Intelligent automatic following type earth cutting and fertilizing all-in-one machine

Abstract

The invention relates to an intelligent automatic following type earth cutting and fertilizing all-in-one machine which comprises a power chassis and an electric rotating ring, a supporting column and a control center are arranged on the upper surface of the power chassis, an electronic radar and a positioning module are arranged on the supporting column, a material box is arranged at the top of the supporting column, and a first valve is arranged at the bottom of the material box; the opposite sides of the first electric rotating ring are connected with a discharging pipe and a lifting mechanism through a telescopic mechanism respectively, a second valve is arranged at the lower end of the discharging pipe, the lifting mechanism is connected with a mechanical bucket, and the control center is electrically connected to the power chassis, the electric rotating ring, the telescopic mechanism, the lifting mechanism, the first valve, the second valve and the mechanical bucket. The intelligent fruit tree planting robot has high intelligence, can automatically move in an orchard along with a fruit tree planting position without a driver, can dig, apply fertilizer and backfill soil at the position close to the fruit tree planting position according to the detected fruit tree planting position, and has the effects of fertilizer saving, high fertilizer applying efficiency, good fertilizer absorption effect of fruit trees and labor saving.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent agricultural power machinery, and in particular relates to an intelligent automatic follow-up soil digging and fertilizing integrated machine. Background Art

[0002] In modern large-scale fruit tree planting, fruit trees are often planted in a matrix manner. Matrix planting refers to planting fruit trees in a regular array of multiple rows and columns according to preset row and column spacing. This method helps to improve land utilization and the growth efficiency of fruit trees. Through matrix planting, fruit trees can get sufficient sunlight and air circulation. In addition, this regular planting method also facilitates mechanized operations in orchards, such as pruning, picking and fertilizing, thereby improving work efficiency and reducing labor costs. In short, planting fruit trees in a matrix manner with multiple rows and columns helps to improve yield and quality, while ensuring sustainable agricultural production.

[0003] In the prior art, when fertilizing fruit trees, a trencher is used to dig trenches between two adjacent rows or columns, fertilizer is then manually placed in the trenches, and finally the excavated soil is manually backfilled in the trenches. However, this fertilization operation method has the following problems: 1. Due to the large size of the trencher, the trench can only be dug in the middle of two rows or columns, resulting in the fertilizer being far away from the fruit trees, which is not conducive to the absorption of the fruit trees, and the fertilizer is continuously placed along the trench, resulting in fertilizer waste; 2. The fertilization operation steps are many and cumbersome, the fertilization efficiency is low, and manual labor is wasted; 3. Since the driver needs to sit on the trencher to drive and dig trenches, the driver is easily scratched by branches, the driving operation is inconvenient, and the operation safety is low. Summary of the invention

[0004] The present invention provides an intelligent automatic following soil digging and fertilizing integrated machine, which can automatically follow the fruit tree planting position and move in the orchard without the need for a driver. It can dig holes, apply fertilizers and backfill soil near the fruit tree planting position according to the detected fruit tree planting position, thus having the effects of saving fertilizers, high fertilization efficiency, good fertilizer absorption effect of fruit trees and saving manual labor.

[0005] The technical solution adopted by the present invention is:

[0006] An intelligent automatic follow-up soil digging and fertilizing integrated machine, comprising a power chassis and an electric swivel, wherein a support column and a control center are arranged on the upper surface of the power chassis, an electronic radar and a positioning module are arranged on the support column, a material box is arranged on the top of the support column, a valve 1 is arranged at the bottom of the material box, a discharge pipe and a lifting mechanism are connected to the opposite sides of the electric swivel through a telescopic mechanism, a valve 2 is arranged at the lower end of the discharge pipe, and a mechanical bucket is connected to the lifting mechanism;

[0007] The control center performs the following steps:

[0008] S1. Obtain the ideal planting coordinates of the plant;

[0009] S2, extracting two adjacent ideal planting coordinates closest to the electronic radar in the same line;

[0010] S3, setting a planting error region with the extracted ideal planting coordinates as the center, the planting error region is a circular region projected on the ground and centered on the ideal planting coordinates, and the radius of the circular region is less than half of the distance between two adjacent ideal planting coordinates;

[0011] S4, controlling the electronic radar to detect whether there are plants in the planting error area and feeding back an electrical signal, and executing S5 when there are no plants, and executing S6 when there are plants;

[0012] S5, calculating the middle coordinate of the line connecting the ideal planting coordinates within the two planting error regions, controlling the power chassis to move to the middle coordinate, and jumping to step S7;

