CN114868591A - Green planting method for growing grass in pear orchard in southern Xinjiang area - Google Patents

Green planting method for growing grass in pear orchard in southern Xinjiang area Download PDF

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Publication number
CN114868591A
CN114868591A CN202210598007.2A CN202210598007A CN114868591A CN 114868591 A CN114868591 A CN 114868591A CN 202210598007 A CN202210598007 A CN 202210598007A CN 114868591 A CN114868591 A CN 114868591A
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pear
grass
matched
area
aerial vehicle
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CN202210598007.2A
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CN114868591B (en
Inventor
陈国栋
刘婵
董祯林
翟云龙
万素梅
吴全忠
毛廷勇
林皎
赵国龙
马帅国
樊文霞
李田甜
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Tarim University
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Tarim University
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
    • A01G17/005—Cultivation methods
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G20/00—Cultivation of turf, lawn or the like; Apparatus or methods therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Soil Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Water Supply & Treatment (AREA)
  • Pest Control & Pesticides (AREA)
  • Botany (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention discloses a green planting method for growing grass in a pear garden in southern Xinjiang area, which comprises the following steps: step one, laying grass growing areas among rows of a pear garden in early spring; the grass seeds in the grass growing area are configured by adopting ryegrass and trifolium pratense, the row number of the grass belts in the grass growing area is four rows or six rows of ryegrass, the row distance of the trifolium pratense is 20cm, the row distance of each row is 0.6m from a trunk, and the sowing depth is 1-2 cm; step two, applying potash fertilizer, phosphate fertilizer and urea to the grassy area, wherein the irrigation mode is ridge irrigation, the irrigation and fertilization management of the field is consistent with the management measures of the original pear orchard, and weeds within 0.5 m from the pear tree disc are removed on time every 2 months. The invention provides a green planting method for growing grass in a pear garden in southern Xinjiang, which solves the problems of soil water and fertilizer loss, organic matter content reduction and soil hardening caused by the traditional clearing management mode of the orchard by utilizing the different conserving effects of two rows of grass belts on soil water and fertilizer in the pear tree and grass intercropping mode.

Description

Green planting method for growing grass in pear orchard in southern Xinjiang area
Technical Field
The invention relates to the technical field of orchard management planting, in particular to a green and efficient planting mode for growing grass in a pear orchard.
Background
The fruit and grass combination mode is one of the characteristic modes of Xinjiang agriculture. The planting coverage rate of the Xinjiang fruit trees is high, and the Xinjiang fruit trees account for one third of the total cultivated area, because of the excellent natural conditions, the fruits and the fruits have excellent taste, are very popular with people, and the forest and fruit industry gradually becomes the characteristic industry of Xinjiang. But also has some problems, such as over-emphasis on fruit product harvest and slight consideration on the protection of the land in the forest, which leads to the breeding of plant diseases and insect pests. In contrast, returning to the original grass-wood combination is gradually becoming a good way for people to solve problems, and the fruit-grass combination mode is produced at the same time. The mode is that fruit trees and pasture are planted together, the utilization of the woodland is increased, the vegetation on the ground surface is covered, and the change of organic matters in the land can be adjusted. Meanwhile, the grass planted in the forest can also promote the growth of fruit trees, and if the forest grazing is combined, for example, practice tests show that young cattle are bred on the artificial grassland under the masson pine forest, and after four months, the weight of young cattle is increased by nearly fifty kilograms. Although the agricultural benefit under the combined action of the modes is greatly improved, the agricultural benefit is partially popularized and guided, and a single planting mode is still adopted in some areas, so that the problem that the comprehensive treatment application is accelerated and the practice is difficult is also needed.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
To achieve these objects and other advantages in accordance with the present invention, there is provided a green planting method of growing grass using a pear garden in southern Xinjiang, comprising:
step one, laying grass growing areas among rows of a pear garden in early spring;
the grass seeds in the grass growing area are configured by adopting ryegrass and trifolium pratense, the row number of the grass belts in the grass growing area is four rows or six rows of ryegrass, the row distance of the trifolium pratense is 20cm, the row distance of each row is 0.6m from a trunk, and the sowing depth is 1-2 cm;
step two, applying potash fertilizer, phosphate fertilizer and urea to the grassy area, wherein the irrigation mode is ridge irrigation, the irrigation and fertilization management of the field is consistent with the management measures of the original pear orchard, and weeds within 0.5 m from the pear tree disc are removed on time every 2 months.
