Vehicle-mounted hill and mountainous region fertilizer and pesticide dual-purpose hole application all-in-one machine and operation method thereof

Abstract

The embodiment of the invention discloses a vehicle-mounted dual-purpose hill and mountain fertilizer and pesticide hole application all-in-one machine and an operation method thereof. An operation device comprises a vehicle body, a posture acquisition module for acquiring posture data of the vehicle body and a hole application mechanism arranged on the vehicle body. The hole applying mechanism comprises at least two drill rods which are arranged on the vehicle body and can conduct drilling operation towards the ground, first driving modules for driving the drill rods to move in the length directions of the drill rods correspondingly, and second driving modules for driving the drill rods to rotate in the axial direction correspondingly. And the balance control module is used for respectively adjusting the corresponding driving power applied to each drill rod by the first driving module and the second driving module based on the attitude data of the vehicle body so as to realize the balance of the vehicle body. In the hole application process, the balance control module is arranged to adjust the driving power applied to each drill rod by the first driving module according to the posture data of the vehicle body, and meanwhile, the driving power applied to each drill rod by the second driving module is adjusted, so that efficient drilling is realized on the premise of maintaining the stability of the vehicle body.

Description

Technical Field

[0001] Multiple embodiments of the present specification relate to the field of agricultural machinery technology, and specifically to a vehicle-mounted integrated fertilizer and pesticide application machine for hilly and mountainous areas and an operating method thereof. Background Art

[0002] Agriculture, as my country's primary industry, has always been the unshakable foundation of the national economy. my country has diverse terrain and complex landforms. The area of ​​hilly and mountainous areas accounts for more than 40% of the total land area, of which the area of ​​hilly and mountainous cultivated land accounts for 63.2% of the total cultivated land area in my country. In particular, 80% of the land area in the southern region is hilly and mountainous. Hilly and mountainous areas have inconvenient transportation, fragmented plots, and complex terrain. There are many problems such as difficult field operations and poor operation quality. The degree of agricultural mechanization and modernization is not high, which brings great challenges to the main agricultural operations such as irrigation, fertilization, and spraying of orchards. Low production efficiency has become an important reason for the lagging development of hilly and mountainous areas.

[0003] At present, most agricultural machinery is still riding equipment that farmers drive and operate. However, in scenes such as hills and mountains, conventional agricultural machinery can hardly meet farmers' requirements for passability and safety, and it is even more difficult to achieve precision operations on this basis. In addition, existing agricultural machinery also generally has problems such as single function and low level of intelligence and digitization. Summary of the invention

[0004] The embodiment of this specification provides a vehicle-mounted integrated fertilizer and pesticide hole-applying machine for hilly and mountainous areas and its operation method, which achieves efficient drilling while maintaining the stability of the vehicle body during hole-applying operations in hilly and mountainous areas. The technical solution is as follows: In a first aspect, the embodiments of this specification provide a vehicle-mounted integrated fertilizer and pesticide acupuncture machine for hilly and mountainous areas, comprising a vehicle body, a posture acquisition module for acquiring posture data of the vehicle body, and an acupuncture acupuncture mechanism disposed on the vehicle body; The drilling mechanism includes at least two drill rods arranged on the vehicle body for drilling holes into the ground, a first driving module that drives each of the drill rods to move along its own length direction, a second driving module that drives each of the drill rods to rotate axially, and a balance control module that adjusts the corresponding driving power applied to each of the drill rods by the first driving module and the second driving module based on the posture data of the vehicle body to achieve the balance of the vehicle body.

[0005] As a preferred solution, the balance control module respectively adjusts the driving power applied to each drill rod by the first driving module and the second driving module based on the posture data of the vehicle body and the working mode information corresponding to each drill rod, and the working mode information includes a drilling mode and a supporting mode.

[0006] As a preferred solution, each of the drill rods is provided with a driving oil tank at the upper end, a partition plate is movably provided in the driving oil tank, the partition plate divides the interior of the driving oil tank into an upper oil chamber and a lower oil chamber, the upper end of the drill rod passes through the bottom of the lower oil chamber of the driving oil tank and is rotatably connected to the partition plate, the partition plate is provided with a rotating oil tank, and the rotating oil tank is provided with an impeller that rotates coaxially with the drill rod; The first driving module includes a plurality of first driving units respectively arranged corresponding to the plurality of driving oil tanks, and the first driving unit includes a first driving device that controls the oil chamber pressure in the upper oil chamber to achieve the up and down movement of the partition plate in the driving oil tank, thereby driving the drill rod to move along its own length direction; The second drive module includes a plurality of second drive units respectively arranged corresponding to the plurality of drive oil tanks, and the second drive unit includes a second drive device which controls the flow rate of the fluid medium input into the rotating oil tank to realize the rotation of the impeller at different speeds in the rotating oil tank, thereby driving the drill rod to rotate axially at different speeds.

[0007] As a preferred solution, the hole-fertilizing mechanism is located at the front end of the vehicle body, and the vehicle body is also provided with a spraying mechanism, a fertilizer delivery mechanism cooperating with the hole-fertilizing mechanism, and a soil covering mechanism arranged at the rear end of the vehicle body.

[0008] As a preferred solution, the soil covering mechanism includes a plurality of soil covering sub-mechanisms whose number is the same as the number of the drill rods, and the vehicle body is also provided with a first adjusting component for moving the position of each drill rod respectively, and a second adjusting component for moving the position of the soil covering sub-mechanism to the position corresponding to the drill rod in the drilling mode based on the working mode information.