[0013] S6, obtaining the actual planting coordinates, when plants are detected in both planting error areas, calculating the middle coordinates of the line connecting the two actual planting coordinates; when plants are detected in only one planting error area, connecting the ideal planting coordinates in the planting error area without plants with the actual planting coordinates, and calculating the middle coordinates of the connecting line;

[0014] Control the power chassis to move to the middle coordinate, control the electric swivel, electronic radar, positioning module, telescopic mechanism, lifting mechanism, valve 1, valve 2 and mechanical shovel to cooperate, dig soil in sequence near the actual planting coordinate, put fertilizer and backfill soil;

[0015] S7, clear the planting error area, extract two ideal planting coordinates on the next row in the column direction, and execute S3 to S7 in a loop until the entire column is completed.

[0016] Furthermore, the specific steps for obtaining the ideal planting coordinates in step S1 are:

[0017] S11, obtaining the actual planting coordinates of the first plant and the last plant in the same row, the direction of the line connecting the first actual planting coordinate to the last actual planting coordinate is the ideal row direction, obtaining the actual planting coordinates of the first plant and the last plant in the same column, the direction of the line connecting the first actual planting coordinate to the last actual planting coordinate is the ideal column direction;

[0018] S12, obtaining the planting distance L1 between the first and last plants in the same row, obtaining the number of plants planted in the same row N1, D1 = L1 / (N1-1), N1 is the actual number of plants planted in the same row plus the number of missing plants in the middle, and D1 is the ideal row spacing;

[0019] When the end of a row is missing, the missing ideal planting coordinates are added based on the ideal row direction and ideal row spacing;

[0020] Get the planting distance L2 between the first and last plants in the same row, and get the number of plants planted in the same row N2, D2 = L2 / (N2-1), N2 is the actual number of plants planted in the same row plus the number of missing plants in the middle, and D2 is the ideal planting row distance;

[0021] When there is a missing object at the end of the row, the ideal planting coordinates are added based on the ideal row direction and ideal row distance.

[0022] Furthermore, the specific steps of "digging soil, adding fertilizer and backfilling soil" in step S6 are:

[0023] S61, when the control valve is opened, the fertilizer in the material box is discharged into the discharge pipe, the electric swivel is controlled to drive the mechanical shovel to the side close to the plant through the telescopic mechanism and the lifting mechanism, and then the mechanical claw and the lifting mechanism are controlled to dig a pit and lift the excavated soil;

[0024] S62, control the discharge pipe to rotate to align with the pit, control valve 2 to open, and discharge the fertilizer into the pit;

[0025] S63, control the mechanical shovel to rotate to the top of the pit, control the mechanical shovel to throw soil into the pit, and control the discharge pipe to rotate to align with valve one.

[0026] Furthermore, in step S5, after controlling the power chassis to move to the intermediate coordinate, the electric swivel, telescopic mechanism, lifting mechanism and mechanical shovel are controlled to cooperate to dig a hole at the ideal planting coordinate within the planting error area.

[0027] Furthermore, in step S6, the electric swivel, telescopic mechanism, lifting mechanism and mechanical shovel are controlled to cooperate to dig a hole at the ideal planting coordinates in the planting error area without plants.

[0028] Furthermore, the telescopic mechanism includes a telescopic rod and a sleeve arranged on the electric swivel, the telescopic rod is located in the sleeve, a sliding rod is slidably provided on the front side of the sleeve, one end of the sliding rod is connected to the telescopic end of the telescopic rod, and the other end is connected to the discharge pipe, and the control center is electrically connected to the telescopic rod.

[0029] Furthermore, the lifting mechanism includes a sleeve 2 arranged on a sliding rod 1 away from the side of the discharge pipe, a telescopic rod 2 is provided on the top of the sleeve 2, the telescopic rod 2 is connected to a sliding rod 2 slidably arranged on the lower side of the sleeve 2, the sliding rod 2 is connected to a mechanical shovel, and the control center is electrically connected to the telescopic rod 2.

[0030] Furthermore, the mechanical shovel includes two buckets arranged opposite to each other and a support plate arranged at the lower end of the second slide rod. The two sides of the top of the bucket are respectively hinged with a support rod and a telescopic rod three. The upper end of the support rod is connected to the lower surface of the support plate. The upper end of the telescopic rod three is hinged to the lower surface of the support plate and electrically connected to the control center.

[0031] Furthermore, after step S7, the following steps are performed:

[0032] S8, control the power chassis to move forward a preset distance and then turn to the front side of the next two rows separated by an ideal row spacing;

[0033] S9, loop through S2 to S9 until the entire matrix planting area is completed.