Preferably, in the step one, before the arrangement of the grass growing areas, the tree discs of the pear trees are subjected to secondary management;
wherein, the diameter of the tree tray is kept between 0.5 and 0.7 meter in the secondary management, the height of the edge of the tree tray is 10 to 15 centimeters above the ground, and 35 to 50 kilograms of water is poured after each tree tray is subjected to intertillage treatment;
and (5) performing soil management on the watered tree disc by adopting a covering method.
Preferably, the method further comprises the step of building an automatic management system between the rows of the pear trees, wherein the automatic management system is configured to comprise:
the data acquisition unit is matched with the grass growing areas in each row;
the spraying units are matched with the grass growing areas in all rows;
the control unit is matched with each data acquisition unit and each spraying unit;
wherein the data acquisition unit is configured to include:
a patrol type unmanned aerial vehicle carrying at least one first camera;
a ground autonomous patrol device carrying a second camera;
a plurality of humidity sensors buried in the soil;
the spraying unit is configured to include:
an automated irrigation device buried in the soil;
carry on the medicine formula unmanned aerial vehicle that spouts of third camera.
Preferably, the ground autonomous patrol apparatus includes a robot capable of moving by itself and a background management center cooperating with the robot, and a power assembly supporting the robot to walk is mounted on the robot, and the power assembly is configured to include:
a frame-type frame;
at least two groups of wheel bodies which are arranged at the bottom of the frame and are oppositely arranged;
each group of wheel bodies are configured to be off-road wheels, each off-road wheel is provided with a power mechanism which is matched with the off-road wheel, and each power mechanism is electrically connected with a control assembly of the robot.
Preferably, the robot is further configured to include:
the robot comprises a control assembly, a Beidou positioning assembly and a sensing assembly, wherein the control assembly is used for carrying out navigation operation on a power assembly, the Beidou positioning assembly is used for acquiring position information of the robot in real time, and the sensing assembly is used for acquiring external environment information;
the background management center performs data interaction through a first communication module arranged on the robot;
a transmission shaft matched with each group of wheel bodies is arranged below the frame through at least one bearing seat matched with the frame, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a first matched gear, and the other end of the transmission shaft is meshed with the outside of the other power mechanism through a second matched gear;
the bottom of the frame is also provided with a first telescopic mechanism matched with the bearing seat.
Preferably, each district angle in the pear garden is buried underground with last first camera matched with of unmanned aerial vehicle and is stopped the pole, be provided with the code and/or infrared induction mechanism, the illumination lamps and lanterns of being convenient for unmanned aerial vehicle discernment on the pole and rather than matched with solar energy power storage mechanism.
Preferably, the control unit numbers each check rod in the pear garden in a snake shape, and the codes on each check rod have a one-to-one correspondence with each number;
the control unit constructs a patrol area and a spraying area map of the unmanned aerial vehicle based on the number of the return rod input by the user;
wherein, the construction process of the map of the patrol area and the spraying area is configured to comprise the following steps:
s10, the control unit receives the job number input by the user and the line space of the job area, and the control unit compares the received job number to find the number adjacent to the number;
s11, linking the adjacent numbers to form at least one corresponding block;
s12, selecting the minimum number on each block, arranging the minimum numbers of the blocks from small to large to obtain the operation sequence of the blocks, and configuring the sequence as a block operation task;
s13, the control unit sends the block job task and associated line spacing information to the drone for the associated patrol or spray operation.