[0009] As a preferred solution, the balance control module adjusts the driving power applied to each drill rod by the first drive module and the second drive module based on the posture data of the vehicle body and the working mode information corresponding to each drill rod, and controls the first adjustment component to move the position of each drill rod respectively. The working mode information also includes the drilling position corresponding to the drill rod whose working mode information is the drilling mode.

[0010] As a preferred solution, the vehicle body is also provided with an image acquisition module for collecting tree crown information; The spraying mechanism comprises a rotary spraying module rotatably arranged on the side of the vehicle body, the rotary spraying module comprises a plurality of rotary spraying rods of different lengths and arranged in parallel, the axes of symmetry of the plurality of rotary spraying rods are the same, each of the rotary spraying rods is provided with a plurality of nozzles evenly arranged at equal intervals, and the rotation axis of the rotary spraying module is located at the midpoint of any of the rotary spraying rods; The spraying mechanism also includes a decision module for controlling the opening and closing of each of the rotating spray rods based on the tree crown information collected by the image acquisition module.

[0011] As a preferred solution, the middle portion of each of the rotating spray rods is parallel to the side wall of the vehicle body, and both ends of each of the rotating spray rods are bent toward a side away from the vehicle body.

[0012] As a preferred solution, the fertilizer delivery mechanism includes a plurality of fertilizer delivery devices respectively cooperated with each of the drill rods, and a quantitative control module for controlling the movement distance along the length direction of the drill rod corresponding to the drill rod whose working mode information is the drilling mode, and the fertilizer delivery amount to the drilling position corresponding to the drill rod whose working mode information is the drilling mode by the fertilizer delivery device corresponding to the drill rod whose working mode information is the drilling mode.

[0013] In a second aspect, the embodiments of this specification provide a method for applying fertilizer and pesticide in hilly and mountainous areas, comprising: Acquiring body posture data of the vehicle body; The driving powers applied by the first driving module and the second driving module to the respective drill rods are adjusted based on the posture data of the vehicle body to achieve the balance of the vehicle body.

[0014] In a third aspect, an embodiment of this specification provides an electronic device, comprising a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps described in the second aspect of the above embodiment.

[0015] In a fourth aspect, an embodiment of this specification provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the steps described in the second aspect of the above embodiment.

[0016] The beneficial effects brought by the technical solutions provided by some embodiments of this specification include at least: 1. This solution collects the posture data of the vehicle body in real time through the posture acquisition unit, so that the vehicle body's travel route can be adjusted according to the posture data of the vehicle body, which can effectively avoid the risk of the vehicle body overturning.

[0017] 2. During the drilling process, the balance control module is set to adjust the driving power applied to each drill rod by the first driving module according to the posture data of the vehicle body, and the driving power applied to each drill rod by the second driving module is adjusted at the same time, so as to achieve efficient drilling while maintaining the stability of the vehicle body.

[0018] 3. Further considering the working mode information corresponding to each drill rod, the driving power applied to each drill rod by the first driving module and the second driving module is adjusted to improve the stability of the vehicle body during the hole construction operation.

[0019] 4. By adopting the hydraulic drive solution, the second drive device realizes high-speed rotation of the drill pipe. The balance control module adjusts the driving power of the corresponding second drive device according to the oil pressure inside the rotating oil tank, avoiding problems such as overload and spontaneous combustion that may be caused by resistance in the rotation of the drill pipe under electric drive.

[0020] 5. By integrating the technologies of water-fertilizer-pesticide integration, atomization spraying and soil base application on the vehicle body, the vehicle body sprays pesticides, water and fertilizers on the fruit trees through the spraying mechanism, and drills holes, places solid fertilizers, and covers and backfills the soil through the hole application mechanism, fertilizer delivery mechanism and soil covering mechanism to achieve base fertilizer application, which greatly reduces the input cost of farmers, improves the operation efficiency, and realizes the mechanized and precise management of fertilizers and pesticides in the orchard.

[0021] 6. In this solution, the rotary spray rod in the spraying mechanism rotates while spraying liquid. The small droplets sprayed during the spraying process are easy to form a spray vortex, which can effectively prevent the collision between droplets, thereby improving the uniformity of droplet distribution, that is, the degree of dispersion, and is more conducive to the attachment of the leaf surface. From the rotary spray rods of different lengths, the rotary spray rod with a length matching the target fruit tree is selected for spraying to reduce the waste of liquid medicine or fertilizer. The image acquisition module is first used to judge the crown information such as the size and height of the target crown, and then the decision module selects the rotary spray rod for surround spraying according to the crown information to achieve full coverage of the fruit tree leaves.

[0022] 7. The fertilizer delivery mechanism integrated on the vehicle body is used to apply fertilizer after the drill rod completes the drilling operation, which simplifies the operation steps and improves the operation efficiency. At the same time, the amount of solid fertilizer delivered to the borehole is precisely controlled. The volume of the borehole is calculated according to the radius of the drill rod and the drilling depth, so that the fertilizer delivery amount is proportional to the volume of the borehole. The final fertilizer delivery amount is determined according to the type and size of the fruit tree and the type of fertilizer, thereby enhancing the utilization rate of solid fertilizer and avoiding fertilizer loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a structural schematic diagram of a vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas provided in an embodiment of this specification; Figure 2 1 is a schematic diagram of the structure of the driving oil tank, wherein the driving oil tank is partially hidden to show the rotating oil tank and the partition plate; Figure 3 is a schematic diagram of the structure of the driving oil tank, wherein the driving oil tank and the rotating oil tank are partially hidden, and the impeller is shown; Figure 4 It is a structural schematic diagram of the spraying mechanism; Figure 5 It is a flow chart of an operation method of a vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas provided in an embodiment of this specification; Figure 6 It is a structural schematic diagram of an electronic device provided in an embodiment of this specification.