[0034] Furthermore, in step S5 and step S6, the power chassis is specifically controlled to drive the axis of the support column to move to the intermediate coordinate.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. A support column and a control center are arranged on the power chassis, an electric swivel is arranged on the support column, a discharge pipe and a mechanical shovel are arranged on the symmetrical sides of the electric swivel through two telescopic mechanisms, and a material box is arranged on the top of the support column. The material box is used to store feed. The control center controls the electric swivel, the telescopic mechanism, the lifting mechanism, the valve one, the valve two and the mechanical shovel to cooperate, so that soil can be dug, fertilizers can be added and soil can be backfilled in sequence near the fruit trees, and the fertilization efficiency is high and labor is saved.

[0037] 2. Based on the ideal planting coordinates, the electronic radar is used to detect whether the two planting error areas in the next row are actually planted with fruit trees, and the fruit trees are selected and fertilized near the planting areas to achieve targeted fertilization, which is conducive to saving fertilizers and fruit trees absorbing fertilizers. In the detection process, the ideal planting coordinates or / and actual planting coordinates can be processed according to whether there are real fruit trees planted in the two planting error areas in the next row, and the midpoint of the connecting line is taken to plan the moving route, so that the power chassis can move in the middle of the two columns of actual planting fruit trees, which can avoid branches scratching the equipment. It has the effect of intelligent planning of moving routes, high operation safety, and reduced manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is the main control flow chart of the present invention;

[0039] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0040] Figure 3 for Figure 2 A in the enlarged view;

[0041] Figure 4 This is a top view schematic diagram of fertilization operation;

[0042] Figure 5 for Figure 4 Enlarged view of point B in the figure (excluding the material box);

[0043] In the figure: 1. Power chassis; 2. Valve 2; 3. Discharge pipe; 4. Slide bar 1; 5. Valve 1; 6. Material box; 7. Telescopic rod 2; 8. Slide bar 2; 9. Sleeve 2; 10. Electronic radar; 11. Positioning module; 12. Support column; 13. Electric swivel; 14. Telescopic 1; 15. Control center; 16. Sleeve 1; 17. Bucket; 18. Support rod; 19. Telescopic rod 3; 20. Support plate; 21. Planting error area; 22. Ideal planting coordinates; 23. Actual planting coordinates; 24. Intermediate coordinates; 25. Actual planting coordinates. DETAILED DESCRIPTION

[0044] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0045] See also Figures 1 to 5 The present invention provides an intelligent automatic follow-up soil digging and fertilizing integrated machine, including a power chassis 1 and an electric swivel 13. A support column 12 and a control center 15 are fixedly provided on the front and rear sides of the upper surface of the power chassis 1, and an electronic radar 10 and a positioning module 11 are fixedly provided on the support column 12. The electronic radar 10 faces the front side of the power chassis 1. The positioning module 11 is used to detect the real-time coordinates of the axis of the support column 12. A material box 6 is provided on the top of the support column 12. The material box 6 is used to store fertilizer. A valve 15 is provided at the bottom of the material box 6. The opposite sides of the electric swivel 13 are connected to a discharge pipe 3 and a lifting mechanism through a telescopic mechanism. The discharge pipe 3 is vertically arranged. A valve 22 is provided at the lower end of the discharge pipe 3. The valve 15 and the valve 22 are both electromagnetic valves. The lifting mechanism is connected to a mechanical bucket 17;

[0046] The control center 15 performs the following steps:

[0047] S1, obtaining the ideal planting coordinates 22 of the fruit tree;

[0048] S2, extracting two adjacent ideal planting coordinates 22 closest to the electronic radar 10 in the same line;

[0049] S3, setting a planting error region 21 with the extracted ideal planting coordinates 22 as the center, the planting error region 21 being a circular region projected on the ground and centered on the ideal planting coordinates 22, and the radius of the circular region being less than the minimum value of half the distance between any two adjacent ideal planting coordinates 22;

[0050] Since planting is generally planned based on the same row spacing and line spacing when implementing planned planting, there will be planting errors in the planting process regardless of whether it is mechanical planting or manual planting. Therefore, a planting error area 21 is set to detect whether there are fruit trees planted on the corresponding ideal planting coordinates 22, and the circular area needs to be set to be smaller than the minimum value of the row spacing and line spacing to avoid overlapping of two adjacent planting error areas 21, resulting in the fruit trees being judged to be in other planting error areas 21;