Preferably, the workflow of the drone is configured to include:
s20, a control module in the unmanned aerial vehicle receives a block operation task sent by the control unit;
s21, the control module analyzes the block operation tasks to obtain corresponding operation sequence numbers, and configures the transverse flight distance of the unmanned aerial vehicle after each longitudinal operation based on the row spacing;
s22, after the unmanned aerial vehicle is started, automatically navigating to the position where the check rod with the smallest number is located in the pear garden, and acquiring the coding information on the current check rod through the first camera or the identification mechanism;
and S23, the control module matches the coded information with the stored serial number by the image processing or recognition mechanism, compares the matched serial number with the serial number of the current task operation sequence, performs patrol or pesticide spraying operation in a longitudinal flying mode after transverse flying for 1/2-1 line spaces if the serial number is consistent with the serial number of the current task operation sequence, and performs patrol or pesticide spraying operation in a longitudinal flying mode after transverse flying for 1.5-2 line spaces if the serial number is larger than the serial number.
Preferably, for an irregular pear garden operation area, the inclination angle between the initial number and the adjacent number can be pre-judged, so that when a user inputs operation data, the deviation angle of the unmanned aerial vehicle in longitudinal flight needs to be input;
when the unmanned aerial vehicle flies from the position of the return rod with the smaller number to the position of the return rod with the larger number, the position of the return rod with the larger number is calculated based on the current position, the current angle and the longitudinal span of the pear garden, so that a real-time flight route with two points is obtained.
The invention at least comprises the following beneficial effects: firstly, the invention utilizes the different conserving effects of the two row grass belts on soil water and fertilizer in the pear tree and grass intercropping mode, and can solve the problems of soil water and fertilizer loss, organic matter content reduction, soil hardening and the like caused by the traditional clearing management mode of the orchard.
Secondly, the check rod matched with the unmanned aerial vehicle is arranged in the pear garden to guide the unmanned aerial vehicle to operate, block division operation of the pear garden can be completed, block division management can be performed, real-time monitoring can be performed on the pear garden and the whole growth period of pasture through the unmanned aerial vehicle, labor input is reduced, meanwhile, the growth state of the pasture area can be detected in real time, the grazing area of an animal can be adjusted through the loudspeaker device arranged on the check rod, the matching of the growth of the pasture area and the grazing area of the animal is guaranteed, and the pear garden has better adaptability.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a cross-sectional structural view of a vehicle frame in accordance with an embodiment of the present invention;
fig. 2 is a block diagram of a field self-positioning control system of a robot based on Beidou navigation in an embodiment of the invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
According to the implementation form of the green planting method for growing grass in the pear garden in the southern Xinjiang area, the green planting method comprises the following steps:
step one, laying grass growing areas among rows of a pear garden in early spring;
the grass seeds in the grass growing area are configured by adopting ryegrass and trifolium pratense, the row number of grass belts in the grass growing area is four rows or six rows planted by the ryegrass, the row distance of the trifolium pratense is 20cm, each grass belt is 0.6m away from a trunk, the sowing depth is 1-2 cm, and the optimum grass seeds and the optimum row number for improving the soil capability can be embodied by designing two different grass belt row numbers;
step two, applying potash fertilizer, phosphate fertilizer and urea to the grassy area, wherein the irrigation mode is furrow irrigation, irrigation and fertilization management at each part of the field are consistent with the management measures of the original pear orchard, weeds within 0.5 m away from a pear tree disc are removed on time every 2 months, and the step can effectively avoid the competition of the weeds and the excessive water and fertilizer of the fruit trees and the interference on the effect of the grassy soil fertility improvement;
in the first step, before the arrangement of the grass growing areas, carrying out secondary management on tree discs of each pear tree;
wherein, the diameter of the tree tray is kept between 0.5 and 0.7 meter in the secondary management, the height of the edge of the tree tray is 10 to 15 centimeters above the ground, and 35 to 50 kilograms of water is poured after each tree tray is subjected to intertillage treatment;
the watered tree tray is subjected to soil management by adopting a covering method, in the scheme, the two line grass belts in the pear tree and grass growing intercropping mode have different soil water and fertilizer conservation effects, the problems of soil water and fertilizer loss, organic matter content reduction, soil hardening and the like caused by the traditional orchard clearing management mode can be solved, further secondary management can be adopted, the pear tree can not be limited in growth period, and meanwhile, the pear tree and grass can be subjected to partition management without mutual influence.
