Irrigation device and irrigation method for root fertilization of tobacco planting

Abstract

The present invention discloses an irrigation device and an irrigation method for root fertilization for tobacco planting, which relates to the technical field of tobacco planting, and includes a walking device, a sprinkler mechanism, the sprinkler mechanism includes a connector and a spray pipe, the connectors have two in total and are respectively movably arranged at the top of the left and right side walls of a carriage, the spray pipes have a total of several in total on each connector and are evenly fixed on the connectors by bolts, the spray pipes are in an arc-shaped structure, and an unfolding drive mechanism includes a drive plate, the drive plate is movably installed in the middle of the top of the carriage through sliding, and one end close to the spray pipe is movably installed inside the front end of the carriage through insertion. The present invention is designed to install a sprinkler mechanism, and the tobacco leaves that block the forward movement are pushed open by the arc-shaped spray pipe, and the tobacco leaves are prevented from being damaged by the device when moving forward, and water is sprayed by the spray pipe, so that the device can irrigate the roots of the tobacco during the process of moving.

Description

Technical Field

[0001] The invention relates to the technical field of tobacco planting, in particular to an irrigation device and an irrigation method for root fertilization for tobacco planting. Background Art

[0002] Tobacco is an annual herbaceous plant of the genus Nicotiana in the Solanaceae family, with oblong-lanceolate, lanceolate, oblong or ovate leaves, gradually pointed at the apex, gradually narrowed at the base to become ear-shaped and semi-amplexicaulous, with inconspicuous or wing-shaped petioles, conical inflorescences, tubular or tubular-bell-shaped calyx, triangular-lanceolate lobes, funnel-shaped corolla, light yellow, light green, red or pink, with yellow at the base; capsules are ovate or elliptical, nearly as long as the persistent calyx, seeds are round or broadly oblong, brown, and flowering and fruiting periods are summer and autumn. During the growth of tobacco, its roots need to be fertilized and irrigated. The Chinese patent application with application number 202410864865.6 discloses a "multifunctional tobacco planting quantitative fertilizer applicator, comprising a trolley body, a fertilizer box, a discharge pipe and Moving wheel assembly, a fertilizer box is fixedly installed on the left side of the top of the trolley body, a sealing partition is fixedly connected to the inner wall of the lower end of the fertilizer box, a metering cylinder is fixedly installed on the top of the sealing partition, and a supplementary tube is fixedly connected to the upper end of the metering cylinder, and the top end of the supplementary tube extends out of the fertilizer box. In the present invention, the rotating motor drives the central rod to rotate, so that the stirring rods stir the fertilizer, and one of the stirring rods drives the metering spoon to rotate clockwise, and the metering spoon scoops up part of the fertilizer and throws it into the hopper through the discharge port. Opening the control valve can deliver the fertilizer in the hopper to the soil, and the feeder allows the fertilizer to fall smoothly. Since the amount of fertilizer scooped out by the metering spoon each time tends to be consistent, it can achieve the purpose of quantitative fertilization."

[0003] This technical solution only solves the problem of manual mixing of fertilizers and the inability to quantify fertilizers. However, for tobacco that has grown to a higher height, the tobacco leaves between adjacent ridges are easy to contact each other, resulting in the need to bend over for a long time to work when fertilizing and irrigating manually. When using fertilizer and irrigation equipment, leaves with economic value are easily damaged, and existing equipment often cannot accurately fertilize and irrigate the roots of tobacco like manual labor. Summary of the invention

[0004] The object of the present invention is to provide an irrigation device and an irrigation method for root fertilization in tobacco planting, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an irrigation device for root fertilization for tobacco planting, comprising a traveling device, a carriage being fixedly mounted on the top of the traveling device by bolts;

[0006] The sprinkler mechanism includes a connector and a spray pipe. There are two connectors and they are movably arranged at the top of the left and right side walls of the carriage, respectively. There are a plurality of spray pipes on each connector and they are evenly fixed on the connector by bolts. The spray pipe is an arc-shaped structure.

[0007] An unfolding drive mechanism, the unfolding drive mechanism comprising a drive plate, the drive plate being mounted in the middle of the top end of the carriage by sliding movement, and an end close to the spray pipe being mounted inside the front end of the carriage by inserting movement;

[0008] A differential deployment mechanism, the differential deployment mechanism comprising two movable racks, the movable racks being movably arranged on both sides of the driving plate;

[0009] An irrigation mechanism, the irrigation mechanism comprising a rotating support plate, a curved slide plate and an irrigation hard pipe, the rotating support plates having two pieces and being movably arranged at the left and right sides of the top of the carriage respectively, the curved slide plates having two groups and being movably arranged at one end of the rotating support plate away from the spray pipe respectively, the irrigation hard pipes having two groups, and two pipes in each group being respectively inserted and fixedly installed at both ends of each curved slide plate;

[0010] An annular surrounding mechanism, the annular surrounding mechanism comprising a first fixed arc-shaped rack and a second fixed arc-shaped rack, the first fixed arc-shaped rack being fixedly mounted on an end of the rotating support plate away from the spray pipe by bolts, and the second fixed arc-shaped rack being fixedly mounted on an end of the rotating support plate close to the first fixed arc-shaped rack by bolts;

[0011] The stirring mechanism comprises a translation plate, and the translation plate is installed in the middle of the inner top of the carriage through sliding movement.

[0012] Preferably, the sprinkler mechanism includes a water tank, a first water pump, a water suction pipe, a drain pipe, a first rotating joint, a rotating sleeve and a belt. The water tank is fixedly installed in the middle of the interior of the car by bolts, the first water pump is fixedly installed in the middle of the bottom end of the interior front side of the car by bolts, the water suction pipe is fixedly installed between the water tank and the first water pump by insertion, the bottom end of the drain pipe is fixedly installed in the first water pump by insertion, there are two first rotating joints and they are respectively fixedly installed on the top of the left and right front side walls of the car by bolts, the top ends of the drain pipe are respectively fixedly installed on one end of the two first rotating joints located in the car by insertion, there are two rotating sleeves and they are respectively fixedly sleeved on the two first rotating joints by bolts, the connecting head is fixedly installed on the rotating sleeve by bolts, the first rotating joint is fixedly installed in the connecting head by insertion, the bottom end of the belt is movably sleeved on the wheel axle of the walking device, and the top end of the belt is movably sleeved on the rotating sleeve.