[0051] S4, controlling the electronic radar 10 to detect whether there are fruit trees in the planting error area 21 and feeding back an electrical signal, and executing S5 when there are no fruit trees, and executing S6 when there are fruit trees;

[0052] S5, calculating the middle coordinate 24 of the line connecting the ideal planting coordinates 22 in the two planting error regions 21, controlling the power chassis 1 to move to the middle coordinate 24, specifically controlling the power chassis 1 to drive the axis of the support column 12 to move to the middle coordinate 24, and jumping to step S7;

[0053] S6, obtaining the actual planting coordinates 25, when fruit trees are detected in both planting error regions 21, calculating the middle coordinates 24 of the line connecting the two actual planting coordinates 25; when fruit trees are detected in only one planting error region 21, connecting the ideal planting coordinates 22 in the planting error region 21 without fruit trees with the actual planting coordinates 25, and calculating the middle coordinates 24 of the connecting line;

[0054] Control the power chassis 1 to move to the middle coordinate 24, specifically control the power chassis 1 to drive the axis of the support column 12 to move to the middle coordinate 24, control the electric swivel 13, the electronic radar 10, the positioning module 11, the telescopic mechanism, the lifting mechanism, the valve 1 5, the valve 2 2 and the mechanical shovel to cooperate, dig soil in sequence near the actual planting coordinate 25, put fertilizer and backfill soil;

[0055] S7, clear the planting error area 21, extract two ideal planting coordinates 22 on the next row in the column direction, and execute S3 to S7 in a loop until the entire column is completed.

[0056] Before fertilization, based on multiple ideal planting coordinates in matrix form 22, refer to Figure 4 The bottom is set as the first row, the number of rows increases upward, the leftmost is set as the first column, the number of columns increases rightward, and the first and second ideal planting coordinates in the first row are extracted 22 ( Figure 4The first and second coordinates of the lower left corner of the middle horizontal direction to the right) are detected by the positioning module 11 and fed back to the control center 15. The remote control is used to send a control signal to the control center 15. The control center 15 controls the power chassis 1 to move to the middle of the first column and the second column, and is located at a preset distance behind the middle of the two extracted ideal planting coordinates 22. The distance can be set according to the specific site, generally within 1 meter to 10 meters. After sending an automatic fertilization signal to the control center 15 through the remote control, the control center 15 controls the power chassis 1 to move to the middle of the first column and the second column based on the two extracted ideal planting coordinates 22. The planting error area 21 is constructed with the mark 22 as the center. The control center 15 controls the electronic radar 10 to detect whether there are fruit trees in the planting error area 21 and feed back electrical signals. When fruit trees are detected in both planting error areas 21, the actual planting coordinates 25 are obtained, the middle coordinates 24 of the line connecting the two actual planting coordinates 25 are calculated, the power chassis 1 is controlled to move to the middle coordinates 24, and the electric swivel 13, the telescopic mechanism, the lifting mechanism, the valve 1 5, the valve 2 2 and the mechanical shovel are controlled to cooperate, and the soil is dug in turn at the two fruit trees near the actual planting coordinates 25, and fertilizers and backfill soil are added;

[0057] Clear the planting error area 21, extract two ideal planting coordinates 22 on the next line, and establish the planting error area 21 with the two ideal planting coordinates 22 as the center of the circle, control the electronic radar 10 to detect whether there is a fruit tree in the planting error area 21 and feed back an electrical signal, when only one fruit tree is detected in the planting error area 21, obtain the actual planting coordinates 25, connect the ideal planting coordinates 22 in the planting error area 21 without fruit trees with the actual planting coordinates 25, calculate and obtain the middle coordinates 24 of the connection, control the power chassis 1 to move to the middle coordinates 24, control the electric swivel 13, the telescopic mechanism, the lifting mechanism, the valve 1 5, the valve 2 2 and the mechanical shovel to cooperate, and dig soil in turn at a fruit tree near the actual planting coordinates 25, put fertilizer and backfill soil;

[0058] Clear the planting error area 21, extract two ideal planting coordinates 22 on the next line, and establish a planting error area with the two ideal planting coordinates 22 as the center. When there is no fruit tree, calculate the middle coordinate 24 of the line connecting the ideal planting coordinates 22 in the two planting error areas 21, and control the power chassis 1 to drive the support column 12 to move to the middle coordinate 24;

[0059] In this way, the detection and fertilization operations are performed row by row in the column direction until the power chassis 1 moves to the last row and completes the pit digging, fertilization and backfilling operations for the fruit trees in the row;

