Pneumatic quantitative fertilization, powder fixing and deep fertilization robot and working method thereof

Abstract

The invention belongs to the technical field of agricultural robots, and relates to a pneumatic quantitative fertilization, powder fixation and deep fertilization robot and a working method thereof.The crawler chassis is provided with a material conveying assembly, a deep scarification fertilization assembly, an air compression spray explosion assembly and an automatic following assembly, and the material conveying assembly, the deep scarification fertilization assembly and the air compression spray explosion assembly are connected through a three-way valve; the material conveying assembly is used for providing fertilizer for the deep scarification and fertilization assembly, the air compression spray explosion assembly is used for providing compressed air for the deep scarification and fertilization assembly, the deep scarification and fertilization assembly is used for conveying air and fertilizer for soil, and the automatic following assembly is used for detecting and identifying people and obstacles in the environment; a discharging motor of the material conveying assembly drives a rotating shaft and a partition plate to rotate, a discharging baffle is opened, fertilizer enters a material storage bin from a discharging bin, and the material storage bin is communicated with the deep scarification and fertilization assembly. Quantitative discharging and fertilizing are achieved, discharging is conducted in a gas pushing mode, fertilizer particles are evenly distributed, and damage caused by low-frequency vibration to equipment is reduced; and the automatic following assembly automatically follows the working personnel to walk.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural robots, and in particular relates to a pneumatic quantitative fertilizer solid powder deep application robot and a working method thereof. Background Art

[0002] With the improvement of agricultural automation and intelligence, intelligent equipment is increasingly used in agricultural production. Traditional agricultural fertilization operations rely on manual labor, which is time-consuming and labor-intensive, and the fertilization effect is poor. At present, intelligent fertilization robots have gradually been used in the field of large-scale agricultural planting technology.

[0003] At present, common fertilizer robots usually use low-frequency vibration to discharge materials to prevent fertilizer from clumping. This method easily causes large particles of fertilizer to settle at the bottom. Under the same volume, the larger the gap, the smaller the amount of fertilizer, resulting in different amounts of fertilizer transported by the feeding bin each time. Continuous low-frequency vibration discharge can easily cause damage to the equipment. Summary of the invention

[0004] The object of the present invention is to provide a pneumatic quantitative fertilizer solid powder deep application robot which adopts pneumatic quantitative feeding, has an automatic following function and has a wide range of applications.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a pneumatic quantitative fertilizer solid powder deep application robot, comprising a crawler chassis and a shell installed on the crawler chassis, a feeding component, a deep loosening and fertilization component, an air pressure spraying component and an automatic following component are installed on the crawler chassis, the feeding component and the air pressure spraying component are installed in the shell, the deep loosening and fertilization component and the automatic following component are installed at the front end of the crawler chassis, the feeding component, the deep loosening and fertilization component, and the air pressure spraying component are connected through a three-way valve, the feeding component is used to provide fertilizer for the deep loosening and fertilization component, the air pressure spraying component is used to provide compressed air for the deep loosening and fertilization component, the deep loosening and fertilization component is used to transport air and fertilizer to the soil, and the automatic following component is used to detect and identify people and obstacles in the environment;

[0006] The feeding assembly includes a material box fixedly mounted on the crawler chassis, an outlet is provided at the bottom of the material box, a storage bin is provided at the outlet of the material box, a lower bin is provided at the upper part of the storage bin, a feeding port for adding materials from the material box to the lower bin is opened on the top of the storage bin, a lower bin baffle is installed at the bottom of the lower bin, a rotating shaft is transversely provided in the lower bin, a number of partitions in contact with the inner wall of the lower bin are evenly distributed on the rotating shaft, the rotating shaft is connected to a lowering motor through an encoder, the lowering motor drives the rotating shaft and the partition to rotate, the lowering baffle is opened, and the fertilizer enters the storage bin from the lower bin, and the storage bin is connected to the deep loosening and fertilization assembly.