[0013] Preferably, the unfolding drive mechanism includes a first motor, a threaded rod, a limit frame, a limit slot and a slider, the first motor is fixedly installed on the inner front end of the car body by bolts, the end of the threaded rod close to the first motor is movably installed in the middle of the top end of the front side of the car body through a bearing, the threaded rod is fixedly installed on the output shaft of the first motor by bolts, the limit frame is fixedly installed in the middle of the top end of the car body by bolts, the end of the threaded rod away from the first motor is movably installed in the middle of the end of the limit frame away from the first motor through a bearing, the limit slot is opened in the middle of the top end of the limit frame, the bottom end of the slider is fixedly installed on the end of the driving plate away from the first motor by bolts, the bottom end of the slider is movably installed in the limit slot by insertion, the slider is slidably installed on the top end of the limit frame, and the slider is movably sleeved on the threaded rod by threads.

[0014] Preferably, the differential deployment mechanism includes a movable groove, a limit rod, a movable magnetic block, a fixed magnetic block, a first gear and a second gear. The movable groove is opened on both sides of the driving plate, and the movable rack is installed in the movable groove by sliding. The limit rod is fixedly installed at both ends of the movable rack by bolts. The limit rod is movably installed in the driving plate by insertion. There are a total of several movable magnetic blocks and they are evenly fixedly installed on the side of the movable rack close to the driving plate by bolts. A number of magnetic block grooves are opened inside the movable groove. There are a total of several fixed magnetic blocks and they are respectively fixedly installed in the magnetic block grooves by bolts. There are a total of two first gears and they are respectively movably installed on the left and right ends of the front side of the top end of the car body through bearings. The first gear is movably connected to the movable rack through meshing. There are a total of two second gears and they are respectively movably installed on the left and right ends of the front side of the top end of the car body through bearings. The second gear is movably installed on the side of the first gear away from the movable rack through meshing.

[0015] Preferably, the irrigation mechanism includes a placement groove, an arc groove, a second rotating joint, a liquid tank, a liquid extraction hard pipe and a liquid extraction hose, the placement groove is opened at the top of the rotating support plate, the rotating support plate is fixedly mounted on the top of the second gear by bolts, the arc groove is opened at the end of the rotating support plate away from the second gear, the bottom end of the second rotating joint is fixedly mounted on the top of the carriage by bolts, the second rotating joint is fixedly mounted in the middle of the second gear by insertion, the liquid tank is fixedly mounted on the inner rear end of the carriage by bolts, the top end of the liquid extraction hard pipe is fixedly mounted on the bottom end of the second rotating joint by insertion, the bottom end of the liquid extraction hard pipe is fixedly mounted in the liquid tank by insertion, and the end of the liquid extraction hose close to the second gear is fixedly mounted on the top of the liquid extraction hard pipe by bolts.

[0016] Preferably, the irrigation mechanism includes a second water pump, a drainage hard pipe, a drainage hose, an arc tube and a protective cover. The second water pump is fixedly installed in the middle of the placement groove by bolts, the end of the suction hose away from the second gear is fixedly installed in the second water pump by insertion, the drainage hard pipe is fixedly installed in the second water pump by insertion, the drainage hose is fixedly connected to the drainage hard pipe by bolts, there are two arc tubes and they are fixedly installed on the top of each group of irrigation hard pipes by bolts respectively, the drainage hose is fixedly installed in the arc tube by insertion, and the protective cover is fixedly installed on the top of the rotating support plate by bolts.

[0017] Preferably, the annular surrounding mechanism includes a second motor, a third gear, a guide rail, a first movable arc-shaped rack, a second movable arc-shaped rack, a fourth gear and a guard plate. The second motor is fixedly mounted in the middle of an end of the rotating support plate away from the second gear by bolts. The third gear is located at the bottom end of the rotating support plate and is fixedly mounted on the output shaft of the second motor by bolts. There are two guide rails, which are respectively fixedly mounted on the bottom ends of the first fixed arc-shaped rack and the second fixed arc-shaped rack by bolts. The first movable arc-shaped rack is movably sleeved on the guide rail at the bottom end of the first fixed arc-shaped rack by snapping. The second movable arc-shaped rack The arc-shaped rack is movably sleeved on the guide rail at the bottom end of the second fixed arc-shaped rack through snap-fitting, the fourth gear is movably sleeved on the bottom end of an irrigation hard pipe close to the second motor, there are two guard plates and they are respectively fixedly sleeved on the bottom ends of the two groups of irrigation hard pipes through bolts, the third gear is movably installed between the first movable arc-shaped rack and the second movable arc-shaped rack through meshing, the bottom ends of the two fourth gears are respectively connected to the first movable arc-shaped rack and the second movable arc-shaped rack through meshing, and the ends of the two fourth gears close to the arc-shaped groove are respectively connected to the first fixed arc-shaped rack and the second fixed arc-shaped rack through meshing.

[0018] Preferably, the stirring mechanism includes a translation groove, a translation plate, a fifth gear, a fixed rack and a stirring rod, the translation groove is opened in the middle of the top end of the carriage, the middle of the top end of the translation plate is movably installed in the translation groove by insertion, the middle of the top end of the translation plate is fixedly installed at the bottom end of the driving plate by bolts, and is located below the slider, there are two fifth gears and they are movably installed on the two ends of the translation plate through a rotating shaft, there are two fixed racks and they are fixedly installed on both sides of the translation plate by bolts, the two fifth gears are respectively connected to the two fixed racks by meshing, there are two groups of stirring rods and they are respectively fixedly installed at the bottom end of the fifth gear by bolts, a first camera device is provided on the front side of the carriage, and a second camera device is provided in the middle of one end of the two shields close to the second motor.

