A vehicle-mounted hilly and mountainous land fertilizer and pesticide dual-purpose hole application integrated machine and a working method thereof

Abstract

The embodiment of the specification discloses a vehicle-mounted hilly and mountainous dual-purpose hole digging and fertilizing machine and a working method thereof, wherein the working device comprises a vehicle body, a posture acquisition module for acquiring posture data of the vehicle body, and a hole digging mechanism arranged on the vehicle body; the hole digging mechanism comprises at least two drill rods arranged on the vehicle body and capable of drilling into the ground, a first driving module for driving each drill rod to move along the length direction of the drill rod, a second driving module for driving each drill rod to rotate axially, and a balance control module for adjusting the driving power of the first driving module and the second driving module applied to each drill rod respectively based on the posture data of the vehicle body to balance the vehicle body. During the hole digging process, the balance control module is arranged to adjust the driving power of the first driving module applied to each drill rod and the driving power of the second driving module applied to each drill rod according to the posture data of the vehicle body, so that efficient drilling is realized on the premise of maintaining the stability of the vehicle body.

Description

Technical Field

[0001] Several embodiments of this specification relate to the field of agricultural machinery technology, specifically to a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas and its operating method. Background Technology

[0002] Hilly and mountainous areas suffer from inconvenient transportation, fragmented land, and complex terrain, leading to numerous problems such as difficult and poor-quality field operations. The low level of agricultural mechanization and modernization poses significant challenges to key agricultural operations in orchards, including irrigation, fertilization, and pesticide application. Low productivity is a major reason for the lagging development of hilly and mountainous areas.

[0003] Currently, most agricultural machinery is still primarily ride-on equipment operated by farmers. However, in hilly and mountainous terrain, conventional agricultural machinery struggles to meet farmers' requirements for mobility and safety, making it even more difficult to achieve precise operations. Furthermore, existing agricultural machinery generally suffers from limited functionality and low levels of intelligence and digitalization. Summary of the Invention

[0004] This specification provides a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous terrain, along with its operating method. This achieves efficient drilling while maintaining vehicle stability during hole application operations in hilly and mountainous conditions. The technical solution is as follows:

[0005] In the first aspect, the embodiments of this specification provide a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas, including a vehicle body, an attitude acquisition module for collecting attitude data of the vehicle body, and an application mechanism disposed on the vehicle body.

[0006] The drilling mechanism includes at least two drill rods mounted on the vehicle body for drilling into the ground, a first drive module that drives each drill rod to move along its own length, a second drive module that drives each drill rod to rotate axially, and a balance control module that adjusts the driving power applied to each drill rod by the first drive module and the second drive module based on the vehicle body's attitude data to achieve vehicle body balance.

[0007] As a preferred embodiment, the balance control module adjusts the driving power applied to each drill rod by the first drive module and the second drive module based on the vehicle body's attitude data and the working mode information corresponding to each drill rod. The working mode information includes drilling mode and support mode.

[0008] As a preferred embodiment, each drill rod is provided with a drive oil tank at its upper end. A partition plate is movably arranged inside the drive oil tank, which divides the interior of the drive oil tank into an upper oil chamber and a lower oil chamber. The upper end of the drill rod passes through the bottom of the lower oil chamber of the drive oil tank and is rotatably connected to the partition plate. The partition plate is provided with a rotating oil tank, and an impeller that rotates coaxially with the drill rod is arranged inside the rotating oil tank.

[0009] The first drive module includes a plurality of first drive units respectively corresponding to the plurality of drive oil tanks. The first drive unit includes a first drive device that controls the pressure in the upper oil chamber to realize the up and down movement of the partition plate in the drive oil tank, thereby driving the drill rod to move along its own length direction.

[0010] The second drive module includes multiple second drive units respectively arranged corresponding to the multiple drive oil tanks. The second drive unit includes a second drive device that controls the flow rate of the fluid medium in the rotating oil tank to realize that the impeller rotates at different speeds in the rotating oil tank, thereby driving the drill rod to rotate axially at different speeds.

[0011] As a preferred embodiment, the hole application mechanism is located at the front end of the vehicle body, and the vehicle body is also equipped with a spraying mechanism, a fertilizer delivery mechanism that cooperates with the hole application mechanism, and a soil covering mechanism located at the rear end of the vehicle body.

[0012] As a preferred embodiment, the soil covering mechanism includes multiple soil covering sub-mechanisms, the number of which is the same as the number of drill rods. The vehicle body is also provided with a first adjustment component that moves the position of each drill rod respectively, and a second adjustment component that moves the position of the soil covering sub-mechanism based on the position of the drill rod corresponding to the drilling mode based on the working mode information.

[0013] As a preferred embodiment, the balance control module adjusts the driving power applied to each drill rod by the first drive module and the second drive module based on the vehicle body's attitude data and the working mode information corresponding to each drill rod, and controls the first adjustment component to move the position of each drill rod respectively. The working mode information also includes the drilling position corresponding to the drill rod whose working mode information is drilling mode.

