Side deep fertilization device and method

Abstract

The invention discloses a side deep fertilization device, including a walking device, a gasoline turbine fan arranged on the walking device and a double-chamber pneumatic seeding device arranged at the rear of the walking device, the gasoline turbine fan is connected to the double-chamber pneumatic seeding device through a negative pressure main pipeline, a plurality of seed furrow openers are arranged along the width at the rear of the walking device, a plurality of fertilizer furrow openers are arranged along the width of the walking device at the rear of the walking device, a water ditch opening and storage bracket is arranged at the rear of the walking device, a water ditch opening and storage bracket is arranged on the water ditch opening and storage device, and a GPS module is arranged on the walking device. The invention also discloses a side deep fertilization method, the rotation speed of the driving motor is comprehensively adjusted by the amount of fertilizer remaining in the fertilizer box and the rotation speed of the spiral shaft of the spiral fertilizer dispensing device, and the fertilization accuracy is significantly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a side deep fertilization device and a side deep fertilization method. Background Art

[0002] Rice is one of the most important food crops, especially in the food security of southern China. Fertilization is an essential part of rice production, and practice has proved that it is an effective way to increase rice yield and farmers' income. However, excessive fertilizer application will not only damage the soil structure and biological system of farmland, but also cause environmental pollution. Improving the accuracy of fertilizer discharge can effectively save resources, reduce waste, and reduce pollution to the environment. Summary of the invention

[0003] The purpose of the present invention is to provide a side deep fertilization device and a side deep fertilization method in view of the above problems existing in the prior art.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A side-deep fertilization device comprises a traveling device, a gasoline turbine fan arranged on the traveling device and a double-chamber pneumatic seed-dressing device arranged at the rear of the traveling device, the gasoline turbine fan is connected to the double-chamber pneumatic seed-dressing device through a negative pressure main pipeline, a plurality of seed furrow openers are also arranged along the width at the rear of the traveling device, each output branch pipe of the double-chamber pneumatic seed-dressing device extends to the rear of the corresponding seed furrow opener, a plurality of fertilizer furrow openers are also arranged along the width of the traveling device at the rear of the traveling device, a fertilizer discharge port is arranged at the bottom of the fertilizer furrow opener, the fertilizer furrow opener is connected to the outlet of the corresponding spiral fertilizer discharger through a fertilizer inlet pipe, the inlet of the spiral fertilizer discharger is connected to a fertilizer box, a water ditch opening and storage bracket is also arranged at the rear of the traveling device, the water ditch opening and storage bracket is arranged with the water ditch opening and storage device, and a GPS module is arranged on the traveling device.

[0006] As mentioned above, a fertilizer discharging bracket is arranged at the tail of the spiral fertilizer discharging device, a weighing device is arranged on the fertilizer discharging bracket, and a fertilizer box is arranged on the weighing device.

[0007] As mentioned above, the spiral shafts of the various spiral fertilizer dispensing devices are linearly connected in series, and the serially connected spiral shafts are driven to rotate by a driving motor, wherein a grating encoder is provided on the spiral shaft of one of the spiral fertilizer dispensing devices.

[0008] As described above, the weighing device includes an upper mounting plate, a hinge part and a lower mounting plate, the fertilizer box includes a box body and a fertilizer discharge funnel arranged at the bottom of the box body, one side of the upper mounting plate is pressed on the weighing sensor through a pad, the weighing sensor is arranged on the lower mounting plate, the other opposite side of the upper mounting plate is hinged to one side of the lower mounting plate through a hinge part, the angle between the upper mounting plate and the lower mounting plate is a set acute angle, the lower mounting plate is installed on the fertilizer discharge bracket, a funnel clamping hole is opened on the upper mounting plate, the box body is arranged on the upper mounting plate, the fertilizer discharge funnel is clamped in the funnel clamping hole, and a fertilizer drop hole is arranged on the lower mounting plate, the fertilizer drop hole is located directly below the fertilizer discharge funnel in the vertical direction, and the fertilizer discharge funnel does not contact the fertilizer drop hole.

