An adaptive ring opening ditch fertilization and covering device and a control method thereof

Abstract

This invention relates to an adaptive ring-shaped trenching, fertilizing, and covering device and its control method. The adaptive ring-shaped trenching, fertilizing, and covering device includes a ring-shaped trenching, fertilizing, and covering device and a power device; the power device is connected to the ring-shaped trenching, fertilizing, and covering device via a suspension device; the ring-shaped trenching, fertilizing, and covering device includes a support device, a trenching device, a covering device, and a fertilizing device disposed within the support device; the trenching device includes a trenching frame, a trenching mechanism disposed on the trenching frame, and a trenching drive mechanism for driving the trenching mechanism to complete the trenching action; the fertilizing device includes a fertilizer box, a trough wheel fertilizer dispenser, and a fertilizer conveying trough; the covering device re-covers the soil on both sides of the trench into the trench. The adaptive ring-shaped trenching, fertilizing, and covering device of this invention can integrate ring trenching, ring fertilizing, and fertilizer-soil mixing, achieving a higher degree of automation and intelligence.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an adaptive annular trenching fertilization and soil covering device and its control method. Background Technology

[0002] The ideal method for orchard fertilization is circular trench fertilization followed by soil covering. Circular trench fertilization involves creating a curved trench around the edge of the tree's root system, applying fertilizer, and then covering it with soil. However, for a long time, orchard fertilization in my country has primarily relied on manual labor. While agricultural mechanization has led to the application of more and more fertilization machinery in orchards, few machines on the market can currently perform continuous circular trench fertilization and soil covering, and their level of intelligent self-adaptation is also relatively low. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive ring-shaped trenching, fertilization and soil covering device. The adaptive ring-shaped trenching, fertilization and soil covering device can complete the ring-shaped trenching, ring-shaped fertilization and fertilizer-soil mixing in one integrated process, with a higher degree of automation and intelligence.

[0004] The second objective of this invention is to provide a control method for an adaptive annular trenching fertilization and soil covering device.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is:

[0006] An adaptive annular trenching, fertilizing, and covering device includes an annular trenching, fertilizing, and covering device and a power device for driving the movement of the annular trenching, fertilizing, and covering device, wherein the power device and the annular trenching, fertilizing, and covering device are connected by a suspension device; the annular trenching, fertilizing, and covering device includes a support device, a trenching device, a covering device, and a fertilizing device disposed in the support device, wherein the trenching device includes a trenching frame, a trenching mechanism disposed on the trenching frame, and a trenching drive mechanism for driving the trenching mechanism to complete the trenching action; the fertilizing device includes a fertilizer box, a grooved wheel fertilizer dispenser, and a fertilizer conveying trough, wherein the grooved wheel fertilizer dispenser is used to convey fertilizer from the fertilizer box into the fertilizer conveying trough, and the fertilizer conveying trough conveys fertilizer into the trench opened by the trenching device; the covering device is used to re-cover the soil on both sides of the trench into the trench.

[0007] Preferably, there are two sets of trenching mechanisms, which are symmetrically arranged; correspondingly, there are also two sets of trenching drive mechanisms; each set of trenching mechanisms includes a trenching cutter head mounted on the trenching frame and multiple sets of trenching cutters mounted on the trenching cutter head, wherein the multiple sets of trenching cutters are arranged in a circumferential array on the trenching cutter head; the trenching drive mechanism includes a trenching motor mounted on the trenching frame, and the main shaft of the trenching motor is connected to the trenching cutter head via a coupling.

[0008] Preferably, the support device includes an upper support frame, a lower support frame, and a scissor lift mechanism for adjusting the distance between the upper support frame and the lower support frame to adjust the height of the lower support frame, wherein there are two sets of scissor lift mechanisms, which are symmetrically arranged on both sides of the upper support frame and the lower support frame.

[0009] Preferably, the trenching device further includes a trenching rotation drive mechanism for driving the trenching frame to rotate and a trenching swing drive mechanism for driving the trenching frame to swing vertically, wherein,

[0010] The trenching swing drive mechanism includes a fixed base mounted on the lower support frame, a swing arm mounted on the fixed base, and a swing cylinder for driving the swing arm to rotate. The swing arm is hinged to the fixed base. The cylinder body of the swing cylinder is mounted on the fixed base, and the piston rod is hinged to the swing arm.

[0011] The trenching self-rotation drive mechanism includes a self-rotating motor mounted on the swing arm, and the main shaft of the self-rotating motor is connected to the trenching frame.