[0007] Furthermore, the deep tillage and fertilization assembly includes a hydraulic cylinder 1 fixedly installed at the front end of the crawler chassis and a working mechanism fixedly connected to the output end of the hydraulic cylinder 1. The movement of the hydraulic cylinder 1 drives the working mechanism to rise and fall. The working mechanism at least includes a hydraulic cylinder 2, a deep fertilization gun and a hydraulic hammer. The hydraulic hammer is fixedly installed at the output end of the hydraulic cylinder 2. The deep fertilization gun is connected to the bottom of the hydraulic hammer. The upper end of the deep fertilization gun is connected to the outlet of the three-way valve through a conveying pipeline. The hydraulic cylinder 2 presses the deep fertilization gun into the soil through the hydraulic hammer, and the deep fertilization gun injects compressed air or fertilizer into the soil.

[0008] Furthermore, the air compression explosion assembly includes an air tank, an air cannon, an air compressor, a three-way valve and a pressure transmitter. The air tank, the air cannon and the air compressor are all fixedly installed on the tracked chassis. The air compressor is connected to the inlet of the air tank, the outlet of the air tank is connected to the inlet of the air cannon, the outlet of the air cannon is connected to an inlet of the three-way valve, the air compressor provides compressed air to the air tank, and the air tank continuously delivers compressed air to the air cannon. The pressure transmitter is installed on the air tank to detect the pressure of the air tank.

[0009] Furthermore, an air inlet is provided on the side wall of the storage bin, which is connected to the air tank through a pipeline and a solenoid valve. An air outlet is provided at the bottom of the storage bin, which is connected to another inlet of the three-way valve. The compressed air in the air tank pushes the fertilizer in the storage bin into the conveying pipeline from the air outlet through the three-way valve.

[0010] Furthermore, a pneumatic ball valve is provided at the outlet of the material box, and the pneumatic ball valve is used to control the material box to add material into the lower silo.

[0011] Furthermore, the automatic following component includes a camera and an obstacle avoidance sensor, the camera is installed at the front end of the tracked chassis, and the obstacle avoidance sensor includes an ultrasonic sensor and an infrared sensor, which are installed at the front and both sides of the tracked chassis; the ultrasonic sensor is used to detect obstacles in the surrounding environment, the infrared sensor is used to detect infrared rays emitted by the human body to determine the person's position, and the camera is used to identify the person's appearance features or specific landmarks.

[0012] Furthermore, a control component and an energy component are also installed on the crawler chassis, and the control component and the energy component are connected to the feeding component, the deep tillage and fertilization component, the air compression blasting component and the automatic following component.

[0013] Another object of the present invention is to provide a working method of a pneumatic quantitative fertilizer solid powder deep application robot, comprising the following steps:

[0014] a. The camera and obstacle avoidance sensor identify the staff, and the mobile chassis drives the powder-fixing deep application robot to automatically follow the staff in the farmland to the area to be operated;

[0015] b. The air compressor starts to replenish compressed air to the air tank, and the air tank releases some compressed air into the air cannon; the pressure transmitter detects the pressure of the air tank in real time. When the pressure is insufficient, the air compressor starts, and when the pressure reaches the set value, the air compressor stops;

[0016] c. Hydraulic cylinder 1 moves to lower the working mechanism to the ground, and hydraulic cylinder 2 and hydraulic hammer are started to press the deep application gun down to a certain depth in the soil;

[0017] d. Switch the three-way valve to the state where the air cannon and the deep application gun are connected, start the air cannon, and the compressed air in the air cannon enters the deep application gun through the three-way valve and the delivery pipeline. The compressed air is sprayed into the deep soil, and cracks are generated in the deep soil;

[0018] e. The fertilizer falls from the feed port into the space between two adjacent partitions in the feeding bin through the feeding box. The feeding motor drives the rotating shaft and the partition to rotate, the feeding baffle opens, and the fertilizer falls into the storage bin. The encoder controls the angle at which the feeding motor drives the partition to rotate, so as to control the amount of fertilizer applied each time.

[0019] f. The three-way valve switches the connecting pipeline, the air cannon and the deep application gun passage are closed, the air outlet is connected to the deep application gun passage, the solenoid valve between the air tank and the air inlet is opened, and the compressed air enters the storage bin from the air tank through the air inlet, pushing the fertilizer in the storage bin from the air outlet through the three-way valve into the delivery pipeline;

[0020] g. The three-way valve switches the connecting pipeline, the air outlet and the deep application gun passage are closed, the air cannon is connected to the deep application gun passage, the air cannon is started, and the compressed air in the air cannon passes through the three-way valve to spray the fertilizer in the conveying pipeline through the deep application gun into the cracks deep in the soil, completing the deep application of solid fertilizer;

[0021] h. The second hydraulic cylinder retracts to pull the deep application gun out of the soil. The first hydraulic cylinder moves to drive the working mechanism to rise off the ground, and the crawler chassis drives the solid powder deep application robot to move to the next area to be operated.