[0009] As mentioned above, the fertilizer opener is connected to the transverse adjustment hoop through the adapter rod, the transverse adjustment hoop is sleeved on the transverse adjustment rod, a threaded hole is provided on the transverse adjustment hoop, one end of the transverse adjustment bolt is screwed into the threaded hole provided on the transverse adjustment hoop and abuts against the transverse adjustment rod, the transverse adjustment rod is connected to the bottom end of the longitudinal adjustment rod, a longitudinal adjustment hoop is sleeved on the longitudinal adjustment rod, locating pin holes are provided at different heights on the longitudinal adjustment rod, a through hole is provided on the longitudinal adjustment hoop, the longitudinal adjustment bolt passes through the locating pin hole and the through hole on the longitudinal adjustment hoop, and the longitudinal adjustment hoop is connected to the tail of the walking device through a connecting bracket.

[0010] As described above, the fertilization furrow opener includes a furrowing hull, which is hollow, and a fertilizer discharge port is arranged at the bottom of the furrowing hull, and a fertilizer inlet pipe, a longitudinal adjustment piece, and an exhaust pipe are arranged on the top of the furrowing hull, and limit holes are arranged at different heights of the longitudinal adjustment piece, and a through hole is arranged at the bottom end of the adapter rod. The hull height adjustment bolt passes through the limit hole on the longitudinal adjustment piece and the through hole on the adapter rod to fasten the longitudinal adjustment piece and the adapter rod.

[0011] A side deep fertilization method comprises the following steps:

[0012] Step 1: Use a weighing device to measure the amount of fertilizer remaining in each fertilizer box;

[0013] The grating encoder is used to measure the rotation speed of the screw shaft of the screw fertilizer dispenser;

[0014] Use the GPS module to measure the forward speed of the walking device;

[0015] Step 2: Obtain the fertilization area per unit time of the walking device according to the product of the forward speed of the walking device and the width of the walking device;

[0016] According to the change value of the remaining fertilizer amount of each fertilizer box per unit time, the total fertilizer discharge amount per unit time is calculated, and the total fertilizer discharge amount per unit time is divided by the fertilizer application area per unit time of the walking device to obtain the fertilizer application amount per unit area;

[0017] According to the rotation speed of the spiral shaft of the spiral fertilizer dispensing device and the single-turn fertilizer dispensing amount of each fertilizer box, the total fertilizer dispensing amount per unit time is calculated, and the total fertilizer dispensing amount per unit time is divided by the fertilizer dispensing area per unit time of the walking device to obtain the fertilizer dispensing amount per unit area;

[0018] Step 3: taking the difference between the first fertilizer application rate per unit area and the target fertilizer application rate per unit area as the first deviation, inputting the first deviation into the fertilizer discharge control system for PID calculation to obtain the first drive motor adjustment amount;

[0019] According to the difference between the second fertilizer application amount per unit area and the target fertilizer application amount per unit area as the second deviation, the second deviation is input into the fertilizer discharge control system for PID calculation to obtain the second drive motor adjustment amount;

[0020] Step 4: the fertilizer discharge control system calculates a weighted average drive motor adjustment amount according to the first drive motor adjustment amount and the second drive motor adjustment amount, and the fertilizer discharge control system adjusts the speed of the drive motor according to the weighted average drive motor adjustment amount.

[0021] Compared with the prior art, the present invention has the following advantages and effects:

[0022] 1. The present invention simultaneously monitors the amount of fertilizer remaining in the fertilizer box, the rotation speed of the spiral shaft of the spiral fertilizer discharger, and the forward speed of the walking device, and comprehensively adjusts the rotation speed of the driving motor by the amount of fertilizer remaining in the fertilizer box and the rotation speed of the spiral shaft of the spiral fertilizer discharger, so as to adjust the amount of fertilizer discharge in real time. Compared with the feedback adjustment only through the rotation speed of the fertilizer discharge shaft, the fertilization accuracy is significantly improved.

[0023] 2. The present invention provides a weighing device that can effectively and reliably monitor the amount of remaining fertilizer in a fertilizer box without hindering normal fertilizer discharge from the fertilizer box.