[0014] As a preferred embodiment, the vehicle body is also equipped with an image acquisition module for collecting tree canopy information;

[0015] The spraying mechanism includes a rotating spray module rotatably mounted on the side of the vehicle body. The rotating spray module includes multiple rotating spray rods of different lengths arranged in parallel. The multiple rotating spray rods have the same axis of symmetry. Each rotating spray rod is provided with multiple nozzles evenly spaced and arranged. The rotation axis of the rotating spray module is located at the midpoint of any of the rotating spray rods.

[0016] The spraying mechanism also includes a decision module that controls the opening and closing of each of the rotating spray rods based on the tree canopy information acquired by the image acquisition module.

[0017] As a preferred embodiment, the middle part of each of the rotating spray rods is parallel to the side wall of the vehicle body, and both ends of each of the rotating spray rods are bent away from the vehicle body.

[0018] As a preferred embodiment, the fertilizer delivery mechanism includes multiple fertilizer delivery devices that cooperate with each of the drill rods, and a quantitative control module for controlling the movement distance along its own length direction of the drill rod corresponding to the drilling mode based on the drilling mode information, and for controlling the amount of fertilizer delivered from the fertilizer delivery device corresponding to the drilling mode of the drill rod to the drilling position corresponding to the drilling mode of the drill rod.

[0019] Secondly, embodiments of this specification provide an operational method for fertilization and pesticide application in hilly and mountainous areas, including:

[0020] Obtain the vehicle body attitude data;

[0021] Based on the vehicle's attitude data, the driving power applied to each drill rod by the first drive module and the second drive module is adjusted to achieve vehicle balance.

[0022] Thirdly, embodiments of this specification provide an electronic device, including a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to perform the steps described in the second aspect of the above embodiments.

[0023] Fourthly, embodiments of this specification provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps described in the second aspect of the above embodiments.

[0024] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:

[0025] This solution uses an attitude acquisition unit to collect vehicle attitude data in real time, which allows the vehicle's trajectory to be adjusted based on the attitude data, effectively preventing the risk of vehicle rollover.

[0026] During the drilling process, a balance control module adjusts the driving power applied to each drill rod by the first drive module based on the vehicle's attitude data, and simultaneously adjusts the driving power applied to each drill rod by the second drive module, thereby achieving efficient drilling while maintaining vehicle stability.

[0027] Further considering the working mode information corresponding to each drill pipe, the driving power applied to each drill pipe by the first drive module and the second drive module is adjusted to improve the stability of the vehicle body during hole drilling operations.

[0028] By adopting a hydraulic drive scheme, the second drive device achieves high-speed rotation of the drill rod. The balance control module adjusts the drive power of the corresponding second drive device according to the oil pressure inside the rotating oil tank, avoiding problems such as overload and spontaneous combustion that may be caused by the drill rod encountering resistance when driven by electric power.

[0029] By integrating water, fertilizer, and pesticide application, atomized spraying, and soil basal application technologies onto the vehicle body, the vehicle body sprays pesticides, water, and fertilizer onto fruit trees through the spraying mechanism. The hole application mechanism, fertilizer delivery mechanism, and soil covering mechanism work together to drill holes, deliver solid fertilizer, and cover and backfill soil to achieve basal fertilizer application, which greatly reduces farmers' input costs, improves operational efficiency, and realizes mechanized and precise management of fertilizers and pesticides in orchards.

[0030] In this solution, the rotating spray bar in the spraying mechanism rotates while spraying liquid. The small droplets sprayed during the process easily form a jet vortex, effectively preventing collisions between droplets and thus improving the uniformity of droplet distribution, i.e., the degree of dispersion, which is more conducive to adhesion to the leaf surface. A rotating spray bar of a length matching the target fruit tree is selected from those of different lengths for spraying, reducing waste of pesticide or fertilizer solution. First, the image acquisition module determines the size, height, and other canopy information of the target tree. Then, the decision module selects a rotating spray bar based on the canopy information for circumferential spraying, achieving full coverage of the fruit tree's leaves.

[0031] The fertilizer delivery mechanism integrated into the vehicle body applies fertilizer after the drill rod completes the drilling operation, simplifying the operation steps and improving the efficiency. At the same time, it can precisely control the amount of solid fertilizer delivered into the drill hole. The volume of the drill hole is calculated based on the radius of the drill rod and the drilling depth, so that the amount of fertilizer delivered is proportional to the volume of the drill hole. The final amount of fertilizer delivered is determined according to the type and size of the fruit tree and the type of fertilizer, thereby enhancing the utilization rate of solid fertilizer and avoiding fertilizer loss. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas, as provided in the embodiments of this specification.