[0012] Preferably, the soil covering device includes side plates and soil covering plates. The side plates are in two sets, and the two sets of side plates are symmetrically installed on two sets of trenching cutterheads to ensure that the soil thrown up flies to both sides of the trench. The soil covering plate is installed on the lower support frame. The soil covering plate adopts two sets of symmetrically arranged disc soil covering mechanisms. The disc soil covering mechanisms are inclined in both the forward direction and the vertical direction to push the soil thrown up by the trenching device into the trench opened by the trenching device to complete the soil covering operation.

[0013] Preferably, the fertilizer box and the grooved wheel fertilizer dispenser are mounted on the upper support frame, the upper end of the fertilizer conveying trough is mounted on the upper support frame and located below the outlet of the grooved wheel fertilizer dispenser, and the lower end extends downward at an angle to the area above the soil covering plate and the trenching mechanism.

[0014] Preferably, the power unit includes a vehicle body and a traveling mechanism mounted on the vehicle body for driving the vehicle body to move, wherein the traveling mechanism is a tracked traveling mechanism; the suspension device includes a connecting seat mounted on the vehicle body, a rotating arm mounted on the connecting seat, and a drive cylinder for driving the rotating arm to rotate, wherein one end of the rotating arm is rotatably connected to the connecting seat, and the other end is connected to the upper support frame; the cylinder body of the drive cylinder is mounted on the vehicle body, and the piston rod is hinged to the rotating arm.

[0015] Preferably, a longitudinal drive device for driving the suspension device to move along a direction perpendicular to the vehicle body is further provided between the vehicle body and the suspension device. A longitudinal sliding mechanism is provided between the connecting seat and the vehicle body. There are two sets of longitudinal sliding mechanisms arranged side-by-side. Each set includes a slide rail on the vehicle body and a slider on the slide rail. The slide rail is connected to the connecting seat. The longitudinal drive device includes a drive motor and a lead screw transmission mechanism. The main shaft of the drive motor is connected to the lead screw in the lead screw transmission mechanism, and the lead screw nut in the lead screw transmission mechanism is connected to the connecting seat.

[0016] A control method for an adaptive ring-shaped trenching fertilization and soil covering device includes the following steps:

[0017] S1: Before the trenching, fertilizing and covering operation, the adaptive ring trenching, fertilizing and covering device first travels in a straight line between the rows of the orchard; real-time positioning is achieved by the laser radar installed on the vehicle body, and when it reaches the projection of the edge of the fruit tree canopy, the adaptive ring trenching, fertilizing and covering device stops moving.

[0018] S2: After the trenching depth is adjusted, the adaptive ring trenching fertilization and soil covering device performs ring trenching around the edge of the fruit tree root system distribution:

[0019] S3: After the adaptive ring-shaped trenching fertilization and soil covering device completes the single-side ring trenching fertilization operation of a single fruit tree; under the premise that the distance to the tree trunk is obtained in real time by the lidar, the control system receives the tree trunk distance signal fed back by the lidar, and then manipulates the ring-shaped trenching fertilization and soil covering device to make longitudinal movement and the trenching frame to make rotational movement through the control system, thereby synthesizing a trenching ring trajectory, and thus realizing adaptive ring-shaped trenching fertilization and soil covering;

[0020] S4: The adaptive ring-shaped trenching fertilization and soil covering device continues to travel in a straight line to the projection of the next fruit tree canopy edge. The subsequent ring trenching fertilization operation will continuously repeat steps S2 and S3. The adaptive ring-shaped trenching fertilization and soil covering device operates along the tree row, opening continuous curved trenches on the edge of the root zone on one side, and simultaneously dispersing organic fertilizer into the trenches. After the adjacent row turns around, the fertilization curves on both sides of the tree row surround the root zone of each fruit tree, forming a complete ring-shaped fertilization trajectory.

[0021] Preferably, the base circle of the annular trench is centered on the tree trunk and has a radius of 0.7–1.2 m, specifically:

[0022] S21: The first section of the circular trenching is a zigzag trench. After adjusting the trenching depth, the distance signal between the tree trunk and the trench is acquired in real time by a lidar. After receiving the tree trunk distance signal from the lidar, the control system manipulates the longitudinal drive device to drive the circular trenching, fertilizing, and covering device to move longitudinally, thereby causing the trenching device to extend to a suitable position at the distance from the tree trunk. At the same time, the control system manipulates the self-rotating motor in the trenching self-rotation drive mechanism to drive the trenching frame to rotate 45 degrees. Subsequently, the control system manipulates the trenching motors installed mirror-symmetrically on both sides of the trenching frame to drive the trenching cutter head and trenching cutter to rotate synchronously. At the same time, the longitudinal drive device drives the trenching device to extend at a constant speed, thereby opening a trench on the ground. The angle between the trench and the tree row line is 45°. At the same time, organic fertilizer is dispersed into the trench through the fertilizer delivery trough. When the target depth is reached, the adaptive circular trenching, fertilizing, and covering device continues to move in a straight line at a constant speed. The covering plate pushes the soil thrown up by the trenching device in the previous stage of trenching work into the trench opened by the trenching device, completing the covering operation.

