Depth, position and variable intelligent ditching fertilizer applicator based on fruit tree diameter

Abstract

The invention relates to a variable-depth, variable-position and variable-quantity intelligent ditching fertilizer applicator based on the diameter of a fruit tree, and belongs to the technical field of agricultural and forestry machinery. The intelligent ditching and fertilizing machine comprises a rack arranged on a walking device, and a power device, a fertilizing device, a spiral ditching device and a control device which are supported on the rack, the fertilizing device is used for conveying the fertilizer from the fertilizer box to a feeding mechanism of the fertilizer discharging pipe according to the control instruction; the spiral ditching device comprises a vertical moving pair and a horizontal moving pair; the spiral ditching device comprises a vertical spiral ditching cutter which is arranged at the lower part of the movable platform and is driven by a spiral ditching driving motor; a visual camera and a laser radar are arranged in the middle of the rack, signal output ends of the visual camera and the laser radar are respectively connected with corresponding input end pins of the intelligent chip, and control output ends of the intelligent chip are respectively connected with controlled ends of the fertilizing motor, the moving motor, the spiral ditching motor and the lifting motor. The device can work at the position of an optimal root zone, the depth, the position and the variable are controlled, and after furrowing is conducted in soil, fertilizer is evenly scattered into furrows.

Description

Technical Field

[0001] The invention relates to a fertilizer spreader, in particular to an intelligent ditching fertilizer spreader with variable depth, position and displacement based on the diameter of fruit trees, belonging to the technical field of agricultural and forestry machinery. Background Art

[0002] Those skilled in the art know that trenching is a time-consuming and labor-intensive task during the fertilization of fruit trees in an orchard. At present, in addition to relying on manual digging with a hoe, orchard trenching has begun to use special trenching machines, which first dig a rectangular trench along the tree row and then pour fertilizer in. This type of trenching machine not only has the disadvantages of being easy to stall, difficult to control the trenching depth, and the need to move the entire machine to adjust the trenching position during the trenching process, but also cannot achieve trenching and fertilization at the same time, and still requires manual labor, which is still time-consuming and labor-intensive. In addition, some orchards use injection fertilization for fruit trees, but this fertilization method has reliability issues such as high requirements for systemic drugs, reflux and leakage of the drug solution, and will cause certain damage to the trees.

[0003] Studies have shown that the optimal root area for fertilization of fruit trees is related to the diameter of the fruit tree. The larger the diameter, the larger the root area for fertilization of the root crown. Traditional fertilization technology not only cannot achieve one-time operation and has low work efficiency, but also easily causes root burn and insufficient fertilizer in some root areas because the fertilizer is concentrated in some root areas (see Fig.10a , Fig.10b In the figure, D is the diameter of the fruit tree, L is the distance between the fruit tree and the trench, and h is the depth of the fertilization trench).

[0004] The Chinese patent application number 201510665050.6 discloses a variable circular ditching and fertilizing device for orchard targets, including a hydraulic transmission system, a circular ditching and fertilizing device, a sensor detection system and a controller. The hydraulic transmission system drives the circular ditching and fertilizing device to realize the movement of the ditching shovel along the ditching trajectory; the circular ditching and fertilizing device performs semi-circular ditching, fertilizer amount control and soil covering for the fruit tree target; the sensor detection system obtains the driving speed of the fertilizer machine, the relative position of the fruit tree and the fertilizer machine, and the crown width information; the controller sets the fertilizer amount information of each fruit tree, processes the detection information of the sensor detection system, calculates the ditching trajectory and fertilizer discharge rate, and controls the circular ditching and fertilizing device to perform circular ditching and uniform fertilization along the circular ditch along the ditching trajectory. However, this technical solution is mainly suitable for fruit trees with similar growth in the orchard, and it is impossible to continuously and accurately fertilize fruit trees of different diameters, and there is no optimal fertilizer absorption root area obtained through the driving speed, the relative position of the fruit tree and the fertilizer machine, and the crown width information, so it is impossible to achieve variable depth fertilization.