[0022] The present invention has the following beneficial effects: the solid powder deep application robot of the present invention realizes quantitative feeding and fertilization through the cooperation of the feeding motor, the partition and the feeding baffle, and uses compressed air to feed in a gas-propelled manner, so that the fertilizer particles are evenly distributed, avoiding the influence of fertilizer agglomeration and reducing the damage to the equipment caused by low-frequency vibration; the solid powder deep application robot can automatically follow the walking of the staff through the automatic following component, thereby improving the intelligence of the operation; and the applicability of the solid powder deep application robot to hard soil is improved through the cooperation of the hydraulic cylinder and the working mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the pneumatic quantitative fertilization powder-solidifying deep application robot of the present invention.

[0024] Figure 2 It is a top view of the pneumatic quantitative fertilizer solid powder deep application robot of the present invention.

[0025] Figure 3 yes Figure 2 AA section view.

[0026] Figure 4 The present invention is a schematic diagram of the overall three-dimensional structure of the pneumatic quantitative fertilizer solid powder deep application robot after the shell is removed.

[0027] Figure 5 It is a front view of the pneumatic quantitative fertilizer solid powder deep application robot of the present invention with the shell removed.

[0028] Figure 6 It is a right side view of the pneumatic quantitative fertilizer solid powder deep application robot of the present invention with the shell removed.

[0029] Figure 7 It is a top view of the pneumatic quantitative fertilizer solid powder deep application robot of the present invention with the shell removed.

[0030] Figure 8 It is a schematic diagram of the overall three-dimensional structure of the material feeding assembly of the present invention.

[0031] Fig. 9 It is a top view of the material feeding assembly of the present invention.

[0032] Fig.10 yes Fig. 9 Middle BB section view.

[0033] In the figure, 1. crawler chassis, 2. shell, 3. feeding assembly, 4. deep tillage and fertilization assembly, 5. air compression spraying assembly, 6. automatic following assembly;

[0034] 31. material box, 32. material unloading bin, 33. material storage bin, 34. material unloading motor, 35. air inlet, 36. air outlet, 37. material unloading baffle, 38. partition, 39. material inlet, 310. rotating shaft, 311. encoder;

[0035] 41. Hydraulic cylinder 1, 42. Hydraulic cylinder 2, 43. Deep application gun, 44. Hydraulic hammer;

[0036] 51. Air tank, 52. Air cannon, 53. Air compressor, 54. Three-way valve, 55. Pressure transmitter,

[0037] 61. Camera, 62. Obstacle avoidance sensor. DETAILED DESCRIPTION

[0038] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0039] like Figure 1-4 As shown, a pneumatic quantitative fertilization and solid powder deep application robot includes a crawler chassis 1 and a shell 2 installed on the crawler chassis 1, the crawler chassis 1 is equipped with a feeding component 3, a deep loosening and fertilization component 4, an air pressure spraying component 5 and an automatic following component 6, the feeding component 3 and the air pressure spraying component 5 are installed in the shell 2, the deep loosening and fertilization component 4 and the automatic following component 6 are installed at the front end of the crawler chassis 1, the feeding component 3, the deep loosening and fertilization component 4, and the air pressure spraying component 5 are connected by a three-way valve 54, the feeding component 3 is used to provide fertilizer to the deep loosening and fertilization component 4, the air pressure spraying component 5 is used to provide compressed air to the deep loosening and fertilization component 4, the deep loosening and fertilization component 4 is used to transport air and fertilizer to the soil, and the automatic following component 6 is used to detect and identify people and obstacles in the environment.