[0034] Figure 2 This is a structural schematic diagram of the drive oil tank, in which the drive oil tank section conceals the rotating oil tank and the partition plate;

[0035] Figure 3 This is a structural schematic diagram of the drive oil tank, in which the drive oil tank and rotating oil tank are hidden, and the impeller is shown;

[0036] Figure 4 This is a schematic diagram of the spraying mechanism;

[0037] Figure 5 This is a schematic flowchart illustrating the operation method of a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas, as provided in the embodiments of this specification.

[0038] Figure 6 This is a schematic diagram of the structure of an electronic device provided in the embodiments of this specification.

[0039] In the diagram: 1. Vehicle body; 2. Hole application mechanism; 21. Drill rod; 211. First drill rod; 212. Second drill rod; 22. Drive oil tank; 221. Divider plate; 222. Rotating oil tank; 223. Impeller; 23. First adjustment component; 3. Spraying mechanism; 31. Image acquisition module; 32. Rotating spray bar; 33. Nozzle; 4. Fertilizer delivery mechanism; 5. Soil covering mechanism. Detailed Implementation

[0040] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0041] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0042] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0043] Firstly, in orchard fertilization, basal fertilizer and topdressing are two important fertilization methods, each with different application methods and purposes.

[0044] Base fertilizer is mainly applied during the dormant period of fruit trees to provide them with the basic nutrients needed for growth throughout the year, improve the soil, and enhance its water and fertilizer retention capacity. Common application methods for base fertilizer include ring trench application, radial application, strip trench application, and hole application. Hole application involves digging a certain number of holes evenly around the outer edge of the tree canopy, applying the fertilizer, and then covering it with soil. This method is suitable for sandy orchards with poor water and fertilizer retention capacity.

[0045] Topdressing is fertilization applied as needed during the fruit tree's growing season. Its purpose is to quickly replenish the nutrients required by the fruit tree at specific growth stages, such as before and after flowering, and during fruit enlargement. Topdressing methods include soil application and foliar spraying. Foliar spraying (i.e., external fertilization) involves applying fertilizer directly to the leaves of the fruit tree through spraying. This method is simple, requires less fertilizer, has a rapid effect, and high nutrient utilization. Other topdressing methods include soil application via holes, whole-orchard fertilization, and water-based fertilization.

[0046] Furthermore, my country has diverse topography and complex landforms, with hilly and mountainous areas accounting for more than 40% of the total land area. Among these, hilly and mountainous cultivated land accounts for 63.2% of the total cultivated land area, especially in the southern region where 80% of the land area is hilly and mountainous. The inconvenient transportation, fragmented plots, and complex terrain of hilly and mountainous areas present numerous problems such as difficulty in field operations and poor work quality, making it difficult for conventional agricultural machinery to effectively utilize its advantages.

[0047] Based on the demand for mechanized operations in orchards, and considering the significant proportion of mountainous and hilly areas in my country's arable land types, and in order to ensure the safety of farmers operating in orchards in mountainous and hilly areas and improve operational efficiency, we provide a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas and its operating method.

[0048] Please see Figure 1 , Figure 1This specification shows a schematic diagram of a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas, as provided in an embodiment of this specification.

[0049] The integrated acupuncture treatment machine may include at least a vehicle body 1, an attitude acquisition module for collecting attitude data of the vehicle body 1, and an acupuncture treatment mechanism 2 installed on the vehicle body 1;

[0050] The drilling mechanism 2 includes at least two drill rods 21 mounted on the vehicle body 1 for drilling into the ground, a first drive module that drives each drill rod 21 to move along its own length, a second drive module that drives each drill rod 21 to rotate axially, and a balance control module that adjusts the driving power applied to each drill rod 21 by the first drive module and the second drive module based on the attitude data of the vehicle body 1 to achieve the balance of the vehicle body 1.

[0051] For illustrative purposes, given that the application scenario for this integrated hole-applying machine is mountainous and hilly terrain, the vehicle body 1 is preferably a tracked vehicle with better off-road capability. This integrated hole-applying machine uses a hole-applying operation method to apply base fertilizer. The vehicle body 1 is equipped with a hole-applying mechanism 2. In this embodiment, the hole-applying mechanism 2 is illustrated using two drill rods 21 as an example. The attitude acquisition module can be a level or other sensing device. Preferably, multiple attitude acquisition modules are installed on the vehicle body 1, and the attitude data collected by multiple attitude acquisition modules are combined to obtain more accurate attitude data of the vehicle body 1. The drill rods 21 are preferably auger drill rods, which facilitate soil removal and increase drilling speed.

[0052] Explanatory, combined Figure 1 If both drill rods 21 are drilling simultaneously, after the vehicle body 1 stops at the drilling position, the attitude data at this time is recorded as reference data. The first drive module drives the first drill rod 211 and the second drill rod 212 to move along their own length direction towards the ground with a certain drive power. The second drive module also drives the first drill rod 211 and the second drill rod 212 to rotate axially with a certain drive power. After the drill rod 21 contacts the ground, it gradually rotates downwards to form the drilling hole. During the rotation of the drill rod 21, the ground will react on the drill rod 21, generating a reaction force. When the reaction force reaches a certain magnitude, it will lift the vehicle body 1, greatly increasing the risk of the vehicle body 1 overturning on hilly terrain with slopes. Therefore, a balance control module is set up to adjust the drive power applied to each drill rod 21 by the first drive module and the second drive module according to the attitude data of the vehicle body 1 to eliminate this risk.