[0005] The Chinese patent document with application number 202410553675.2 discloses a variable fertilization device and method for fruit trees based on the Internet of Things, including a base plate fixedly mounted on a traction device, a lifting cylinder symmetrically mounted on the upper end of the base plate, and a side support plate fixedly connected to the upper end of the lifting cylinder, a fertilizer loading component, a material control component, a monitoring component, and an anti-blocking component. The monitoring component is set to monitor and feedback the composition of the air around the roots of the fruit trees in real time, so as to obtain the most suitable trenching depth and fertilizer amount, and then the fertilizer discharge is controlled by the material control component to meet the fertilization operation of different fertilizer amounts. At the same time, during the fertilization process, the soil on both sides of the trench can be reciprocated by the anti-blocking component to avoid the backfill of soil blocks affecting the fertilization depth, and at the same time, fertilizer blockage can be avoided, thereby improving the fertilization efficiency. However, the technical solution of this patent is easily affected by the environment in terms of component monitoring, which makes it impossible to accurately determine the optimal fertilizer absorption area, and it is impossible to select the tool according to different soil conditions. As a result, the trenching efficiency in different soil environments is poor.

[0006] In addition, it can be found from the search that the Chinese patent document with application number 201811483833.2 provides a method for measuring the size of an object through an image, including the steps of: fixing the distance between the object to be measured and the camera; receiving a first photographing instruction, obtaining a first photo of the object to be measured and a first focal length of the camera according to the first photographing instruction; receiving a second photographing instruction, obtaining a second photo of the object to be measured and a second focal length of the camera according to the second photographing instruction; obtaining a first outline size of the object to be measured in the first photo and a second outline size of the object to be measured in the second photo; and calculating the actual size of the object to be measured according to the proportional relationship between the first focal length, the first outline size and the second focal length, the second outline size. This shows that the technology of measuring the size of an object through an image has become increasingly mature. Summary of the invention

[0007] The purpose of the present invention is to provide an intelligent trenching fertilizer applicator based on variable depth, position and variable quantity, which can measure dimensions with the help of images, not only significantly improve work efficiency, but also can quickly and accurately determine the optimal fertilizer absorption area according to different tree diameters and tree-machine distances, and can also be used to quickly and accurately position the fertilizer applicator.

[0008] In order to achieve the above-mentioned object, the present invention provides a variable depth, variable position and variable intelligent furrowing and fertilizing machine based on the diameter of a fruit tree, comprising a frame (1) arranged on a traveling device (2), and a power device (3), a fertilizing device (4), a spiral furrowing device (5), and a control device (6) supported on the frame (1); the power device provides power for the traveling device; The fertilizing device comprises a bucket-shaped fertilizer box supported above the middle of the frame, and a conveying auger driven by a fertilizer driving motor is arranged at the bottom of the fertilizer box and the upper part thereof, forming a feeding mechanism for conveying fertilizer from the fertilizer box to the fertilizer discharge pipe according to control instructions; The spiral furrowing device comprises a column fixedly connected to the frame, wherein the column and a lifting slide driven by a lifting servo motor form a vertical moving pair; the lifting slide and a moving platform driven by a moving servo motor form a horizontal moving pair; The spiral furrowing device comprises a vertical spiral furrowing cutter driven by a spiral furrowing driving motor installed at the lower part of the mobile platform; A visual camera and a laser radar are installed in the middle of the frame for detecting information such as the tree diameter, the tree-machine distance and the position of the fruit tree root zone; the signal output ends of the visual camera and the laser radar are respectively connected to the corresponding input end pins of the main control circuit intelligent chip in the control system, and the control output ends of the intelligent chip are respectively connected to the controlled ends of the fertilization drive motor, the mobile servo motor, the spiral ditching drive motor and the lifting servo motor.

[0009] During operation, the visual camera and lidar are used to transmit detection signals such as tree diameter, fruit tree root zone position and tree-machine distance to the intelligent chip, so that it can output corresponding control signals according to the predetermined tree diameter, trunk distance, fertilizer amount and trenching position relationship, and respectively control the driving of the fertilizer drive motor, mobile servo motor, spiral trenching drive motor and lifting servo motor to realize the trenching device and fertilizing device to work in the optimal root zone position, control the spiral trenching fertilizer machine to become deeper, displaced and variable, and after trenching in the soil, evenly spread the fertilizer into the trench to complete the fertilization operation.