[0025] In the figure: 1. vehicle body; 2. hole-spraying mechanism; 21. drill rod; 211. first drill rod; 212. second drill rod; 22. driving oil tank; 221. partition plate; 222. rotating oil tank; 223. impeller; 23. first adjusting component; 3. spraying mechanism; 31. image acquisition module; 32. rotating spray rod; 33. nozzle; 4. fertilizer delivery mechanism; 5. soil covering mechanism. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of this specification will be described clearly and completely below in conjunction with the drawings in the embodiments of this specification.

[0027] The terms "first", "second", "third", etc. in the description and claims of this specification and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0028] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present specification. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described with respect to some examples may be combined in other examples.

[0029] First of all, in orchard fertilization, base fertilizer and topdressing are two important ways of fertilization, each of which has different application methods and purposes.

[0030] Basal fertilizer is mainly applied during the dormant period of fruit trees, in order to provide the basic nutrients required for fruit trees to grow throughout the year, improve the soil, and enhance the soil's ability to retain water and fertilizer. The application methods of basal fertilizer usually include ring ditch fertilization, radial fertilization, strip ditch fertilization, and hole fertilization. Among them, the hole fertilization method is to dig a certain number of holes evenly around the crown of the tree, apply fertilizer, and then cover with soil. This method is suitable for sandy orchards with poor water and fertilizer retention.

[0031] Topdressing is the application of fertilizers as needed during the growing season of fruit trees. The purpose is to quickly supplement the nutrients needed by fruit trees at specific growth stages, such as before and after flowering, and during the fruit expansion period. Topdressing methods include soil topdressing and foliar spraying. Foliar spraying (i.e. foliar topdressing) is a method of applying fertilizer directly to the leaves of fruit trees by spraying. This method is simple and easy to use, uses a small amount of fertilizer, has a fast fertilizer effect, and has a high nutrient utilization rate. Topdressing application methods also include soil hole fertilization, whole garden fertilization, and water-based fertilizer application.

[0032] In addition, my country has diverse terrain and complex landforms. Hilly and mountainous areas account for more than 40% of the country's total land area, of which hilly and mountainous cultivated land accounts for 63.2% of the country's total cultivated land area. In particular, 80% of the land area in the southern region is hilly and mountainous. Hilly and mountainous areas have inconvenient transportation, fragmented plots, and complex terrain. There are many problems such as difficult field operations and poor operation quality. Conventional agricultural machinery cannot effectively play its own advantages.

[0033] Based on the demand for mechanized operations in orchards, combined with the large proportion of mountainous and hilly types in my country's arable land, and in order to ensure the safety of farmers' operations and improve their efficiency in mountainous and hilly orchards, we provide a vehicle-mounted hilly and mountainous fertilizer and pesticide dual-purpose hole-applying machine and its operation method.

[0034] See also Figure 1 , Figure 1 A schematic diagram of the structure of a vehicle-mounted integrated fertilizer and pesticide application machine for hilly and mountainous areas provided in an embodiment of the present specification is shown.

[0035] The acupuncture point application integrated machine may at least include a vehicle body 1, a posture acquisition module for collecting posture data of the vehicle body 1, and an acupuncture point application mechanism 2 arranged on the vehicle body 1; The drilling mechanism 2 includes at least two drill rods 21 arranged on the vehicle body 1 for drilling holes into the ground, a first driving module that drives each drill rod 21 to move along its own length direction, a second driving module that drives each drill rod 21 to rotate axially, and a balance control module that adjusts the corresponding driving power applied to each drill rod 21 by the first driving module and the second driving module based on the posture data of the vehicle body 1 to achieve the balance of the vehicle body 1.

[0036] Illustratively, based on the application scenario of this integrated hole-fertilizing machine being mountainous and hilly, the vehicle body 1 is preferably a tracked vehicle with stronger passability. This integrated hole-fertilizing machine adopts a hole-fertilizing operation method to realize base fertilizer. The vehicle body 1 is provided with a hole-fertilizing mechanism 2. In this embodiment, the hole-fertilizing mechanism 2 is provided with two drill rods 21 as an example for explanation. The posture acquisition module can be a sensor device such as a level meter. It is preferred to set multiple posture acquisition modules on the vehicle body 1, and the posture data collected by multiple posture acquisition modules are integrated to obtain more accurate current posture data of the vehicle body 1. The drill rod 21 is preferably a spiral drill rod, which is convenient for soil discharge and increases the drilling speed.

[0037] Explanatory, combined Figure 1 , if two drill rods 21 are drilling at the same time, after the vehicle body 1 stops at the drilling position, the posture data at this time is recorded as reference data, and the first drive module drives the first drill rod 211 and the second drill rod 212 to move toward the ground along their own length direction with a certain drive power, and the second drive module also drives the first drill rod 211 and the second drill rod 212 to rotate axially with a certain drive power. After the drill rod 21 contacts the ground, it gradually rotates below the ground to form a drilling hole. During the rotation of the drill rod 21, the ground will react to the drill rod 21 to generate a reaction force. When the reaction force reaches a certain size, the vehicle body 1 will be lifted up, which greatly increases the risk of the vehicle body 1 overturning on the mountainous hills that already have a slope. Therefore, a balance control module is set to adjust the driving power applied to each drill rod 21 by the first drive module and the second drive module according to the posture data of the vehicle body 1 to eliminate this risk.