[0023] S22: The second section of the annular ditch is a straight ditch; after the first section of the annular ditch is completed, the control system manipulates the self-rotating motor to drive the ditching frame to rotate -45 degrees, the longitudinal drive device remains stationary, the adaptive annular ditching fertilization and soil covering device maintains straight-line movement, the control system manipulates the ditching motors installed on both sides of the ditching frame to drive the ditching cutter head and ditching cutter to rotate synchronously, and completes the second section of the straight ditching operation in the annular ditch, the angle between the ditch and the tree line is 0°;

[0024] S23: The third section of the annular ditching is a zigzag ditching; when the adaptive annular ditching, fertilization and soil covering device receives the extension status signal from the laser radar during the straight operation, the control system manipulates the self-rotating motor to drive the ditching frame to rotate 45°, and at the same time the longitudinal drive device drives the ditching device to retract at a constant speed. The control system manipulates the ditching motors installed mirror-symmetrically on both sides of the ditching frame to drive the ditching cutter head and ditching cutter to rotate synchronously, completing the third section of the annular ditching zigzag ditching operation. The angle between the ditch and the tree line is -45°.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. The adaptive ring trenching, fertilization and soil covering device of the present invention realizes ring trenching through a trenching device, ring fertilization through a fertilization device, and soil covering of the trench through a soil covering device, thus achieving a higher degree of automation and intelligence.

[0027] 2. The adaptive ring-shaped trenching fertilization and soil covering device of the present invention completes the ring-shaped trenching around the distribution edge of the fruit tree root system, realizing the effective mixing of soil and fertilizer, increasing the spatial contact area between the fruit tree root system and fertilizer, improving fertilizer utilization efficiency, and reducing fertilizer waste and environmental pollution. Attached Figure Description

[0028] Figures 1-3 These are schematic diagrams of the adaptive annular trenching fertilization and soil covering device of the present invention from three different perspectives.

[0029] Figure 4 This is a schematic diagram of the suspension device.

[0030] Figures 5-8 These are schematic diagrams of the annular trenching fertilization and soil covering device from four different perspectives.

[0031] Figure 9 This is a schematic diagram of the power unit.

[0032] Figure 10 This is a schematic diagram of the trenching device.

[0033] Figure 11 This is a schematic diagram of the annular trenching of the adaptive annular trenching fertilization and soil covering device of the present invention. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0035] See Figures 1-10 The adaptive annular trenching, fertilizing, and covering device of the present invention includes an annular trenching, fertilizing, and covering device and a power device for driving the movement of the annular trenching, fertilizing, and covering device, wherein the power device and the annular trenching, fertilizing, and covering device are connected by a suspension device 2; the annular trenching, fertilizing, and covering device includes a support device 5, a trenching device 6 disposed in the support device 5, a covering device 7, and a fertilizing device 4, wherein the trenching device 6 includes a trenching frame 605 disposed in the trenching frame 605. The ditching mechanism on the frame 605 and the ditching drive mechanism for driving the ditching mechanism to complete the ditching action; the fertilization device 4 includes a fertilizer box 401, a grooved wheel fertilizer dispenser 402 and a fertilizer conveying trough 403, wherein the grooved wheel fertilizer dispenser 402 is used to convey fertilizer in the fertilizer box 401 to the fertilizer conveying trough 403, and the fertilizer conveying trough 403 conveys fertilizer into the ditch opened by the ditching device 6; the soil covering device 7 is used to cover the soil on both sides of the ditch back into the ditch.

[0036] See Figures 1-10The trenching mechanism consists of two sets, symmetrically arranged; correspondingly, the trenching drive mechanism also consists of two sets; each set of trenching mechanisms includes a trenching cutter head 605 mounted on the trenching frame 605 and multiple sets of trenching cutters 604 mounted on the trenching cutter head 605, wherein the multiple sets of trenching cutters 604 are arranged in a circumferential array on the trenching cutter head 605; the trenching drive mechanism includes a trenching motor mounted on the trenching frame 605, the main shaft of the trenching motor being connected to the trenching cutter head 605 via a coupling; in this embodiment, the trenching cutter 604 is a cup-shaped curved cutter, which drives the trenching cutter head 605 to rotate via the trenching motor, thereby driving the trenching cutter 604 to cut into the ground and throw the soil up, thus completing the trenching operation.

