CN114868591B - Green planting method for growing grass in pear orchard in south ARUM - Google Patents

Green planting method for growing grass in pear orchard in south ARUM Download PDF

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Publication number
CN114868591B
CN114868591B CN202210598007.2A CN202210598007A CN114868591B CN 114868591 B CN114868591 B CN 114868591B CN 202210598007 A CN202210598007 A CN 202210598007A CN 114868591 B CN114868591 B CN 114868591B
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China
Prior art keywords
grass
pear
matched
rows
aerial vehicle
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CN114868591A (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; ARRANGEMENTS 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; ARRANGEMENTS 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

Abstract

The invention discloses a green planting method for growing grass in pear gardens in south China, which comprises the following steps: step one, arranging grass growing areas among pear orchards in early spring; the grass seeds in the grass growing area are configured to adopt ryegrass and white clover, the number of rows of grass belts in the grass growing area is four rows or six rows of ryegrass planting, the white clover is planted in six rows and four rows, the row spacing of each row is 20cm, each grass belt is 0.6m away from a trunk, and the sowing depth is 1-2 cm; and secondly, applying potash fertilizer, phosphate fertilizer and urea into the grass growing area, wherein the irrigation mode is furrow irrigation, and thereafter irrigation and fertilization management at all parts of the field are consistent with the management measures of the original pear orchard, but the weeds in 0.5 m from the pear tree tray are pulled out on time every 2 months. The invention provides a green planting method for growing grass in a pear garden in a south ARUM, which can solve the problems of soil water and fertilizer loss, organic matter content reduction and soil hardening caused by the traditional clear-tillage management mode of an orchard by utilizing the different conservation effects of two row grass strips on soil water and fertilizer in a pear tree and grass intercropping mode.

Description

Green planting method for growing grass in pear orchard in south ARUM
Technical Field
The invention relates to the technical field of orchard management planting, in particular to a green efficient planting mode for pear orchards grasses.
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 planting coverage rate is one third of the total cultivated area, so that the fruit trees are very good in taste due to the excellent natural conditions, are popular with people, and the forest and fruit industry is gradually the special industry of the Xinjiang. However, there are some problems, such as that harvesting of melon and fruit products is considered too much, and the protection of land in forests is light, so that plant diseases and insect pests are caused. In this way, the original combination of the plants is returned, so that the method becomes a good party for solving the problem, and the combination mode of the fruits and the plants is developed. The mode is that fruit trees and pastures are planted together, so that the land utilization in forests is increased, the surface vegetation is covered, and the change of organic matters in the land can be regulated. Meanwhile, the growth of fruit trees can be promoted by planting grass under the forest, and if the artificial grass under the pinus massoniana forest is used for raising young cattle through combination with the forest grazing, for example, after four months, the young cattle weight is increased by approximately fifty kilograms. Although the agricultural benefits under the combined action of the modes are greatly improved, because part of popularization and guidance are not in place, some areas still adopt a single planting mode, and therefore the problem that comprehensive treatment and application solutions are difficult to practice is also required to be quickened.
Disclosure of Invention
It is an object of the present invention to address at least the above problems and/or disadvantages and to provide at least the advantages described below.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a green planting method using pear garden grasses in a south China area, comprising:
step one, arranging grass growing areas among pear orchards in early spring;
the grass seeds in the grass growing area are configured to adopt ryegrass and white clover, the number of rows of grass belts in the grass growing area is four rows or six rows of ryegrass planting, the number of rows of white clover planting is six rows or four rows, the row spacing of each row is 20cm, the distance between each grass belt and the trunk is 0.6m, and the sowing depth is 1-2 cm;
and secondly, applying potash fertilizer, phosphate fertilizer and urea into the grass growing area, wherein the irrigation mode is furrow irrigation, and thereafter irrigation and fertilization management at all parts of the field are consistent with the management measures of the original pear orchard, but the weeds in 0.5 m from the pear tree tray are pulled out on time every 2 months.