[0038] Exemplarily, for the first driving module, at the beginning of drilling, the balance control module controls the first driving module to gradually increase the driving power until the reaction force of any drill rod 21 causes the posture data of the vehicle body 1 to change relative to the reference data or produce a certain preset value change, the balance control module controls the first driving module to reduce the driving power applied to the corresponding drill rod 21, and when the posture data of the vehicle body 1 falls back relative to the reference data, the first driving module is controlled again to increase the driving power applied to the corresponding drill rod 21. In this way, the dynamic stability of the vehicle body 1 is maintained, while the drilling efficiency of the drill rod 21 is maximized. For the second driving module, when the reaction force of any drill rod 21 causes the posture data of the vehicle body 1 to change relative to the reference data or produce a certain preset value change, the balance control module controls the second driving module to gradually increase the driving power to speed up drilling, thereby speeding up the soil discharge speed and reducing the reaction force of the ground on the corresponding drill rod 21, and preventing the vehicle body 1 from being lifted. Taking into account the wear problem of the drill rod 21, the driving power applied to the drill rod 21 by the second driving module during the drilling operation enables the drill rod 21 to maintain a relatively safe rotation speed. When the posture data of the vehicle body 1 changes, the rotation speed is increased for a short time, that is, the driving power of the second driving module to the corresponding drill rod 21 is increased, and the original driving power is restored after the posture data is improved.

[0039] Among them, when the posture data of the vehicle body 1 changes to a certain preset value relative to the reference data, the size of the preset value can be set to different values ​​according to the reference data and the position of each drill rod 21 relative to the vehicle body 1. For example, the posture data of the vehicle body 1 indicates that the horizontal height of the vehicle body 1 corresponding to the direction of the first drill rod 211 is lower than the average horizontal height of the vehicle body 1, which means that it is relatively safe for the first drill rod 211 to lift the vehicle body 1 to a certain height. In this case, the preset value corresponding to the first drill rod 211 can be set larger, and vice versa.

[0040] In multiple embodiments of the present specification, the balance control module respectively adjusts the driving power applied to each drill rod 21 by the first drive module and the second drive module based on the posture data of the vehicle body 1 and the working mode information corresponding to each drill rod 21, and the working mode information includes a drilling mode and a supporting mode.

[0041] Illustratively, the working mode information represents the tasks of each drill rod 21 in the issued hole installation instruction, such as the instruction to the first drill rod 211 is to execute the drilling mode, that is, the task of the first drill rod 211 this time is drilling, and the instruction to the second drill rod 212 is to execute the supporting mode, that is, the task of the second drill rod 212 this time is auxiliary support.

[0042] Explanatory note, in the previous example, two drill rods 21 are performing drilling operations simultaneously. Considering the situation where only one of the drill rods 21 is used for the drilling operation, the other idle drill rod 21 is used to provide auxiliary support for this task.

[0043] Exemplarily, the working mode information of the first drill rod 211 is the drilling mode, and the working mode information of the second drill rod 212 is the supporting mode. The first drill rod 211 is dynamically adjusted according to the principle in the above example. For the second drill rod 212, the balance control module controls the first drive module to apply a certain driving power to the second drill rod 212, and controls the second drive module not to apply driving power to the second drill rod 212, until the reaction force of the second drill rod 212 causes the posture data of the vehicle body 1 to change relative to the reference data. The balance control module controls the first drive module to stop applying driving power to the second drill rod 212. At this time, the second drill rod 212 is against the ground to provide support for the vehicle body 1, which is equivalent to increasing the chassis area of ​​the vehicle body 1, thereby making it more difficult for the vehicle body 1 to be lifted up by the reaction force of the first drill rod 211, and can also further improve the drilling efficiency of the first drill rod 211. Furthermore, after the first drill rod 211 lifts the vehicle body 1 upward, the vehicle body 1 moves upward. Figure 1The balance control module controls the first driving module to apply a certain driving power to the second drill rod 212 while adjusting the driving power applied by the first driving module to the first drill rod 211, so that the second drill rod 212 synchronously extends to lift the vehicle body 1, and the vehicle body only tilts in the front and rear directions, so as to maintain the lateral stability of the vehicle body 1 during the drilling operation, thereby eliminating the risk of the vehicle body 1 rolling over during the adjustment process of the balance control module. When the working mode information of the second drill rod 212 is the drilling mode and the working mode information of the first drill rod 211 is the supporting mode, after the second drill rod 212 lifts the vehicle body 1 upward, the vehicle body 1 tilts to the side of the vehicle body 1. Figure 1 The adjustment principle of the balance control module is the same as that of the direction indicated by the arrow A in the middle.

[0044] In one embodiment of this specification, in combination with the attached Figure 2 , Attachment Figure 3 , each drill rod 21 has a driving oil tank 22 at its upper end, a partition plate 221 is movably provided inside the driving oil tank 22, the partition plate 221 divides the interior of the driving oil tank 22 into an upper oil chamber and a lower oil chamber, the upper end of the drill rod 21 passes through the bottom of the lower oil chamber of the driving oil tank 22 and is rotatably connected to the partition plate 221, the partition plate 221 is provided with a rotating oil tank 222, and the rotating oil tank 222 is provided with an impeller 223 that rotates coaxially with the drill rod 21; The first driving module includes a plurality of first driving units respectively arranged corresponding to the plurality of driving oil tanks 22, and the first driving unit includes a first driving device that controls the oil chamber pressure in the upper oil chamber to realize the up and down movement of the partition plate 221 in the driving oil tank 22, thereby driving the drill rod 21 to move along its own length direction; The second driving module includes a plurality of second driving units respectively arranged corresponding to the plurality of driving oil tanks 22, and the second driving unit includes a second driving device which controls the flow rate of the fluid medium input into the rotating oil tank 222 to realize the impeller 223 rotating at different speeds in the rotating oil tank 222, thereby driving the drill rod 21 to rotate axially at different speeds.