[0024] 3. The grating encoder is installed on the screw shaft of the spiral fertilizer dispenser. The drive motor is located in the middle of the screw shaft connected by a linear shaft, which can reduce the axial force on both sides.

[0025] 4. The double-chamber pneumatic seed metering device adopts a centralized air distribution device for air distribution. This air distribution method can effectively reduce the blockage of fertilizer pipes during fertilization operations and improve energy utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of the device of the present invention.

[0027] Figure 2 It is a structural diagram of the weighing device.

[0028] Figure 3 It is a schematic diagram of the structure of the spiral fertilizer dispenser.

[0029] Figure 4This is a schematic diagram of the connection structure of the fertilizer opener.

[0030] Figure 5 This is a schematic diagram of the structure of a fertilizer opener.

[0031] Figure 6 This is a schematic diagram of side deep fertilization.

[0032] Figure 7 This is a schematic diagram of a centralized air distribution device.

[0033] 1-Travel device (model: Yanmar VP6D rice transplanter); 2-Travel controller; 3-Gasoline turbine fan; 4-Negative pressure main pipeline; 5-Fertilizer box; 6-Spiral fertilizer dispenser; 7-Drive motor; 8-Weighing device; 9-Fertilizer inlet pipe; 10-Fertilizer discharge bracket; 11-Output branch pipe; 12-Water storage ditch opener; 13-Water storage ditch opener bracket; 14-Double-chamber pneumatic seeding device; 15-Fertilizer opener; 16-Seed ditch opener; 17-Fertilizer discharge control system; 18-Inverter; 19-Battery; 20-Adapter rod; 21-Horizontal adjustment hoop; 22-Horizontal adjustment bolt; 23-Horizontal adjustment rod; 24-Longitudinal adjustment rod; 25-Longitudinal adjustment hoop; 26-Longitudinal adjustment bolt; 27-Connecting bracket;

[0034] 801-weighing sensor; 802-upper mounting plate; 803-pad; 804-lower mounting plate; 805-fertilizer hopper; 806-fertilizer; 807-box; 808-hinged part;

[0035] 601-grating encoder;

[0036] 1501-ditching hull; 1502-fertilizer discharge port; 1503-longitudinal adjustment piece; 1504-exhaust pipe; 1505-limiting hole. DETAILED DESCRIPTION

[0037] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0038] A side-deep fertilization device comprises a walking device 1. In the present embodiment, the walking device 1 is a Yanmar VP6D rice transplanter, and further comprises a gasoline turbine fan 3 arranged on the walking device 1 and a double-chamber pneumatic seed metering device 14 arranged at the rear of the walking device 1. The gasoline turbine fan 3 is connected to the double-chamber pneumatic seed metering device 14 through a negative pressure main pipeline 4. The gasoline turbine fan 3 provides wind power for the double-chamber pneumatic seed metering device 14. A plurality of seed furrow openers 16 are also arranged along the width at the rear of the walking device 1. The seed furrow openers 16 are used to open seed furrows when the walking device 1 moves forward. Each output branch pipe 11 of the double-chamber pneumatic seed metering device 14 extends to the rear of the corresponding seed furrow opener 16 to realize seed discharge into the seed furrow after the seed furrow is opened. A plurality of fertilizer openers 15 are also arranged along the width of the walking device 1 at the rear of the walking device 1. The fertilizer opener 15 is located at the seed furrow At the rear side of the furrow opener 16, a fertilizer discharge port 1502 is provided at the bottom of the fertilization furrow opener 15. The fertilization furrow opener 15 is connected to the outlet of the corresponding spiral fertilizer discharger 6 through the fertilizer inlet pipe 9. The inlet of the spiral fertilizer discharger 6 is connected to the fertilizer box 5. The fertilizer in the fertilizer box 5 is input into the fertilization furrow opener 15 through the fertilizer inlet pipe 9 in a controllable and quantitative manner through the spiral fertilizer discharger 6, and falls into the fertilizer ditch through the fertilizer discharge port 1502 provided at the bottom of the fertilization furrow opener 15. A water ditch opening and storage bracket 13 is also provided at the rear of the walking device 1. A water ditch opening and storage device 12 is provided on the water ditch opening and storage bracket 13. In the direction of the walking device 1, the water ditch opening and storage device 12 is staggered with the fertilization furrow opener 15 and the seed furrow opener 16. The fertilization method is deep fertilization with wide and narrow rows. A GPS module is provided on the walking device 1, and the GPS module is used to monitor the forward distance and forward speed of the walking device 1.