[0040] like Figure 8-10 As shown, the feeding assembly 3 includes a material box 31 fixedly mounted on the crawler chassis 1, an outlet is provided at the bottom of the material box 31, a storage bin 33 is provided at the outlet of the material box 31, a lowering bin 32 is provided at the upper part of the storage bin 33, a feeding port 39 for feeding materials from the material box 31 to the lowering bin 32 is provided at the top of the storage bin 33, a lowering baffle 37 is installed at the bottom of the lowering bin 32, a rotating shaft 310 is transversely provided in the lowering bin 32, a plurality of baffles 38 in contact with the inner wall of the lowering bin 32 are evenly distributed on the rotating shaft 310, and the rotating shaft 310 is connected to a lowering motor 34 through an encoder 34, and the encoder 34 is used to control the rotation angle of the rotating shaft 310 so as to better control the amount of fertilizer applied each time. The lowering motor 34 drives the rotating shaft 310 and the baffle 38 to rotate, the lowering baffle 37 is opened, and the fertilizer enters the storage bin 33 from the lowering bin 32, and the storage bin 33 is connected to the deep loosening and fertilization assembly 4.

[0041] An air inlet 35 is provided on the side wall of the storage bin 33, and the air inlet 35 is connected to the air tank 51 through a pipeline and a solenoid valve. An air outlet 36 is provided at the bottom of the storage bin 33, and the air outlet 36 is connected to another inlet of the three-way valve 54. The compressed air in the air tank 51 pushes the fertilizer in the storage bin 33 from the air outlet 36 through the three-way valve 54 into the conveying pipeline.

[0042] A pneumatic ball valve is provided at the outlet of the material box 31 , and the pneumatic ball valve is used to control the material box 31 to add material into the lower silo 32 .

[0043] Under the action of gravity, the fertilizer falls from the material box 31 into the discharge bin 32 through the feed port 39, the discharge motor 34 drives the rotating shaft 310 and the partition 38 to rotate, the discharge baffle 37 opens, and the fertilizer between the two adjacent partitions 38 at the bottom falls into the storage bin 33, the discharge baffle 37 is closed, and the solenoid valve between the air inlet 35 and the air tank 51 is opened, and the compressed air enters the storage bin 33 from the air inlet 35, driving the fertilizer in the storage bin 33 from the air outlet 36 through the three-way valve 54 into the conveying pipeline, so as to complete the deep application of solid fertilizer.

[0044] like Figure 5 As shown, the deep tillage and fertilization assembly 4 includes a hydraulic cylinder 41 fixedly mounted on the front end of the crawler chassis 1 and a working mechanism fixedly connected to the output end of the hydraulic cylinder 41. The movement of the hydraulic cylinder 41 drives the working mechanism to rise and fall. The working mechanism at least includes a hydraulic cylinder 42, a deep fertilization gun 43 and a hydraulic hammer 44. The hydraulic hammer 44 is fixedly mounted on the output end of the hydraulic cylinder 42. The deep fertilization gun 43 is connected to the bottom of the hydraulic hammer 44. The upper end of the deep fertilization gun 43 is connected to the outlet of the three-way valve 54 through a conveying pipeline. The hydraulic cylinder 42 presses the deep fertilization gun 43 into the soil through the hydraulic hammer 44, and the deep fertilization gun 43 injects compressed air or fertilizer into the soil.

[0045] In a loose soil environment, the output end of the hydraulic cylinder 42 extends downward to press the deep application gun 43 into the soil. When the predetermined depth is reached, the hydraulic cylinder 42 stops. In a hard soil environment, the output end of the hydraulic cylinder 42 extends downward to start the hydraulic hammer 44. Under the dual vibration and downward pressure of the hydraulic cylinder 42 and the hydraulic hammer 44, the deep application gun 43 enters the soil smoothly. When the hydraulic cylinder 42 and the hydraulic hammer 44 reach the predetermined depth, the hydraulic cylinder 42 and the hydraulic hammer 44 stop. After the blasting deep loosening operation and the powder solid deep application operation are completed, the hydraulic cylinder 42 moves in the opposite direction and the deep application gun 43 is pulled out of the soil.

[0046] like Figure 6 , Figure 7 As shown, the air compression explosion assembly 5 includes an air tank 51, an air cannon 52, an air compressor 53, a three-way valve 54 and a pressure transmitter 55. The air tank 51, the air cannon 52 and the air compressor 53 are all fixedly installed on the track chassis 1. The air compressor 53 is connected to the inlet of the air tank 51, the outlet of the air tank 51 is connected to the inlet of the air cannon 52, the outlet of the air cannon 52 is connected to an inlet of the three-way valve 54, the air compressor 53 provides compressed air for the air tank 51, the air tank 51 continuously supplies compressed air to the air cannon 52, and the pressure transmitter 55 is installed on the air tank 51 for detecting the pressure of the air tank 51.

