Variable-depth, variable-position and variable-quantity intelligent fertilizer applicator based on crown size

Abstract

The invention relates to a variable-depth, variable-position and variable-quantity intelligent fertilizer applicator based on the size of a tree crown, and belongs to the technical field of agricultural and forestry machinery. The machine comprises a power device, a fertilizing device, a spiral ditching device, an intelligent identification device and an intelligent control system which are supported on a rack, wherein the rack is arranged on a walking device. The fertilizer applicator can realize integrated operation of intelligent ditching, fertilizer application and soil and fertilizer stirring in agricultural planting environments such as orchards and the like, and meanwhile, can intelligently find an optimal root zone position and adjust the ditching depth, the fertilizer application position and the fertilizer application amount according to the size of a fruit tree crown and the distance of a tree machine, so that the ditching efficiency and the fertilizer utilization rate are improved.

Description

Technical Field

[0001] The present invention relates to a fertilizer applicator, in particular to a variable-depth, variable-position, and variable-rate intelligent fertilizer applicator based on the size of the tree crown, belonging to the technical field of agricultural and forestry machinery. Background Art

[0002] During the process of fertilizing fruit trees in an orchard, trenching is a time-consuming and laborious task. Currently, most orchards rely on manual labor or special trenching machines to dig a rectangular trench along the tree row, and then pour fertilizers. Even for trenchers, it is difficult to control the trenching depth during the trenching process. Adjusting the trenching position requires moving the entire machine, and trenching and fertilizing cannot be achieved simultaneously, still requiring manual fertilization, which is time-consuming and laborious.

[0003] In addition, the fertilization of the above traditional technology not only fails to achieve one-time operation and has low work efficiency, but also because the fertilizers are concentrated in some root zones, it is easy to cause root burning and insufficient fertilization in some root zones (see Figure 10 , where D is the diameter of the fruit tree, L is the distance between the fruit tree and the trench, and h is the depth of the fertilization trench in the figure).

[0004] After retrieval, the Chinese patent with the application number 201510665050.6 discloses an orchard target-variable annular trenching and fertilizing device, including a hydraulic transmission system, an annular trenching and fertilizing device, a sensor detection system, and a controller. The hydraulic transmission system drives the annular trenching and fertilizing device to make the trenching shovel move along the trenching trajectory; the annular trenching and fertilizing device performs semi-circular trenching, fertilizer amount control, and soil covering for the fruit tree target; the sensor detection system obtains the traveling speed of the fertilizer applicator, the relative position between the fruit tree and the fertilizer applicator, and the crown width information; the controller sets the fertilizer discharge amount information for each fruit tree, processes the detection information of the sensor detection system, calculates the trenching trajectory and the fertilizer discharge rate, and controls the annular trenching and fertilizing device to perform annular trenching along the trenching trajectory and uniformly fertilize along the annular trench; according to the fertilizer amount setting and the information obtained by the sensor detection system, the present invention calculates the target trenching trajectory and the fertilizer discharge rate, realizes semi-circular trenching for the fruit tree target during the continuous driving of the fertilizer applicator, and uniformly fertilizes along the trenching trajectory, increasing the fertilizer utilization rate and the operation efficiency. However, this patent is mainly applicable to fruit trees with similar growth conditions in the orchard, and it cannot continuously perform precise fertilization for fruit trees with different crown sizes. Moreover, this patent does not calculate the optimal fertilizer-absorbing root zone through the traveling speed, the relative position between the fruit tree and the fertilizer applicator, and the crown width information, so variable-depth fertilization cannot be carried out.

[0005] In addition, the Chinese patent document with the application number 201811483833.2 provides a method for measuring the size of an object through images, including the steps of: fixing the distance between the object to be measured and the camera; receiving a first photographing instruction, and obtaining a first photograph of the object to be measured and the first focal length of the camera according to the first photographing instruction; receiving a second photographing instruction, and obtaining a second photograph of the object to be measured and the second focal length of the camera according to the second photographing instruction; obtaining the first contour size of the object to be measured in the first photograph and the second contour size of the object to be measured in the second photograph; calculating the actual size of the object to be measured according to the proportional relationship between the first focal length, the first contour size, the second focal length, and the second contour size. This shows that the technology for measuring the size of an object through images has become increasingly mature. Summary of the Invention

[0006] The object of the present invention is to provide a variable-depth, variable-position, and variable-quantity intelligent spiral trenching and fertilizing machine based on the fruit tree canopy. This fertilizing machine can intelligently control the trenching depth, fertilizing position, and fertilizing quantity, improve the trenching efficiency and fertilizer utilization rate, and reduce the consumption of human and material resources.