Preferably, in the first step, the tree plates of the pear trees are secondarily managed before the grass growing area is laid;
wherein, the diameter of the tree disk is kept between 0.5 and 0.7 meter in the secondary management, the height of the edge of the tree disk is 10 to 15 cm above the ground, and 35 to 50 kg of water is poured after each tree disk is subjected to intertillage treatment;
and (5) carrying out soil management on the tree plates after watering by adopting a covering method.
Preferably, the method further comprises building an automated management system between each row of pear trees, configured to include:
the data acquisition units are matched with each row of grass growing areas;
a spraying unit matched with each row of grass growing areas;
the control unit is matched with each data acquisition unit and each spraying unit;
wherein the data acquisition unit is configured to include:
patrol unmanned aerial vehicle carrying at least one first camera;
the ground autonomous patrol device is provided with a second camera;
a plurality of humidity sensors buried in the soil;
the spraying unit is configured to include:
an automatic irrigation device buried in the soil;
and the drug spraying type unmanned aerial vehicle is provided with a third camera.
Preferably, the ground autonomous patrol device includes a robot capable of moving by itself 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 include:
a frame-type vehicle frame;
at least two sets of wheels which are arranged at the bottom of the frame and are oppositely arranged;
wherein, each group wheel body is configured to adopt cross-country wheel, and is provided with matched power mechanism on each cross-country wheel respectively, and each power mechanism is connected with the control assembly electricity of robot.
Preferably, the robot is further configured to include:
the power assembly comprises a control assembly for performing navigation operation on the power assembly, a Beidou positioning assembly for acquiring position information of the robot in real time, and an induction assembly for acquiring external environment information, wherein the induction assembly, the Beidou navigation assembly and the power assembly are configured to be in communication connection with the control assembly;
the background management center performs data interaction through a first communication module arranged on the robot;
a transmission shaft matched with each group of wheels is arranged below the frame through at least one matched bearing seat, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a matched first gear, and the other end of the transmission shaft is meshed with the outside of the other power mechanism through a matched second gear;
the bottom of the frame is also provided with a first telescopic mechanism matched with the bearing seat.
Preferably, each zone corner of the pear garden is buried with a return rod matched with the first camera on the unmanned aerial vehicle, and the return rod is provided with a code and/or an infrared induction mechanism, a lighting lamp and a solar energy power storage mechanism matched with the code and/or the infrared induction mechanism, the lighting lamp which are convenient for the unmanned aerial vehicle to recognize.
Preferably, the control unit numbers each return rod in the pear garden in a serpentine shape, and the codes on each return rod have a one-to-one correspondence with each number;
the control unit constructs a patrol area and a pesticide spraying area map of the unmanned aerial vehicle based on the number of the loop bar input by the user;
the construction flow of the patrol area and the pesticide spraying area map is configured to comprise:
s10, the control unit receives a job number input by a user and a row spacing of a job area, and compares the received job number to find a number adjacent to the number;
s11, hooking the adjacent numbers to form at least one corresponding block;
s12, selecting the minimum number of each block, arranging the minimum numbers of each block from small to large to obtain the operation sequence of each block, and configuring the sequence as a block operation task;
s13, the control unit sends the block operation task and the related row spacing information to the unmanned aerial vehicle so as to carry out related patrol or pesticide spraying operation.
Preferably, the workflow of the unmanned aerial vehicle is configured to include:
s20, a control module in the unmanned aerial vehicle receives a block operation task sent by a control unit;
s21, the control module analyzes the block operation tasks to obtain corresponding operation sequence numbers, and configures the distance of the unmanned aerial vehicle to fly transversely after each longitudinal operation based on the line spacing;
s22, after the unmanned aerial vehicle is started, automatically navigating to the position of the return rod with the minimum pear garden number, and acquiring the coding information on the current return rod through a first camera or an identification mechanism;
s23, the control module matches the coding information with the stored number by the image processing or identifying mechanism, compares the matched number with the current operation sequence number of the task, and carries out patrol or pesticide spraying operation in a longitudinal flight mode after transversely flying for 1/2-1 row spacing if the matching number is consistent, and carries out patrol or pesticide spraying operation in a longitudinal flight mode after transversely flying for 1.5-2 row spacing if the matching number is greater than the current operation sequence number of the task.