[0053] For example, for the first drive module, in the initial stage of drilling, the balance control module controls the first drive module to gradually increase the drive power until the reaction force of any drill rod 21 causes the vehicle body 1's attitude data to change relative to the reference data or to produce a certain preset value change. At this point, the balance control module controls the first drive module to reduce the drive power applied to the corresponding drill rod 21. After the vehicle body 1's attitude data returns to normal relative to the reference data, the first drive module is controlled to increase the drive power applied to the corresponding drill rod 21 again. This maintains the dynamic stability of the vehicle body 1 while maximizing the drilling efficiency of the drill rod 21. For the second drive module, when the reaction force of any drill rod 21 causes the vehicle body 1's attitude data to change relative to the reference data or to produce a certain preset value change, the balance control module controls the second drive module to gradually increase the drive power to accelerate drilling, thereby accelerating the soil removal speed and reducing the ground's reaction force on the corresponding drill rod 21, preventing the vehicle body 1 from being lifted. Considering the wear of drill rod 21, the second drive module applies driving power to drill rod 21 during drilling to maintain a relatively safe rotation speed. When the attitude data of vehicle body 1 changes, the rotation speed is increased for a short time, that is, the driving power of the second drive module to the corresponding drill rod 21 is increased. After the attitude data is improved, the original driving power is restored.

[0054] Among them, when the attitude data of vehicle body 1 changes to a certain preset value relative to the reference data, the size of the preset value can be set differently according to the reference data and the position of each drill rod 21 relative to vehicle body 1. For example, if the attitude data of vehicle body 1 indicates that the horizontal height of vehicle body 1 in the direction corresponding to the first drill rod 211 is lower than the average height of vehicle body 1, it means that it is relatively safe for the first drill rod 211 to lift vehicle body 1 to a certain height. Then the preset value corresponding to the first drill rod 211 can be set larger, and vice versa.

[0055] In several embodiments of this specification, the balance control module adjusts the driving power applied to each drill rod 21 by the first drive module and the second drive module based on the attitude data of the vehicle body 1 and the working mode information corresponding to each drill rod 21. The working mode information includes drilling mode and support mode.

[0056] The illustrative working mode information represents the task of each drill rod 21 in the hole-laying command issued. For example, the command for the first drill rod 211 is to execute the drilling mode, that is, the task of the first drill rod 211 is to drill. The command for the second drill rod 212 is to execute the support mode, that is, the task of the second drill rod 212 is to provide auxiliary support.

[0057] Explanatory, in the previous example, two drill rods 21 were used to drill simultaneously. Considering the case where only one drill rod 21 is used for drilling, the other idle drill rod 21 is used to provide auxiliary support for this task.

[0058] For example, the working mode information of the first drill rod 211 is drilling mode, and the working mode information of the second drill rod 212 is support mode. The first drill rod 211 is dynamically adjusted according to the principle in the above example. For the second drill rod 212, the balance control module controls the first drive module to apply a certain driving power to the second drill rod 212, and controls the second drive module not to apply driving power to the second drill rod 212 until the reaction force of the second drill rod 212 causes the vehicle body 1's attitude data to change relative to the reference data. At this point, the balance control module controls the first drive module to stop applying driving power to the second drill rod 212. At this time, the second drill rod 212 rests against the ground to provide support for the vehicle body 1, which is equivalent to increasing the chassis area of ​​the vehicle body 1, making it more difficult for the vehicle body 1 to be lifted by the reaction force of the first drill rod 211, and further improving the drilling efficiency of the first drill rod 211. Furthermore, when the first drill rod 211 lifts the vehicle body 1 upwards, the vehicle body 1... Figure 1 The vehicle body 1 tilts in the direction indicated by arrow B. While the balance control module adjusts the driving power applied to the first drill rod 211 by the first drive module, it simultaneously controls the first drive module to apply a certain driving power to the second drill rod 212. This causes the second drill rod 212 to extend synchronously, lifting the vehicle body 1. The vehicle body only tilts in the front and rear directions, maintaining lateral stability during drilling operations and eliminating the risk of rollover during the balance control module's adjustment process. When the working mode information for the second drill rod 212 is drilling mode and the working mode information for the first drill rod 211 is support mode, after the second drill rod 212 lifts the vehicle body 1 upwards, the vehicle body 1 tilts in the direction indicated by arrow B. Figure 1 The tilt is in the direction indicated by the middle arrow A, and the adjustment principle of the balance control module is the same.