[0037] See Figures 1-10 The support device 5 includes an upper support frame 501, a lower support frame 502, and a scissor-type lifting mechanism 503 for adjusting the distance between the upper support frame 501 and the lower support frame 502 to adjust the height of the lower support frame 502. The scissor-type lifting mechanism 503 consists of two sets, symmetrically arranged on both sides of the upper support frame 501 and the lower support frame 502. The distance between the upper support frame 501 and the lower support frame 502 can be adjusted via the scissor-type lifting mechanism 503, thereby adjusting the height of the lower support frame 502 and, consequently, the trenching depth of the trenching device 6.

[0038] See Figures 1-10 The trenching device 6 further includes a trenching rotation drive mechanism for driving the trenching frame 605 to rotate and a trenching swing drive mechanism for driving the trenching frame 605 to swing vertically.

[0039] The trenching swing drive mechanism includes a fixed base 606 mounted on the lower support frame 502, a swing arm 601 mounted on the fixed base 606, and a swing cylinder 602 for driving the swing arm 601 to rotate. The swing arm 601 is hinged to the fixed base 606. The cylinder body of the swing cylinder 602 is mounted on the fixed base 606, and the piston rod is hinged to the swing arm 601.

[0040] The trenching self-rotation drive mechanism includes a self-rotating motor 607 mounted on the swing arm 601, wherein the main shaft of the self-rotating motor 607 is connected to the trenching frame 605.

[0041] With the above configuration, when the piston rod of the swing cylinder 602 moves, it will drive the swing arm 601 to swing, thereby driving the trenching frame 605 and the trenching mechanism installed on the trenching frame 605 to swing, thereby further adjusting the trenching depth of the trenching mechanism; while the self-rotating motor 607 drives the trenching frame 605 to rotate, thereby adjusting the trenching angle of the trenching mechanism.

[0042] See Figures 1-10 The soil covering device 7 includes side plates 701 and soil covering plates 702. The side plates 701 are in two sets, and the two sets of side plates 701 are symmetrically installed on two sets of trenching cutterheads 605 to ensure that the soil thrown up flies to both sides of the trench. The soil covering plate 702 is installed on the lower support frame 502. The soil covering plate 702 adopts two sets of symmetrically arranged disc soil covering mechanisms 702. The disc soil covering mechanisms 702 are inclined in both the forward direction and the vertical direction to push the soil thrown up by the trenching device 6 into the trench opened by the trenching device 6 to complete the soil covering operation.

[0043] See Figures 1-10 The fertilizer box 401 and the grooved wheel fertilizer dispenser 402 are mounted on the upper support frame 501. The upper end of the fertilizer conveying trough 403 is mounted on the upper support frame 501 and is located below the outlet of the grooved wheel fertilizer dispenser 402. The lower end extends downward at an angle to the area above the soil covering plate 702 and the trenching mechanism. The grooved wheel fertilizer dispenser 402 includes a fertilizer dispenser and a fertilizer dispensing motor. The fertilizer dispensing motor is connected to the fertilizer dispensing shaft of the fertilizer dispenser via a flexible coupling. The fertilizer dispensing motor drives the fertilizer dispensing shaft to rotate, thereby driving the fertilizer dispenser to work and dispensing the fertilizer in the fertilizer box 401 into the fertilizer conveying trough 403, thus completing the fertilization operation. The amount of fertilizer dispensed by the fertilizer dispenser can be further controlled by controlling the speed of the fertilizer dispensing motor.

[0044] See Figures 1-10 The power unit includes a vehicle body and a walking mechanism 1 mounted on the vehicle body for driving the vehicle body to move. The walking mechanism 1 is a tracked walking mechanism. The tracked walking mechanism consists of a tracked chassis and a DC generator, etc. The tracked chassis is powered by electricity and drives the equipment to move forward. The DC generator is mounted on the front side of the tracked chassis.