[0047] An electromagnetic valve is installed between the air compressor 53 and the air tank 51. When the pressure transmitter 55 detects that the pressure in the air tank 51 is insufficient, the electromagnetic valve between the air compressor 53 and the air tank 51 opens to start the air compressor 53. The air compressor 53 replenishes compressed air for the air tank 51. After the pressure transmitter 55 detects that the pressure in the air tank 51 reaches the set value, the electromagnetic valve between the air compressor 53 and the air tank 51 blocks the air path and the air compressor 53 is shut down.

[0048] In order to improve the control accuracy, a solenoid valve is installed between the air cannon 52 and the three-way valve 54. When the deep loosening operation is performed by spraying, the solenoid valve between the air cannon 52 and the three-way valve 54 is activated, and the compressed air in the air cannon 52 is released instantly. The compressed air flows through the three-way valve 54 and the conveying pipeline into the deep application gun 43, and is sprayed and released deep into the soil by the lower end of the deep application gun 43, so that cracks are generated deep in the soil; when the solid powder is deeply applied, the solenoid valve between the air cannon 52 and the three-way valve 54 is activated, and the compressed air in the air cannon 52 is released instantly. The compressed air flows through the three-way valve 54 and the conveying pipeline, and the fertilizer in the conveying pipeline is sprayed and released into the cracks deep in the soil by the deep application gun 43.

[0049] like Figure 7 As shown, the automatic following component 6 includes a camera 61 and an obstacle avoidance sensor 62. The camera 61 is installed at the front end of the crawler chassis 1. The obstacle avoidance sensor 62 includes an ultrasonic sensor and an infrared sensor. The ultrasonic sensor and the infrared sensor are installed at the front and both sides of the crawler chassis 1 as needed; the ultrasonic sensor is used to detect obstacles in the surrounding environment to prevent the solid powder deep application robot from colliding during the following process; the infrared sensor is used to detect infrared rays emitted by the human body to determine the position of the person, and the camera 61 is used to identify the appearance features of the person or specific markers to improve the accuracy of following. The solid powder deep application robot can automatically follow the staff walking in the farmland, or use a remote control for remote control.

[0050] A control component and an energy component are also installed on the crawler chassis 1, and the control component and the energy component are connected to the feeding component 3, the deep loosening and fertilizing component 4, the air compression spraying component 5 and the automatic following component 6.

[0051] The working method of the pneumatic quantitative fertilizer solid powder deep application robot includes the following steps:

[0052] a. The camera 61 and the obstacle avoidance sensor 62 identify the staff, and the mobile chassis 1 drives the powder-solidifying deep application robot to automatically follow the staff in the farmland to the area to be operated;

[0053] b. The air compressor 53 is started to replenish the compressed air for the air tank 51, and the air tank 51 releases a part of the compressed air into the air cannon 52; the pressure transmitter 55 detects the pressure of the air tank 51 in real time, and when the pressure is insufficient, the air compressor 53 is started, and when the pressure reaches the set value, the air compressor 53 stops;

[0054] c. The hydraulic cylinder 1 41 is actuated to lower the working mechanism to the ground, and the hydraulic cylinder 2 42 and the hydraulic hammer 44 are started to press the deep application gun 43 down to a certain depth under the soil;

[0055] d. The three-way valve 54 is switched to a state where the air cannon 52 is connected to the deep application gun 43, and the air cannon 52 is started. The compressed air in the air cannon 52 enters the deep application gun 43 through the three-way valve 54 and the delivery pipeline, and the compressed air is sprayed into the deep soil, thereby generating cracks in the deep soil;

[0056] e. The fertilizer falls from the feed port 39 into the space between two adjacent partitions 38 in the feeding bin 32 through the feeding box 31. The feeding motor 34 drives the rotating shaft 310 and the partition 38 to rotate. The feeding baffle 37 opens, and the fertilizer falls into the storage bin 33. The encoder 311 controls the angle at which the feeding motor 34 drives the partition 38 to rotate, so as to control the amount of fertilizer applied each time.