[0007] Research shows that when the sun shines at 12 noon, the size of the canopy projection area is approximately the optimal fertilizer-absorbing root area, and there is also a certain qualitative relationship between the optimal fertilizer-absorbing root area of the fruit tree canopy and the fruit tree canopy. The larger the canopy, the larger its fertilizer-absorbing root area. On the one hand, in production, the optimal state is to find the optimal fertilizer-absorbing root area of the fruit tree, and perform intelligent fertilization according to the variable depth, position, and quantity of different canopies, while completing the operations of trenching, soil covering, and soil-fertilizer mixing at one time; on the other hand, the development of information technology, sensing technology, and visual information technology provides technical support for variable-depth, variable-position, and variable-quantity intelligent fertilization of fruit trees.

[0008] To achieve the above object, the basic technical solution of the present invention is: a variable-depth, variable-position, and variable-quantity intelligent fertilization machine based on the canopy size, including a power device (3), a fertilization device (4), a spiral trenching device (5), an intelligent recognition device (6), and an intelligent control system (7) supported on a frame (1), and the frame is arranged on a traveling device (2);

[0009] The power device transmits the traveling power to the traveling device;

[0010] The fertilization device includes a hopper-shaped fertilizer box supported above the middle of the frame. The bottom of the fertilizer box leads to a conveying auger, and the conveying auger is driven by a fertilization drive motor controlled by the control system, constituting a feeding mechanism that can convey fertilizer from the fertilizer box to the fertilizer discharge pipe according to the instructions of the control system;

[0011] The spiral trenching device includes a column fixedly connected to the frame. The column and the lifting slide form a vertical moving pair driven by a lifting servo motor, and the lifting slide and a moving platform driven by a moving servo motor form a horizontal moving pair;

[0012] The lower part of the mobile platform is equipped with a vertical spiral grooving tool driven by a spiral grooving drive motor; the intelligent identification device contains a laser radar and a visual camera supported by a scissor-fork mechanism installed in the middle of the frame, and the scissor-fork mechanism is a set of parallel connecting rod mechanisms connecting the upper platen and the lower platen, and the lower end of the parallel connecting rod mechanism forms a spiral pair with the first ball screw supported on the lower platen through a nut hinged thereto, and the scanning upper and lower servo motor drives the first ball screw to drive the scissor-fork mechanism to drive the laser radar and the visual camera to rise and fall; the upper platen supports the laser radar and the visual camera through a slide plate that forms a horizontal moving pair with it, and the bottom surface of the upper platen is equipped with a nut that forms a spiral pair with the second ball screw supported on the upper platen, and the scanning left and right servo motors drive the laser radar and the visual camera to move in translation through the ball screw;

[0013] The corresponding signal input ends of the main control circuit intelligent chip in the intelligent control system are respectively connected to the signal output ends of the visual camera and the laser radar, so as to receive the detection signals of the tree crown size, the root zone position of the fruit tree and the tree-machine distance; the corresponding control signal output ends of the intelligent chip are respectively connected to the controlled ends of the fertilization drive motor, the mobile servo motor, the spiral furrowing drive motor, the lifting servo motor, the scanning up and down servo motor, and the scanning left and right servo motor, so as to control the driving furrowing device and the fertilization device to work in the superior root zone position and to make the laser radar and the visual camera be in the corresponding positions.