[0045] See Figures 1-10The suspension device 2 includes a connecting seat 201 mounted on the vehicle body, a rotating arm 202 mounted on the connecting seat 201, and a drive cylinder 203 for driving the rotating arm 202 to rotate. One end of the rotating arm 202 is rotatably connected to the connecting seat 201, and the other end is connected to the upper support frame 501. The cylinder body of the drive cylinder 203 is mounted on the vehicle body, and the piston rod is hinged to the rotating arm 202. With this configuration, when it is necessary to adjust the overall height of the annular trenching, fertilizing, and covering soil device, the rotating arm 202 is rotated by driving the piston rod, thereby adjusting the overall height of the annular trenching, fertilizing, and covering soil device.

[0046] See Figures 1-10 A longitudinal drive device 3 for driving the suspension device 2 to move along a direction perpendicular to the vehicle body is also provided between the vehicle body and the suspension device 2.

[0047] A longitudinal sliding mechanism 301 is provided between the connecting seat 201 and the vehicle body. There are two sets of longitudinal sliding mechanisms 301 arranged side by side. Each set of longitudinal sliding mechanisms 301 includes a slide rail provided on the vehicle body and a slider provided on the slide rail. The slide rail is connected to the connecting seat 201. The longitudinal driving device 3 includes a drive motor and a lead screw transmission mechanism 302. The main shaft of the drive motor is connected to the lead screw in the lead screw transmission mechanism 302, and the lead screw nut in the lead screw transmission mechanism 302 is connected to the connecting seat 201.

[0048] In order to ensure that the drive cylinder 203 does not interfere with the overall movement of the annular trenching fertilization and soil covering device, the drive cylinder 203 also needs to be able to move longitudinally. In this embodiment, a longitudinal drive mechanism is generally used to drive the cylinder seat 204 of the drive cylinder 203 to move. The structure of the longitudinal drive mechanism can be implemented with reference to the longitudinal drive device 3, that is, a drive method combining a motor and a lead screw transmission mechanism is adopted.

[0049] The longitudinal drive device 3 and the longitudinal drive mechanism can drive the entire annular trenching, fertilizing and covering soil device of the present invention to move perpendicular to the vehicle's direction of movement, thereby improving the flexibility of the annular trenching, fertilizing and covering soil device of the present invention and expanding the left and right working range.

[0050] In this embodiment, during the trenching operation of the annular trenching fertilization and soil covering device of the present invention, when there is a large deviation in trenching depth, the trenching depth can be adjusted significantly by the drive cylinder 203 of the suspension device 2. When there is a small deviation in trenching depth, the trenching depth can be adjusted slightly by the scissor lifting mechanism 503. Alternatively, the trenching depth can also be adjusted by the trenching swing drive mechanism.

[0051] See Figures 1-11 The working principle of the adaptive ring-shaped trenching fertilization and soil covering device of the present invention is as follows:

[0052] Before the trenching, fertilizing, and covering operations, the annular trenching, fertilizing, and covering device of the present invention travels in a straight line between the rows of the orchard under the traction of the tracked chassis. It is positioned in real time by the laser radar 8 installed on the vehicle body. When it reaches the projection of the edge of the fruit tree canopy, the annular trenching, fertilizing, and covering device of the present invention stops moving and begins to adjust the trenching depth. The control system manipulates the drive cylinder 203 in the suspension device 2 and the electric push rod of the scissor-type lifting mechanism 503 to realize the real-time adjustment of the trenching depth of the trenching mechanism, thereby achieving automated and precise control of the trenching depth.

[0053] After the adaptive ring-shaped trenching, fertilization, and soil covering device of the present invention completes the adjustment of the trenching depth, the device performs ring-shaped trenching around the distribution edge of the fruit tree root system. The base circle of the ring-shaped trenching trajectory is centered on the tree trunk, with a radius of 0.7–1.2 m. Specifically:

[0054] The first section of the circular trenching is a zigzag trenching, that is, after the machine is adjusted to the trenching depth, the distance signal between the tree trunk and the machine is acquired in real time by the lidar 8. After the control system receives the tree trunk distance signal fed back by the lidar 8, the control system manipulates the longitudinal drive device 3 to drive the circular trenching, fertilization and soil covering device to move longitudinally, thereby extending the trenching device 6 to a suitable distance from the tree trunk. At the same time, the control system manipulates the self-rotating motor 607 in the trenching self-rotation drive mechanism to drive the trenching frame 605 to rotate 45 degrees (i.e., rotate 45° counterclockwise). Then, the control system manipulates the trenching motors installed mirror-symmetrically on both sides of the trenching frame 605 to drive the trenching cutter head 605 and the trenching cutter 604 to rotate synchronously. At the same time, the longitudinal drive device 3 drives the trenching device 6 to extend at a uniform speed, thereby opening a trench on the ground. The angle between the trench and the tree row line is 45°. At the same time, organic fertilizer is dispersed into the trench through the fertilizer conveying trough 403.