[0010] Compared with 201510665050.6, this application uses laser radar and visual cameras to measure the diameter of fruit trees and the distance between the tree and the machine in real time, and transmits the relevant data to the intelligent cabinet. The intelligent cabinet calls the tree diameter and root zone size database to determine the optimal root zone position, and then adjusts the fertilizer amount, trenching depth and fertilizer position through the speed change of the conveying auger in the fertilization device, the vertical moving pair of the spiral trenching device and the horizontal moving pair of the spiral trenching device to achieve accurate variable depth and variable position fertilization.

[0011] A further improvement of the present invention is that the power device includes a diesel engine arranged at the upper rear of the frame, and the engine transmits the driving power to the walking device mainly composed of driving wheels, load-bearing wheels, tracks, and track tensioning wheels through a reducer.

[0012] A further improvement of the present invention is that the upper part of the conveying auger is provided with inclined material baffle plates distributed at intervals.

[0013] A further improvement of the present invention is that a lifting guide rail is installed in the vertical slide groove on the column, the lifting slide seat is fixedly connected to a group of lifting sliders, and the lifting sliders that slide with the lifting guide rail form a vertical moving pair with the column.

[0014] A further improvement of the present invention is that the lifting rack fixedly connected to one side of the column is meshed with the lifting drive gear, and the lifting drive gear is driven by the lifting servo motor installed in the lifting slide through the lifting drive reducer.

[0015] A further improvement of the present invention is that the moving rack fixedly connected to the moving platform is meshed with the moving driving gear, and the moving driving gear is driven by a moving servo motor installed on one side of the lifting slide through a moving platform reducer.

[0016] A further improvement of the present invention is that a vertical spiral grooving tool is installed at the lower part of the mobile platform, which is connected to the spiral grooving drive motor through a grooving drive reducer and a flange bolt group. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of an embodiment of the present invention.

[0018] Figure 2 yes Figure 1 Schematic diagram of the plane projection structure of the embodiment.

[0019] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the main part of the fertilization device in the embodiment.

[0020] Figure 4 yes Figure 1 A schematic diagram of the three-dimensional structure of the embodiment from another viewing angle.

[0021] Figure 5 yes Figure 1 Schematic diagram of the structure of the vertical moving pair of the spiral ditching device in the embodiment.

[0022] Figure 6 yes Figure 1 Schematic diagram of the structure of the horizontal moving pair of the spiral ditching device in the embodiment.

[0023] Figure 7 yes Figure 1 Schematic diagram of the three-dimensional exploded structure of an embodiment.

[0024] Figure 8 yes Figure 1 Schematic diagram of the main control circuit of the embodiment.

[0025] Fig. 9 yes Figure 1 Control statistics table of an embodiment.

[0026] Fig.10a , Fig.10b They are schematic diagrams of prior art trenching and fertilization before and after.

[0027] In the figure: 1. Frame 2. Travel device 3. Power device 4. Fertilizer device 5. Spiral furrowing device 6. Control device 21. Diesel engine 22. Speed ​​reducer 23. Drive wheel 24. Load-bearing wheel 25. Track 26. Track tensioner 31. Fertilizer box 32. Fertilizer drive motor 33. Synchronous belt 34. Baffle plate 35. Conveyor auger 36. Fertilizer discharge pipe 41. Mobile servo motor 42. Mobile platform speed reducer 43. Mobile rack 44. Mobile drive gear 45. Mobile guide rail 46. Spiral furrowing drive motor 47. Mobile slider 48. Furrowing drive speed reducer 49. Flange bolt group 50. Spiral trenching tool 51. Cable drag chain 52. Lifting drive gear 53. Lifting drive reducer 54. Lifting servo motor 55. Lifting slide block 56. Lifting guide rail 57. Lifting rack 58. Vertical slide 61. Intelligent system display screen 62. Intelligent electric cabinet 63. Battery pack 64. Visual camera 65. Lidar 66. Fertilizer granules 71. Crushed soil 72. Compost 73. Root fertilizer absorption area 74. Covering operation area. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] As attached Figure 1 As shown, the intelligent spiral ditching fertilizer spreader based on variable depth and position variable in this embodiment is shown in FIG. Figure 1 The power device 3, the fertilizing device 4, the spiral furrowing device 5, and the control device 6 are supported on the frame 1. The frame 1 is welded with a steel structure and has a rectangular frame as a whole. It is placed on the walking device 2, so the whole machine can move stably in the orchard.