[0014] During operation, the laser radar and visual camera are lifted and translated by the electric scissor mechanism and the screw structure, which has the ability to be applied to tall fruit trees, making image processing and size measurement more accurate. The laser radar and visual camera measure the crown size of the fruit tree and the distance between the tree and the machine in real time, and transmit the image to the intelligent electric cabinet. The intelligent electric cabinet uses the crown and root zone size database and deep learning to calculate and decide the optimal root zone position, so as to adjust the fertilizer amount, trenching depth and fertilizer position through the fertilizer drive motor in the fertilizer device, the vertical moving pair of the spiral trenching device with a gear rack structure, and the horizontal moving pair of the spiral trenching device with a gear rack structure to achieve accurate variable depth and variable position fertilization. Since the trenching cutter is connected by a flange bolt group, the quick tool change can adapt to different soil environments and precise fertilization under different tree diameters. And because of the use of a crawler walking device and the relatively small size of the whole machine, it has higher adaptability and control system accuracy for different orchard environments. In short, this fertilizer spreader can realize intelligent integrated trenching and fertilization operations in agricultural planting environments such as orchards. At the same time, it can intelligently find the optimal root zone position according to the size of the fruit tree crown and the distance between the tree and the machine, adjust the trenching depth, fertilization position and fertilizer amount, and improve trenching efficiency and fertilizer utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1Schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0016] Figure 2 is Figure 1 Schematic diagram of the planar projection structure of the embodiment.

[0017] Figure 3 is Figure 2 Schematic diagram of the partially enlarged structure.

[0018] Figure 4 is Figure 1 Schematic diagram of the variable fertilization device structure of the embodiment.

[0019] Figure 5 is Figure 1 Exploded view schematic diagram of the variable position and variable depth screw trenching device of the embodiment.

[0020] Figure 6 is Figure 1 Exploded view schematic diagram of the mobile platform of the embodiment.

[0021] Figure 7 is Figure 1 Schematic diagram of the scissor mechanism structure of the embodiment.

[0022] Figure 8 is Figure 1 Exploded view schematic diagram of the three-dimensional structure of the embodiment.

[0023] Figure 9 is Figure 1 Circuit schematic diagram of the control system in the embodiment.

[0024] Figure 10 is Figure 1 Schematic diagram of identifying the variables of the tree crown, variable position, and variable depth in the embodiment.

[0025] In the figure: 1. Frame; 2. Traveling device; 3. Power device; 4. Fertilizing device; 5. Spiral trenching device; 6. Intelligent identification device; 7. Intelligent control system; 11. Diesel generator; 12. Reducer; 13. Driving wheel; 14. Load-bearing wheel; 15. Crawler; 16. Crawler tensioning wheel; 21. Intelligent display screen; 22. Intelligent control electric cabinet; 23. Battery pack; 31. Fertilizer tank; 32. Fertilizing drive motor; 33. Synchronous belt; 34. Baffle; 35. Conveyor auger; 36. Fertilizer discharging pipe; 41. Cable drag chain; 42. Lifting servo motor; 43. Lifting drive reducer; 44. Lifting drive gear; 45. Lifting slider; 46. Lifting guide rail; 47. Lifting rack; 48. Vertical chute; 49. Moving servo motor; 50. Moving platform reducer; 52. Moving slider; 53. Moving guide rail; 54. Moving rack; 55. Moving drive gear; 56. Spiral trenching reducer; 57. Spiral trenching drive motor; 58. Flange bolt group; 59. Spiral trenching cutter; 61. Lidar; 62. Vision camera; 63. Ball screw; 64. Scanning left and right servo motor; 65. Scissor mechanism; 66. Scanning up and down servo motor; 67. Ball screw; 68. Vertical bearing; 69. Vertical bearing; 70. Coupling; 71. Coupling; 72. Optimal fertilizer absorption area Specific embodiments

[0026] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] As shown in the Figure 1 accompanying drawings, the intelligent variable-depth, variable-position and variable-rate fertilizer applicator based on the crown size in this embodiment is shown in Figure 1 , the power device 3, the fertilizing device 4, the spiral trenching device 5, the intelligent identification device 6, and the intelligent control system 7 are supported on the frame 1. The frame 1 is welded by steel structures and is in an overall rectangular frame shape, and is installed on the traveling device 2, so that the whole machine can walk stably in the orchard.

[0028] The power device 3 is as shown in Figure 2As shown in the figure, the diesel engine 11 installed at the upper rear of the frame 1 transmits the traveling power to the traveling device 2 mainly composed of a driving wheel 13, a load-bearing wheel 14, a crawler 15, and a crawler tensioning wheel 16 through a speed reducer 12. Obviously, the traveling device is installed at the bottom of the frame and consists of a driving wheel, a load-bearing wheel, a crawler, and a crawler tensioning wheel. The driving wheel is located at the rear end of the device and is connected to the power device to impart traveling power to the device. The load-bearing wheels are evenly distributed under the device to support the weight of the entire machine. The crawler surrounds the driving wheel, the load-bearing wheel, and the crawler tensioning wheel and contacts the ground to achieve the movement of the machine. The crawler tensioning wheel is set at an appropriate position to adjust the tension of the crawler, ensuring the normal operation of the crawler and good grip. The power device supplies power to the fertilizer applicator and adopts an engine, a speed reducer, and a motor. The engine is connected to the speed reducer through a synchronous belt to drive the crawler-type traveling structure to make the machine move forward smoothly.