In another example, the method further comprises building an automatic management system between the rows of the pear trees, wherein the automatic management system is configured to comprise:
the data acquisition unit is matched with the grass growing areas in each row;
the spraying unit is matched with each row of grass growing areas and is used for respectively performing irrigation and water and fertilizer application on pear trees and grass in the pear orchard;
the control unit is matched with each data acquisition unit and each spraying unit and is used for comparing the information of the received data acquisition units with the information prestored in the data acquisition units and issuing corresponding tasks to the spraying units when the tasks need to be executed;
wherein the data acquisition unit is configured to include:
the patrol type unmanned aerial vehicle is provided with at least one first camera and is used for patrolling a pear garden area by the unmanned aerial vehicle according to time and seasons so as to obtain the growth state of each position of the pear garden and can be used for patrolling animals during growth of the pear garden;
the ground autonomous patrol device is provided with a second camera and used for acquiring ground information of the pear garden through the autonomous patrol device and preventing real-time deviation of patrol of the unmanned aerial vehicle when the pear garden grows too well;
the system comprises a plurality of humidity sensors buried in soil, a plurality of sensors and a control module, wherein the humidity sensors are used for acquiring soil humidity information of different positions in a pear garden so as to determine whether irrigation operation is needed according to the acquired soil information;
the spraying unit is configured to include:
an automated irrigation device buried in the soil;
and the spraying type unmanned aerial vehicle is provided with a third camera and is used for spraying a pesticide to the specified interval.
The ground autonomous patrol device is configured to include:
the self-moving robot 1 is provided with a power assembly 10 supporting the robot to walk, a control assembly 11 for carrying out navigation operation on the power assembly, a Beidou positioning assembly 12 for acquiring position information of the robot in real time and a sensing assembly 13 for acquiring external environment information, wherein the sensing assembly, the Beidou navigation assembly and the power assembly are configured to be in communication connection with the control assembly, in the structure, the robot walks according to the power provided by the power assembly, the control assembly controls the walking of the robot according to map navigation in the field so as to patrol according to a map stored by the robot, the Beidou positioning assembly is used for positioning the position of the robot in real time so as to correct the walking position of the robot in real time according to navigation, and simultaneously can return the current patrol position to a background management center in real time according to the navigation positioning, the robot position acquisition is facilitated for operators, and the sensing assembly is used for acquiring obstacles in the walking direction of the robot in real time so as to facilitate real-time obstacle avoidance of the robot;
the background management center 2 is used for carrying out data interaction through a first communication module 14 arranged on the robot, is used for carrying out background real-time tracking and checking on the working state of the robot by an operator and simultaneously sending a working instruction to the robot in real time, is set into a wireless communication module according to needs, and is integrated at the position of the background management center by a control unit for issuing a corresponding operation task;
the power assembly is configured to include:
the frame type frame 3 is used for carrying the control assembly, the Beidou positioning assembly and the induction assembly, and equipment contained in the machine is fixed and protected through the frame type frame;
the at least two sets of wheel bodies 4 are arranged at the bottom of the frame and are oppositely arranged, the robot can walk as required through the plurality of sets of wheel bodies which are oppositely arranged, the patrol operation is completed, and the layout of the wheel bodies can be configured according to the size of the robot body;
the wheel bodies of each group are configured to be off-road wheels, the power mechanisms 5 which are matched with each other are arranged on the off-road wheels respectively, and each power mechanism is electrically connected with the control assembly;
under the frame, a transmission shaft 51 matched with each group of wheel bodies is arranged through at least one bearing seat 50 matched with each other, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a first gear 52 matched with each other, the other end of the transmission shaft is meshed with the outside of the other power mechanism arranged oppositely through a second gear 53 matched with each other, in the structure, each wheel body can work independently, and the power of the wheel body on one side can be transmitted to the other side through the action of the transmission shaft, so that a group of transmission wheels can be driven to be in a working state only by one power mechanism in the working state, under the matching of the structure, a group of wheel bodies arranged oppositely is taken as an example, a cylindrical packaging shell of one power mechanism is arranged under the frame through the bearing seat 53 matched with each other, so that the power mechanisms can rotate under the action of external force, the power output end is connected with the corresponding cross-country wheel through a first coupling, the power output end of another power mechanism is connected with the corresponding cross-country wheel through a second coupling, a first gear arranged on the power output end of the power mechanism is matched with a first gear on the transmission shaft to output the rotating acting force to the other end, a second gear arranged on the other end of the transmission shaft is meshed with a second gear arranged on the outside of the power mechanism (the outside of the power mechanism is matched with a bearing seat through a cylindrical structure and fixed at the bottom of the frame) to realize power transmission, so that the power mechanism can drive a group of wheel bodies to rotate under the working condition of the power mechanism, and the bearing seat matched with the transmission shaft can be arranged into a telescopic structure as required, namely, the bearing seat is connected with the first telescopic mechanism arranged at the bottom of the frame, when the gear shifting mechanism needs to be used, the meshing of the first gear and the second gear is adjusted by adjusting the position of the bearing seat so as to adapt to the switching of different working states.