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 plane in longitudinal flight needs to be input;
when the unmanned aerial vehicle flies from the position of the smaller-number return rod to the position of the larger-number return rod, the position of the larger-number return rod is calculated based on the current position, the 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 conservation effects of two row grass strips on soil and water fertilizers in the intercropping mode of pear trees and grasses, and can solve the problems of soil and water fertilizer loss, organic matter content reduction, soil hardening and the like caused by the traditional clear-tillage management mode of an orchard.
Secondly, the invention guides the unmanned aerial vehicle to operate by arranging the return rod matched with the unmanned aerial vehicle in the pear garden, can complete the partition block operation of the pear garden, manages the partition blocks, monitors the whole growth period of the pear garden and pasture in real time by the unmanned aerial vehicle, reduces the investment of labor force, and simultaneously can also adjust the grazing zone of animals by detecting the growth state of the grass zone in real time and by the loudspeaker equipment arranged on the return rod, ensures that the growth of the grass zone is matched with the grazing zone of the animals, and 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 schematic cross-sectional view of a frame according to an embodiment of the present invention;
fig. 2 is a block diagram of a robot field self-positioning control system based on Beidou navigation according to an embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
According to the invention, the implementation form of the green planting method for growing grass in pear orchard in south ARUM comprises the following steps:
step one, arranging grass growing areas among pear orchards in early spring;
the grass seeds in the grass growing area are configured to adopt ryegrass and white clover, the number of rows of grass strips in the grass growing area is four or six rows of ryegrass planting, the number of rows of white clover planting is six or four rows of ryegrass planting, the row spacing of each row is 20cm, each grass strip is 0.6m away from a trunk, the sowing depth is 1-2 cm, and grass seeds with optimal soil improvement capacity and optimal row numbers can be embodied by designing two different rows of grass strips;
secondly, applying potash fertilizer, phosphate fertilizer and urea to the grassland, wherein the irrigation mode is furrow irrigation, and then irrigation and fertilization management at all parts of the field are consistent with the management measures of the original pear garden, but weeds in 0.5 meter away from the pear tree tray are pulled out on time every 2 months, so that the step can effectively avoid competition of the weeds with excessive water and fertilizer of fruit trees and interference on the soil effect of grassland fertilization;
in the first step, before the grass growing area is laid, the tree plates of the pear trees are subjected to secondary management;
wherein, the diameter of the tree disk is kept between 0.5 and 0.7 meter in the secondary management, the height of the edge of the tree disk is 10 to 15 cm above the ground, and 35 to 50 kg of water is poured after each tree disk is subjected to intertillage treatment;
in the scheme, the problem of soil water and fertilizer loss, organic matter content reduction, soil hardening and the like caused by the traditional clear-tillage management mode of an orchard can be solved by utilizing the conservation effect of two row grass strips in the intercropping mode of pear trees and grasses on different soil water and fertilizer, and further, the pear trees are not limited in growth period through secondary management, and meanwhile, the pear trees and grasses can be managed in a partitioning mode without mutual influence.
In another example, further comprising building an automated management system between rows of pear trees configured to include:
the data acquisition units are matched with each row of grass growing areas;
the spraying units are matched with each row of grass growing areas and are used for respectively irrigating and applying water and fertilizer to pear trees and grass in the pear garden;
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 received data acquisition units and issuing corresponding tasks to the spraying units when the tasks are required to be executed;
wherein the data acquisition unit is configured to include:
the patrol unmanned aerial vehicle with the at least one first camera is used for carrying out patrol operation on a pear garden area through the unmanned aerial vehicle in time and seasons to obtain the growth state of each position of the pear garden, and can also be used for patrol of animals during the growth of the pear garden;
the ground autonomous patrol device is provided with a second camera and is used for acquiring ground information of the pear garden through the autonomous patrol device and preventing real-time deviation of unmanned aerial vehicle patrol when the pear garden grows well;
the plurality of humidity sensors are buried in the soil and are used for acquiring soil humidity information of different positions in the 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 automatic irrigation device buried in the soil;
the third camera-mounted pesticide spraying unmanned aerial vehicle is used for spraying pesticide to a designated section.