[0019] The present invention also provides another technical solution: an irrigation method for root fertilization in tobacco planting, comprising the following steps:

[0020] S1. Start the walking device by remote control, and drive the whole device to move between the tobacco ridges through the walking device. The image captured by the first camera device is transmitted to the mobile control device, and the staff controls the moving direction based on it. When the walking device moves forward, the rotating sleeve is driven to rotate through the belt, and the spray pipe is driven to rotate through the connecting head. The tobacco leaves that block the forward movement are pushed away through the arc-shaped spray pipe, and the tobacco leaves are prevented from being damaged when the device moves forward. When the spray pipe rotates, the first water pump is started, and water in the water tank is pumped out through the water pumping pipe, and then introduced into the connecting head through the drainage pipe, and then the water is sprayed out through the spray pipe, so that the device can spray the roots of the tobacco during the moving process;

[0021] S2, start the first motor, drive the threaded rod to rotate through the first motor, drive the slider to translate in the direction of the first motor through the threaded rod, drive the driving plate to move through the slider, and the staff controls the polarity of each group of fixed magnetic blocks through the mobile control device. When it repels the movable magnetic block on the same side, the movable magnetic block on the movable rack is ejected from the magnetic block slot, so that the movable rack is meshed with the first gear. When the driving plate moves, it also drives the movable rack to move, so that the first gear meshed with it rotates accordingly, and then drives the second gear to rotate through the first gear, driving the rotating support plate to rotate at the same time. When it is attracted to the movable rack on the same side, the movable magnetic block on the movable rack is sucked into the magnetic block slot, so that the first gear on the same side is not meshed with the movable rack, so the rotating support plate does not rotate, and the rotation amount of each of the two rotating support plates is controlled by controlling the polarity of the two groups of fixed magnetic blocks;

[0022] S3, when the rotating support plate rotates, the position of the tobacco root is observed through the second camera device, and when the rotating support plate rotates to the tobacco root position away from the end of the second gear, the second motor is started, and the third gear is driven to rotate by the second motor, and the first movable arc rack and the second movable arc rack are driven to move in opposite directions at the same time by the third gear, and the first movable arc rack and the second movable arc rack are respectively meshed with the bottom ends of the two fourth gears, driving the two fourth gears to rotate and move along the first fixed arc rack and the second fixed arc rack meshed with them respectively, and then the arc slide is driven to move by the irrigation hard pipe close to the second motor, so that the two arc slides surround the tobacco root;

[0023] S4. While the arc-shaped slide moves, the second water pump is started to extract the liquid fertilizer used for irrigating the roots of tobacco from the liquid tank through the liquid extraction hard pipe and the liquid extraction hose, and the liquid fertilizer is discharged through the liquid discharge hard pipe, the irrigation hard pipe, the arc-shaped pipe and the irrigation hard pipe, so that the arc-shaped slide gradually surrounds the roots of tobacco while the liquid fertilizer is irrigated. When the surrounding is completed, a circular irrigation is formed, which improves the uniformity of irrigation and ensures the coverage of irrigation;

[0024] S5. Liquid fertilizer in the liquid tank is prone to form sedimentation and stratification. When the driving plate moves, the translation plate is driven to move, so that the fifth gear moves along with the translation plate. When the fifth gear moves, the fifth gear rotates by meshing with the fixed rack, so that the stirring rod rotates along with the fifth gear. When the rotating support plate rotates, the stirring rod is driven to rotate and move in the liquid tank, thereby improving the uniformity of the liquid fertilizer in the liquid tank.

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

[0026] 1. The present invention is designed to install a sprinkler mechanism, which pushes away tobacco leaves that block the forward movement through an arc-shaped spray pipe, and prevents the device from damaging the tobacco leaves when moving forward, and sprays water through the spray pipe, so that the device can sprinkle and irrigate the roots of the tobacco during the movement;

[0027] 2. The present invention is designed and installed with an unfolding drive mechanism, a differential unfolding mechanism and an irrigation mechanism. By controlling the polarity of the fixed magnetic block, when the movable rack is repelled by the movable magnetic block on the same side, the movable rack is meshed with the first gear on the same side, and when the movable magnetic block on the same side is attracted, the movable rack is not meshed with the first gear on the same side, so that the staff can control the rotation amount of the rotating support plate according to the actual situation of tobacco planting, thereby improving the applicability of the device, so that the device can realize the precise positioning of the tobacco root, and is convenient for precise irrigation;

[0028] 3. The present invention is designed and installed with a circular surrounding mechanism, wherein the third gear drives the first movable arc-shaped rack and the second movable arc-shaped rack to move in opposite directions at the same time, and the first movable arc-shaped rack and the second movable arc-shaped rack are respectively meshed with the bottom ends of the two fourth gears, driving the two fourth gears to rotate and move along the first fixed arc-shaped rack and the second fixed arc-shaped rack meshed with them respectively, driving the two arc-shaped slide plates to move, so that the two arc-shaped slide plates surround the roots of the tobacco, so that liquid fertilizer irrigation is performed while the arc-shaped slide plates gradually surround the roots of the tobacco, and when the encirclement is completed, a circular irrigation is formed, which improves the irrigation uniformity and ensures the irrigation coverage;

[0029] 4. The present invention is designed and installed with a stirring mechanism. When the fifth gear moves, it rotates by meshing with the fixed rack, so that the stirring rod rotates with the fifth gear. When the rotating support plate rotates, the stirring rod is driven to rotate and move in the liquid tank, thereby improving the uniformity of the liquid fertilizer in the liquid tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Provides an overall structural diagram for an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of a cross-sectional structure of a device provided in an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of a sprinkler irrigation structure provided by an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of the structure of the limit slot and the translation slot provided in an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of the connection between the unfolding drive mechanism and the stirring mechanism provided in an embodiment of the present invention;

[0035] Figure 6 A schematic diagram of a differential deployment mechanism provided by an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of an irrigation mechanism provided by an embodiment of the present invention;

[0037] Figure 8 A schematic diagram of the structure of a curved slide provided by an embodiment of the present invention;

[0038] Fig. 9 A schematic diagram of a ring-shaped encircling mechanism provided by an embodiment of the present invention;

[0039] Fig.10 A schematic diagram of the structure of a first fixed arc-shaped rack provided in an embodiment of the present invention;

[0040] Fig.11 A schematic diagram of the first movable arc-shaped rack structure provided in an embodiment of the present invention.

[0041] In the figure: 1. walking device; 2. carriage; 3. sprinkler mechanism; 301. water tank; 302. first water pump; 303. water pumping pipe; 304. drainage pipe; 305. first rotary joint; 306. rotary sleeve; 307. connector; 308. spray pipe; 309. belt; 4. unfolding drive mechanism; 401. first motor; 402. threaded rod; 403. drive plate; 404. limit frame; 405. limit groove; 406. slider; 5. differential unfolding mechanism; 501. movable groove; 502. movable rack; 503. limit rod; 504. movable magnetic block; 505. fixed magnetic block; 506. first gear; 507. second gear; 6. irrigation mechanism; 601. rotating support plate; 602. placement groove; 603 , arc groove; 604, arc slide; 605, second rotary joint; 606, liquid tank; 607, liquid extraction hard pipe; 608, liquid extraction hose; 609, second water pump; 610, liquid discharge hard pipe; 611, liquid discharge hose; 612, irrigation hard pipe; 613, arc pipe; 614, shield; 7, annular surrounding mechanism; 701, second motor; 702, third gear; 703, first fixed arc rack; 704, second fixed arc rack; 705, guide rail; 706, first movable arc rack; 707, second movable arc rack; 708, fourth gear; 709, guard plate; 8, stirring mechanism; 801, translation groove; 802, translation plate; 803, fifth gear; 804, fixed rack; 805, stirring rod. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figures 1 to 11 , the present invention provides a technical solution: an irrigation device for root fertilization of tobacco planting, comprising a traveling device 1, a carriage 2 is fixedly mounted on the top of the traveling device 1 by bolts;

[0044] The sprinkler mechanism 3 includes a connector 307 and a spray pipe 308. There are two connectors 307, which are movably arranged at the top of the left and right side walls of the carriage 2, respectively. There are several spray pipes 308 on each connector 307, which are evenly fixed on the connector 307 by bolts. The spray pipes 308 are in an arc-shaped structure.