[0039] A fertilizer discharging bracket 10 is arranged at the tail of the spiral fertilizer discharging device 6, a weighing device 8 is arranged on the fertilizer discharging bracket 10, and the fertilizer box 5 is arranged on the weighing device 8, and the weighing device 8 is used to monitor the weight of the fertilizer box 5, and then the fertilizer discharging amount of the fertilizer box 5 can be obtained.

[0040] The spiral shafts of each spiral fertilizer dispenser 6 are linearly connected in series, and the spiral shafts connected in series are driven to rotate by a driving motor 7. The spiral shaft of one of the spiral fertilizer dispensers 6 is provided with a grating encoder 601. Preferably, the driving motor 7 is connected to the middle part of the spiral shafts connected in series through a driving mechanism, which can reduce the axial force on both sides.

[0041] The fertilizer opener 15 is connected to the lateral adjustment hoop 21 through the adapter rod 20. The lateral adjustment hoop 21 is sleeved on the lateral adjustment rod 23. The position of the lateral adjustment hoop 21 on the lateral adjustment rod 23 can be adjusted. The lateral adjustment hoop 21 is provided with a threaded hole. One end of the lateral adjustment bolt 22 is screwed into the threaded hole provided on the lateral adjustment hoop 21 and abuts against the lateral adjustment rod 23. When the position of the lateral adjustment hoop 21 is adjusted to the right position, the relative position of the lateral adjustment hoop 21 and the lateral adjustment rod 23 is locked by the lateral adjustment bolt 22, thereby adjusting the position of the fertilizer opener 15 on the walking device 1. In the width direction, the transverse adjustment rod 23 is connected to the bottom end of the longitudinal adjustment rod 24, and a longitudinal adjustment hoop 25 is sleeved on the longitudinal adjustment rod 24. The longitudinal adjustment hoop 25 can move up and down along the longitudinal adjustment rod 24. Positioning pin holes are provided at different heights on the longitudinal adjustment rod 24, and a through hole is provided on the longitudinal adjustment hoop 25. When the longitudinal adjustment hoop 25 is longitudinally adjusted into place, the longitudinal adjustment bolt 26 passes through the corresponding positioning pin hole and the through hole on the longitudinal adjustment hoop 25, thereby realizing the adjustment of the height of the fertilization furrow opener 15. The longitudinal adjustment hoop 25 is connected to the tail of the walking device 1 through the connecting bracket 27.

[0042] The fertilizer opener 15 includes an opener hull 1501, the bow of the opener hull 1501 faces the forward direction of the walking device 1, the opener hull 1501 is hollow, and a fertilizer discharge port 1502 is provided at the bottom of the opener hull 1501. The fertilizer entering the opener hull 1501 is discharged into the fertilizer ditch through the fertilizer discharge port 1502 at the bottom. The top of the opener hull 1501 is provided with a fertilizer inlet pipe 9, a longitudinal adjustment member 1503, and an exhaust pipe 1504. The fertilizer inlet pipe 9 is connected to the spiral fertilizer discharger 6, and the spiral discharger 1504 is connected to the spiral fertilizer discharger 6. The fertilizer device 6 delivers fertilizer into the trenching hull 1501 through the fertilizer inlet pipe 9. Limit holes 1505 are set at different heights of the longitudinal adjustment member 1503. A through hole is set at the bottom end of the adapter rod 20. The hull height adjustment bolt penetrates the limit hole 1505 on the longitudinal adjustment member 1503 and the through hole on the adapter rod 20 to fasten the longitudinal adjustment member 1503 and the adapter rod 20. By adjusting the limit hole 1505 through which the hull height adjustment bolt penetrates, the height of the fertilization trenching device 15 can be fine-tuned.