[0045] Exemplarily, the first driving device includes a first hydraulic pump and a first oil circuit, the first oil circuit connects the first hydraulic pump and the upper oil chamber of the driving oil tank 22, and the second driving device includes a second hydraulic pump and a second oil circuit, the second oil circuit connects the second hydraulic pump and the rotating oil tank 222. Oil is preferred among various fluid media.

[0046] For illustration, the first hydraulic pump pressurizes the upper oil chamber of the driving oil tank 22 with a certain power through the first oil circuit. The pressure difference between the upper oil chamber and the lower oil chamber pushes the partition plate 221 to move in the direction of the lower oil pressure, thereby driving the drill rod 21 to move along its own length direction. The greater the driving power output by the first hydraulic pump, the greater the thrust on the partition plate 221. The fluid medium in the upper oil chamber is discharged through the reversing valve of the first hydraulic pump to reduce the oil pressure in the upper oil chamber. When the oil pressure in the upper oil chamber is less than the oil pressure in the lower oil chamber, the drill rod 21 is retracted. The second hydraulic pump injects oil into one side of the rotating oil tank 222 with a certain power through the second oil circuit to drive the impeller 223 to rotate and recover the oil from the other side. The flow rate of the injected oil determines the speed of the impeller 223, that is, the rotation speed of the drill rod 21. When the injection flow rate remains stable, the drilling obstruction of the drill rod 21 can be judged according to the oil pressure of the rotating oil tank 222.

[0047] Explanatory, a hydraulic drive scheme is adopted, wherein the second drive device realizes high-speed rotation of the drill rod 21. When any drill rod 21 encounters resistance in rotation, it is transmitted to the impeller 223, so that the oil pressure inside the rotating oil tank 222 increases, and the driving power applied to the corresponding drill rod 21 by the second drive device is adjusted by the balance control module. Excessive oil pressure will also trigger oil pressure overflow protection, avoiding the problems of overload and spontaneous combustion that may be caused by the resistance of the drill rod 21 in the traditional electric drive mode; the first drive device realizes the feeding of the drill rod 21, and the driving power of the first drive module is adjusted by the balance control module to realize the dynamic balance of the posture of the vehicle body 1, thereby ensuring the stability of the vehicle body 1. The balance control module timely adjusts the driving power of the first drive device and the second drive device to avoid further damage to the drill rod 21 after the drill rod 21 encounters resistance.

[0048] In the multiple embodiments of this specification, refer to the attached Figure 1 The hole-fertilizing mechanism 2 is located at the front end of the vehicle body 1. The vehicle body 1 is also provided with a spraying mechanism 3, a fertilizer delivery mechanism 4 cooperating with the hole-fertilizing mechanism 2, and a soil covering mechanism 5 arranged at the rear end of the vehicle body 1.

[0049] Explanatory, most of the existing agricultural equipment has a single function, and the level of mechanization and precision is low. In order to meet the needs of multiple key agricultural operations such as orchard ditching, fertilization, and spraying, farmers often have to purchase multiple different agricultural machines, which greatly increases the farmers' input costs. The spraying mechanism 3, the fertilizer delivery mechanism 4, and the soil covering mechanism 5 are integrated on the vehicle body 1 to realize a fertilizer and pesticide hole application machine that integrates water, fertilizer, and pesticide integration, atomization spraying, and soil base application.

[0050] In multiple embodiments of the present specification, the soil covering mechanism 5 includes a plurality of soil covering sub-mechanisms whose number is the same as the number of drill rods 21, and the vehicle body 1 is also provided with a first adjusting component 23 for moving the position of each drill rod 21 respectively, and a second adjusting component for moving the position of the soil covering sub-mechanism corresponding to the position of the drill rod 21 in the drilling mode based on the working mode information.

[0051] Illustratively, the first adjustment component 23 includes a horizontal adjustment structure and a vertical adjustment structure to adapt to the complex working environment of mountainous areas. The second adjustment component includes a translation structure and a flip structure. The above structure can be realized by a variety of mechanical structure designs, and the functions are relatively common, so they are not repeated here. The number of covering sub-mechanisms is the same as that of the drill rod 21, so two covering sub-mechanisms are also used as an example for explanation.

[0052] Explanatory, after the vehicle body 1 stops, the drill rod 21 drills holes at designated positions according to the hole application instruction through the adjustment of the first adjustment component 23, and can drill holes in areas that are inconvenient or impossible to approach for the vehicle body 1, and the covering sub-mechanism moves accordingly through the second adjustment component according to the drilling position of the corresponding drill rod 21. If only the first drill rod 211 performs the drilling operation, the second adjustment component only moves the covering sub-mechanism that cooperates with the first drill rod 211. When the drilling operation is completed, the vehicle body 1 can automatically complete the covering operation by moving forward, thereby simplifying the operation steps and improving the operation efficiency.