[0045] The unfolding driving mechanism 4 includes a driving plate 403, which is mounted in the middle of the top of the carriage 2 by sliding, and an end close to the spray pipe 308 is mounted inside the front end of the carriage 2 by inserting;

[0046] The differential unfolding mechanism 5 includes two movable racks 502, which are movably arranged on both sides of the driving plate 403;

[0047] The irrigation mechanism 6 includes a rotating support plate 601, a curved slide plate 604 and an irrigation hard pipe 612. There are two rotating support plates 601, which are movably arranged on the left and right sides of the top of the carriage 2. There are two groups of curved slide plates 604, which are movably arranged on one end of the rotating support plate 601 away from the spray pipe 308. There are two groups of irrigation hard pipes 612, and two pipes in each group are respectively inserted and fixedly installed at both ends of each curved slide plate 604.

[0048] The annular surrounding mechanism 7 includes a first fixed arc-shaped rack 703 and a second fixed arc-shaped rack 704. The first fixed arc-shaped rack 703 is fixedly mounted on the end of the rotating support plate 601 away from the spray pipe 308 by bolts, and the second fixed arc-shaped rack 704 is fixedly mounted on the end of the rotating support plate 601 close to the first fixed arc-shaped rack 703 by bolts;

[0049] The stirring mechanism 8 comprises a translation plate 802 , and the translation plate 802 is installed in the middle of the inner top of the carriage 2 through sliding movement.

[0050] The sprinkler mechanism 3 includes a water tank 301, a first water pump 302, a water suction pipe 303, a drainage pipe 304, a first rotating joint 305, a rotating sleeve 306 and a belt 309. The water tank 301 is fixedly installed in the middle of the interior of the carriage 2 by bolts, the first water pump 302 is fixedly installed in the middle of the interior front bottom end of the carriage 2 by bolts, the water suction pipe 303 is fixedly installed between the water tank 301 and the first water pump 302 by insertion, the bottom end of the drainage pipe 304 is fixedly installed in the first water pump 302 by insertion, there are two first rotating joints 305 and they are respectively fixedly installed at the top of the left and right front side walls of the carriage 2 by bolts, and the top of the drainage pipe 304 is respectively fixedly installed at the two A first rotary joint 305 is located at one end of the carriage 2, and there are two rotary sleeves 306, which are respectively fixedly sleeved on the two first rotary joints 305 by bolts. The connector 307 is fixedly installed on the rotary sleeve 306 by bolts. The first rotary joint 305 is fixedly installed in the connector 307 by insertion. The bottom end of the belt 309 is movably sleeved on the wheel axle of the walking device 1, and the top end of the belt 309 is movably sleeved on the rotary sleeve 306; the rotary sleeve 306 is driven to rotate by the belt 309, and the spray pipe 308 is driven to rotate by the connector 307, and the tobacco leaves that block the forward movement are pushed open by the arc-shaped spray pipe 308, and the tobacco leaves are prevented from being damaged when the device moves forward;

[0051] The unfolding drive mechanism 4 includes a first motor 401, a threaded rod 402, a limit frame 404, a limit slot 405 and a slider 406. The first motor 401 is fixedly mounted on the inner front end of the carriage 2 by bolts, and the end of the threaded rod 402 close to the first motor 401 is movably mounted on the middle of the top of the front side of the carriage 2 through a bearing. The threaded rod 402 is fixedly mounted on the output shaft of the first motor 401 by bolts, and the limit frame 404 is fixedly mounted on the middle of the top of the carriage 2 by bolts, and the end of the threaded rod 402 away from the first motor 401 is movably mounted on the limit frame through a bearing. 404 is in the middle of one end away from the first motor 401, the limiting groove 405 is provided in the middle of the top of the limiting frame 404, the bottom end of the slider 406 is fixedly mounted on the end of the driving plate 403 away from the first motor 401 by bolts, the bottom end of the slider 406 is movably mounted in the limiting groove 405 by insertion, the slider 406 is slidably mounted on the top of the limiting frame 404, and the slider 406 is movably sleeved on the threaded rod 402 by thread; the slider 406 is driven by the threaded rod 402 to translate toward the direction of the first motor 401, and the driving plate 403 is driven by the slider 406 to move;

[0052] The differential deployment mechanism 5 includes a movable groove 501, a limit rod 503, a movable magnetic block 504, a fixed magnetic block 505, a first gear 506 and a second gear 507. The movable groove 501 is provided on both sides of the driving plate 403. The movable rack 502 is installed in the movable groove 501 by sliding. The limit rod 503 is fixedly installed at both ends of the movable rack 502 by bolts. The limit rod 503 is installed in the driving plate 403 by insertion. There are a total of several movable magnetic blocks 504 and they are evenly fixedly installed on one side of the movable rack 502 close to the driving plate 403 by bolts. There are a total of several magnetic block grooves provided inside the movable groove 501. There are a total of several fixed magnetic blocks 505 and they are fixedly installed in the magnetic block grooves by bolts respectively. There are a total of two first gears 506 and they are respectively installed on the top of the carriage 2 by bearings. At the left and right ends of the front side of the end, the first gear 506 is connected with the movable rack 502 through meshing movement. There are two second gears 507, which are respectively mounted on the left and right ends of the top end of the front side of the carriage 2 through bearings. The second gear 507 is mounted on the side of the first gear 506 away from the movable rack 502 through meshing movement; by controlling the polarity of the fixed magnetic block 505, when it repels the movable magnetic block 504 on the same side, this movable rack 502 is meshed with the first gear 506 on the same side, and when it attracts the movable magnetic block 504 on the same side, this movable rack 502 is not meshed with the first gear 506 on the same side, so that the staff can control the rotation amount of the rotating support plate 601 according to the actual situation of tobacco planting, thereby improving the applicability of the device, so that the device can realize the precise positioning of the tobacco root, which is convenient for precise irrigation;