[0059] In one embodiment of this specification, in conjunction with the appendix Figure 2 Appendix Figure 3 Each drill rod 21 is equipped with a drive oil tank 22 at its upper end. A partition plate 221 is movably installed inside the drive oil tank 22. The partition plate 221 divides the interior of the drive oil tank 22 into an upper oil chamber and a lower oil chamber. The upper end of the drill rod 21 passes through the bottom of the lower oil chamber of the drive oil tank 22 and is rotatably connected to the partition plate 221. A rotating oil tank 222 is installed in the partition plate 221. An impeller 223 is installed inside the rotating oil tank 222 and rotates coaxially with the drill rod 21.

[0060] The first drive module includes multiple first drive units respectively arranged corresponding to multiple drive oil tanks 22. The first drive unit includes a first drive device that controls the pressure in the upper oil chamber to realize the up and down movement of the partition plate 221 in the drive oil tank 22, thereby driving the drill rod 21 to move along its own length direction.

[0061] The second drive module includes multiple second drive units respectively arranged corresponding to multiple drive oil tanks 22. The second drive unit includes a second drive device that controls the flow rate of the fluid medium in the rotating oil tank 222 to realize that the impeller 223 rotates at different speeds in the rotating oil tank 222, thereby driving the drill rod 21 to rotate axially at different speeds.

[0062] For example, the first drive device includes a first hydraulic pump and a first oil circuit, the first oil circuit connecting the first hydraulic pump and the upper oil chamber of the drive oil tank 22; the second drive device includes a second hydraulic pump and a second oil circuit, the second oil circuit connecting the second hydraulic pump and the rotating oil tank 222. Oil is preferred among various fluid media.

[0063] Explained, the first hydraulic pump pressurizes the upper oil chamber of the drive oil tank 22 with a certain power through the first oil circuit. The pressure difference between the upper and lower oil chambers pushes the partition plate 221 to move towards the direction of lower oil pressure, thereby driving the drill rod 21 to move along its own length. The greater the driving power output by the first hydraulic pump, the greater the thrust on the partition plate 221. The fluid medium in the upper oil chamber is discharged through the reversing valve of the first hydraulic pump to reduce the oil pressure in the upper oil chamber. When the oil pressure in the upper oil chamber is less than that in the lower oil chamber, the drill rod 21 retracts. The second hydraulic pump injects oil into one side of the rotating oil tank 222 with a certain power through the second oil circuit, driving the impeller 223 to rotate, and the oil is collected and discharged from the other side. The oil injection flow rate determines the speed at which the impeller 223 rotates, i.e., the rotational speed of the drill rod 21. When the oil injection flow rate remains stable, the drilling obstruction of the drill rod 21 can be determined based on the oil pressure in the rotating oil tank 222.

[0064] Explained, a hydraulic drive scheme is adopted, in which the second drive device enables high-speed rotation of the drill rod 21. When any drill rod 21 encounters resistance during rotation, the transmission is sent to the impeller 223, increasing the oil pressure inside the rotating oil tank 222. The drive power applied to the corresponding drill rod 21 by the second drive device is adjusted by the balance control module. Excessive oil pressure will also trigger oil pressure overflow protection, avoiding problems such as overload and spontaneous combustion that may occur when the drill rod 21 encounters resistance during rotation in traditional electric drive methods. The first drive device enables the feed of the drill rod 21. The dynamic balance of the vehicle body 1 is achieved by adjusting the drive power of the first drive module through the balance control module, ensuring the stability of the vehicle body 1. The timely adjustment of the drive power of the first and second drive devices by the balance control module can prevent further damage to the drill rod 21 when it encounters resistance.

[0065] In several embodiments of this specification, reference is made to the appendix. Figure 1 The hole application mechanism 2 is located at the front end of the vehicle body 1. The vehicle body 1 is also equipped with a spraying mechanism 3, a fertilizer delivery mechanism 4 that cooperates with the hole application mechanism 2, and a soil covering mechanism 5 located at the rear end of the vehicle body 1.

[0066] Explanatoryly, most existing agricultural equipment has limited functions and low levels of mechanization and precision. To meet the needs of multiple key agricultural operations in orchards, such as ditching, fertilization, and spraying, farmers often have to purchase multiple different agricultural machines, greatly increasing their input costs. By integrating the spraying mechanism 3, fertilizer delivery mechanism 4, and soil covering mechanism 5 onto the vehicle body 1, a fertilizer and pesticide application machine that integrates water, fertilizer, and pesticide application, atomized spraying, and soil basal application technologies is created.

[0067] In several embodiments of this specification, the soil covering mechanism 5 includes multiple soil covering sub-mechanisms, the number of which is the same as the number of drill rods 21. The vehicle body 1 is also provided with a first adjustment component 23 that moves the position of each drill rod 21 respectively, and a second adjustment component that moves the position of the soil covering sub-mechanism based on the position of the drill rod 21 corresponding to the drilling mode based on the working mode information.