The frame bottom still is provided with the first telescopic machanism with bearing frame matched with, under this condition, through the setting of first telescopic machanism, make the space height of transmission shaft adjust as required, with the meshing condition of adjusting the epaxial first gear of transmission, second gear and power output axle, motor housing, when using promptly, just down the position of transmission shaft, make its meshing accomplish a motor and drive two wheel motions, all the other times, the transmission shaft does not contact with power output axle, motor housing, each motor controls the wheel that corresponds respectively and is in operating condition, with the needs of walking under the different occasions of adaptation.
In another example, as shown in FIG. 2, the control component is configured to employ an industrial board for transmission;
the Beidou positioning component is configured to adopt a Beidou positioning module, and is used for realizing real-time positioning of the robot in work;
the sensing assembly is configured to include:
the at least one camera 130 for collecting the environmental information can be set into a plurality of cameras through a telescopic mechanism according to needs so as to adapt to the collection of the environmental information or crop information at different heights, and meanwhile, the cameras can be arranged at different positions of a rack of the robot according to needs so as to adapt to the collection needs of different environmental information;
a gyroscope 131 for acquiring positional information of the robot;
an infrared ranging or ultrasonic ranging module 132 for detecting external robot obstacle information;
the tilt sensor 133 for detecting the current horizontal offset angle of the robot is configured with a matched sensing component design in this scheme, so that the robot can rapidly acquire the required environmental data information, thereby facilitating the requirement of patrol and the requirement of navigation patrol.
As shown in fig. 1, in another example, a housing 6 for encapsulating the control assembly, the camera and the beidou positioning module is arranged in the frame;
the camera and the Beidou navigation module are respectively matched with a mounting seat 60 which is arranged in the shell;
wherein, each mount pad is connected through matched with second telescopic machanism 61 with the casing bottom, and be provided with rotatory cloud platform 62 between mount pad and the telescopic machanism, in this kind of structure, accomplish the encapsulation to equipment through the casing, protect each equipment, to the camera through the mount pad, big dipper navigation module installs, the effect lies in making the camera, big dipper navigation module can carry out height control by the setting of second telescopic machanism, and the effect of rotatory cloud platform, make the camera fix a position as required and make a video recording, make big dipper navigation module can adjust its position appearance, realize more stable location, in order to adapt to complicated changeable operational environment.
As shown in fig. 1, in another example, a window 63 through which a camera and a beidou navigation module can extend is formed in the housing portion, and a door body 64 matched with the window is pivotally connected to the window;
wherein, be provided with backstop portion 65 of injecing door body closed position on the casing, just be provided with the matched with sealing strip on the backstop portion, in this kind of structure, the effect of the door body lies in when camera, big dipper navigation module are in off-working condition, encapsulates it, and the effect of backstop portion lies in to injecing the door body position that the pin joint set up, prevents that it from being absorbed in too deeply, causes the damage to equipment, and the effect of sealing strip lies in making the equipment sealed effect outward better, vibrations and the noise that produces when can alleviate the door body and close simultaneously.
