transmission mechanism. The sleeve 26 is sleeved around the bottom outer periphery of the guide cylinder 29. The small drive motor 25 is fixed to the outer wall of the guide cylinder 29 and connected to the inner wall of the sleeve 26 through the helical cam transmission mechanism, driving the sleeve 26 to move axially along the guide cylinder 29. The bottom end of the sleeve 26 is engaged with the hinge 27 of the spray nozzle assembly. After the sleeve 26 moves upward a certain distance axially along the guide cylinder 29, it disengages from the hinge 27. The small drive motor 25 starts after receiving a command from the central control module, driving the sleeve 26 to rise along the guide cylinder 29 and disengage from the hinge 27, causing the spray nozzle assembly to disengage from the locking constraint. The solid fertilizer in the compression chamber is then sprayed out directionally from the spray nozzle under pressure, completing the spraying action.

[0049] Further, in this embodiment, the pan-tilt adjustment module 3 adopts a three-axis mechanical pan-tilt, which supports horizontal rotation of ±180° and pitch adjustment from -30° to 90°, with an adjustment accuracy of ±0.5°. The three-axis mechanical pan-tilt is equipped with a high-definition image acquisition component. The infrared positioning module 4配套with the pan-tilt adjustment module 3 is fixed at the front end of the feeding device 1, which can leave exclusive infrared position markers in the preset spraying area or the sprayed area on the ground. The high-definition image acquisition component carried by the pan-tilt observes the ground infrared positions in real time and synchronously transmits the position image data to the central control module. The central control module has a built-in position recognition algorithm, which combines the preset coordinate data of the citrus orchard spraying area to compare and analyze the position images transmitted by the pan-tilt, and determines whether the position is the target area to be sprayed. In addition, the anti-shake gyroscope built into the pan-tilt can offset the vibration interference during the flight of the drone, ensure the clarity of position observation and the stability of the spraying direction, and further improve the spraying accuracy.

[0050] Further, in this embodiment, the device adopts a micro ultrasonic wind speed sensor, which is installed at the bottom of the drone 5 and outside the pan-tilt adjustment module 3. The wind speed measurement module 6 is connected to the central control module through a waterproof communication interface, and real-time collects the wind speed and wind direction data of the operation area, and synchronously transmits them to the central control module through a wired communication link. The data collected by it is used as the core correction parameter, which cooperates with the infrared positioning and pan-tilt attitude data to achieve the three-in-one dynamic and precise control of "wind speed - angle - pressure". In this embodiment, the wind speed measurement module 6 has an IP65 dust and waterproof rating, is adapted to the outdoor operation environment of the citrus orchard, and has the characteristics of lightweight design, a measurement range of 0~15m / s, and an accuracy of ±0.1m / s.

[0051] Furthermore, the central control module is the brain of the entire spraying device, comprising a high-performance embedded AI processing platform or an industrial-grade main control computer. Internally, it deploys a multi-module data fusion management module, a work path planning and optimization module, an infrared point identification and decision-making module, an equipment linkage control module, a work data storage and traceability module, and a remote communication interaction module. The multi-module data fusion management module is responsible for synchronously receiving material feeding status data from the feeding device 1, pressure feedback data from the compression device 2, environmental scanning data and ground infrared point marker data from the infrared positioning module, gimbal attitude data from the gimbal adjustment module, and drone flight data. It generates a fused work dataset through data calibration and fusion algorithms. The work path planning and optimization module, based on the fused work data and combined with manually recorded flight trajectories or a pre-set electronic map of the orange grove, uses a path optimization algorithm to plan the optimal spraying route, and can dynamically adjust the path according to real-time branch and leaf occupancy. The infrared point identification and decision-making module is equipped with a pre-trained image recognition module. The system accurately identifies ground infrared point images transmitted by the gimbal adjustment module and, combined with preset spraying area coordinates, intelligently determines whether it is the target spraying area, outputting spraying or turning commands. The equipment linkage control module, based on the decision results, sends precise control commands to each execution module, including: sending start / stop and flow adjustment commands to the feeding device 1, pressure level adjustment commands to the compression device 2, angle calibration and obstacle avoidance adjustment commands to the gimbal adjustment module, and flight attitude correction commands to the UAV. The operation data storage and traceability module uses spraying point coordinates as an index to store UAV flight trajectories, operation parameters of each module, infrared point images, spraying effect verification data, etc., supporting local USB export and cloud synchronization, enabling long-term traceability of operation data for over 1000 acres of orange groves. The remote communication interaction module adopts a 4G+WiFi dual-mode communication scheme to achieve low-latency bidirectional data transmission with the ground control terminal, allowing operators to monitor the system's operating status in real time and remotely modify operation parameters.