[0057] f. The three-way valve 54 switches the connecting pipeline, the passage between the air cannon 52 and the deep application gun 43 is closed, the air outlet 36 is connected to the deep application gun 43, the solenoid valve between the air tank 51 and the air inlet 35 is opened, and the compressed air enters the storage bin 33 from the air tank 51 through the air inlet 35, pushing the fertilizer in the storage bin 33 from the air outlet 36 through the three-way valve 54 into the delivery pipeline;

[0058] g. The three-way valve 54 switches the connecting pipeline, the air outlet 36 and the deep application gun 43 are closed, the air cannon 52 is connected to the deep application gun 43, the air cannon 52 is started, and the compressed air in the air cannon 52 passes through the three-way valve 54 and sprays the fertilizer in the conveying pipeline through the deep application gun 43 into the cracks deep in the soil, completing the deep application of solid fertilizer;

[0059] h. The hydraulic cylinder 2 42 retracts, and the deep application gun 43 is pulled out from the soil. The hydraulic cylinder 1 moves, driving the working mechanism to rise off the ground, and the crawler chassis 1 drives the solid powder deep application robot to move to the next area to be operated.

[0060] The present invention is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the enlightenment of the present invention, and all those having the same or similar technical solutions as the present invention fall within the protection scope of the present invention.

[0061] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. A pneumatic quantitative fertilizer and powder deep application robot, comprising a crawler chassis and a shell mounted on the crawler chassis, characterized in that: The crawler chassis is equipped with a feeding assembly, a deep loosening and fertilizing assembly, an air-compressed spraying assembly and an automatic following assembly. The feeding assembly and the air-compressed spraying assembly are installed in a shell, and the deep loosening and fertilizing assembly and the automatic following assembly are installed at the front end of the crawler chassis. The feeding assembly, the deep loosening and fertilizing assembly and the air-compressed spraying assembly are connected through a three-way valve. The feeding assembly is used to provide fertilizer to the deep loosening and fertilizing assembly, the air-compressed spraying assembly is used to provide compressed air to the deep loosening and fertilizing assembly, the deep loosening and fertilizing assembly is used to transport air and fertilizer to the soil, and the automatic following assembly is used to detect and identify people and obstacles in the environment; The feeding assembly includes a material box fixedly mounted on the crawler chassis, an outlet is provided at the bottom of the material box, a storage bin is provided at the outlet of the material box, a lower bin is provided at the upper part of the storage bin, a feeding port for adding materials from the material box to the lower bin is opened on the top of the storage bin, a lower bin baffle is installed at the bottom of the lower bin, a rotating shaft is transversely provided in the lower bin, a number of partitions in contact with the inner wall of the lower bin are evenly distributed on the rotating shaft, the rotating shaft is connected to a lowering motor through an encoder, the lowering motor drives the rotating shaft and the partition to rotate, the lowering baffle is opened, and the fertilizer enters the storage bin from the lower bin, and the storage bin is connected to the deep loosening and fertilization assembly.

2. The pneumatic quantitative fertilizer solid powder deep application robot according to claim 1, characterized in that: The deep tillage and fertilization assembly includes a hydraulic cylinder 1 fixedly installed at the front end of the crawler chassis and a working mechanism fixedly connected to the output end of the hydraulic cylinder 1. The movement of the hydraulic cylinder 1 drives the working mechanism to rise and fall. The working mechanism at least includes a hydraulic cylinder 2, a deep fertilization gun and a hydraulic hammer. The hydraulic hammer is fixedly installed at the output end of the hydraulic cylinder 2. The deep fertilization gun is connected to the bottom of the hydraulic hammer. The upper end of the deep fertilization gun is connected to the outlet of the three-way valve through a conveying pipeline. The hydraulic cylinder 2 presses the deep fertilization gun into the soil through the hydraulic hammer, and the deep fertilization gun injects compressed air or fertilizer into the soil.