[0060] It can realize digging holes, fertilizing and backfilling only in the locations where there are fruit trees and near the fruit trees, which is beneficial for the fruit trees to absorb fertilizers and avoid fertilizer waste. In the moving process, the midpoint of the line connecting the ideal planting coordinates 22 and the actual planting coordinates 25, the midpoint of the line connecting the ideal planting coordinates 22 and the ideal planting coordinates 22, and the midpoint of the line connecting the actual planting coordinates 25 and the actual planting coordinates 25 will be selected as the moving target according to the lack of fruit trees. It is equivalent to moving with the line connecting the intermediate coordinates 24 as the trajectory. In this way, the power chassis 1 can be moved along the middle of the actual planting position of the two rows of fruit trees, which can avoid the power chassis 1 from scratching the fruit trees during the movement due to the error in the actual planting position of the fruit trees.

[0061] Preferably, the specific steps for obtaining the ideal planting coordinates 22 in step S1 are:

[0062] S11, the actual planting coordinates 25 of the first and last fruit trees in the same row are obtained through detection, and the direction of the line connecting the first actual planting coordinate 25 to the last actual planting coordinate 25 is processed as the ideal row direction; the actual planting coordinates 25 of the first and last fruit trees in the same column are obtained, and the direction of the line connecting the first actual planting coordinate to the last actual planting coordinate 25 is processed as the ideal column direction;

[0063] Since the actual planting coordinates 25 of the first and last fruit trees in the same row are both located on a line in the ideal row direction, and the actual planting coordinates 25 of the first and last fruit trees in the same column are both located on a line in the ideal column direction, the ideal row direction and the ideal column direction can be processed into a virtual line;

[0064] S12, after testing, the planting distance L1 between the first and last fruit trees in the same row is obtained, the number of fruit trees planted in the same row N1 is obtained, and the N1 value is sequentially input into the control center 15. The control center 15 calculates according to the following formula to obtain the ideal row spacing D1: D1 = L1 / (N1-1), N1 is the actual number of plantings in the same row plus the number of missing plantings in the middle, and the number of missing plantings in the middle is the number of fruit trees missing due to dry fences and other conditions between the first and last rows. This number needs to be determined manually according to the distance between adjacent fruit trees in the same row or with reference to the number of plantings in other rows;

[0065] When there are missing rows at the end, the missing ideal planting coordinates can be added at the row end based on the number of missing rows, the ideal row direction, and the ideal row spacing.

[0066] Get the planting distance L2 between the first and last fruit trees in the same row, and get the planting quantity N2 in the same row, D2 = L2 / (N2-1), N2 is the actual planting quantity in the same row plus the missing planting quantity in the middle, and D2 is the ideal planting row distance;

[0067] When there is a missing object at the end of a row, the missing ideal implantation coordinates 22 can be added at the end of the row based on the missing number, the ideal row direction and the ideal row distance.

[0068] When the ideal planting coordinate matrix 22 cannot be obtained through the planting planning data or the data is lost, the ideal planting coordinate matrix 22 constructed based on the actual detection of the starting and ending fruit tree positions of each row and column can more closely realize the planting coordinates 23, and each coordinate point of the ideal planting coordinate matrix 22 is transmitted to the control center 15.

[0069] Preferably, the specific steps of "digging soil, adding fertilizer and backfilling soil" in step S6 are:

[0070] When the control center 15 controls the power chassis 1 to move between the two rows, it is necessary to first control the electric swivel 13 to drive the discharge pipe 3 to rotate to align with the valve 1 5 , and drive the mechanical shovel to rotate to the front side of the power chassis 1 .

[0071] S61, the control center 15 controls the valve 15 to open so that the fertilizer in the material box 6 is discharged into the discharge pipe 3, the control center 15 controls the electric swivel 13 to drive the mechanical shovel to rotate clockwise to the side close to the fruit tree through the telescopic mechanism and the lifting mechanism, and the electric swivel 13 drives the discharge pipe 3 to rotate to the other side of the fruit tree through the telescopic mechanism on the other side at the same time. At this time, the two telescopic mechanisms are both located on the connection line of the two planting coordinates 23, the control center 15 controls the mechanical claw to open, the control center 15 controls the lifting mechanism to drive the mechanical shovel to descend to touch the ground, the control center 15 controls the lifting mechanism to drive the mechanical shovel to continue to descend, and at the same time controls the mechanical shovel to close, so that a hole can be dug on the ground and the excavated soil can be closed in the mechanical shovel, and the control center 15 controls the lifting mechanism to drive the mechanical shovel to rise above the ground;

[0072] S62, the control center 15 controls the discharge pipe 3 to rotate counterclockwise to align with the pit, controls the valve 2 to open, and discharges the fertilizer into the pit;

[0073] S63, the control center 15 controls the mechanical shovel to rotate clockwise to the top of the pit, and then controls the mechanical shovel to open and throw the soil into the pit, and controls the discharge pipe 3 to rotate to align with the valve 1 5.