[0052] The working principle of this embodiment is briefly described below:

[0053] The operator quickly connects the feeding device 1, which is filled with solid fertilizer, to the connecting frame at the bottom of the UAV using the quick-release connector 12. After completing the sealing pipeline connection, the operator starts the ground control terminal, triggering the linkage self-check of the central control module, the UAV and various functional modules. After the self-check is qualified, the central control module records the initial operation time T1 and enters the operation standby state.

[0054] The drone is operated via a ground control terminal. After takeoff and approaching the orange grove operation area, the gimbal adjustment module 3 initiates leaf scanning, transmitting environmental images to the ground terminal in real time. The operator remotely controls the drone's flight path via the terminal, simultaneously sending commands to adjust the feeding flow and set the compression pressure. This triggers the feeding device motor 14 to start, and the screw feeding device 13 to supply material at the preset flow rate. The compression device drive motor 21 starts and drives the compression mechanism downwards to apply pressure. During the downward compression of the fertilizer by the compression mechanism 23, the upper and lower covers gradually approach each other due to the reaction force, shortening the internal compression springs. The proximity switch monitors the pressure status of the compression mechanism 23 in real time. When the upper and lower covers reach a certain distance, the stop is locked by the locking sleeve, completing the mechanical limit of the upper and lower covers. At this point, the proximity switch outputs a signal indicating compliance, and spraying can begin. When the operator observes the target area on the ground, a command is issued via the ground control terminal, causing the drone's gimbal camera to rotate downwards. Simultaneously, the infrared positioning module activates, projecting infrared point markers onto the ground. Figure 8 As shown, the operator observes the calibrated infrared points through the ground control terminal, sends a spray command, and the central control module calculates and corrects the parameters based on the real-time wind speed data from the wind speed measuring device 6, and adjusts the spray angle. At this time, the small drive motor 25 starts, driving the sleeve 26 to rise and disengage from the hinge 27, the spray nozzle assembly is released from the limit, and the fertilizer is sprayed out in a directional manner. At the same time, the central control module automatically records the current UAV flight trajectory, spray point coordinates, and corresponding operation parameters to form reusable operation data.

[0055] When all infrared points in the work area have been sprayed, or when the operator sends a work completion command through the ground terminal, the system's closing process is triggered: the central control module records the work completion time T2, stops the operation of the feeding device and the compression device, triggers the gimbal adjustment module to reset to the initial attitude, and the infrared positioning module stops marking infrared points; the drone autonomously returns under the navigation command of the central control module. During this period, the central control module classifies and stores the work data and synchronizes it to the ground control terminal through the dual-mode communication module; after the drone lands in the designated area, the central control module sends a work completion prompt. The operator can export the work data through the ground control terminal for effect analysis, or quickly disassemble the storage bin 11 through the spiral quick-release module for replenishment and maintenance, thus completing the entire work process.

[0056] If the automatic, precise spraying mode is selected, the operator selects the recorded flight path or preset work area via the ground control terminal, sends an automatic operation start command, triggering the drone to take off autonomously. The infrared positioning module leaves infrared markers on the target area at preset intervals. The high-definition image acquisition component on the gimbal triggers the marker recognition process, transmitting the acquired marker images to the central control module. The central module uses a pre-trained image recognition algorithm to determine whether the infrared marker is the target spraying area. If it is determined to be a non-target area, the drone flies to the next infrared marker, pausing feeding and compression. If it is determined to be the target area, the central module immediately sends work commands to each module according to the recorded work data to perform fertilizer spraying. The gimbal adjustment module 3 triggers an infrared marker verification every 5 seconds. The central control module dynamically adjusts the drone's flight path and spraying parameters based on the verification results to ensure accurate coverage.

Claims

1. A solid fertilizer compression spraying device for agricultural plant protection drones, characterized in that, The system includes a feeding device, a compression device, a gimbal adjustment module, an infrared positioning module, a wind speed measurement module, a drone, a central control module, and a ground control terminal. The feeding device is installed at the bottom of the drone and is used to store and transport solid fertilizer. The compression device is fixed at the front end of the feeding device and connected to it, and is used to pressurize and directionally spray the solid fertilizer. The infrared positioning module is used to project infrared point markers onto the ground of the work area. The gimbal adjustment module is used to acquire images of the work area and infrared point markers in real time. The wind speed measurement module is used to monitor the environmental wind field in real time. The central control module is located inside the drone and interacts bidirectionally with the feeding device, compression device, gimbal adjustment module, infrared positioning module, and wind speed measurement module to control the coordinated operation of each module and record the work trajectory and parameters for reuse. The ground control terminal interacts remotely with the central control module.

2. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 1, characterized in that, The feeding device includes a storage bin, a screw feeder, and a feeding motor. The storage bin is mounted on a connecting frame at the bottom of the drone via a quick-release connector. The top of the storage bin has an inlet for loading solid fertilizer into it. The bottom of the storage bin has an outlet that connects to the inlet of the compression device. The screw feeder is located at the outlet of the storage bin. Driven by the feeding motor, the screw feeder spirally pushes the solid fertilizer in the storage bin to the outlet and then transports it from the outlet to the compression device.

3. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 1, characterized in that, The compression device includes a compression drive motor, a compression mechanism, a compression chamber, a sleeve limiting mechanism, and a spray nozzle assembly. The compression chamber is connected to the feeding device through a feed inlet. The compression drive motor drives the compression mechanism to pressurize the solid fertilizer in the compression chamber through a gear and rack mechanism. The spray nozzle assembly is hinged at the bottom outlet of the guide cylinder. The spray nozzle assembly is opened and closed by the sleeve limiting mechanism. After the pressure reaches the target, the limiting constraint of the spray nozzle assembly is released to achieve directional spraying of solid fertilizer.

4. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 3, characterized in that, The compression mechanism includes an upper cover plate and a lower cover plate. A spring compression mechanism and a proximity switch are installed between the upper cover plate and the lower cover plate. A stop block is provided at the bottom of the upper cover plate, and a locking sleeve assembly corresponding to the position of the stop block is provided on the upper part of the lower cover plate. Under the drive of the compression drive motor, the compression mechanism moves axially along the compression chamber to pressurize the solid fertilizer in the compression chamber. When the pressurization stroke of the compression mechanism reaches the position corresponding to the preset pressure level, the stop block and the locking sleeve assembly lock and limit the movement. At this time, the proximity switch is triggered and sends a pressure compliance signal to the central control module.

5. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 3, characterized in that, The compression chamber is located between the guide cylinder, the compression mechanism, and the injection nozzle assembly.

6. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 5, characterized in that, The injection nozzle assembly includes multiple injection nozzle baffles, which are arranged in a cone shape and are respectively hinged to the bottom port of the guide cylinder by hinges; the sleeve limiting mechanism controls the opening and closing of the injection nozzle baffles by engaging or releasing with the hinges.

7. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 5, characterized in that, The sleeve limiting mechanism includes a sleeve, a small drive motor, and a spiral cam transmission mechanism. The sleeve is fitted around the bottom outer periphery of the guide cylinder. The small drive motor is fixed to the outer wall of the guide cylinder and connected to the inner wall of the sleeve through the spiral cam transmission mechanism. The bottom end of the sleeve engages with the hinge of the spray nozzle assembly to limit the spray nozzle assembly. The small drive motor drives the sleeve to rise along the guide cylinder and disengage from the hinge, causing the spray nozzle assembly to disengage from the locking constraint. Under pressure, the solid fertilizer in the compression chamber is directionally sprayed out from the spray nozzle, completing the spraying action.

8. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 1, characterized in that, The gimbal adjustment module is a three-axis mechanical gimbal equipped with a high-definition image acquisition component.

9. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 1, characterized in that, The central control module includes a multi-module data fusion management module, a work path planning and optimization module, an infrared point identification and decision-making module, an equipment linkage control module, a work data storage and traceability module, and a remote communication interaction module, supporting two work modes: manual control spraying and automatic fixed-point spraying.

10. The solid fertilizer compression spraying device for agricultural plant protection drones as described in claim 9, characterized in that, The multi-module data fusion management module is responsible for synchronously receiving the feeding status data of the feeding device, the pressure feedback data of the compression device, the environmental scanning data and ground infrared point marker data of the infrared positioning module, the attitude data of the gimbal adjustment module and the flight data of the UAV, and generating a fused operation dataset. The operation path planning and optimization module plans the operation path based on the fused operation data, combined with manually recorded flight trajectories or preset electronic maps of the operation area, and dynamically adjusts the planned path. The infrared point identification and decision-making module is equipped with a pre-trained image recognition model to identify the ground infrared point images transmitted by the gimbal adjustment module, and combine them with the preset spraying area coordinates to determine whether it is the target operation area. The equipment linkage control module makes operational decisions based on the acquired data and issues control commands to each execution module, including: sending start / stop and flow rate adjustment commands to the feeding device; and sending pressure level adjustment commands to the compression device. Send angle calibration and obstacle avoidance adjustment commands to the gimbal adjustment module; send flight attitude correction commands to the UAV; The operation data storage and traceability module stores the drone's flight trajectory, operation parameters of each module, and infrared point images; The remote communication interaction module enables bidirectional data transmission with the ground control terminal.

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