[0029] For the fertilizer application device 4, see Figure 3 , Figure 4 . At the bottom of the hopper-shaped fertilizer tank 31 supported above the middle of the frame 1, a conveying auger 35 with inclined baffle plates 34 distributed at intervals is provided from the bottom to the upper part. The conveying auger is driven by a fertilizer application drive motor 32 controlled by a control system through a synchronous belt 33, forming a feeding mechanism that can convey fertilizer from the fertilizer tank 31 to the fertilizer discharging pipe 36 according to the instructions of the control system. The fertilizer tank is used to store fertilizer, and the feeding mechanism conveys the fertilizer from the fertilizer tank to the fertilizer discharging pipe according to the instructions of the control system. The fertilizer discharging pipe evenly scatters the fertilizer into the ditch.

[0030] For the spiral ditching device 5, see Figure 3 , Figure 5 and Figure 6 . In the vertical chute 48 on the vertical column V fixedly connected to the frame 1, a lifting guide rail 46 is installed. The lifting slide seat B is fixedly connected with a group of lifting sliders 45 and forms a vertical moving pair with the vertical column V through the lifting sliders 45 that are slidably mated with the lifting guide rail 46. The lifting rack 47 fixedly connected to one side of the vertical column V meshes with the lifting drive gear 44, and the lifting drive gear 44 is driven by a lifting servo motor 42 installed in the lifting slide seat B through a lifting drive speed reducer 43. Above the vertical column V, a cable drag chain 41 is installed to protect and guide the circuit cables and extend the service life of the cables. The lifting slide seat B is fixedly connected to its slide base plate A. The lower part of the slide base plate A forms a horizontal moving pair with the moving guide rail 53 installed on the moving platform H through the fixedly connected moving slider 52. The moving rack 54 fixedly connected to the moving platform H meshes with the moving drive gear 55, and the moving drive gear 55 is driven by a moving servo motor 49 installed above the slide base plate A through a moving platform speed reducer 50.

[0031] See Figure 3 and Figure 5, at the lower part of the mobile platform H, there is a vertical spiral trenching tool 59 connected by a trenching drive reducer 56 and a flange bolt group 58 through a spiral trenching drive motor 57. Since the trenching tool adopts a flange bolt group connection method, it can achieve rapid tool change to meet the precise fertilization requirements under different soil environments and different tree canopies.

[0032] The intelligent recognition device 6 is shown in Figure 7 , in the middle of the frame 1, a lidar 61 and a vision camera 62 for detecting information such as the size of the tree canopy, the position of the fruit tree root zone, and the distance between the trees are installed on the upper platform plate of the scissor mechanism 65. The scissor mechanism 65 is essentially a group of parallel link mechanisms connecting the upper and lower platform plates. One end of the lower part of this parallel link mechanism is hinged with a nut and forms a screw pair with a ball screw 67 supported on the lower platform plate through a vertical bearing 68. The scanning up and down servo motor 66 drives the ball screw 67 through a coupling 70 to drive the scissor mechanism 65 to drive the lidar 61 and the vision camera 62 to lift smoothly as required. The upper platform plate supports the lidar 61 and the vision camera 62 through a slide plate forming a horizontal moving pair. A nut forming a screw pair with a ball screw 63 supported on the upper platform plate through a vertical bearing 69 is installed on the bottom surface of the upper platform plate. Therefore, the scanning left and right servo motor 64 can drive the lidar 61 and the vision camera 62 to move horizontally as required through the coupling 71 connected to the ball screw 63.