In another example, each corner of the pear garden is embedded with a check rod matched with a first camera on the unmanned aerial vehicle, the return rod is provided with a coding and/or infrared sensing mechanism convenient for the unmanned aerial vehicle to identify, a lighting lamp and a solar power storage mechanism matched with the lighting lamp, in the proposal, the block dividing treatment can be carried out on the pear garden in a larger range by arranging a plurality of matched stop rods in the pear garden, so that the pesticide can be treated in different areas when patrolling or spraying the pesticide, the better adaptability of the operation process is ensured, furthermore, the matched codes are arranged on the return rod, so that the unmanned aerial vehicle can conveniently identify the position of the return rod, the unmanned aerial vehicle can be conveniently positioned during operation, meanwhile, the pear garden can be differentially operated in different regions through coding, and the unmanned aerial vehicle can be guided to work in different regions;
and the effect of lamps and lanterns for the illumination, can carry out the light filling for the operation at night, can be through the effect of illumination to the animal that need not be raised in captivity, the rotation through fourth camera on the back-off lever carries out real-time supervision to the animal, and further, can also set up matched with infrared monitoring mechanism on the back-off lever, when the animal breaks away from at night, carry out the benefit through the camera and grab the position that the animal was located, its working method is similar to the night of day net and takes a candid photograph the function, and solar energy electric power storage mechanism can provide electric power for other equipment on illuminating tool and the back-off lever, reduce the electric wire arrangement in the region.
The stopping rod is provided with a fourth camera and a loud speaker mechanism which are matched with each other, and further, when the animal is separated from the grazing area or the pasture in the grazing area is not suitable for the animal to continue eating, the recorded sound is emitted by the loud speaker mechanism to guide the grazing area of the animal;
furthermore, patrol unmanned aerial vehicle can also monitor the position at animal place in real time, carry out real-time passback to the forage grass growing conditions at this position simultaneously, the control unit can be real-time handles the information of passback, if judge that this position of structure is unsuitable animal continues grazing through image information, then drive and its nearest position stop pole on the mechanism of raising one's voice drive the animal and remove, and according to the drive of the mechanism of raising one's voice on the different position stop poles, control the animal and advance to specific interval, realize automatic grazing.
In another example, the control unit numbers the check rods in the pear garden in a snake shape, codes on the check rods have one-to-one correspondence with the numbers, in the method, the unmanned aerial vehicle is convenient to identify through the codes, the codes of the check rods are unique and can correspond to the number of one check rod, so that the number of the check rod in the pear garden can be obtained through identifying the codes, the check rod can be divided into a plurality of sections according to the external geographical environment of the pear garden, each section is provided with different codes and numbers, and whether an operation section corresponds to a released task section or not is judged by reading the numbers;
the control unit constructs a patrol area and a spraying area map of the unmanned aerial vehicle based on the number of the return rod input by the user;
wherein, the construction process of the map of the patrol area and the spraying area is configured to comprise the following steps:
s10, the control unit receives the job number input by the user and the line space of the job area, and the control unit compares the received job number to find the number adjacent to the number;
s11, linking the adjacent numbers to form at least one corresponding block;
s12, selecting the minimum number on each block, arranging the minimum numbers of the blocks from small to large to obtain the operation sequence of the blocks, and configuring the sequence as a block operation task;
s13, the control unit sends the block operation task and the related line spacing information to the unmanned aerial vehicle to perform related patrol or pesticide spraying operation, in the scheme, the control unit in the center of the background pipeline receives the related operation information input by the user and processes the operation information to obtain the corresponding operation task, each code can correspond to one number when in actual application, so that the user can conveniently position and distinguish the position of the return rod, and the operation task interval of the unmanned aerial vehicle is obtained by processing the number input by the user, so that the partitioned block operation of the pear garden can be realized, for example, only the spraying operation can be performed on places with pests, and only the spraying operation can be performed on partial intervals with water shortage on the slope according to the design of the return rod, and the fine management of the pear garden is realized;
furthermore, during practical application, the control unit can also pre-store the position information of each return rod, after the number is identified, the position information of the number can be obtained, so that the unmanned aerial vehicle is guided to reach the position to perform task operation based on the position information, during simultaneous operation, whether the terminal area of the operation task is reached can be judged by comparison, and the line spacing information input by a user can guide the spacing distance of the turning around of the unmanned aerial vehicle after flying every time, so that the unmanned aerial vehicle can be matched with the line spacing in different pear gardens and the grass planting area.