[0053] In multiple embodiments of the present specification, the balance control module adjusts the driving power applied to each drill rod 21 by the first drive module and the second drive module based on the posture data of the vehicle body 1 and the working mode information corresponding to each drill rod 21, and controls the first adjustment component 23 to move the position of each drill rod 21 respectively. The working mode information also includes the drilling position corresponding to the drill rod 21 whose working mode information is the drilling mode.

[0054] Explanatory, based on the aforementioned example, the drill rod 21 in the support mode is used to achieve auxiliary support through the working mode information of the drill rod 21. Further, the position of the drill rod 21 in the support mode is adjusted according to the drilling position corresponding to the drill rod 21 in the drilling mode to achieve the best support effect. The drilling position corresponding to the drill rod 21 in the drilling mode with the working mode information is characterized as the orientation of the drill rod 21 in the drilling mode with respect to the vehicle body 1.

[0055] Exemplarily, the working mode information of the first drill rod 211 is the drilling mode, and the working mode information of the second drill rod 212 is the support mode. According to the drilling position corresponding to the drill rod 21 whose working mode information is the drilling mode in the hole application instruction, the optimal support position of the drill rod 21 whose working mode information is the support mode is determined. The balance control module controls the first adjustment component 23 to move the first drill rod 211 to the drilling position and the second drill rod 212 to the determined optimal support position.

[0056] Illustratively, the optimal support position of the second drill rod 212 is theoretically as far away from the position in the direction of the first drill rod 211 as possible, and is finally determined in combination with the reference data of the posture data of the vehicle body 1. Figure 1At this time, the second drill rod 212 should be further swung outward when used for auxiliary support.

[0057] In the multiple embodiments of this specification, Figure 4 , the vehicle body 1 is also provided with an image acquisition module 31 for collecting tree crown information; The spraying mechanism 3 includes a rotary spraying module rotatably arranged on the side of the vehicle body 1, and the rotary spraying module includes a plurality of rotary spraying rods 32 of different lengths and arranged in parallel, and the symmetry axes of the plurality of rotary spraying rods 32 are the same, and each rotary spraying rod 32 is provided with a plurality of nozzles 33 evenly arranged at equal intervals, and the rotation axis of the rotary spraying module is located at the midpoint of any rotary spraying rod 32; The spraying mechanism 3 also includes a decision module for controlling the opening and closing of each rotating spray rod 32 based on the tree crown information collected by the image collection module 31 .

[0058] Explanatory, the currently commonly used follow-up spraying method does not perform target recognition, resulting in large losses of liquid medicine or fertilizer liquid and low benefits. A small part of the spraying method will adjust the height of the lateral nozzle according to the height of the fruit tree, but there is still a problem of poor spray atomization effect, and it is impossible to make all the leaves of the crown adhere to the liquid medicine or fertilizer liquid. In this embodiment, the rotating spray rod 32 in the spraying mechanism 3 rotates while spraying, and the liquid sprayed during the spraying process is easy to form a spray vortex, which effectively prevents collisions between droplets, thereby improving the distribution uniformity of the droplets, that is, the degree of dispersion, and is more conducive to the attachment of the leaf surface. From the rotating spray rods 32 of different lengths, the rotating spray rod 32 with a length matching the target fruit tree is selected for spraying to reduce the waste of liquid medicine or fertilizer liquid. First, the image acquisition module 31 is used to judge the crown information such as the size and height of the target crown, and then the decision module selects the rotating spray rod 32 for surrounding spraying according to the crown information to achieve full coverage spraying of the fruit tree leaves.

[0059] Exemplarily, the rotary spray module includes three types of rotary spray rods 32, namely, short-segment, middle-segment, and long-segment. The decision logic of the decision module is as follows: for fruit trees with small crown width, a short-segment rotary spray rod 32 is used for spraying, which has the characteristics of high water pressure and long spraying distance; for fruit trees with medium crown width, a short-segment rotary spray rod 32 and a middle-segment rotary spray rod 32 are used for spraying at the same time, and the flow rate of the spray medicine pump is increased, the pressure at the spray port is increased, and the spraying distance is increased. For fruit trees with large crown width, a short-segment rotary spray rod 32, a middle-segment rotary spray rod 32, and a long-segment rotary spray rod 32 are used for spraying at the same time, and the flow rate of the spray medicine pump is further increased, the pressure at the spray port is increased, and the spraying distance is further increased.

[0060] In multiple embodiments of the present specification, the middle portion of each rotary spray rod 32 is parallel to the side wall of the vehicle body 1 , and both ends of each rotary spray rod 32 are bent toward a side away from the vehicle body 1 .

[0061] Explanatory, on the one hand, the arc-shaped design can better guide the fluid to flow in the rotating spray rod 32, reduce the friction between the fluid and the inner wall of the rotating spray rod 32, thereby reducing the fluid resistance and improving the spraying efficiency; on the other hand, it can play a certain role in gathering the droplets sprayed from the rotating spray rod 32 near the end nozzle 33 toward the center, thereby further reducing the waste of liquid medicine or fertilizer caused by excessive outward dispersion of droplets.

[0062] In the multiple embodiments of this specification, refer to the attached Figure 1 The fertilizer delivery mechanism 4 includes a plurality of fertilizer delivery devices respectively matched with each drill rod 21, and a quantitative control module for controlling the fertilizer delivery amount of the fertilizer delivery device corresponding to the drill rod 21 with the working mode information of the drilling mode to the drilling position corresponding to the drill rod 21 with the working mode information of the drilling mode based on the movement distance along its own length direction corresponding to the drill rod 21 with the working mode information of the drilling mode.