[0053] The irrigation mechanism 6 includes a placement groove 602, an arc groove 603, a second rotary joint 605, a liquid tank 606, a liquid extraction hard pipe 607 and a liquid extraction hose 608. The placement groove 602 is opened at the top of the rotating support plate 601, and the rotating support plate 601 is fixedly installed on the top of the second gear 507 by bolts. The arc groove 603 is opened at the end of the rotating support plate 601 away from the second gear 507. The bottom end of the second rotary joint 605 is fixedly installed on the top of the carriage 2 by bolts. The second rotary joint 605 is inserted into the The liquid tank 606 is fixedly installed in the middle of the second gear 507, and the liquid tank 606 is fixedly installed in the rear end of the compartment 2 by bolts. The top of the liquid extraction hard pipe 607 is fixedly installed at the bottom of the second rotary joint 605 by insertion, and the bottom of the liquid extraction hard pipe 607 is fixedly installed in the liquid tank 606 by insertion. The end of the liquid extraction hose 608 close to the second gear 507 is fixedly installed at the top of the liquid extraction hard pipe 607 by bolts; the liquid fertilizer in the liquid tank 606 for irrigating the roots of tobacco is extracted through the liquid extraction hard pipe 607 and the liquid extraction hose 608;

[0054] The irrigation mechanism 6 includes a second water pump 609, a drainage pipe 610, a drainage hose 611, an arc tube 613 and a shield 614. The second water pump 609 is fixedly installed in the middle of the placement groove 602 by bolts. The end of the suction hose 608 away from the second gear 507 is fixedly installed in the second water pump 609 by insertion. The drainage pipe 610 is fixedly installed in the second water pump 609 by insertion. The drainage hose 611 is fixedly connected to the drainage pipe 610 by bolts. There are two arc tubes 613 and they are respectively connected by Bolts are fixedly installed on the top of each group of irrigation hard pipes 612, the drainage hose 611 is fixedly installed in the arc tube 613 by insertion, and the shield 614 is fixedly installed on the top of the rotating support plate 601 by bolts; liquid fertilizer is discharged through the drainage hard pipe 610, the irrigation hard pipe 612, the arc tube 613 and the irrigation hard pipe 612, so that liquid fertilizer irrigation is carried out while the arc slide plate 604 gradually surrounds the tobacco root. When the surrounding is completed, a ring irrigation is formed, which improves the irrigation uniformity and ensures the irrigation coverage;

[0055] The annular surrounding mechanism 7 includes a second motor 701, a third gear 702, a guide rail 705, a first movable arc-shaped rack 706, a second movable arc-shaped rack 707, a fourth gear 708 and a guard plate 709. The second motor 701 is fixedly mounted in the middle of the end of the rotating support plate 601 away from the second gear 507 by bolts. The third gear 702 is located at the bottom end of the rotating support plate 601 and is fixedly mounted on the output shaft of the second motor 701 by bolts. There are two guide rails 705, which are respectively fixedly mounted on the first fixed arc-shaped rack 706 by bolts. 3 and the bottom end of the second fixed arc-shaped rack 704, the first movable arc-shaped rack 706 is movably sleeved on the guide rail 705 at the bottom end of the first fixed arc-shaped rack 703 by snapping, the second movable arc-shaped rack 707 is movably sleeved on the guide rail 705 at the bottom end of the second fixed arc-shaped rack 704 by snapping, the fourth gear 708 is movably sleeved on the bottom end of an irrigation hard pipe 612 close to the second motor 701, the guard plate 709 has two pieces and is respectively fixedly sleeved on the bottom ends of the two groups of irrigation hard pipes 612 by bolts, the third gear 702 is movably sleeved on the bottom end of the second fixed arc-shaped rack 703 by snapping, the second movable arc-shaped rack 707 is movably sleeved on the guide rail 705 at the bottom end of the second fixed arc-shaped rack 704 by snapping, the fourth gear 708 is movably sleeved on the bottom end of an irrigation hard pipe 612 close to the second motor 701, the guard plate 709 has two pieces and is respectively fixedly sleeved on the bottom ends of the two groups of irrigation hard pipes 612 by bolts, and the third gear 702 is movably sleeved on the bottom end of the second fixed arc-shaped rack 703 by snapping. The first movable arc-shaped rack 706 and the second movable arc-shaped rack 707 are installed between them. The bottom ends of the two fourth gears 708 are connected with the first movable arc-shaped rack 706 and the second movable arc-shaped rack 707 through meshing activities. The ends of the two fourth gears 708 close to the arc-shaped groove 603 are connected with the first fixed arc-shaped rack 703 and the second fixed arc-shaped rack 704 through meshing activities. The first movable arc-shaped rack 706 and the second movable arc-shaped rack 707 are driven by the third gear 702 to move in the opposite direction at the same time, and the first movable arc-shaped rack 706 and the second movable arc-shaped rack 707 are respectively meshed with the bottom ends of the two fourth gears 708, driving the two fourth gears 708 to rotate and move along the first fixed arc-shaped rack 703 and the second fixed arc-shaped rack 704 meshed with them respectively, driving the two arc-shaped slide plates 604 to move, so that the two arc-shaped slide plates 604 surround the roots of the tobacco, so that liquid fertilizer irrigation is carried out while the arc-shaped slide plates 604 gradually surround the roots of the tobacco, and when the surrounding is completed, a circular irrigation is formed, which improves the uniformity of irrigation and ensures the coverage of irrigation;

[0056] The stirring mechanism 8 includes a translation groove 801, a translation plate 802, a fifth gear 803, a fixed rack 804 and a stirring rod 805. The translation groove 801 is opened in the middle of the top of the carriage 2. The middle of the top of the translation plate 802 is installed in the translation groove 801 by insertion. The middle of the top of the translation plate 802 is fixedly installed at the bottom of the driving plate 403 by bolts and is located below the slider 406. There are two fifth gears 803 and they are respectively installed at both ends of the translation plate 802 by rotating shafts. There are two fixed racks 804 and they are respectively fixedly installed on both sides of the translation plate 802 by bolts. The two fifth gears 80 3 are respectively connected with the two fixed racks 804 by meshing, there are two groups of stirring rods 805 and they are respectively fixedly installed on the bottom ends of the fifth gear 803 by bolts, a first camera device is arranged on the front side of the carriage 2, and a second camera device is arranged in the middle of one end of the two shields 614 close to the second motor 701; when the fifth gear 803 moves, it rotates by meshing with the fixed rack 804, so that the stirring rod 805 rotates with the fifth gear 803, so that the rotating support plate 601 rotates and drives the stirring rod 805 to rotate and move in the liquid tank 606, thereby improving the uniformity of the liquid fertilizer in the liquid tank 606.