[0074] After completing the "digging, adding fertilizer and backfilling" operations for the fruit trees on the right side, when it is necessary to perform the "digging, adding fertilizer and backfilling" operations for the fruit trees on the left side, refer to steps S61 to S63. Technical personnel in this field should be able to implement them based on the disclosed content. The difference lies in controlling the discharge pipe 3 and the mechanical shovel to turn in opposite directions.

[0075] Preferably, in step S5, after controlling the power chassis 1 to move to the intermediate coordinate 24, the electric swivel 13, the telescopic mechanism, the lifting mechanism and the mechanical shovel are controlled to cooperate to dig a pit on the ideal planting coordinate within the planting error area 21;

[0076] Specifically, the control center 15 controls the electric swivel 13 to drive the mechanical shovel to rotate to the ideal planting coordinate 22 close to one side through the telescopic mechanism and the lifting mechanism. At this time, the two telescopic mechanisms are located on the connection line of the two ideal planting coordinates 22. The control center 15 controls the telescopic mechanism to extend and move to the top of the ideal planting coordinate 22. The control center 15 controls the mechanical claw to open. The control center 15 controls the lifting mechanism to drive the mechanical shovel to descend to touch the ground. The control center 15 controls the lifting mechanism to drive the mechanical shovel to continue to descend. At the same time, the control center 15 controls the mechanical shovel to close, so that a hole can be dug on the ground and the excavated soil can be closed in the mechanical shovel. The control center 15 controls the lifting mechanism to drive the mechanical shovel to rise above the ground. The control center 15 controls the electric swivel 13 to drive the mechanical shovel to rotate to the side away from the pit. The mechanical shovel is controlled to open and the soil is discharged outside the pit. Similarly, based on the above control operations, the digging of the two ideal planting coordinates 22 can be completed.

[0077] In addition, a ground radar can also be installed on the sleeve 2 9 to detect the depth of the root system of the fruit tree, and then the control center 15 can be used to control the descent of the mechanical shovel to control the depth of the pit, so that the pit depth is a preset distance (5 cm) from the root system of the fruit tree, which is more conducive to the fruit tree to absorb fertilizer.

[0078] When it is detected that there are no fruit trees planted in the planting error area 21, a hole can be dug at the ideal planting coordinates 22, which is convenient for the subsequent replanting of fruit trees and can save the manual labor of subsequent digging.

[0079] Preferably, in step S6, the electric swivel 13, the telescopic mechanism, the lifting mechanism and the mechanical shovel are controlled to cooperate to dig a hole at the ideal planting coordinate 22 within the planting error area 21 without fruit trees;

[0080] Similarly, referring to step S5, a hole is dug at the ideal planting coordinate 22 within the planting error area 21 without plants, so as to facilitate the subsequent replanting of fruit trees.

[0081] Preferably, the telescopic mechanism includes a telescopic rod 1 and a sleeve 16 fixed on the side wall of the electric swivel 13, the telescopic rod 1 is located in the sleeve 16, a slide bar 4 is slidably provided in the front side of the sleeve 16, one end of the slide bar 4 is connected to the telescopic end of the telescopic rod 1, and the other end is connected to the discharge pipe 3, the control center 15 is electrically connected to the telescopic rod 1, and the telescopic rod 1 adopts an electric push rod;

[0082] The control center 15 can be used to control the extension and retraction of the telescopic rod 1, and the telescopic rod 1 can drive the sliding rod 14 to slide in the sleeve 16, so that the two sliding rods 14 can respectively drive the mechanical shovel and the discharge pipe 3 to move closer to or away from the support column 12;

[0083] When digging a hole and discharging fertilizer into the hole, the control center 15 can respectively control the two telescopic mechanisms to drive the mechanical shovel and the discharge pipe 3 to move toward the fruit tree, so that the dug hole can be close to the fruit tree, which is beneficial for the fruit tree to absorb fertilizer, and can also be used for the power chassis 1 to move between different row spacings and column spacings.