The ground autonomous patrol device is configured to include:
the robot 1 capable of moving by oneself is provided with a power component 10 supporting the robot to walk, a control component 11 performing navigation operation on the power component, a Beidou positioning component 12 acquiring the position information of the robot in real time, and an induction component 13 acquiring the external environment information, wherein the induction component, the Beidou navigation component and the power component are configured to be in communication connection with the control component;
the background management center 2 performs data interaction through a first communication module 14 arranged on the robot, is used for an operator to track and check the working state of the robot in the background in real time, simultaneously sends working instructions to the robot in real time, the first communication module is set into a wireless communication module according to the requirement, and the control unit is integrated at the position of the background management center and is used for issuing corresponding operation tasks;
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;
at least two groups of wheels 4 which are arranged at the bottom of the frame and are opposite to each other, the robot can walk according to the need through the plurality of groups of wheels which are arranged opposite to each other, the inspection operation is completed, and the layout of the wheels can be configured according to the size of the robot body;
wherein, each group of wheel bodies is configured to be cross-country wheels, each cross-country wheel is respectively provided with a matched power mechanism 5, and each power mechanism is electrically connected with a control component, in the structure, the structure of each wheel body is limited, so that the cross-country wheel can adapt to a smooth inspection road section and also can adapt to a complex road surface environment, and meanwhile, each motor is provided with a matched power mechanism, so that the working state, the rotating speed and the like of each wheel body can be respectively controlled and switched in actual operation to adapt to the travelling requirement of a robot in the complex environment, and each power mechanism is respectively matched with the control component, so that the control component can independently control the working state of each wheel body, thereby having better adaptability;
the transmission shaft 51 matched with each group of wheels is arranged below the frame through at least one bearing seat 50 matched with the frame, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a matched first gear 52, the other end of the transmission shaft is meshed with the outside of the other power mechanism which is oppositely arranged through a matched second gear 53, in the structure, each wheel body can independently work, the power of one wheel body can be transmitted to the other side through the action of the transmission shaft, only one power mechanism is in a working state to drive one group of transmission wheels to be in a working state, under the matching of the structure, a group of oppositely arranged wheel bodies are taken as an example, a cylindrical packaging shell of one power mechanism is arranged below the frame through a matched bearing seat 54, so that the power mechanism can rotate under the action of external force, the power output end of the other power mechanism is connected with the corresponding cross-country wheel through a first coupling, the power output end of the other power mechanism is connected with the corresponding cross-country wheel through a second coupling, the first gear arranged on the power output end of the one power mechanism is matched with the first gear on the transmission shaft, the other end of the other power mechanism is in a rotating state, the other end of the power mechanism is arranged on the bottom of the frame through the matched shaft, and the other end of the transmission mechanism is in a telescopic structure, the telescopic structure is arranged on the bottom of the frame through the matched with the first gear, and the other end is matched with the frame, and can be arranged on the bottom the frame through the transmission shaft with the other side, when the gear is needed 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 kind of circumstances, through the setting of first telescopic machanism for the space height of transmission shaft can be adjusted as required, with the meshing condition of first gear, second gear and power output shaft, motor housing on the adjustment transmission shaft, when using promptly, just down adjust the position of transmission shaft, make its meshing accomplish one motor and drive two wheels and move, the rest of time, the transmission shaft does not contact with power output shaft, motor housing, each motor control the wheel that corresponds respectively is in operating condition, in order to adapt to the needs of walking under the different occasions.
As in fig. 2, in another example, the control assembly is configured to employ an industrial board for transmission;
the Beidou positioning assembly is configured to adopt a Beidou positioning module which is used for realizing real-time positioning in the robot work;
the sensing assembly is configured to include:
the at least one camera 130 for collecting environment information can be arranged into a plurality of cameras through a telescopic mechanism according to the requirement so as to adapt to the environment information or crop information collection at different heights, and can be arranged at different positions of the frame of the robot according to the requirement so as to adapt to different environment information collection requirements;
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 assembly design in such a way that it can quickly acquire the required environmental data information, so as to facilitate the need for inspection and the need for navigation inspection.