[0033] The intelligent control system 7 is shown in Figure 2 and Figure 3 , including an intelligent display screen 21, an intelligent control electrical cabinet 22, and a battery pack 23. The intelligent system display screen 21 is used to display information visually, indicating the size of the tree canopy, the fertilization amount, and the trenching depth. The signal output ends of the vision camera 62 and the ranging lidar 61 are respectively connected to the intelligent chip U1 of the main control circuit in the intelligent electrical cabinet 22 (see Figure 9) PA7 and PA8 are used to transmit detection signals such as the crown size, the position of the fruit tree root zone, and the distance between the tree and the machine to U1. U1 can select the optimal fertilization area from the corresponding relationship in the preset database (or calculate the optimal fertilization area through deep learning based on Internet technology). Then, PB10, PB8, PB9, PB11, PB5, and PB6 output corresponding control signals to control the driving fertilization drive motor 32, the mobile servo motor 49, the spiral trenching drive motor 57, the lifting servo motor 52, the scanning up and down servo motor 66, and the scanning left and right servo motor 64 respectively, driving the trenching device and the fertilization device to work at the optimal root zone position - controlling the spiral trenching and fertilizing machine to change depth, position, and variable amount. The spiral trenching device 5 trenches in the soil, and the fertilization device 4 evenly scatters the fertilizer into the trench to complete the fertilization operation. The vertical moving pair and the horizontal moving pair of the spiral trenching device respectively control the depth and position changes of the trenching device. The spiral trenching cutter is connected to the machine through a flange bolt group and is driven by the spiral trenching drive motor and the trenching drive reduction gear to rotate and trench. During this process, the intelligent chip U1 of the main control circuit also outputs corresponding control signals through PB5 and PB6 according to the detection signals to drive the scanning up and down servo motor 66 and the scanning left and right servo motor 64 respectively as appropriate, so that the lidar 61 and the vision camera 62 on the scissor mechanism are in the appropriate positions that can completely and accurately identify the crown of the tree set in the corresponding preset database.

[0034] More specifically, Figure 2 The intelligent system display screen 21 in is used to display information visualization. The intelligent electrical cabinet 22 generates and outputs control signals according to the information of the vision camera 61 and the lidar 62. The battery pack 23 provides electrical energy for the intelligent electrical cabinet 22. Figure 8 In, (1) Analog quantity acquisition: The PA0 and PA1 pins are used as analog quantity signal acquisition pins to collect the signals fed back by the draw-wire sensor, which are used to measure the left-right and up-down movement positions of the fertilization and trenching device. The PA2 pin collects the knob signal, which is used to measure and control the motor speed. (2) Digital quantity input: The SIGNAL signal is externally connected to the DIN port to detect switch quantity signals such as emergency stop, manual / start switchover, up-down movement of the fertilization device, and movement. (3) Digital quantity output: A 5V switch quantity signal is output to the DOUT port through the PWM pin, and two PWM signals are output for motor-driven translation and up-down movement. (4) Analog quantity output: The PB6 and PB7 pins are for IIC communication, which is used to control the output of 0-5V analog quantity signals to control the motor speed. (5) Host computer communication: The PA9 and PA10 pins are for USART communication, communicating with the host computer USB interface, receiving the control signals sent by the host computer, and sending the current states of the fertilization device and the spiral trenching device. The intelligent system display screen is used to display various parameters such as tree diameter size, fertilization amount, and trenching depth.

[0035] During use, the user pre-imports a database of the corresponding relationship between the crown diameter and the root zone size into the intelligent electric cabinet 22, which is beneficial for the control system to calculate and make decisions. The lidar 61 and the vision camera 62 detect the crown diameter D and the tree machine distance L in real time. The information can be seen in Figure 10 , and the information is transmitted to the intelligent electric cabinet 22. The intelligent electric cabinet 22 calls the database of the corresponding relationship between the crown diameter and the root zone size according to the information and simultaneously performs deep learning calculations to determine the ditching depth H, the fertilization position, and the fertilization amount information, and outputs the information to the control chip, thereby driving the ditching device and the fertilization device to work.