[0055] When the target depth is reached, the adaptive annular trenching, fertilization and soil covering device of the present invention continues to travel in a straight line at a constant speed. The soil covering plate 702 pushes the soil thrown up by the trenching device 6 in the previous stage of work into the trench opened by the trenching device 6, thus completing the soil covering operation.

[0056] The second section of the annular trenching is a straight trenching; after the first section of the annular trenching is completed, the control system manipulates the self-rotating motor 607 to drive the trenching frame 605 to rotate -45° (i.e., rotate 45° clockwise), the longitudinal drive device 3 remains stationary, and the adaptive annular trenching fertilization and soil covering device of the present invention maintains straight-line movement to complete the second section of straight trenching in the annular trenching, and the angle between the trench and the tree row line is 0°.

[0057] The third section of the annular trenching is a zigzag trenching; when the extension status signal is received from the lidar 8 during the straight operation, the control system manipulates the self-rotating motor 607 to drive the trenching frame 605 to rotate 45° (i.e., rotate 45° counterclockwise), and at the same time the longitudinal drive device 3 drives the trenching device 6 to retract at a constant speed, repeating the above trenching process to complete the third zigzag section of the annular trenching. The angle between the trench and the tree line is -45°.

[0058] Thus, the adaptive ring-shaped trenching fertilization and soil covering device of the present invention completes the single-sided ring trenching fertilization operation for a single fruit tree; with the lidar 8 acquiring the trunk distance in real time, the control system receives the trunk distance signal fed back by the lidar 8, and then manipulates the longitudinal movement of the longitudinal drive device 3 and the rotational movement of the trenching frame 605 through the control system to synthesize a trenching ring trajectory, thereby realizing adaptive ring-shaped trenching fertilization and soil covering.

[0059] The adaptive circular trenching, fertilization, and soil-covering device of this invention continues to travel in a straight line, trenching, fertilizing, and covering soil for a certain distance before reaching the projection of the canopy edge of the next fruit tree. The subsequent circular trenching and fertilization operations will continuously repeat the above process. This adaptive circular trenching, fertilization, and soil-covering device operates along the tree row, opening continuous curved trenches at the edge of the root zone on one side, and simultaneously dispersing organic fertilizer into the trenches. After turning around to work on adjacent rows, the fertilization curves on both sides of the tree row surround the root zone of each fruit tree, forming a complete circular fertilization trajectory.

[0060] Therefore, the adaptive annular trenching fertilization and soil covering device of the present invention has the following advantages:

[0061] (1) The adaptive ring-shaped trenching fertilization and soil covering device of the present invention can realize ring-shaped trenching fertilization. Under the premise of real-time acquisition of the trunk distance by lidar, the longitudinal movement of the longitudinal drive device 3 and the rotational movement of the trenching frame 605 are manipulated by the control system to synthesize a ring-shaped trenching trajectory. The adaptive ring-shaped trenching fertilization and soil covering device of the present invention completes ring-shaped trenching around the distribution edge of the fruit tree root system, realizing effective mixing of soil and fertilizer, increasing the spatial contact area between the fruit tree root system and fertilizer, improving fertilizer utilization efficiency, and reducing fertilizer waste and environmental pollution.

[0062] (2) During the trenching operation of the annular trenching fertilization and soil covering device of the present invention, when the trenching depth deviates significantly, the trenching depth can be adjusted by the drive cylinder 203 of the suspension device 2. When the trenching depth deviates slightly, the trenching depth can be adjusted by the scissor lifting mechanism 503. Alternatively, the trenching depth can also be adjusted by the trenching swing drive mechanism, so that the annular trenching fertilization and soil covering device of the present invention can maintain the set trenching depth according to different terrains such as ridge slopes and ditch slopes.

[0063] (3) The amount of fertilizer applied in the annular trenching fertilization and covering device of the present invention can be controlled by adjusting the rotation time of the fertilizer discharge shaft and the rotation speed of the fertilizer discharge shaft, so as to realize the automatic and precise control of the amount of fertilizer applied.

[0064] (4) The annular trenching, fertilizing and covering soil device of the present invention is electrically driven as a whole, and the walking body adopts an electrically driven tracked chassis. In addition, the direct drive motor directly transmits power to the trenching device, omitting the complex transmission system in traditional machinery, which reduces energy loss and maintenance costs to a certain extent, improves efficiency and reliability, and the overall size of the machine is also more conducive to working in hilly and mountainous environments.