[0043] As an implementation scheme, the weighing device 8 includes an upper mounting plate 802, a hinged portion 808 and a lower mounting plate 804. The fertilizer box 5 includes a box body 807 and a fertilizer discharge funnel 805 arranged at the bottom of the box body 807. One side of the upper mounting plate 802 is pressed on the weighing sensor 801 through a pad 803. The weighing sensor 801 can be a parallel beam weighing sensor. The weighing sensor 801 is arranged on the lower mounting plate 804. The other opposite side of the upper mounting plate 802 is pressed on the weighing sensor 801 through a hinged portion. 808 is hinged to one side of the lower mounting plate 804, the angle between the upper mounting plate 802 and the lower mounting plate 804 is a set acute angle, the lower mounting plate 804 is installed on the fertilizer discharge bracket 10, the upper mounting plate 802 is provided with a funnel clamping hole, the box body 807 is arranged on the upper mounting plate 802, the fertilizer discharge funnel 805 is clamped in the funnel clamping hole, and the lower mounting plate 804 is provided with a fertilizer drop hole, and the fertilizer drop hole is located directly below the fertilizer discharge funnel 805 in the vertical direction, and the fertilizer discharge funnel 805 does not contact the fertilizer drop hole.

[0044] Assume that the gravity of the fertilizer box 5 is m1g, and the gravity of the fertilizer in the fertilizer box 5 is m2g; the distance from the center of gravity of the fertilizer box and the fertilizer to the rotation center O of the hinge 808 is L1; the load cell 801 is subjected to force F1, and the distance from its force point A to the rotation center O of the hinge 808 is L2. To simplify the analysis, the change in the center of gravity caused by fertilizer discharge is not considered. The effect of the upper mounting plate 802 and the pad 803 on the load cell 801 is much smaller than that of the fertilizer box 5 and the fertilizer on the load cell 801. Therefore, the effect of the upper mounting plate 802 and the pad 803 on the load cell 801 is not considered. When the angle between the OA line and the lower mounting plate 804 is α, and the angle between the mounting surface of the bottom surface of the box body 807 of the fertilizer box 5 and the lower mounting plate 804 is γ, the following lever relationship exists:

[0045] F1L2cosα=(m1g+m2g)L1cosγ

[0046] The structural design can ensure that the angle γ of the mounting surface of the bottom surface of the box body 807 of the fertilizer box 5 relative to the lower mounting plate 804 remains unchanged, and there are:

[0047]

[0048] It can be known from the above formula that the real-time remaining fertilizer mass m2 in the fertilizer box 5 can be obtained by converting the force F1 measured by the weighing sensor 801.

[0049] A side deep fertilization method comprises the following steps:

[0050] Step 1: Measure the amount of fertilizer remaining in each fertilizer box 5 using a weighing device 8;

[0051] The grating encoder 601 is used to measure the rotation speed of the screw shaft of the screw fertilizer dispensing device 6;

[0052] Use the GPS module to measure the forward speed of the walking device;

[0053] Step 2: Obtain the fertilization area per unit time of the walking device according to the product of the forward speed of the walking device and the width of the walking device;

[0054] According to the change value of the remaining fertilizer amount of each fertilizer box per unit time, the total fertilizer discharge amount per unit time is calculated, and the total fertilizer discharge amount per unit time is divided by the fertilizer application area per unit time of the walking device to obtain the fertilizer application amount per unit area;

[0055] According to the rotation speed of the spiral shaft of the spiral fertilizer dispensing device 6 and the single-turn fertilizer dispensing amount of each fertilizer box 5, the total fertilizer dispensing amount per unit time is calculated, and the total fertilizer dispensing amount per unit time is divided by the fertilizer dispensing area per unit time of the walking device to obtain the second fertilizer dispensing amount per unit area;

[0056] By comparing the difference between the first unit area fertilizer amount and the second unit area fertilizer amount with the set threshold, if the difference between the second unit area fertilizer amount and the first unit area fertilizer amount is greater than the set threshold, it is determined that the fertilizer box or the fertilizer box discharge is blocked.