[0068] Illustratively, the first adjustment component 23 includes a horizontal adjustment structure and a vertical adjustment structure to adapt to the complex working environment of mountainous and hilly terrain. The second adjustment component includes a translation structure and a tilting structure. These structures can be implemented through various mechanical structure designs, and their functions are quite common, so they will not be elaborated upon here. The number of soil covering sub-mechanisms is the same as that of drill rods 21; therefore, two soil covering sub-mechanisms will also be used as an example for explanation.

[0069] Explained, after vehicle 1 stops, drill rod 21 drills at a designated position according to the drilling instruction via adjustment of the first adjustment component 23. This allows drilling in areas inconvenient or inaccessible to vehicle 1. The soil covering sub-mechanism moves accordingly via the second adjustment component based on the drilling position of the corresponding drill rod 21. If only the first drill rod 211 is drilling, the second adjustment component only moves the soil covering sub-mechanism that cooperates with the first drill rod 211. After drilling is completed, vehicle 1 can automatically complete the soil covering operation by moving forward, thereby simplifying the operation steps and improving efficiency.

[0070] In several embodiments of this specification, the balance control module adjusts the driving power applied to each drill rod 21 by the first drive module and the second drive module based on the attitude data of the vehicle body 1 and the working mode information corresponding to each drill rod 21, and controls the first adjustment component 23 to move the position of each drill rod 21 respectively. The working mode information also includes the drilling position corresponding to the drill rod 21 whose working mode information is drilling mode.

[0071] Explained, based on the aforementioned example, the drill rod 21 in the support mode is used to achieve auxiliary support through the drill rod 21's working mode information. Further, the position of the drill rod 21 in the support mode is adjusted according to the drilling position corresponding to the drilling mode drill rod 21 to achieve the optimal support effect. Here, the working mode information refers to the drilling position corresponding to the drilling mode drill rod 21, which represents the orientation of the drilling mode drill rod 21 relative to the vehicle body 1.

[0072] For example, the working mode information of the first drill rod 211 is drilling mode, and the working mode information of the second drill rod 212 is support mode. Based on the drilling position corresponding to the drill rod 21 with the working mode information of drilling mode in the hole application command, the optimal support position of the drill rod 21 with the working mode information of support mode is determined. The balance control module controls the first adjustment component 23 to move the first drill rod 211 to the drilling position and the second drill rod 212 to the determined optimal support position.

[0073] To illustrate, the optimal support position for the second drill rod 212 is theoretically as far away from the direction of the first drill rod 211 as possible, and is ultimately determined by combining reference data from the attitude data of the vehicle body 1. (See attached reference.) Figure 1 At this point, the second drill rod 212 should be swung further outward when used for auxiliary support.

[0074] In several embodiments of this specification, in conjunction with the appendix Figure 4 The vehicle body 1 is also equipped with an image acquisition module 31 for collecting tree canopy information;

[0075] The spraying mechanism 3 includes a rotating spray module rotatably mounted on the side of the vehicle body 1. The rotating spray module includes multiple rotating spray rods 32 of different lengths arranged in parallel. The multiple rotating spray rods 32 have the same axis of symmetry. Each rotating spray rod 32 is provided with multiple nozzles 33 evenly spaced and arranged at equal intervals. The rotation axis of the rotating spray module is located at the midpoint of any rotating spray rod 32.

[0076] The spraying mechanism 3 also includes a decision module that controls the opening and closing of each rotating spray bar 32 based on the tree canopy information collected by the image acquisition module 31.

[0077] Explanatoryly, currently commonly used follow-up spraying methods do not perform target recognition, resulting in significant losses of pesticide or fertilizer solutions and low efficiency. A small number of spraying methods adjust the height of the lateral nozzles according to the height of the fruit trees, but the problem of poor atomization still exists, failing to ensure that all leaves of the canopy are covered with pesticide or fertilizer solutions. In this embodiment, the rotating spray rod 32 in the spraying mechanism 3 rotates while spraying, and the sprayed liquid easily forms a jet vortex during the spraying process, effectively preventing collisions between droplets, thereby improving the uniformity of droplet distribution, i.e., the degree of dispersion, and making it more conducive to adhesion to the leaf surface. A rotating spray rod 32 of the appropriate length to match the target fruit tree is selected from rotating spray rods 32 of different lengths for spraying, reducing the waste of pesticide or fertilizer solutions. First, the image acquisition module 31 determines the size, height, and other canopy information of the target tree canopy, and then the decision module selects the rotating spray rod 32 for circumferential spraying based on the canopy information, achieving full coverage spraying of the fruit tree leaves.

[0078] For example, the rotary spraying module includes three types of rotary spraying rods 32: short, medium, and long. The decision-making logic of the decision module is as follows: for fruit trees judged to have small canopies, the short-section rotary spraying rod 32 is used for spraying, which has the characteristics of high water pressure and long spraying distance; for fruit trees with medium canopies, the short-section and medium-section rotary spraying rods 32 are sprayed simultaneously, increasing the flow rate of the spraying pump, increasing the nozzle pressure, and increasing the spraying distance; for fruit trees with large canopies, the short-section, medium-section, and long-section rotary spraying rods 32 are sprayed simultaneously, further increasing the flow rate of the spraying pump, increasing the nozzle pressure, and further increasing the spraying distance.