As shown in fig. 1, in another example, a housing 6 for packaging 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 the mounting seats 60 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, install camera, big dipper navigation module through the mount pad, the effect lies in making the camera, big dipper navigation module can the setting of second telescopic machanism carry out altitude mixture control, and the effect of rotatory cloud platform, make the camera can 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 the camera and the beidou navigation module can extend is formed in the housing part, and a matched door 64 is pivotally arranged on the window;
wherein, be provided with the backstop portion 65 that limits the door body closed position on the casing, just be provided with 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 unoperated state, encapsulates it, and the effect of backstop portion lies in limiting the door body position that the pin joint set up, prevents that it from sinking into too deeply, causes the damage to equipment, and the effect of sealing strip lies in making the external sealed effect of equipment better, vibrations and noise that produce when can alleviate the door body and close simultaneously.
In another example, each zone corner of the pear garden is embedded with a loop bar matched with a first camera on the unmanned aerial vehicle, the loop bar is provided with a code and/or an infrared induction mechanism, a lighting lamp and a solar energy power storage mechanism matched with the loop bar, which are convenient for the unmanned aerial vehicle to recognize, in the scheme, the pear garden zone in a larger range can be partitioned by arranging a plurality of the loop bars matched with the loop bar in the pear garden zone, so that the pear garden zone can be partitioned during patrol or medicine spraying, the operation process of the pear garden can be better adaptive, and further, the position of the unmanned aerial vehicle can be conveniently recognized by arranging the matched code on the loop bar, the unmanned aerial vehicle can be conveniently positioned during operation, meanwhile, the pear garden can be partitioned by the code in a distinguishing way, and the operation between the pear garden zones can be guided;
the effect of the lamp for illumination can be used for supplementing light for night operation, animals which do not need to be housed can be monitored in real time through the effect of illumination by rotating the fourth camera on the return rod, and further, the infrared monitoring mechanism matched with the fourth camera can be arranged on the return rod, when the animals are separated at night, the position of the animals is supplemented by the camera, the working mode of the lamp is similar to the night snapshot function of a space net, and the solar energy power storage mechanism can provide power for illumination tools and other equipment on the return rod, so that the electric wire arrangement in a region is reduced.
The device comprises a return rod, a first camera, a second camera, a sound-raising mechanism and a sound-raising mechanism, wherein the return rod is provided with the fourth camera and the sound-raising mechanism which are matched with each other;
furthermore, the patrol unmanned aerial vehicle can monitor the position of the animal in real time, and simultaneously carries out real-time feedback on the growth condition of pasture at the position, the control unit can process the feedback information in real time, if the position is not suitable for continuous grazing of the animal through the image information passing judgment structure, the loudspeaker mechanism on the return rod at the position closest to the position is driven to drive the animal to move, and the animal is controlled to advance to a specific interval according to the driving of the loudspeaker mechanism on the return rod at different positions, so that automatic grazing is realized.
In another example, the control unit numbers each return rod in the pear garden in a serpentine shape, the codes on each return rod have a one-to-one correspondence with each number, in this way, the unmanned aerial vehicle can conveniently recognize through the codes, and the codes of each return rod have uniqueness and can correspond to the number of one return rod, so that the number of the return rod in the pear garden can be obtained through the recognition codes, the return rod can be divided into a plurality of sections according to the external geographic environment of the pear garden as required, each section is provided with different codes and numbers, and the operation section corresponds to the issued task section or not through reading the numbers;
the control unit constructs a patrol area and a pesticide spraying area map of the unmanned aerial vehicle based on the number of the loop bar input by the user;
the construction flow of the patrol area and the pesticide spraying area map is configured to comprise:
s10, the control unit receives a job number input by a user and a row spacing of a job area, and compares the received job number to find a number adjacent to the number;
s11, hooking the adjacent numbers to form at least one corresponding block;
s12, selecting the minimum number of each block, arranging the minimum numbers of each block from small to large to obtain the operation sequence of each block, and configuring the sequence as a block operation task;
s13, the control unit sends the block operation task and the related row spacing information to the unmanned aerial vehicle so as to carry out related patrol or pesticide spraying operation, in the scheme, the control unit in the center of a background pipeline receives the related operation information input by a user and processes the operation information so as to obtain a corresponding operation task, each code can correspond to a number when in actual application, so that the user can conveniently position and distinguish the position of the return rod, and the operation task section of the unmanned aerial vehicle is obtained by processing the number input by the user, and in this way, the operation can be realized by using the block of the pear garden, for example, spraying operation can be carried out only on places with insect pests, and spraying operation can also be carried out only on partial sections with water deficiency on slopes according to the design of the return rod, so that the fine management of the pear garden is realized;
furthermore, in practical application, the control unit can also store the position information of each return rod in advance, after identifying the number, the position information of the number can be obtained, so that the unmanned aerial vehicle can be guided to reach the position for task operation based on the position information, and in the same-time operation, whether the unmanned aerial vehicle reaches a termination area of an operation task can be compared and judged at the same time, and the line spacing information input by a user can guide the distance of turning around after each flight of the unmanned aerial vehicle so as to be matched with the line spacing in different pear gardens and grass planting areas.