[0057] Step 3: taking the difference between the first fertilizer application rate per unit area and the target fertilizer application rate per unit area as the first deviation, inputting the first deviation into the fertilizer discharge control system for PID calculation to obtain the first drive motor adjustment amount;

[0058] According to the difference between the second fertilizer application amount per unit area and the target fertilizer application amount per unit area as the second deviation, the second deviation is input into the fertilizer discharge control system for PID calculation to obtain the second drive motor adjustment amount;

[0059] Step 4, the fertilizer discharge control system calculates the weighted average drive motor adjustment amount according to the first drive motor adjustment amount and the second drive motor adjustment amount, that is, the first drive motor adjustment amount is multiplied by the first weight coefficient, and the second drive motor adjustment amount is multiplied by the second weight coefficient, and then the sum is added. The sum of the first weight coefficient and the second weight coefficient is 1. The fertilizer discharge control system adjusts the speed of the drive motor 7 according to the weighted average drive motor adjustment amount.

[0060] The second drive motor adjustment amount focuses on the real-time adjustment of the drive motor, and the first drive motor adjustment amount focuses on controlling the amount of fertilizer applied as a whole to ensure the target amount of fertilizer applied. By calculating the weighted average drive motor adjustment amount of the first drive motor adjustment amount and the second drive motor adjustment amount, the real-time adjustment of the drive motor and the overall fertilization control amount can be comprehensively balanced, thereby avoiding waste and environmental pollution caused by excessive fertilization, and avoiding the impact of too low an amount of fertilizer on yield.

[0061] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A side deep fertilization device, comprising a walking device (1), characterized in that: The invention also comprises a gasoline turbine fan (3) arranged on the walking device (1) and a double-chamber pneumatic seed metering device (14) arranged at the rear of the walking device (1). The gasoline turbine fan (3) is connected to the double-chamber pneumatic seed metering device (14) through a negative pressure main pipeline (4). A plurality of seed furrow openers (16) are arranged along the width of the rear of the walking device (1). Each output branch pipe (11) of the double-chamber pneumatic seed metering device (14) extends to the rear of the corresponding seed furrow opener (16). The width of the device (1) is provided with a plurality of fertilizer openers (15), and a fertilizer discharge port (1502) is provided at the bottom of the fertilizer opener (15). The fertilizer opener (15) is connected to the outlets of the corresponding spiral fertilizer dischargers (6) through a fertilizer inlet pipe (9), and the inlet of the spiral fertilizer discharger (6) is connected to the fertilizer box (5). The rear of the walking device (1) is also provided with a water ditch opening and storage bracket (13), and the water ditch opening and storage bracket (13) is provided with a water ditch opening and storage device (12). The walking device (1) is provided with a GPS module. The rear part of the spiral fertilizer discharging device (6) is provided with a fertilizer discharging bracket (10), a weighing device (8) is provided on the fertilizer discharging bracket (10), and the fertilizer box (5) is provided on the weighing device (8). The weighing device (8) comprises an upper mounting plate (802), a hinged portion (808) and a lower mounting plate (804); the fertilizer box (5) comprises a box body (807) and a fertilizer discharge funnel (805) arranged at the bottom of the box body (807); one side of the upper mounting plate (802) is pressed onto a weighing sensor (801) via a pad (803); the weighing sensor (801) is arranged on the lower mounting plate (804); the other opposite side of the upper mounting plate (802) is connected to the lower mounting plate (804) via a hinged portion (808). ) is hinged on one side, the angle between the upper mounting plate (802) and the lower mounting plate (804) is a set acute angle, the lower mounting plate (804) is mounted on the fertilizer discharge bracket (10), the upper mounting plate (802) is provided with a funnel clamping hole, the box body (807) is arranged on the upper mounting plate (802), the fertilizer discharge funnel (805) is clamped in the funnel clamping hole, and the lower mounting plate (804) is provided with a fertilizer drop hole, the fertilizer drop hole is located directly below the fertilizer discharge funnel (805) in the vertical direction, and the fertilizer discharge funnel (805) does not contact the fertilizer drop hole.