[0065] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An adaptive annular trenching fertilization and soil covering device, characterized in that, The device includes a ring-shaped trenching, fertilizing, and covering soil device and a power device for driving the movement of the ring-shaped trenching, fertilizing, and covering soil device, wherein the power device and the ring-shaped trenching, fertilizing, and covering soil device are connected by a suspension device; the ring-shaped trenching, fertilizing, and covering soil device includes a support device, a trenching device, a covering soil device, and a fertilizing device disposed in the support device, wherein the trenching device includes a trenching frame, a trenching mechanism disposed on the trenching frame, and a trenching drive mechanism for driving the trenching mechanism to complete the trenching action; the fertilizing device includes a fertilizer box, a grooved wheel fertilizer dispenser, and a fertilizer conveying trough, wherein the grooved wheel fertilizer dispenser is used to convey fertilizer from the fertilizer box to the fertilizer conveying trough, and the fertilizer conveying trough conveys fertilizer to the trench opened by the trenching device; the covering soil device is used to re-cover the soil on both sides of the trench into the trench. The support device includes an upper support frame, a lower support frame, and a scissor lift mechanism for adjusting the distance between the upper support frame and the lower support frame to adjust the height of the lower support frame. The scissor lift mechanism consists of two sets, which are symmetrically arranged on both sides of the upper support frame and the lower support frame. The trenching device further includes a trenching rotation drive mechanism for driving the trenching frame to rotate and a trenching swing drive mechanism for driving the trenching frame to swing vertically. The trenching swing drive mechanism includes a fixed base mounted on the lower support frame, a swing arm mounted on the fixed base, and a swing cylinder for driving the swing arm to rotate. The swing arm is hinged to the fixed base. The cylinder body of the swing cylinder is mounted on the fixed base, and the piston rod is hinged to the swing arm. The trenching rotation drive mechanism includes a rotation motor mounted on the swing arm, and the main shaft of the rotation motor is connected to the trenching frame. The power unit includes a vehicle body and a traveling mechanism mounted on the vehicle body for driving the vehicle body to move; the suspension device includes a connecting seat mounted on the vehicle body, a rotating arm mounted on the connecting seat, and a drive cylinder for driving the rotating arm to rotate; the traveling mechanism is a tracked traveling mechanism; one end of the rotating arm is rotatably connected to the connecting seat, and the other end is connected to the upper support frame; the cylinder body of the drive cylinder is mounted on the vehicle body, and the piston rod is hinged to the rotating arm; A longitudinal drive device for driving the suspension device to move along a direction perpendicular to the vehicle body is also provided between the vehicle body and the suspension device. A longitudinal sliding mechanism is provided between the connecting seat and the vehicle body. The longitudinal sliding mechanism consists of two sets arranged side-by-side. Each set includes a slide rail mounted on the vehicle body and a slider mounted on the slide rail. The slide rail is connected to the connecting seat. The longitudinal drive device includes a drive motor and a lead screw transmission mechanism. The main shaft of the drive motor is connected to the lead screw in the lead screw transmission mechanism, and the lead screw nut in the lead screw transmission mechanism is connected to the connecting seat.

2. The adaptive annular trenching fertilization and soil covering device according to claim 1, characterized in that, The trenching mechanism consists of two sets, which are symmetrically arranged. Correspondingly, the trenching drive mechanism also consists of two sets. Each trenching mechanism includes a trenching cutter head mounted on the trenching frame and multiple sets of trenching cutters mounted on the trenching cutter head, wherein the multiple sets of trenching cutters are arranged in a circumferential array on the trenching cutter head. The trenching drive mechanism includes a trenching motor mounted on the trenching frame, and the main shaft of the trenching motor is connected to the trenching cutter head via a coupling.

3. The adaptive annular trenching fertilization and soil covering device according to claim 2, characterized in that, The soil covering device includes side plates and soil covering plates. The side plates are in two sets, and the two sets of side plates are symmetrically installed on two sets of trenching cutterheads to ensure that the soil thrown up flies to both sides of the trench. The soil covering plates are installed on the lower support frame. The soil covering plates adopt two sets of symmetrically arranged disc soil covering mechanisms. The disc soil covering mechanisms are inclined in both the forward direction and the vertical direction to push the soil thrown up by the trenching device into the trench opened by the trenching device to complete the soil covering operation.