[0084] Preferably, the lifting mechanism includes a sleeve 29 fixedly arranged on the sliding rod 14 away from the discharge pipe 3, a telescopic rod 27 is fixedly arranged on the top of the sleeve 29, the telescopic rod 27 is connected to a sliding rod 28 slidably arranged on the lower side of the sleeve 29, the sliding rod 28 is connected to the mechanical shovel, the control center 15 is electrically connected to the telescopic rod 27, and the telescopic rod 27 adopts an electric push rod;

[0085] The control center 15 can be used to control the extension and retraction of the telescopic rod 27, and the telescopic rod 27 can drive the sliding rod 28 to slide in the sleeve 29, so that the sliding rod 28 can drive the mechanical shovel to rise and fall;

[0086] Preferably, the mechanical shovel includes two buckets 17 arranged opposite to each other and a support plate 20 arranged at the lower end of the slide bar 28, the two sides of the top of the bucket 17 are respectively hinged with a support rod 18 and a telescopic rod 3 19, the upper end of the support rod 18 is connected to the lower surface of the support plate 20, the upper end of the telescopic rod 3 19 is hinged to the lower surface of the support plate 20 and electrically connected to the control center 15, and the telescopic rod 3 19 adopts an electric push rod;

[0087] When the control center 15 is used to control the two telescopic rods 19 to shorten, the inner side of the top of the bucket 17 will swing outward around the lower end of the support rod 18, so that the two buckets 17 are expanded; and when the two telescopic rods 19 are controlled to extend, the inner side of the top of the bucket 17 will swing inward around the lower end of the support rod 18, so that the two buckets 17 are closed.

[0088] Preferably, the following steps are further performed after step S7:

[0089] S8, control the power chassis 1 to move forward a preset distance and then turn to the front side of the next two rows separated by an ideal row spacing D1;

[0090] S9, looping through S2 to S9 until the entire matrix planting area is completed;

[0091] After completing the fertilization operation of the first and second columns, the control center 15 controls the power chassis 1 to move forward a preset distance and then turn 180° with the ideal row spacing D1 as a radius to the front side of the next two separated columns, specifically, from the first and second columns to the third and fourth columns, and located at a preset distance of the last row, the preset distance is 1 meter to 10 meters, and then moves downward along the middle path between the third and fourth columns to fertilize the fruit trees. After completing the fertilization operation of the third and fourth columns, the control center 15 controls the power chassis 1 to move forward a preset distance and then turn with the ideal row spacing D1 as a radius to the front side between the fifth and sixth columns, and repeats this cycle until the fertilization operation of the entire matrix planting area is completed, and the fertilization operation of the entire matrix orchard can be automatically completed.

[0092] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent automatic follow-up soil digging and fertilizing integrated machine, characterized in that: It comprises a power chassis and an electric swivel, wherein a support column and a control center are provided on the upper surface of the power chassis, an electronic radar and a positioning module are provided on the support column, a material box is provided on the top of the support column, a valve 1 is provided at the bottom of the material box, a discharge pipe and a lifting mechanism are connected to the opposite sides of the electric swivel 1 through a telescopic mechanism, a valve 2 is provided at the lower end of the discharge pipe, and a mechanical bucket is connected to the lifting mechanism; The control center performs the following steps: S1. Obtain the ideal planting coordinates of the plant; S2, extracting two adjacent ideal planting coordinates closest to the electronic radar in the same line; S3, setting a planting error region with the extracted ideal planting coordinates as the center, the planting error region is a circular region projected on the ground and centered on the ideal planting coordinates, and the radius of the circular region is less than half of the distance between two adjacent ideal planting coordinates; S4, controlling the electronic radar to detect whether there are plants in the planting error area and feeding back an electrical signal, and executing S5 when there are no plants, and executing S6 when there are plants; S5, calculating the middle coordinate of the line connecting the ideal planting coordinates within the two planting error regions, controlling the power chassis to move to the middle coordinate, and jumping to step S7; S6, obtaining the actual planting coordinates, when plants are detected in both planting error areas, calculating the middle coordinates of the line connecting the two actual planting coordinates; when plants are detected in only one planting error area, connecting the ideal planting coordinates in the planting error area without plants with the actual planting coordinates, and calculating the middle coordinates of the connecting line; Control the power chassis to move to the middle coordinate, control the electric swivel, electronic radar, positioning module, telescopic mechanism, lifting mechanism, valve 1, valve 2 and mechanical shovel to cooperate, dig soil in sequence near the actual planting coordinate, put fertilizer and backfill soil; S7, clear the planting error area, extract two ideal planting coordinates on the next row in the column direction, and execute S3 to S7 in a loop until the entire column is completed.