2. A side deep fertilization device according to claim 1, characterized in that: The spiral shafts of the respective spiral fertilizer dispensing devices (6) are linearly connected in series, and the spiral shafts connected in series are driven to rotate by a driving motor (7), wherein the spiral shaft of one of the spiral fertilizer dispensing devices (6) is provided with a grating encoder (601).

3. A side deep fertilization device according to claim 2, characterized in that: The fertilizer opener (15) is connected to a transverse adjustment hoop (21) via a transfer rod (20). The transverse adjustment hoop (21) is sleeved on the transverse adjustment rod (23). A threaded hole is provided on the transverse adjustment hoop (21). One end of a transverse adjustment bolt (22) is screwed into the threaded hole provided on the transverse adjustment hoop (21) and abuts against the transverse adjustment rod (23). The transverse adjustment rod (23) is connected to the bottom end of a longitudinal adjustment rod (24). A longitudinal adjustment hoop (25) is sleeved on the longitudinal adjustment rod (24). Positioning pin holes are provided at different heights on the longitudinal adjustment rod (24). A through hole is provided on the longitudinal adjustment hoop (25). The longitudinal adjustment bolt (26) passes through the positioning pin hole and the through hole on the longitudinal adjustment hoop (25). The longitudinal adjustment hoop (25) is connected to the rear end of the walking device (1) via a connecting bracket (27).

4. A side deep fertilization device according to claim 3, characterized in that: The fertilizing furrow opener (15) comprises a furrow opening hull (1501), the furrow opening hull (1501) is hollow, a fertilizer discharge port (1502) is arranged at the bottom of the furrow opening hull (1501), a fertilizer inlet pipe (9), a longitudinal adjustment member (1503), and an exhaust pipe (1504) are arranged at the top of the furrow opening hull (1501), limiting holes (1505) are arranged at different heights of the longitudinal adjustment member (1503), a through hole is arranged at the bottom end of the transfer rod (20), and a hull height adjustment bolt penetrates the limiting hole (1505) on the longitudinal adjustment member (1503) and the through hole on the transfer rod (20) to fasten the longitudinal adjustment member (1503) and the transfer rod (20) together.

5. A side deep fertilization method, using the side deep fertilization device according to claim 4, characterized in that: The following steps are involved: Step 1: using a weighing device (8) to measure the amount of fertilizer remaining in each fertilizer box (5); Using a grating encoder (601) to measure the rotation speed of the screw shaft of the screw fertilizer dispenser (6); Use the GPS module to measure the forward speed of the walking device; Step 2: Obtain the fertilization area per unit time of the walking device according to the product of the forward speed of the walking device and the width of the walking device; According to the change value of the remaining fertilizer amount of each fertilizer box per unit time, the total fertilizer discharge amount per unit time is calculated, and the total fertilizer discharge amount per unit time is divided by the fertilizer application area per unit time of the walking device to obtain the fertilizer application amount per unit area; According to the rotation speed of the screw shaft of the screw fertilizer dispensing device (6) and the single-turn fertilizer dispensing amount of each fertilizer box (5), the total fertilizer dispensing amount per second unit time is calculated, and the total fertilizer dispensing amount per second unit time is divided by the fertilizer dispensing area per unit time of the walking device to obtain the fertilizer dispensing amount per second unit area; Step 3: taking the difference between the first fertilizer application rate per unit area and the target fertilizer application rate per unit area as the first deviation, inputting the first deviation into the fertilizer discharge control system for PID calculation to obtain the first drive motor adjustment amount; According to the difference between the second fertilizer application amount per unit area and the target fertilizer application amount per unit area as the second deviation, the second deviation is input into the fertilizer discharge control system for PID calculation to obtain the second drive motor adjustment amount; Step 4: The fertilizer discharge control system calculates a weighted average drive motor adjustment amount according to the first drive motor adjustment amount and the second drive motor adjustment amount, and the fertilizer discharge control system adjusts the speed of the drive motor (7) according to the weighted average drive motor adjustment amount.

Images