In another example, the workflow of the drone is configured to include:
s20, the control module in the unmanned aerial vehicle receives the block operation task sent by the control unit;
s21, the control module analyzes the block operation tasks to obtain corresponding operation sequence numbers, and configures the transverse flight distance of the unmanned aerial vehicle after each longitudinal operation based on the row spacing;
s22, after the unmanned aerial vehicle is started, automatically navigating to the position where the check rod with the smallest number is located in the pear garden, and acquiring the coding information on the current check rod through the first camera or the identification mechanism;
s23, the control module matches the coded information with the stored number by the image processing or recognition mechanism, and compares the matched number with the current task sequence number, if the coded number is consistent with the current task sequence number, after 1/2-1 horizontal flying line spaces, the patrol or pesticide spraying operation is carried out in a vertical flying mode, if the coded number is larger than the current task sequence number, after 1.5-2 horizontal flying line spaces, the patrol or pesticide spraying operation is carried out in a vertical flying mode.
In another example, for an irregular pear garden operation area, the inclination angle between the initial number and the adjacent number can be pre-judged, so that when a user inputs operation data, the deviation angle of the unmanned aerial vehicle in longitudinal flight needs to be input;
when the unmanned aerial vehicle flies from the position of the return rod with the smaller number to the position of the return rod with the larger number, the position of the return rod with the larger number is calculated based on the current position, the current angle and the longitudinal span of the pear garden so as to obtain the real-time flight routes with two points, so that the unmanned aerial vehicle can adapt to the routing inspection and spraying operation of different plots, and has better adaptability.
The above scheme is merely illustrative of a preferred example, and is not limiting. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.

Claims (9)

1. A green planting method for growing grass in a pear garden in southern Xinjiang area is characterized by comprising the following steps:
step one, laying a grass growing area between rows of a pear garden in early spring;
the grass seeds in the grass growing area are configured by adopting ryegrass and trifolium pratense, the row number of the grass belts in the grass growing area is four rows or six rows of ryegrass, the row distance of the trifolium pratense is 20cm, the row distance of each row is 0.6m from a trunk, and the sowing depth is 1-2 cm;
step two, applying potash fertilizer, phosphate fertilizer and urea to the grassy area, wherein the irrigation mode is ridge irrigation, the irrigation and fertilization management of the field is consistent with the management measures of the original pear orchard, and weeds within 0.5 m from the pear tree disc are removed on time every 2 months.
2. The method for green cultivation of grasses in a pear orchard in the southern Xinjiang area according to claim 1, wherein in the step one, before the grasses are laid in the grasses area, the tree discs of each pear tree are subjected to secondary management;
wherein, the diameter of the tree tray is kept between 0.5 and 0.7 meter in the secondary management, the height of the edge of the tree tray is 10 to 15 centimeters above the ground, and 35 to 50 kilograms of water is poured after each tree tray is subjected to intertillage treatment;
and (5) performing soil management on the watered tree disc by adopting a covering method.
3. The method of claim 1, further comprising building an automated management system between rows of the pear trees, configured to include:
the data acquisition unit is matched with the grass growing areas in each row;
the spraying units are matched with the grass growing areas in all rows;
the control unit is matched with each data acquisition unit and each spraying unit;
wherein the data acquisition unit is configured to include:
a patrol type unmanned aerial vehicle carrying at least one first camera;
a ground autonomous patrol device carrying a second camera;
a plurality of humidity sensors buried in the soil;
the spraying unit is configured to include:
an automated irrigation device buried in the soil;
carry on the medicine formula unmanned aerial vehicle that spouts of third camera.