In another example, 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 a control unit;
s21, the control module analyzes the block operation tasks to obtain corresponding operation sequence numbers, and configures the distance of the unmanned aerial vehicle to fly transversely after each longitudinal operation based on the line spacing;
s22, after the unmanned aerial vehicle is started, automatically navigating to the position of the return rod with the minimum pear garden number, and acquiring the coding information on the current return rod through a first camera or an identification mechanism;
s23, the control module matches the coding information with the stored number by the image processing or identifying mechanism, compares the matched number with the current operation sequence number of the task, and carries out patrol or pesticide spraying operation in a longitudinal flight mode after transversely flying for 1/2-1 row spacing if the matching number is consistent, and carries out patrol or pesticide spraying operation in a longitudinal flight mode after transversely flying for 1.5-2 row spacing if the matching number is greater than the matching number, wherein in the scheme, unmanned aerial vehicle can be guided to carry out segmentation operation in the mode under the condition of no positioning information of each loop bar so as to have better adaptability.
In another example, for an irregular pear garden working area, the inclination angle between the initial number and the adjacent number can be pre-judged, so that when a user inputs working data, the deviation angle of the unmanned plane in the longitudinal flight needs to be input;
when the unmanned aerial vehicle flies from the position of the smaller number of the return rod to the position of the larger number of the return rod, the position of the larger number of the return rod is calculated based on the current position, the angle and the longitudinal span of the pear garden, so that a real-time flight route with two points is obtained.
The above is merely illustrative of a preferred embodiment, but is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
The number of equipment and the scale of processing described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be readily apparent to those skilled in the art.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.

Claims (4)

1. A green planting method for growing grass in pear orchard in south Xinjiang area is characterized by comprising the following steps:
step one, arranging grass growing areas among pear orchards in early spring;
the grass seeds in the grass growing area are configured to adopt ryegrass and white clover, the number of rows of grass belts in the grass growing area is four rows or six rows of ryegrass planting, the number of rows of white clover planting is six rows or four rows, the row spacing of each row is 20cm, the distance between each grass belt and the trunk is 0.6m, and the sowing depth is 1-2 cm;
step two, applying potash fertilizer, phosphate fertilizer and urea into the grass growing area, wherein the irrigation mode is furrow irrigation, and thereafter irrigation and fertilization management at all parts of the field are consistent with the management measures of the original pear orchard, but the weeds in 0.5 m from the pear tree tray are pulled out in time every 2 months;
also included is building an automated management system between rows of pear trees configured to include:
the data acquisition units are matched with each row of grass growing areas;
a spraying unit matched with each row of grass growing areas;
the control unit is matched with each data acquisition unit and each spraying unit;
wherein the data acquisition unit is configured to include:
patrol unmanned aerial vehicle carrying at least one first camera;
the ground autonomous patrol device is provided with a second camera;
a plurality of humidity sensors buried in the soil;
the spraying unit is configured to include:
an automatic irrigation device buried in the soil;
the drug spraying unmanned aerial vehicle is provided with a third camera;
each zone corner of the pear garden is buried with a return rod matched with a first camera on the unmanned aerial vehicle, and the return rod is provided with a coding and/or infrared induction mechanism, a lighting lamp and a solar energy power storage mechanism matched with the coding and/or infrared induction mechanism, the lighting lamp which are convenient for the unmanned aerial vehicle to recognize;
wherein, the return rod is provided with a fourth camera and a loudspeaker mechanism which are matched with each other;
the control unit numbers each return rod in the pear garden in a serpentine shape, and the codes on each return rod have a one-to-one correspondence with each number;
the control unit constructs a patrol area and a pesticide spraying area map of the unmanned aerial vehicle based on the number of the loop bar input by the user;