[0079] In several embodiments of this specification, the middle part of each rotating spray bar 32 is parallel to the side wall of the vehicle body 1, and both ends of each rotating spray bar 32 are bent away from the side of the vehicle body 1.

[0080] Explained, the arc-shaped design can better guide the fluid flow within the rotating spray bar 32, reducing friction between the fluid and the inner wall of the rotating spray bar 32, thereby reducing fluid resistance and improving spraying efficiency; on the other hand, it can also help to gather the droplets sprayed from the end nozzle 33 of the rotating spray bar 32 towards the center, thereby further reducing the waste of medicine or fertilizer solution caused by excessive outward dispersion of droplets.

[0081] In several embodiments of this specification, reference is made to the appendix. Figure 1 The fertilizer delivery mechanism 4 includes multiple fertilizer delivery devices that cooperate with each drill rod 21, a quantitative control module for controlling the movement distance along its own length direction of the drill rod 21 corresponding to the drilling mode based on the drilling mode information, and a module for controlling the amount of fertilizer delivered from the fertilizer delivery device corresponding to the drill rod 21 corresponding to the drilling position based on the drilling mode information.

[0082] Explanatoryly, currently used follow-up fertilization methods cannot dynamically adjust the amount of fertilizer applied based on different planting types and drilling depths, resulting in low utilization rates of solid fertilizers. By integrating a fertilizer delivery mechanism 4 onto the vehicle body 1, fertilizer is automatically delivered into the borehole after the drill rod 21 completes the drilling operation. This simplifies the operation steps, improves efficiency, and precisely controls the amount of solid fertilizer delivered. The volume of the borehole is calculated based on the radius of the drill rod 21 and the drilling depth, ensuring that the fertilizer delivery amount is proportional to the borehole volume. The final fertilizer delivery amount is then determined based on the type and size of the fruit tree and the type of fertilizer, thereby enhancing the utilization rate of solid fertilizers and avoiding fertilizer loss.

[0083] Explanatoryly, the volume V of the drilling hole is determined based on the radius R of the drilling rod 21 and the drilling depth h, where, , The value is determined based on the type and size of the fruit tree and the type of fertilizer.

[0084] Illustratively, the final drilling depth h can be determined by setting a distance sensor in the drive oil tank 22 or the rotating oil tank 222, or by installing a distance sensor at the bottom of the drill rod 21 to determine the height value when the drill rod 21 contacts the ground, and the height value when the drilling ends.

[0085] For example, the drilling depth of the drill rod 21 is determined by the distance measurement value in the rotating oil tank 222. The second hydraulic pump injects oil into the rotating oil tank 222 at a constant power through the second oil circuit. When the drill rod 21 is not in contact with the ground, the oil pressure in the rotating oil tank 222 should remain stable. The height of the drill rod 21 when the oil pressure in the rotating oil tank 222 increases is recorded, and the drilling depth is determined based on the minimum height of the drill rod 21 during the drilling operation.

[0086] In several embodiments of this specification, the vehicle body 1 is further provided with a remote control unit for remotely controlling the movement of the vehicle body 1 and a correction unit for assisting in controlling the movement of the vehicle body 1.

[0087] For agricultural machinery used in orchards, the flexibility of its turning and maneuvering is an important technical indicator for evaluating its practicality. Remotely controlling the movement of vehicle 1 via a remote control unit can reduce the size of vehicle 1 by eliminating the need for a driver's seat, thereby improving its maneuverability and flexibility. Furthermore, operating in hilly and mountainous terrain presents more risks than on flat terrain; remotely controlling the movement of vehicle 1 can effectively ensure the personal safety of farmers.

[0088] Explanatoryly, the correction unit includes data acquisition devices such as distance sensors and lidar. By setting the correction unit on the vehicle body 1, the movement commands issued by the pilot-type auxiliary correction remote control unit are corrected, which makes up for the problem of insufficient estimation and misjudgment of the actual environment of the hole-applying machine when the remote control hole-applying machine moves. It realizes the obstacle avoidance and movement path correction functions of the hole-applying machine, and improves the accuracy and safety of the hole-applying machine in hilly and mountainous orchards.

[0089] Reference Figure 5 As shown, Figure 5 A flowchart illustrating an embodiment of this specification of a method for applying fertilizers and pesticides in hilly and mountainous areas may include at least the following steps:

[0090] Step 502: Obtain the vehicle body attitude data;

[0091] Step 504: Based on the vehicle's attitude data, adjust the driving power applied to each drill rod by the first drive module and the second drive module respectively to achieve vehicle balance.

[0092] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of the working method are basically similar to the embodiments of the integrated hole-planting machine, so the description is relatively simple; relevant parts can be referred to the description of the integrated hole-planting machine embodiment.

[0093] Please see Figure 6 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this specification.