[0057] The present invention also provides another technical solution: an irrigation method for root fertilization in tobacco planting, comprising the following steps:

[0058] S1. Start the walking device 1 by remote control. The walking device 1 drives the whole device to move between the tobacco ridges. The image captured by the first camera device is transmitted to the mobile control device. The staff controls the moving direction. When the walking device 1 moves forward, the belt 309 drives the rotating sleeve 306 to rotate, and the connector 307 drives the spray pipe 308 to rotate. The arc-shaped spray pipe 308 pushes away the tobacco leaves that block the forward movement, and prevents the device from damaging the tobacco leaves when moving forward. When the spray pipe 308 rotates, the first water pump 302 is started, and the water in the water tank 301 is pumped through the water pumping pipe 303, and then introduced into the connector 307 through the drainage pipe 304, and then the water is sprayed out through the spray pipe 308, so that the device can spray the roots of the tobacco during the moving process;

[0059] S2, start the first motor 401, drive the threaded rod 402 to rotate through the first motor 401, drive the slider 406 to translate in the direction of the first motor 401 through the threaded rod 402, drive the driving plate 403 to move through the slider 406, and the staff controls the polarity of each group of fixed magnetic blocks 505 through the mobile control device. When the active magnetic block 504 on the same side repels each other, the active magnetic block 504 on the active rack 502 is ejected from the magnetic block slot, so that the active rack 502 is meshed with the first gear 506. When the driving plate 403 moves, it also drives the active magnetic block 504 to move. The movable rack 502 moves, so that the first gear 506 meshing with it rotates accordingly, and then the second gear 507 is driven to rotate through the first gear 506, and the rotating support plate 601 is driven to rotate at the same time. When it is attracted to the movable rack 502 on the same side, the movable magnetic block 504 on the movable rack 502 is sucked into the magnetic block groove, so that the first gear 506 on the same side does not mesh with the movable rack 502, so the rotating support plate 601 does not rotate. By controlling the polarity of the two groups of fixed magnetic blocks 505, the rotation amount of each of the two rotating support plates 601 is controlled;

[0060] S3. After the rotating support plate 601 rotates, the position of the tobacco root is observed through the second camera device. After the rotating support plate 601 rotates to the tobacco root position away from the end of the second gear 507, the second motor 701 is started, and the third gear 702 is driven to rotate by the second motor 701, and the first movable arc rack 706 and the second movable arc rack 707 are driven to move in opposite directions at the same time by the third gear 702, and the first movable arc rack 706 and the second movable arc rack 707 are respectively meshed with the bottom ends of the two fourth gears 708, driving the two fourth gears 708 to rotate and move respectively along the first fixed arc rack 703 and the second fixed arc rack 704 meshed with each other, and then the arc slide 604 is driven to move by the irrigation hard pipe 612 close to the second motor 701, so that the two arc slides 604 surround the tobacco root;

[0061] S4. While the arc-shaped slide plate 604 is moving, the second water pump 609 is started to extract the liquid fertilizer for irrigating the roots of tobacco from the liquid tank 606 through the liquid extraction hard pipe 607 and the liquid extraction hose 608, and the liquid fertilizer is discharged through the liquid discharge hard pipe 610, the irrigation hard pipe 612, the arc-shaped pipe 613 and the irrigation hard pipe 612, so that the arc-shaped slide plate 604 gradually surrounds the roots of tobacco while the liquid fertilizer is irrigated. When the surrounding is completed, a circular irrigation is formed, which improves the irrigation uniformity and ensures the irrigation coverage;

[0062] S5. The liquid fertilizer in the liquid tank 606 is prone to form sedimentation layers. When the driving plate 403 moves, the translation plate 802 is driven to move, so that the fifth gear 803 moves along with the translation plate 802. When the fifth gear 803 moves, the fifth gear 803 rotates by meshing with the fixed rack 804, so that the stirring rod 805 rotates along with the fifth gear 803. When the rotating support plate 601 rotates, the stirring rod 805 is driven to rotate and move in the liquid tank 606, thereby improving the uniformity of the liquid fertilizer in the liquid tank 606.