[0030] Powerplant 3 See Figure 2 The diesel engine 21 placed at the upper rear of the frame 1 transmits the traveling power to the walking device 2 mainly composed of a driving wheel 23, a load-bearing wheel 24, a crawler track 25, and a crawler track tensioning wheel 26 through a reducer 22. It is not difficult to see that the walking device is installed at the bottom of the frame and is composed of a driving wheel, a load-bearing wheel, a crawler track, and a crawler track tensioning wheel. The driving wheel is located at the rear end of the device and is connected to the power device to provide the device with traveling power. The load-bearing wheels are evenly distributed under the device to support the weight of the entire machine. The crawler track is wrapped around the driving wheel, the load-bearing wheel, and the crawler track tensioning wheel, and contacts the ground to realize the movement of the machine. The crawler track tensioning wheel is set at an appropriate position to adjust the tension of the crawler track to ensure the normal operation and good grip of the crawler track. The power device provides power for the fertilizer spreader, using an engine, a reducer, and a motor. The engine is connected to the reducer through a synchronous belt to drive the crawler-type walking structure to drive the machine to move forward steadily.

[0031] Fertilizer device 4 Figure 3 The bottom of the bucket-shaped fertilizer box 31 supported above the middle of the frame 1 leads to a conveying auger 35 with spaced inclined baffles 34 at the top. The conveying auger is driven by a fertilizer driving motor 32 controlled by the control system through a synchronous belt 33, forming a feeding mechanism that can convey fertilizer from the fertilizer box 31 to the fertilizer discharge pipe 36 according to the command of the control system. The fertilizer box is used to store fertilizer, and the feeding mechanism conveys fertilizer from the fertilizer box to the fertilizer discharge pipe according to the command of the control system, and the fertilizer discharge pipe evenly spreads the fertilizer into the ditch.

[0032] Spiral trenching device 5 Figure 4 , Figure 5 and Figure 6 , a lifting guide rail 56 is installed in the vertical slide groove 58 on the column V fixedly connected to the frame 1, and a group of lifting sliders 55 are fixedly connected to the lifting slide B, and a vertical moving pair is formed with the column V through the lifting slider 55 slidingly matched with the lifting guide rail 56. The lifting rack 57 fixedly connected to one side of the column V is meshed with the lifting drive gear 52, and the lifting drive gear 52 is driven by the lifting servo motor 54 installed in the lifting slide B through the lifting drive reducer 53. A cable drag chain 51 is installed above the column V to protect and guide the circuit cables and extend the service life of the cables. The lower part of the lifting slide B forms a horizontal moving pair with the moving guide rail 45 installed on the moving platform H through the fixed moving slider 47, and the moving rack 43 fixedly connected to the moving platform H is meshed with the moving drive gear 44, and the moving drive gear 44 is driven by the moving servo motor 41 installed on one side of the lifting slide B through the moving platform reducer 42.

[0033] See also Figure 6 The lower part of the mobile platform H is equipped with a spiral trenching drive motor 46, which is connected to a vertical spiral trenching tool 50 by a trenching drive reducer 48 and a flange bolt group 49. Since the trenching tool is connected by a flange bolt group, the tool can be quickly changed to meet the precise fertilization requirements under different soil environments and different tree diameters.