the construction flow of the patrol area and the pesticide spraying area map is configured to comprise:
s10, the control unit receives a job number input by a user and a row spacing of a job area, and compares the received job number to find a number adjacent to the number;
s11, hooking the adjacent numbers to form at least one corresponding block;
s12, selecting the minimum number of each block, arranging the minimum numbers of each block from small to large to obtain the operation sequence of each block, and configuring the sequence as a block operation task;
s13, the control unit sends the block operation task and the related row spacing information to the unmanned aerial vehicle so as to carry out related patrol or pesticide spraying operation;
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 a control unit;
s21, the control module analyzes the block operation tasks to obtain corresponding operation sequence numbers, and configures the distance of the unmanned aerial vehicle to fly transversely after each longitudinal operation based on the line spacing;
s22, after the unmanned aerial vehicle is started, automatically navigating to the position of the return rod with the minimum pear garden number, and acquiring the coding information on the current return rod through the identification mechanism;
s23, the control module matches the coded information with the stored serial number, compares the matched serial number with the current operation sequence serial number of the task, and carries out patrol or pesticide spraying operation in a longitudinal flight mode after transversely flying for 1/2-1 row spacing if the serial number is consistent, and carries out patrol or pesticide spraying operation in a longitudinal flight mode after transversely flying for 1.5-2 row spacing if the serial number is greater than the serial number;
for an irregular pear garden working area, the inclination angle between an initial number and an adjacent number is pre-judged, so that when a user inputs working data, the deviation angle of the unmanned plane in longitudinal flight is required to be input;
when the unmanned aerial vehicle flies from the position of the smaller-number return rod to the position of the larger-number return rod, the position of the larger-number return rod is calculated based on the current position, the angle and the longitudinal span of the pear garden, so that a real-time flight route with two points is obtained.
2. The green planting method using pear orchards for grass growing in the southern Xinjiang area according to claim 1, wherein in the first step, the tree plates of the respective pear trees are secondarily managed before the grass growing area is laid;
wherein, the diameter of the tree disk is kept between 0.5 and 0.7 meter in the secondary management, the height of the edge of the tree disk is 10 to 15 cm above the ground, and 35 to 50 kg of water is poured after each tree disk is subjected to intertillage treatment;
and (5) carrying out soil management on the tree plates after watering by adopting a covering method.
3. The green planting method using pear orchard grass growing in southern Xinjiang according to claim 1, wherein the ground autonomous patrol device includes a robot capable of moving itself and a background management center matched with the robot, on which a power assembly supporting the robot to walk is mounted, the power assembly is configured to include:
a frame-type vehicle frame;
at least two sets of wheels which are arranged at the bottom of the frame and are oppositely arranged;
wherein, each group wheel body is configured to adopt cross-country wheel, and is provided with matched power mechanism on each cross-country wheel respectively, and each power mechanism is connected with the control assembly electricity of robot.
4. The green planting method using pear orchard grass in south China as claimed in claim 3, wherein the robot is further configured to include:
the power assembly comprises a control assembly for performing navigation operation on the power assembly, a Beidou positioning assembly for acquiring position information of the robot in real time, and an induction assembly for acquiring external environment information, wherein the induction assembly, the Beidou navigation assembly and the power assembly are configured to be in communication connection with the control assembly;
the background management center performs data interaction through a first communication module arranged on the robot;
a transmission shaft matched with each group of wheels is arranged below the frame through at least one matched bearing seat, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a matched first gear, and the other end of the transmission shaft is meshed with the outside of the other power mechanism through a matched second gear;
the bottom of the frame is also provided with a first telescopic mechanism matched with the bearing seat.
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