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An irrigation device for root fertilization in tobacco planting, comprising a traveling device (1), a carriage (2) being fixedly mounted on the top of the traveling device (1), characterized in that: A sprinkler irrigation mechanism (3), the sprinkler irrigation mechanism (3) comprising a connector (307) and a spray pipe (308), the connectors (307) having two in total and movably arranged at the top ends of the left and right side walls of the carriage (2), the spray pipes (308) having a plurality of in total on each connector (307) and being evenly fixedly mounted on the connector (307), the spray pipes (308) having an arc-shaped structure; An unfolding drive mechanism (4), the unfolding drive mechanism (4) comprising a drive plate (403), the drive plate (403) being movably mounted in the middle of the top end of the carriage (2), and having an end close to the spray pipe (308) being movably mounted inside the front end of the carriage (2); A differential unfolding mechanism (5), the differential unfolding mechanism (5) comprising a movable rack (502), wherein there are two movable racks (502) and the movable racks (502) are movably arranged on two sides of the driving plate (403); An irrigation mechanism (6), the irrigation mechanism (6) comprising a rotating support plate (601), a curved slide plate (604) and an irrigation hard pipe (612), the rotating support plate (601) comprising two pieces and being movably arranged at the top left and right sides of the carriage (2), the curved slide plate (604) comprising two groups and being movably arranged at one end of the rotating support plate (601) away from the spray pipe (308), and the irrigation hard pipe (612) comprising two groups, and two pipes in each group are fixedly mounted at the two ends of each curved slide plate (604); An annular surrounding mechanism (7), the annular surrounding mechanism (7) comprising a first fixed arc-shaped rack (703) and a second fixed arc-shaped rack (704), the first fixed arc-shaped rack (703) being fixedly mounted on an end of the rotating support plate (601) away from the spray pipe (308), and the second fixed arc-shaped rack (704) being fixedly mounted on an end of the rotating support plate (601) close to the first fixed arc-shaped rack (703); A stirring mechanism (8), the stirring mechanism (8) comprising a translation plate (802), the translation plate (802) being movably mounted in the middle of the top end of the interior of the carriage (2); The sprinkler irrigation mechanism (3) further comprises a water tank (301), a first water pump (302), a water suction pipe (303), a drainage pipe (304), a first rotating joint (305), a rotating sleeve (306) and a belt (309); the water tank (301) is fixedly mounted in the middle of the interior of the carriage (2) by means of bolts; the first water pump (302) is fixedly mounted in the middle of the bottom end of the front side of the interior of the carriage (2) by means of bolts; the water suction pipe (303) is fixedly mounted between the water tank (301) and the first water pump (302) by means of insertion; the bottom end of the drainage pipe (304) is fixedly mounted in the first water pump (302) by means of insertion; and there are two first rotating joints (305) in total and they are arranged in a The top ends of the drain pipes (304) are fixedly mounted on the top ends of the left and right front side walls of the carriage (2) by bolts, respectively; the top ends of the drain pipes (304) are fixedly mounted on the ends of the two first rotating joints (305) located in the carriage (2) by insertion; there are two rotating sleeves (306) and they are respectively fixedly mounted on the two first rotating joints (305) by bolts; the connector (307) is fixedly mounted on the rotating sleeve (306) by bolts; the first rotating joint (305) is fixedly mounted in the connector (307) by insertion; the bottom end of the belt (309) is movably mounted on the wheel axle of the walking device (1); and the top end of the belt (309) is movably mounted on the rotating sleeve (306); The unfolding drive mechanism (4) further comprises a first motor (401), a threaded rod (402), a limit frame (404), a limit slot (405) and a slider (406); the first motor (401) is fixedly mounted on the inner front end of the carriage (2) by means of bolts; one end of the threaded rod (402) close to the first motor (401) is movably mounted on the middle of the top end of the front side of the carriage (2) by means of a bearing; the threaded rod (402) is fixedly mounted on the output shaft of the first motor (401) by means of bolts; the limit frame (404) is fixedly mounted on the middle of the top end of the carriage (2) by means of bolts; the threaded rod (402) is fixedly mounted on the output shaft of the first motor (401) by means of bolts; 02) one end away from the first motor (401) is movably mounted on the middle of the end of the limiting frame (404) away from the first motor (401) through a bearing, the limiting groove (405) is opened in the middle of the top of the limiting frame (404), the bottom end of the slider (406) is fixedly mounted on the end of the driving plate (403) away from the first motor (401) through bolts, the bottom end of the slider (406) is movably mounted in the limiting groove (405) by insertion, the slider (406) is slidably mounted on the top of the limiting frame (404), and the slider (406) is movably sleeved on the threaded rod (402) through a thread; The differential unfolding mechanism (5) further comprises a movable groove (501), a limiting rod (503), a movable magnetic block (504), a fixed magnetic block (505), a first gear (506) and a second gear (507); the movable groove (501) is provided on both sides of the driving plate (403); the movable rack (502) is installed in the movable groove (501) by sliding; the limiting rod (503) is fixedly installed at both ends of the movable rack (502) by bolts; the limiting rod (503) is installed in the driving plate (403) by insertion; a total of a plurality of movable magnetic blocks (504) are evenly fixedly installed in the movable rack (502) by bolts near the movable rack (502). On one side of the driving plate (403), a plurality of magnetic block grooves are provided inside the movable groove (501), a plurality of fixed magnetic blocks (505) are provided and are fixedly installed in the magnetic block grooves by bolts, two first gears (506) are provided and are movably installed at the left and right ends of the front side of the top end of the carriage (2) by bearings, the first gear (506) is movably connected to the movable rack (502) by meshing, two second gears (507) are provided and are movably installed at the left and right ends of the front side of the top end of the carriage (2) by bearings, and the second gear (507) is movably installed on the side of the first gear (506) away from the movable rack (502) by meshing; The irrigation mechanism (6) further comprises a placement groove (602), an arc groove (603), a second rotating joint (605), a liquid tank (606), a liquid extraction hard pipe (607) and a liquid extraction hose (608); the placement groove (602) is provided at the top of the rotating support plate (601); the rotating support plate (601) is fixedly mounted on the top of the second gear (507) by means of bolts; the arc groove (603) is provided at one end of the rotating support plate (601) away from the second gear (507); the bottom end of the second rotating joint (605) is fixedly mounted by means of bolts; The second rotary joint (605) is fixedly mounted in the middle of the second gear (507) by insertion, the liquid tank (606) is fixedly mounted at the rear end of the interior of the car (2) by bolts, the top end of the liquid extraction tube (607) is fixedly mounted at the bottom end of the second rotary joint (605) by insertion, the bottom end of the liquid extraction tube (607) is fixedly mounted in the liquid tank (606) by insertion, and one end of the liquid extraction hose (608) close to the second gear (507) is fixedly mounted at the top end of the liquid extraction tube (607) by bolts; The irrigation mechanism (6) further comprises a second water pump (609), a drainage hard pipe (610), a drainage hose (611), an arc-shaped pipe (613) and a protective cover (614); the second water pump (609) is fixedly mounted in the middle of the placement groove (602) by means of bolts; the end of the liquid extraction hose (608) away from the second gear (507) is fixedly mounted in the second water pump (609) by means of insertion; the drainage hard pipe (610) is fixedly mounted in the second water pump (609) by means of insertion; the drainage hose (611) is fixedly connected to the drainage hard pipe (610) by means of bolts; there are two arc-shaped pipes (613) and they are fixedly mounted on the top of each group of irrigation hard pipes (612) by means of bolts; the drainage hose (611) is fixedly mounted in the arc-shaped pipe (613) by means of insertion; and the protective cover (614) is fixedly mounted on the top of the rotating support plate (601) by means of bolts; The annular enclosing mechanism (7) further comprises a second motor (701), a third gear (702), a guide rail (705), a first movable arc-shaped rack (706), a second movable arc-shaped rack (707), a fourth gear (708) and a guard plate (709); the second motor (701) is fixedly mounted by bolts at the middle of an end of the rotating support plate (601) away from the second gear (507); the third gear (702) is located at the bottom end of the rotating support plate (601) and is fixedly mounted by bolts on the output shaft of the second motor (701); there are two guide rails (705) and they are respectively fixedly mounted by bolts on the bottom ends of the first fixed arc-shaped rack (703) and the second fixed arc-shaped rack (704); the first movable arc-shaped rack (706) is connected to the guide rail (705) at the bottom end of the first fixed arc-shaped rack (703) by a snap-fitting movable sleeve; the second movable arc-shaped rack (706) is connected to the guide rail (705) at the bottom end of the first fixed arc-shaped rack (703) by a snap-fitting movable sleeve; The movable arc-shaped rack (707) is movably sleeved on the guide rail (705) at the bottom end of the second fixed arc-shaped rack (704) by snapping, the fourth gear (708) is movably sleeved on the bottom end of an irrigation hard pipe (612) near the second motor (701), the guard plate (709) has two pieces and is respectively fixedly sleeved on the bottom ends of the two groups of irrigation hard pipes (612) by bolts, the third gear (702) is installed between the first movable arc-shaped rack (706) and the second movable arc-shaped rack (707) by meshing, the bottom ends of the two fourth gears (708) are respectively connected to the first movable arc-shaped rack (706) and the second movable arc-shaped rack (707) by meshing, and the ends of the two fourth gears (708) near the arc-shaped groove (603) are respectively connected to the first fixed arc-shaped rack (703) and the second fixed arc-shaped rack (704) by meshing; The stirring mechanism (8) further comprises a translation groove (801), a translation plate (802), a fifth gear (803), a fixed rack (804) and a stirring rod (805); the translation groove (801) is opened in the middle of the top of the carriage (2); the middle of the top of the translation plate (802) is installed in the translation groove (801) by insertion; the middle of the top of the translation plate (802) is fixedly installed at the bottom of the driving plate (403) by bolts and is located below the slider (406); there are two fifth gears (803) respectively connected by rotating shafts. The first and second gears (805) are movably mounted on both ends of the translation plate (802); the fixed racks (804) are two in total and are respectively fixedly mounted on both sides of the translation plate (802) by bolts; the two fifth gears (803) are respectively movably connected to the two fixed racks (804) by meshing; the stirring rods (805) are two in total and are respectively fixedly mounted on the bottom ends of the fifth gears (803) by bolts; a first camera device is arranged on the front side of the carriage (2); and a second camera device is arranged in the middle of one end of the two shields (614) close to the second motor (701).