[0036] In addition, this embodiment uses the YOLOv5 model for deep learning: (1) YOLOv5 model architecture: As the core deep learning architecture, it has efficient feature extraction and target detection capabilities. The YOLOv5 model includes a backbone network, a neck network, and a prediction head, and can process fruit tree images quickly and accurately. (2) Data collection and annotation: The image acquisition device is an intel RealSense D435. A total of 935 original images of fruit tree crowns are collected, in JPG format, with a resolution of 1920×1080 pixels. Images are collected from different distances and under backlight and normal lighting conditions to ensure data diversity and improve the network's target detection ability. At the same time, the LabelImg tool is used to annotate the target and non-target category and position information in the images. The minimum bounding rectangle where the fruit tree crown is located in each picture is manually annotated, and the annotation results are saved in YOLO format. Then, through data augmentation, the dataset is expanded to 2500 images. Among them, the dataset is divided into 1750 training sets, 500 validation sets, and 250 test sets according to the ratio of 7:2:1. The training set is used to train the network model parameters, the validation set is used to adjust the network hyperparameters during training to prevent the network from overfitting, and the test set does not participate in training and is used to finally evaluate the model detection effect. (3) Training environment parameters: In this embodiment, the environment is built on the Ubantu (18.04) system and the PyTorch deep learning framework is used, with CUDA Version 11.7, CUDNN Version 9.2, and Python Version 3.8. The training platform is: CPU Core TMi7-12700H 3.50 GHz, 16G of memory, and GPU NVIDIA GeForce GTX 3060 6G. (4) Evaluation metrics: Model evaluation metrics can evaluate and quantify model performance. In the variable fertilization operation of fruit trees, it is very important to correctly identify the crowns of fruit trees. Therefore, this patent uses the mean average precision (mAP) metric to evaluate the performance of the model. The number of parameters and the model size are indicators for judging the size of the computer memory configuration resources required by the model and whether the network is lightweight. (5) Real-time detection and decision-making: The trained YOLOv5 model is deployed to the control system of the automatic fertilization machine to achieve rapid detection of real-time collected fruit tree images. The model can accurately identify the position, crown size, and growth status of fruit trees within milliseconds and transmit this information to the control unit. Based on the output results of the model, combined with the preset fertilization strategy and algorithm, the control unit accurately calculates the fertilization amount, fertilization position, and furrow depth to achieve intelligent and precise fertilization. The present invention innovatively applies the YOLOv5 model to the control system of the fruit tree automatic fertilization machine, significantly improving the detection accuracy of fruit trees and the accuracy of fertilization decision-making. Compared with other models, the YOLOv5 model has a faster inference speed and lower computational resource requirements, making it more suitable for real-time applications in actual agricultural production scenarios.

[0037] Tests show that this embodiment of the present application is applicable to fruit tree fertilization in orchards of different environments, sizes, and heights, and has the following beneficial effects:

[0038] Intelligent control based on Internet technology and deep learning: The control system calls the database of crown and root zone sizes based on the crown diameter size and tree distance conveyed by the lidar and vision camera, conducts deep learning and calculation for decision-making, intelligently explores the optimal root zone position, and then outputs a control signal to adjust the furrow depth, fertilization position, and fertilization amount to achieve intelligent control.

[0039] Variable-depth, variable-position, and variable-rate fertilization: By means of the variable speed of the conveyor auger, the vertical moving pair of the spiral furrowing device, and the horizontal moving pair of the spiral furrowing device in the fertilization device, the fertilization amount, furrow depth, and fertilization position are adjusted to achieve variable-depth, variable-position, and variable-rate fertilization operations.

[0040] Quick tool change: The furrowing tool is fastened by flange bolts, which facilitates the rapid replacement of the tool according to soil conditions.

[0041] The intelligent recognition device has a wide range of applications: Equipped with an intelligent recognition device, the fertilization machine can be applicable to various types of orchards and fruit trees with different crown heights, and can meet the fertilization needs of different tree species and different soil conditions.

[0042] This fertilizing machine can achieve intelligent regulation of the ditching depth, fertilizing position, and fertilizing amount, improve the ditching efficiency and fertilizer utilization rate, and reduce the consumption of manpower and material resources. Among the existing spiral ditching and fertilizing machines on the current market, although such machines can perform ditching and fertilizing operations, most of them lack intelligent control and are difficult to achieve variable-depth, variable-position, and variable-amount ditching and fertilizing operations. They cannot intelligently find the optimal root zone position according to the size of the fruit tree canopy and the distance between trees to adjust the ditching depth, fertilizing position, and fertilizing amount.

[0043] In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by equivalent substitution or equivalent deformation fall within the protection scope required by the present invention.