[0034] See also Figure 4 The middle of the frame 1 is equipped with a visual camera 64 and a laser radar 65 for detecting information such as the tree diameter, the location of the fruit tree root zone, and the distance between the tree and the machine. The signal output ends of the visual camera 64 and the laser radar 65 for ranging are respectively connected to the intelligent chip U1 of the main control circuit in the control system 6 (see Figure 8 ) are used to transmit detection signals such as tree diameter, root zone position and tree-machine distance to U1. U1 calculates the tree diameter, trunk distance, fertilizer amount and trenching position depth according to the statistical table (see Fig. 9), PB8, PB6, PB7, PB9 output corresponding control signals, respectively control the driving fertilization drive motor 32, the mobile servo motor 41, the spiral furrowing drive motor 46, the lifting servo motor 54, drive the furrowing device and the fertilizing device to work in the superior root zone - control the spiral furrowing fertilizer machine to change the depth and displacement variable, the spiral furrowing device 5 furrows in the soil, and the fertilizing device 4 evenly spreads the fertilizer into the furrow to complete the fertilization operation. The vertical moving pair and the horizontal moving pair of the spiral furrowing device respectively control the depth and displacement of the furrowing device. The spiral furrowing tool is connected to the machine through the flange bolt group, and is driven by the spiral furrowing drive motor and the furrowing drive reducer to rotate and furrow.

[0035] More specifically, Figure 4 The intelligent system display screen 61 is used to display information visualization. The intelligent power cabinet 62 generates and outputs control signals according to the information of the visual camera 64 and the laser radar 65. The battery pack 63 provides power for the intelligent power cabinet 62. Figure 8 (1) Analog quantity acquisition: PA0 and PA1 pins are used as analog signal acquisition pins to collect the feedback signal of the pull rope sensor to measure the left and right and up and down movement position of the fertilizer ditching device. PA2 pin collects the knob signal to measure and control the motor speed. (2) Digital quantity input: SIGNAL signal is connected to the DIN port to detect the switch quantity signals such as emergency stop, manual / start switching, up and down movement of the fertilizer device. (3) Digital quantity output: 5V switch quantity signal is output to the DOUT port through the PWM pin, and two PWM signals are output for motor driving translation and up and down movement. (4) Analog quantity input: PB6 and PB7 pins are IIC communication, which are used to control the output of 0~5V analog quantity signal to control the motor speed. (5) Host computer communication: PA9 and PA10 pins are USART communication, which communicate with the host computer USB interface, receive the control signal sent by the host computer, and send the current status of the fertilizer device and spiral ditching device. The intelligent system display screen is used to display various parameters such as tree diameter, fertilizer amount, and ditching depth.

[0036] This embodiment determines the variable relationship between tree diameter and optimal root zone position taking into account that: as the tree diameter increases, the area or range of the root zone also tends to increase. Assume that there is an empirical formula to describe the relationship between tree diameter (D) and the root zone area (A), which can be expressed as: A = k × D^n, where k is a constant and n is an exponent. The specific values ​​of k and n need to be determined through actual measurement and data analysis. Different tree species and growth environments may result in different values ​​of k and n. Therefore, statistical data is imported and based on Internet technology and deep learning, it can be used for different tree diameter fertilizer amounts and trenching depths to achieve optimal fertilization operations: for different tree diameters and tree-machine distances, the optimal fertilizer-absorbing root zone of fruit trees is found to deepen, shift, and control fertilization with variables, while completing trenching, covering, and soil-fertilizer mixing operations in one go.

[0037] The test shows that this embodiment is suitable for fertilizing fruit trees in orchards of different sizes and heights in different environments, and has the following beneficial effects: Intelligent control based on Internet technology and deep learning: The control system calls the tree diameter and root zone size database based on the diameter of the fruit trees and the tree-machine distance conveyed by the lidar and visual camera, conducts deep learning and calculates decisions, intelligently explores the optimal root zone position and tree-machine distance information, and then outputs control signals to adjust the trenching depth, fertilization location and fertilization amount to achieve intelligent control.

[0038] Variable depth, position and variable quantity fertilization: With the help of the conveying auger speed change, the vertical moving pair of the spiral ditching device and the horizontal moving pair of the spiral ditching device in the fertilization device, the fertilizer amount, ditching depth and fertilization position are adjusted to realize the variable depth, position and variable quantity fertilization operation.

[0039] Quick tool change: The trenching tool is fastened by flange bolts, which makes it easy to quickly change the tool according to soil conditions and conditions.