[0063] Illustratively, the currently commonly used follow-up fertilization method cannot dynamically adjust the amount of fertilizer according to different planting types and drilling depths, resulting in a low utilization rate of solid fertilizers. The fertilizer delivery mechanism 4 integrated on the vehicle body 1 automatically delivers fertilizer into the borehole after the drill rod 21 completes the drilling operation, which simplifies the operation steps and improves the operation efficiency. At the same time, the amount of solid fertilizer delivered into the borehole is precisely controlled, and the volume of the borehole is calculated according to the radius of the drill rod 21 and the drilling depth, so that the fertilizer delivery amount is proportional to the volume of the borehole. The final fertilizer delivery amount is determined according to the type and size of the fruit tree and the type of fertilizer, thereby enhancing the utilization rate of solid fertilizers and avoiding fertilizer losses.

[0064] Explanatory, the volume V of the hole application hole is determined based on the radius R of the hole application drill rod 21 and the hole application depth h, where: , The value depends on the type and size of the fruit tree and the type of fertilizer.

[0065] Illustratively, a distance measuring sensor can be set in the driving oil tank 22 or the rotating oil tank 222 or a distance measuring sensor installed at the bottom of the drill rod 21 to judge the height value when the drill rod 21 contacts the ground and the height value when the drilling is completed, thereby determining the final hole depth value h.

[0066] Exemplarily, the drilling depth of the drill rod 21 is determined by the ranging value in the rotating oil tank 222, and the second hydraulic pump injects oil into the rotating oil tank 222 at a constant power through the second oil circuit. When the drill rod 21 does not contact the ground, the oil pressure in the rotating oil tank 222 should remain stable, and the height of the drill rod 21 when the oil pressure in the rotating oil tank 222 increases is recorded, and the drilling depth is determined based on the minimum height of the drill rod 21 during the drilling operation.

[0067] In multiple embodiments of the present specification, the vehicle body 1 is further provided with a remote control unit for remotely controlling the movement of the vehicle body 1 and a correction unit for auxiliary control of the movement of the vehicle body 1 .

[0068] Explanatory, the flexibility of steering and turning of agricultural machinery used in orchards is an important technical indicator for evaluating practicality. By remotely controlling the movement of the vehicle body 1 through a remote control unit, the driving space of the vehicle body 1 can be saved, thereby reducing the volume of the vehicle body 1, thereby improving the maneuverability and flexibility of the vehicle body 1; and compared with flat terrain, operating in hilly and mountainous conditions is still more dangerous, and the use of remote control to move the vehicle body 1 can also effectively protect the personal safety of farmers.

[0069] Illustratively, the correction unit includes data acquisition devices such as distance sensors and laser radars. By arranging the correction unit on the vehicle body 1 to perform pilot-type auxiliary correction of the movement instructions issued by the remote control unit, the problems of insufficient estimation and wrong judgment of the actual environment of the hole-applying machine when the remote control machine moves are compensated, and the functions of obstacle avoidance and moving path correction of the hole-applying machine are realized, thereby improving the accuracy and safety of the hole-applying machine in hilly and mountainous orchards.

[0070] Reference Figure 5 As shown, Figure 5 A schematic flow chart of an operation method for applying fertilizer and pesticide in hilly mountainous areas provided in an embodiment of this specification may at least include the following steps: Step 502: Acquire vehicle posture data of the vehicle body; Step 504: Based on the posture data of the vehicle body, the driving powers applied by the first driving module and the second driving module to the respective drill rods are adjusted to achieve vehicle body balance.

[0071] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the operation method embodiment, since it is basically similar to the acupuncture point application integrated machine embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the acupuncture point application integrated machine embodiment.

[0072] See also Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this specification is shown.

[0073] like Figure 6 As shown, the electronic device 600 may include: at least one processor 601 , at least one network interface 604 , a user interface 603 , a memory 605 , and at least one communication bus 602 .

[0074] The communication bus 602 may be used to realize the connection and communication among the above-mentioned components.

[0075] The user interface 603 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0076] The network interface 604 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0077] Among them, the processor 601 may include one or more processing cores. The processor 601 uses various interfaces and lines to connect the various parts of the entire electronic device 600, and executes various functions and processes data of the electronic device 600 by running or executing instructions, programs, code sets or instruction sets stored in the memory 605, and calling data stored in the memory 605. Optionally, the processor 601 can be implemented in at least one hardware form of DSP, FPGA, and PLC. The processor 601 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 601, and it can be implemented separately through a chip.

[0078] Among them, the memory 605 may include RAM or ROM. Optionally, the memory 605 includes a non-transitory computer-readable medium. The memory 605 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 605 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 605 may also be at least one storage device located away from the aforementioned processor 601. The memory 605 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an operation method application. The processor 601 may be used to call the operation method application stored in the memory 605 and execute the steps of the acupuncture all-in-one machine mentioned in the above-mentioned embodiment.

[0079] The embodiments of this specification also provide a computer-readable storage medium, which stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes one or more steps in the embodiment of the above-mentioned acupuncture and acupuncture integrated machine. If the component modules of the above-mentioned electronic device are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0080] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of this specification is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. Available media may be magnetic media (eg, floppy disks, hard disks, tapes), optical media (eg, digital versatile discs (DVD)), or semiconductor media (eg, solid state drives (SSD)).

[0081] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes. In the absence of conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily.

[0082] The above embodiments are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Without departing from the design spirit of this specification, various modifications and improvements made to the technical solutions of this specification by ordinary technicians in this field should fall within the scope of protection determined by the claims of this specification.