2. A method for irrigation of tobacco planting root fertilization, applicable to the irrigation device for tobacco planting root fertilization according to claim 1, characterized in that: The following steps are involved: S1. The walking device (1) is started by remote control. The walking device (1) drives the entire device to move between tobacco ridges. The images captured by the first camera device are transmitted to the mobile control device, and the staff controls the moving direction based on the images. When the walking device (1) moves forward, the rotating sleeve (306) is driven to rotate through the belt (309), and the spray pipe (308) is driven to rotate through the connector (307). The tobacco leaves that block the forward movement are pushed away through the arc-shaped spray pipe (308), and the tobacco leaves are prevented from being damaged when the device moves forward. When the spray pipe (308) rotates, the first water pump (302) is started, and water in the water tank (301) is pumped through the water pumping pipe (303), and then introduced into the connector (307) through the drainage pipe (304), and then the water is sprayed out through the spray pipe (308), so that the device can spray and irrigate the roots of the tobacco during the moving process; S2, start the first motor (401), drive the threaded rod (402) to rotate through the first motor (401), drive the slider (406) to translate in the direction of the first motor (401) through the threaded rod (402), drive the drive plate (403) to move through the slider (406), and the staff controls the polarity of each group of fixed magnetic blocks (505) through the mobile control device. When the active magnetic blocks (504) on the same side repel each other, the active magnetic blocks (504) on the active rack (502) are ejected from the magnetic block slot, so that the active rack (502) meshes with the first gear (506). When the drive plate (403) moves, the active magnetic blocks (504) on the active rack (502) are ejected from the magnetic block slot, so that the active rack (502) meshes with the first gear (506). When the movable rack (502) is driven to move, the first gear (506) meshing with the movable rack (502) is rotated accordingly, and then the second gear (507) is driven to rotate through the first gear (506), driving the rotating support plate (601) to rotate at the same time. When the movable rack (502) on the same side is attracted, the movable magnetic block (504) on the movable rack (502) is sucked into the magnetic block groove, so that the first gear (506) on the same side is not meshed with the movable rack (502), so the rotating support plate (601) does not rotate. By controlling the polarity of the two groups of fixed magnetic blocks (505), the rotation amount of each of the two rotating support plates (601) is controlled; S3. After the rotating support plate (601) rotates, the position of the tobacco root is observed through the second camera device. After the rotating support plate (601) rotates to the tobacco root position away from the end of the second gear (507), the second motor (701) is started, and the third gear (702) is driven to rotate through the second motor (701). The first movable arc-shaped rack (706) and the second movable arc-shaped rack (707) are driven to move in opposite directions at the same time through the third gear (702), and the first movable arc-shaped rack (706) and the second movable arc-shaped rack (707) are respectively meshed with the bottom ends of the two fourth gears (708), driving the two fourth gears (708) to rotate and move along the first fixed arc-shaped rack (703) and the second fixed arc-shaped rack (704) meshed with them respectively, and then the arc-shaped slide plate (604) is driven to move through the irrigation hard pipe (612) close to the second motor (701), so that the two arc-shaped slide plates (604) surround the tobacco root; S4. While the arc-shaped slide plate (604) is moving, the second water pump (609) is started to extract the liquid fertilizer used for irrigating the roots of the tobacco from the liquid tank (606) through the liquid extraction hard pipe (607) and the liquid extraction hose (608), and discharge the liquid fertilizer through the liquid discharge hard pipe (610), the irrigation hard pipe (612), the arc-shaped pipe (613) and the irrigation hard pipe (612), so that the liquid fertilizer irrigation is carried out while the arc-shaped slide plate (604) gradually surrounds the roots of the tobacco. When the surrounding is completed, a circular irrigation is formed, thereby improving the irrigation uniformity and ensuring the irrigation coverage; S5. Liquid fertilizer in the liquid tank (606) is prone to forming sedimentation layers. When the driving plate (403) moves, it drives the translation plate (802) to move, so that the fifth gear (803) moves along with the translation plate (802). When the fifth gear (803) moves, the fifth gear (803) rotates by meshing with the fixed rack (804), so that the stirring rod (805) rotates along with the fifth gear (803). The rotating support plate (601) rotates while driving the stirring rod (805) to rotate and move in the liquid tank (606), thereby improving the uniformity of the liquid fertilizer in the liquid tank (606).

Images