4. The method for green planting of grasses in a pear garden in southern Xinjiang according to claim 3, wherein the ground autonomous patrol device comprises a self-moving robot and a background management center matched with the robot, and a power assembly supporting the robot to walk is mounted on the ground autonomous patrol device, and the power assembly is configured to comprise:
a frame-type frame;
at least two groups of wheel bodies which are arranged at the bottom of the frame and are oppositely arranged;
each group of wheel bodies are configured to be off-road wheels, each off-road wheel is provided with a power mechanism which is matched with the off-road wheel, and each power mechanism is electrically connected with a control assembly of the robot.
5. The method of claim 4, wherein the robot is further configured to include:
the robot comprises a control assembly, a Beidou positioning assembly and a sensing assembly, wherein the control assembly is used for carrying out navigation operation on a power assembly, the Beidou positioning assembly is used for acquiring position information of the robot in real time, and the sensing assembly is used for acquiring external environment information;
the background management center performs data interaction through a first communication module arranged on the robot;
a transmission shaft matched with each group of wheel bodies is arranged below the frame through at least one bearing seat matched with the frame, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a first matched gear, and the other end of the transmission shaft is meshed with the outside of the other power mechanism through a second matched gear;
the bottom of the frame is also provided with a first telescopic mechanism matched with the bearing seat.
6. The method for green planting of grasses in a pear garden in southern Xinjiang according to claim 3, wherein a check rod matched with the first camera of the unmanned aerial vehicle is embedded in each corner of the pear garden, and a coding and/or infrared sensing mechanism, a lighting lamp and a solar power storage mechanism matched with the lighting lamp are arranged on the check rod and are convenient for the unmanned aerial vehicle to recognize;
and the stopping rod is provided with a fourth camera and a loudspeaker mechanism which are matched with each other.
7. The method for growing grasses on a pear garden in southern Xinjiang according to claim 6, wherein the control unit numbers each of the check rods in the pear garden in a serpentine shape, and the codes on each of the check rods have a one-to-one correspondence with the numbers;
the control unit constructs a patrol area and a spraying area map of the unmanned aerial vehicle based on the number of the return rod input by the user;
wherein, the construction process of the map of the patrol area and the spraying area is configured to comprise the following steps:
s10, the control unit receives the job number input by the user and the line space of the job area, and the control unit compares the received job number to find the number adjacent to the number;
s11, linking the adjacent numbers to form at least one corresponding block;
s12, selecting the minimum number on each block, arranging the minimum numbers of the blocks from small to large to obtain the operation sequence of the blocks, and configuring the sequence as a block operation task;
s13, the control unit sends the block job task and associated line spacing information to the drone for the associated patrol or spray operation.
8. The method of claim 6, wherein the unmanned aerial vehicle workflow is configured to include:
s20, the control module in the unmanned aerial vehicle receives the block operation task sent by the control unit;
s21, the control module analyzes the block operation tasks to obtain corresponding operation sequence numbers, and configures the transverse flight distance of the unmanned aerial vehicle after each longitudinal operation based on the row spacing;
s22, after the unmanned aerial vehicle is started, automatically navigating to the position where the check rod with the smallest number is located in the pear garden, and acquiring the coding information on the current check rod through the first camera or the identification mechanism;
and S23, the control module matches the coded information with the stored serial number by the image processing or recognition mechanism, compares the matched serial number with the serial number of the current task operation sequence, performs patrol or pesticide spraying operation in a longitudinal flying mode after transverse flying for 1/2-1 line spaces if the serial number is consistent with the serial number of the current task operation sequence, and performs patrol or pesticide spraying operation in a longitudinal flying mode after transverse flying for 1.5-2 line spaces if the serial number is larger than the serial number.
9. The green planting method for growing grass in a pear garden in the southern Xinjiang area according to claim 8, wherein for irregular pear garden operation areas, the inclination angle between the initial number and the adjacent number can be pre-judged, so that when a user inputs operation data, the deviation angle of the unmanned aerial vehicle in longitudinal flight needs to be input;
when the unmanned aerial vehicle flies from the position of the return rod with the smaller number to the position of the return rod with the larger number, the position of the return rod with the larger number is calculated based on the current position, the current angle and the longitudinal span of the pear garden, so that a real-time flight route with two points is obtained.
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