3. The pneumatic quantitative fertilizer solid powder deep application robot according to claim 1, characterized in that: The air compression explosion assembly includes an air tank, an air cannon, an air compressor, a three-way valve and a pressure transmitter. The air tank, the air cannon and the air compressor are all fixedly installed on the track chassis. The air compressor is connected to the inlet of the air tank, the outlet of the air tank is connected to the inlet of the air cannon, the outlet of the air cannon is connected to an inlet of the three-way valve, the air compressor provides compressed air for the air tank, the air tank continuously delivers compressed air to the air cannon, and the pressure transmitter is installed on the air tank to detect the pressure of the air tank.

4. The pneumatic quantitative fertilizer solid powder deep application robot according to claim 3, characterized in that: An air inlet is provided on the side wall of the storage bin, which is connected to an air tank through a pipeline and a solenoid valve. An air outlet is provided at the bottom of the storage bin, which is connected to another inlet of the three-way valve. The compressed air in the air tank pushes the fertilizer in the storage bin into the conveying pipeline from the air outlet through the three-way valve.

5. The pneumatic quantitative fertilizer solid powder deep application robot according to claim 4, characterized in that: A pneumatic ball valve is provided at the outlet of the material box, and the pneumatic ball valve is used to control the material box to add material into the lower silo.

6. The pneumatic quantitative fertilizer solid powder deep application robot according to claim 1, characterized in that: The automatic following component includes a camera and an obstacle avoidance sensor. The camera is installed at the front end of the tracked chassis. The obstacle avoidance sensor includes an ultrasonic sensor and an infrared sensor. The ultrasonic sensor and the infrared sensor are installed at the front and both sides of the tracked chassis. The ultrasonic sensor is used to detect obstacles in the surrounding environment, the infrared sensor is used to detect infrared rays emitted by the human body to determine the person's position, and the camera is used to identify the person's appearance features or specific landmarks.

7. The pneumatic quantitative fertilizer solid powder deep application robot according to claim 1, characterized in that: The crawler chassis is also equipped with a control component and an energy component, which are both connected with a feeding component, a deep loosening and fertilizing component, an air compression spraying component and an automatic following component.

8. The working method of the pneumatic quantitative fertilizer solid powder deep application robot according to any one of claims 1 to 7, characterized in that: The following steps are involved: a. The camera and obstacle avoidance sensor identify the staff, and the mobile chassis drives the powder-fixing deep application robot to automatically follow the staff in the farmland to the area to be operated; b. The air compressor starts to replenish compressed air to the air tank, and the air tank releases some compressed air into the air cannon; the pressure transmitter detects the pressure of the air tank in real time. When the pressure is insufficient, the air compressor starts, and when the pressure reaches the set value, the air compressor stops; c. Hydraulic cylinder 1 moves to lower the working mechanism to the ground, and hydraulic cylinder 2 and hydraulic hammer are started to press the deep application gun down to a certain depth in the soil; d. Switch the three-way valve to the state where the air cannon and the deep application gun are connected, start the air cannon, and the compressed air in the air cannon enters the deep application gun through the three-way valve and the delivery pipeline. The compressed air is sprayed into the deep soil, and cracks are generated in the deep soil; e. The fertilizer falls from the feed port into the space between two adjacent partitions in the feeding bin through the feeding box. The feeding motor drives the rotating shaft and the partition to rotate, the feeding baffle opens, and the fertilizer falls into the storage bin. The encoder controls the angle at which the feeding motor drives the partition to rotate, so as to control the amount of fertilizer applied each time. f. The three-way valve switches the connecting pipeline, the air cannon and the deep application gun passage are closed, the air outlet is connected to the deep application gun passage, the solenoid valve between the air tank and the air inlet is opened, and the compressed air enters the storage bin from the air tank through the air inlet, pushing the fertilizer in the storage bin from the air outlet through the three-way valve into the delivery pipeline; g. The three-way valve switches the connecting pipeline, the air outlet and the deep application gun passage are closed, the air cannon is connected to the deep application gun passage, the air cannon is started, and the compressed air in the air cannon passes through the three-way valve to spray the fertilizer in the conveying pipeline through the deep application gun into the cracks deep in the soil, completing the deep application of solid fertilizer; h. The second hydraulic cylinder retracts to pull the deep application gun out of the soil. The first hydraulic cylinder moves to drive the working mechanism to rise off the ground, and the crawler chassis drives the solid powder deep application robot to move to the next area to be operated.

Images