Claims

1. A vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas, characterized by: It comprises a vehicle body (1), a posture acquisition module for acquiring posture data of the vehicle body (1), and a point application mechanism (2) arranged on the vehicle body (1); The drilling mechanism (2) comprises at least two drilling rods (21) arranged on the vehicle body (1) and capable of drilling holes into the ground, a first driving module for driving each of the drilling rods (21) to move along its own length direction, a second driving module for driving each of the drilling rods (21) to rotate axially, and a balance control module for adjusting the corresponding driving power applied by the first driving module and the second driving module to each of the drilling rods (21) based on the posture data of the vehicle body (1) to achieve balance of the vehicle body (1).

2. The vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas according to claim 1 is characterized in that: The balance control module respectively adjusts the driving power applied by the first driving module and the second driving module to each of the drill rods (21) based on the posture data of the vehicle body (1) and the working mode information corresponding to each of the drill rods (21), wherein the working mode information includes a drilling mode and a supporting mode.

3. A vehicle-mounted integrated fertilizer and pesticide application machine for hilly and mountainous areas according to any one of claims 1 or 2, characterized in that: A driving oil tank (22) is provided at the upper end of each drill rod (21), a partition plate (221) is movably provided inside the driving oil tank (22), the partition plate (221) divides the interior of the driving oil tank (22) into an upper oil chamber and a lower oil chamber, the upper end of the drill rod (21) passes through the bottom of the lower oil chamber of the driving oil tank (22) and is rotatably connected to the partition plate (221), the partition plate (221) is provided with a rotating oil tank (222), and an impeller (223) is provided inside the rotating oil tank (222) and rotates coaxially with the drill rod (21); The first drive module comprises a plurality of first drive units respectively arranged corresponding to the plurality of drive oil tanks (22), the first drive unit comprising a first drive device for controlling the oil chamber pressure in the upper oil chamber to achieve the up and down movement of the partition plate (221) in the drive oil tank (22), thereby driving the drill rod (21) to move along its own length direction; The second drive module comprises a plurality of second drive units respectively arranged corresponding to the plurality of drive oil tanks (22), the second drive unit comprising a second drive device which controls the flow rate of the fluid medium input into the rotating oil tank (222) so as to realize the impeller (223) rotating at different speeds in the rotating oil tank (222) and thereby drives the drill rod (21) to axially rotate at different speeds.

4. The vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas according to claim 2 is characterized by: The hole-fertilizing mechanism (2) is located at the front end of the vehicle body (1), and the vehicle body (1) is also provided with a spraying mechanism (3), a fertilizer delivery mechanism (4) cooperating with the hole-fertilizing mechanism (2), and a soil covering mechanism (5) provided at the rear end of the vehicle body (1).

5. The vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas according to claim 4 is characterized in that: The soil covering mechanism (5) comprises a plurality of soil covering sub-mechanisms whose number is the same as the number of the drill rods (21), and the vehicle body (1) is further provided with a first adjustment component (23) for moving the position of each drill rod (21) respectively, and a second adjustment component for moving the position of the soil covering sub-mechanism according to the position corresponding to the drill rod (21) in the drilling mode based on the working mode information.

6. The vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas according to claim 5 is characterized by: The balance control module adjusts the driving power applied by the first drive module and the second drive module to each drill rod (21) based on the posture data of the vehicle body (1) and the working mode information corresponding to each drill rod (21), and controls the first adjustment component (23) to move the position of each drill rod (21) respectively, wherein the working mode information also includes the drilling position corresponding to the drill rod (21) whose working mode information is a drilling mode.

7. The vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas according to claim 4 is characterized by: The vehicle body (1) is also provided with an image acquisition module (31) for acquiring tree crown information; The spraying mechanism (3) comprises a rotary spraying module rotatably arranged on a side of the vehicle body (1), the rotary spraying module comprising a plurality of rotary spraying rods (32) of different lengths and arranged in parallel, the plurality of rotary spraying rods (32) having the same axis of symmetry, each of the rotary spraying rods (32) being provided with a plurality of nozzles (33) evenly arranged at equal intervals, and the rotation axis of the rotary spraying module being located at the midpoint of any of the rotary spraying rods (32); The spraying mechanism (3) further comprises a decision module for controlling the opening and closing of each of the rotating spraying rods (32) based on the tree crown information collected by the image collection module (31).

8. The vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas according to claim 7 is characterized by: The middle portion of each rotating spray rod (32) is parallel to the side wall of the vehicle body (1), and both ends of each rotating spray rod (32) are bent towards a side away from the vehicle body (1).

9. The vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas according to claim 4 is characterized by: The fertilizer delivery mechanism (4) comprises a plurality of fertilizer delivery devices respectively cooperating with each of the drill rods (21), and a quantitative control module for controlling, based on the movement distance along the length direction of the drill rod (21) whose working mode information is the drilling mode, the fertilizer delivery amount from the fertilizer delivery device corresponding to the drill rod (21) whose working mode information is the drilling mode to the drilling position corresponding to the drill rod (21) whose working mode information is the drilling mode.

10. An operating method of a vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas, based on the vehicle-mounted integrated machine for applying fertilizer and pesticide in hilly and mountainous areas as claimed in any one of claims 1 to 9, characterized in that: include: Acquiring body posture data of the vehicle body; The driving powers applied by the first driving module and the second driving module to the respective drill rods are adjusted based on the posture data of the vehicle body to achieve the balance of the vehicle body.

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