2. The intelligent automatic follow-up soil digging and fertilizing integrated machine according to claim 1, characterized in that: The specific steps for obtaining the ideal planting coordinates in step S1 are: S11, obtaining the actual planting coordinates of the first plant and the last plant in the same row, the direction of the line connecting the first actual planting coordinate to the last actual planting coordinate is the ideal row direction, obtaining the actual planting coordinates of the first plant and the last plant in the same column, the direction of the line connecting the first actual planting coordinate to the last actual planting coordinate is the ideal column direction; S12, obtaining the planting distance L1 between the first and last plants in the same row, obtaining the number of plants planted in the same row N1, D1 = L1 / (N1-1), N1 is the actual number of plants planted in the same row plus the number of missing plants in the middle, and D1 is the ideal row spacing; When the end of a row is missing, the missing ideal planting coordinates are added based on the ideal row direction and ideal row spacing; Get the planting distance L2 between the first and last plants in the same row, and get the number of plants planted in the same row N2, D2 = L2 / (N2-1), N2 is the actual number of plants planted in the same row plus the number of missing plants in the middle, and D2 is the ideal planting row distance; When there is a missing object at the end of the row, the ideal planting coordinates are added based on the ideal row direction and ideal row distance.

3. The intelligent automatic follow-up soil digging and fertilizing integrated machine according to claim 1 is characterized in that: The specific steps of "digging, adding fertilizer and backfilling soil" in step S6 are: S61, when the control valve is opened, the fertilizer in the material box is discharged into the discharge pipe, the electric swivel is controlled to drive the mechanical shovel to the side close to the plant through the telescopic mechanism and the lifting mechanism, and then the mechanical claw and the lifting mechanism are controlled to dig a pit and lift the excavated soil; S62, control the discharge pipe to rotate to align with the pit, control valve 2 to open, and discharge the fertilizer into the pit; S63, control the mechanical shovel to rotate to the top of the pit, control the mechanical shovel to throw soil into the pit, and control the discharge pipe to rotate to align with valve one.

4. The intelligent automatic follow-up soil digging and fertilizing integrated machine according to claim 1, characterized in that: In step S5, after the power chassis is controlled to move to the intermediate coordinate, the electric swivel, telescopic mechanism, lifting mechanism and mechanical shovel are controlled to cooperate to dig a hole on the ideal planting coordinate within the planting error area.

5. The intelligent automatic follow-up soil digging and fertilizing integrated machine according to claim 4, characterized in that: In step S6, the electric swivel, telescopic mechanism, lifting mechanism and mechanical shovel are controlled to cooperate to dig a hole at the ideal planting coordinates in the planting error area without plants.

6. The intelligent automatic follow-up soil digging and fertilizing integrated machine according to claim 5, characterized in that: The telescopic mechanism includes a telescopic rod and a sleeve arranged on an electric swivel. The telescopic rod is located in the sleeve. A sliding rod is slidably arranged in the front side of the sleeve. One end of the sliding rod is connected to the telescopic end of the telescopic rod, and the other end is connected to the discharge pipe. The control center is electrically connected to the telescopic rod.

7. The intelligent automatic follow-up soil digging and fertilizing integrated machine according to claim 6, characterized in that: The lifting mechanism includes a sleeve 2 arranged on a sliding rod 1 away from the side of the discharge pipe, a telescopic rod 2 is arranged on the top of the sleeve 2, the telescopic rod 2 is connected to a sliding rod 2 slidably arranged on the lower side of the sleeve 2, the sliding rod 2 is connected to a mechanical shovel, and the control center is electrically connected to the telescopic rod 2.

8. The intelligent automatic follow-up soil digging and fertilizing integrated machine according to claim 7, characterized in that: The mechanical shovel includes two buckets arranged opposite to each other and a support plate arranged at the lower end of a second slide bar. The two sides of the top of the bucket are respectively hinged with a support rod and a telescopic rod three. The upper end of the support rod is connected to the lower surface of the support plate. The upper end of the telescopic rod three is hinged to the lower surface of the support plate and electrically connected to the control center.

9. An intelligent automatic follow-up soil digging and fertilizing integrated machine according to any one of claims 1 to 8, characterized in that: After step S7, the following steps are performed: S8, control the power chassis to move forward a preset distance and then turn to the front side of the next two rows separated by an ideal row spacing; S9, loop through S2 to S9 until the entire matrix planting area is completed.

10. An intelligent automatic follow-up soil digging and fertilizing integrated machine according to any one of claims 1 to 8, characterized in that: In step S5 and step S6, the power chassis is specifically controlled to drive the axis of the support column to move to the intermediate coordinate.

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