[0094] like Figure 6 As shown, the electronic device 600 may include: at least one processor 601, at least one network interface 604, user interface 603, memory 605, and at least one communication bus 602.

[0095] The communication bus 602 can be used to realize the connection and communication of the above components.

[0096] The user interface 603 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0097] The network interface 604 may include, but is not limited to, Bluetooth modules, NFC modules, Wi-Fi modules, etc.

[0098] The processor 601 may include one or more processing cores. The processor 601 connects to various parts within the electronic device 600 using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 605, and by calling data stored in the memory 605. Optionally, the processor 601 may be implemented using at least one hardware form selected from DSP, FPGA, and PLC. The processor 601 may integrate one or more of the following: CPU, GPU, and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 601 and may be implemented as a separate chip.

[0099] The memory 605 may include RAM or ROM. Optionally, the memory 605 may include a non-transitory computer-readable medium. The memory 605 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 605 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 605 may also be at least one storage device located remotely from the aforementioned processor 601. As a computer storage medium, the memory 605 may include an operating system, a network communication module, a user interface module, and an application program for the operation method. The processor 601 may be used to call the application program for the operation method stored in the memory 605 and execute the steps of the integrated hole-applying machine mentioned in the foregoing embodiments.

[0100] This specification also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more steps in the above-described embodiments of the integrated installation machine. If the constituent modules of the above-described electronic device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0101] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this specification is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0102] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.

[0103] The above embodiments are merely preferred embodiments described in this specification and are not intended to limit the scope of this specification. Any modifications and improvements made by those skilled in the art to the technical solutions of this specification without departing from the spirit of this specification should fall within the protection scope defined by the claims of this specification.

Claims

1. A vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas, characterized in that: It includes a vehicle body (1), an attitude acquisition module for acquiring attitude data of the vehicle body (1), and an acupoint application mechanism (2) disposed on the vehicle body (1); The drilling mechanism (2) includes at least two drill rods (21) mounted on the vehicle body (1) for drilling into the ground, a first drive module that drives each drill rod (21) to move along its own length, a second drive module that drives each drill rod (21) to rotate axially, and a balance control module that adjusts the driving power applied to each drill rod (21) by the first drive module and the second drive module based on the attitude data of the vehicle body (1) to achieve the balance of the vehicle body (1). The vehicle body (1) is also provided with a first adjustment component (23) that moves the position of each drill rod (21). The balance control module adjusts the driving power applied to each drill rod (21) by the first drive module and the second drive module based on the attitude data of the vehicle body (1) and the working mode information corresponding to each drill rod (21), and controls the first adjustment component (23) to move the position of each drill rod (21) respectively. The working mode information includes drilling mode and support mode, as well as the drilling position corresponding to the drill rod (21) whose working mode information is drilling mode.

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

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

4. The vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas according to claim 3, characterized in that: The soil covering mechanism (5) includes multiple soil covering sub-mechanisms with the same number as the drill rods (21). The vehicle body (1) is also provided with a second adjustment component that moves the position of the soil covering sub-mechanism based on the position of the drill rod (21) corresponding to the drilling mode based on the working mode information.

5. The vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas according to claim 3, characterized in that: The vehicle body (1) is also equipped with an image acquisition module (31) for collecting tree canopy information; The spraying mechanism (3) includes a rotating spray module rotatably mounted on the side of the vehicle body (1). The rotating spray module includes multiple rotating spray rods (32) of different lengths arranged in parallel. The multiple rotating spray rods (32) have the same axis of symmetry. Each rotating spray rod (32) is provided with multiple nozzles (33) evenly spaced and arranged at equal intervals. The rotation axis of the rotating spray module is located at the midpoint of any of the rotating spray rods (32). The spraying mechanism (3) also includes a decision module that controls the opening and closing of each of the rotating spray rods (32) based on the tree canopy information collected by the image acquisition module (31).

6. The vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas according to claim 5, characterized in that: The middle part of each of the rotating spray rods (32) is parallel to the side wall of the vehicle body (1), and both ends of each of the rotating spray rods (32) are bent away from the side of the vehicle body (1).

7. A vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas according to claim 3, characterized in that: The fertilizer delivery mechanism (4) includes multiple fertilizer delivery devices that cooperate with each of the drill rods (21), a module for controlling the movement distance along its own length direction of the drill rod (21) whose working mode information is drilling mode, and a module for quantitatively controlling the amount of fertilizer delivered from the fertilizer delivery device corresponding to the drill rod (21) whose working mode information is drilling mode to the drilling position corresponding to the drill rod (21) whose working mode information is drilling mode.

8. A method for operating a vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas, based on the vehicle-mounted fertilizer and pesticide application machine for hilly and mountainous areas as described in any one of claims 1-7, characterized in that, include: Obtain the vehicle body attitude data; Based on the vehicle's attitude data, the driving power applied to each drill rod by the first drive module and the second drive module is adjusted to achieve vehicle balance.

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