Claims

1. An intelligent fertilizer spreader with variable depth, position and displacement based on tree crown size, characterized by: It comprises a power device (3), a fertilizing device (4), a spiral furrowing device (5), an intelligent identification device (6), and an intelligent control system (7) supported on a frame (1); the frame is placed on a walking device (2); The power device transmits the traveling power to the walking device; The fertilizing device comprises a bucket-shaped fertilizer box supported above the middle of the frame, the bottom of the fertilizer box leads to a conveying auger, and the conveying auger is driven by a fertilizer driving motor controlled by a control system, forming a feeding mechanism that can convey fertilizer from the fertilizer box to the fertilizer discharge pipe according to the command of the control system; The spiral furrowing device comprises a column fixedly connected to the frame, wherein the column and the lifting slide form a vertical moving pair driven by a lifting servo motor, and the lifting slide and the moving platform driven by the moving servo motor form a horizontal moving pair; A vertical spiral trenching cutter driven by a spiral trenching drive motor is installed at the lower part of the mobile platform; The intelligent identification device contains a laser radar and a visual camera supported by a scissor mechanism installed in the middle of the frame. The scissor mechanism is a set of parallel connecting rod mechanisms connecting the upper platen and the lower platen. The lower end of the parallel connecting rod mechanism forms a spiral pair with a first ball screw supported on the lower platen through a nut hinged therewith. The scanning upper and lower servo motor drives the first ball screw to drive the scissor mechanism to drive the laser radar and the visual camera to rise and fall; the upper platen supports the laser radar and the visual camera through a slide plate forming a horizontal moving pair with it. The bottom surface of the upper platen is equipped with a nut forming a spiral pair with a second ball screw supported on the upper platen. The scanning left and right servo motors drive the laser radar and the visual camera to move in translation through the ball screw. The corresponding signal input ends of the main control circuit intelligent chip in the intelligent control system are respectively connected to the signal output ends of the visual camera and the laser radar, and are used to receive the detection signals of the tree crown size, the root zone position of the fruit tree and the tree-machine distance; the corresponding control signal output ends of the intelligent chip are respectively connected to the controlled ends of the fertilization drive motor, the mobile servo motor, the spiral furrowing drive motor, the lifting servo motor, the scanning up and down servo motor, and the scanning left and right servo motor, and are used to control the driving furrowing device and the fertilization device to work in the superior root zone position and to make the laser radar and the visual camera be in the corresponding positions.

2. According to claim 1, the variable depth, position and variable intelligent ditching and fertilizing machine based on the diameter of fruit trees is characterized by: The upper part of the conveying auger is provided with inclined material blocking plates which are distributed at intervals.

3. According to claim 2, the variable depth, displacement and variable intelligent ditching and fertilizing machine based on the diameter of fruit trees is characterized by: The lower part of the mobile platform is equipped with a vertical spiral trenching cutter which is connected to the spiral trenching drive motor through a trenching drive reducer and a flange bolt group.

4. According to claim 3, the variable depth, position and variable intelligent trenching and fertilizing machine based on the diameter of fruit trees is characterized by: A lifting guide rail is installed in the vertical slide groove on the column, and the lifting slide seat is fixedly connected to a group of lifting sliding blocks that are slidably matched with the lifting guide rail.

5. According to claim 4, the variable depth, position and variable intelligent ditching and fertilizing machine based on the diameter of fruit trees is characterized by: The lifting rack fixedly connected to one side of the column is meshed with the lifting driving gear, and the lifting driving gear is driven by a lifting servo motor installed on the lifting slide.

6. The intelligent trenching and fertilizing machine with variable depth, displacement and variable value based on the diameter of fruit trees according to claim 5 is characterized in that: The lifting slide is fixedly connected to its slide base plate, and the lower part of the slide base plate forms a horizontal moving pair with a moving guide rail installed on the moving platform through a fixed moving slider.

7. The intelligent trenching and fertilizing machine with variable depth, displacement and variable value based on the diameter of fruit trees according to claim 6 is characterized in that: The walking device consists of a driving wheel, a load-bearing wheel, a track and a track tensioning wheel; the driving wheel is located at the rear end of the device and is connected to the power device; the load-bearing wheels are evenly distributed below to support the weight of the entire machine; the track is wrapped around the driving wheel, the load-bearing wheel and the track tensioning wheel.

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