[0040] Wide range of applications: The fertilizer spreader can be used in various types of orchards and fruit trees of different diameters, etc. It can meet the fertilization needs of different tree species and different soil conditions.

[0041] The fertilizer spreader can intelligently control the furrowing depth, fertilization position and amount, improve furrowing efficiency and fertilizer utilization, and reduce manpower and material consumption. Some existing spiral furrowing fertilizer spreaders on the market can perform furrowing and fertilization operations, but most of them lack intelligent control, making it difficult to achieve furrowing and fertilization operations with variable depth, position and variable, and unable to intelligently find the optimal root zone position and tree-machine distance according to the diameter of the fruit tree to adjust the furrowing depth, fertilization position and amount.

[0042] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent deformation falls within the protection scope required by the present invention.

Claims

1. A variable depth, position and variable variable intelligent furrowing and fertilizing machine based on the diameter of a fruit tree, comprising a frame (1) mounted on a traveling device (2), and a power device (3) supported on the frame (1), a fertilizing device (4), a spiral furrowing device (5), and a control device (6); the power device provides power for the traveling device; and is characterized in that: The fertilizing device comprises a bucket-shaped fertilizer box supported above the middle of the frame, and a conveying auger driven by a fertilizer driving motor is arranged at the bottom of the fertilizer box and the upper part thereof, forming a feeding mechanism for conveying fertilizer from the fertilizer box to the fertilizer discharge pipe according to control instructions; The spiral furrowing device comprises a column fixedly connected to the frame, wherein the column and a lifting slide driven by a lifting servo motor form a vertical moving pair; the lifting slide and a moving platform driven by a moving servo motor form a horizontal moving pair; The spiral furrowing device comprises a vertical spiral furrowing cutter driven by a spiral furrowing driving motor installed at the lower part of the mobile platform; A visual camera and a laser radar are installed in the middle of the frame for detecting information such as the tree diameter, the tree-machine distance and the position of the fruit tree root zone; the signal output ends of the visual camera and the laser radar are respectively connected to the corresponding input end pins of the main control circuit intelligent chip in the control system, and the control output ends of the intelligent chip are respectively connected to the controlled ends of the fertilization drive motor, the mobile servo motor, the spiral ditching drive motor and the lifting servo motor.

2. According to claim 1, the variable depth, position and variable intelligent ditching and fertilizing machine based on the diameter of fruit trees is characterized by: The power device comprises a diesel engine arranged at the upper rear of the frame, and the engine transmits the traveling power to the walking device mainly composed of a driving wheel, a load-bearing wheel, a crawler track and a crawler track tensioning wheel through a reducer.

3. According to claim 2, the variable depth, displacement and variable intelligent ditching and fertilizing machine based on the diameter of fruit trees is characterized by: The upper part of the conveying auger is provided with inclined material blocking plates which are distributed at intervals.

4. According to claim 3, the variable depth, position and variable intelligent trenching and fertilizing machine based on the diameter of fruit trees is characterized by: A lifting guide rail is installed in the vertical slide groove on the column, and the lifting slide seat is fixedly connected with a group of lifting sliders, and a vertical moving pair is formed with the column through the lifting sliders that are slidably matched with the lifting guide rail.

5. According to claim 4, the variable depth, position and variable intelligent ditching and fertilizing machine based on the diameter of fruit trees is characterized by: The lifting rack fixedly connected to one side of the column is meshed with the lifting driving gear, and the lifting driving gear is driven by the lifting servo motor installed in the lifting slide through the lifting driving reducer.

6. The intelligent trenching and fertilizing machine with variable depth, displacement and variable value based on the diameter of fruit trees according to claim 5 is characterized in that: The moving rack fixedly connected to the moving platform is meshed with the moving driving gear, and the moving driving gear is driven by a moving servo motor installed on one side of the lifting slide through a moving platform reducer.

7. The intelligent trenching and fertilizing machine with variable depth, displacement and variable value based on the diameter of fruit trees according to claim 6 is characterized in that: The lower part of the mobile platform is equipped with a vertical spiral trenching cutter which is connected to the spiral trenching drive motor through a trenching drive reducer and a flange bolt group.

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