4. The adaptive annular trenching fertilization and soil covering device according to claim 3, characterized in that, The fertilizer box and the grooved wheel fertilizer dispenser are mounted on the upper support frame. The upper end of the fertilizer conveying trough is mounted on the upper support frame and is located below the outlet of the grooved wheel fertilizer dispenser. The lower end extends downward at an angle to the area above the soil covering plate and the trenching mechanism.

5. A control method for the adaptive annular trenching fertilization and soil covering device according to claim 4, characterized in that, Includes the following steps: S1: Before the trenching, fertilizing and covering operation, the adaptive ring trenching, fertilizing and covering device first travels in a straight line between the rows of the orchard; real-time positioning is achieved by the laser radar installed on the vehicle body, and when it reaches the projection of the edge of the fruit tree canopy, the adaptive ring trenching, fertilizing and covering device stops moving. S2: After the trenching depth is adjusted, the adaptive ring trenching fertilization and soil covering device performs ring trenching around the edge of the fruit tree root system distribution: S3: After the adaptive ring-shaped trenching fertilization and soil covering device completes the single-side ring trenching fertilization operation of a single fruit tree; under the premise that the distance to the tree trunk is obtained in real time by the lidar, the control system receives the tree trunk distance signal fed back by the lidar, and then manipulates the ring-shaped trenching fertilization and soil covering device to make longitudinal movement and the trenching frame to make rotational movement through the control system, thereby synthesizing a trenching ring trajectory, and thus realizing adaptive ring-shaped trenching fertilization and soil covering; S4: The adaptive ring-shaped trenching fertilization and soil covering device continues to travel in a straight line to the projection of the next fruit tree canopy edge. The subsequent ring trenching fertilization operation will continuously repeat steps S2 and S3. The adaptive ring-shaped trenching fertilization and soil covering device operates along the tree row, opening continuous curved trenches on the edge of the root zone on one side, and simultaneously dispersing organic fertilizer into the trenches. After the adjacent row turns around, the fertilization curves on both sides of the tree row surround the root zone of each fruit tree, forming a complete ring-shaped fertilization trajectory.

6. The control method for the adaptive annular trenching fertilization and soil covering device according to claim 5, characterized in that, The base circle of the circular trench is centered on the tree trunk and has a radius of 0.7–1.2 m, specifically: S21: The first section of the circular trenching is a zigzag trench. After adjusting the trenching depth, the distance signal between the tree trunk and the trench is acquired in real time by the lidar. After receiving the tree trunk distance signal fed back by the lidar, the control system manipulates the longitudinal drive device to drive the circular trenching fertilization and soil covering device to move longitudinally, thereby causing the trenching device to extend to a suitable position at the distance from the tree trunk. At the same time, the control system manipulates the self-rotating motor in the trenching self-rotation drive mechanism to drive the trenching frame to rotate 45 degrees. Subsequently, the control system manipulates the trenching motors installed mirror-symmetrically on both sides of the trenching frame to drive the trenching cutter head and trenching cutter to rotate synchronously. At the same time, the longitudinal drive device drives the trenching device to extend at a uniform speed, thereby opening a trench on the ground. The angle between the trench and the tree row line is 45°. At the same time, organic fertilizer is dispersed into the trench through the fertilizer conveying trough. When the target depth is reached, the adaptive annular trenching, fertilization and soil covering device continues to travel in a straight line at a constant speed. The soil covering plate pushes the soil thrown up by the trenching device in the previous stage of trenching work into the trench opened by the trenching device, thus completing the soil covering operation. S22: The second section of the annular ditch is a straight ditch; after the first section of the annular ditch is completed, the control system manipulates the self-rotating motor to drive the ditching frame to rotate -45 degrees, the longitudinal drive device remains stationary, the adaptive annular ditching fertilization and soil covering device maintains straight-line movement, the control system manipulates the ditching motors installed on both sides of the ditching frame to drive the ditching cutter head and ditching cutter to rotate synchronously, and completes the second section of the straight ditching operation in the annular ditch, the angle between the ditch and the tree line is 0°; S23: The third section of the annular ditching is a zigzag ditching; when the adaptive annular ditching, fertilization and soil covering device receives the extension status signal from the laser radar during the straight operation, the control system manipulates the self-rotating motor to drive the ditching frame to rotate 45°, and at the same time the longitudinal drive device drives the ditching device to retract at a constant speed. The control system manipulates the ditching motors installed mirror-symmetrically on both sides of the ditching frame to drive the ditching cutter head and ditching cutter to rotate synchronously, completing the third section of the annular ditching zigzag ditching operation. The angle between the ditch and the tree line is -45°.

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