A variable-depth, variable-position, variable-quantity intelligent trenching and fertilizing machine based on the diameter of fruit trees

Abstract

The present invention relates to a variable-depth, variable-position, and variable-rate intelligent trenching and fertilizing machine based on the diameter of fruit trees, belonging to the technical field of agricultural and forestry machinery. The intelligent trenching and fertilizing machine includes a frame arranged on a traveling device, as well as a power device, a fertilizing device, a spiral trenching device, and a control device supported on the frame; the fertilizing device is a feeding mechanism that conveys fertilizer from a fertilizer tank to a fertilizer discharging pipe according to a control instruction; the spiral trenching device contains a vertical moving pair and a horizontal moving pair; the spiral trenching device contains a vertical spiral trenching cutter driven by a spiral trenching drive motor installed under a moving platform; a vision camera and a lidar are installed in the middle of the frame, and their signal output ends are respectively connected to the corresponding input end pins of an intelligent chip, and the control output ends of the intelligent chip are respectively connected to the controlled ends of the fertilizing, moving, spiral trenching, and lifting motors. The present invention realizes working at the optimal root zone position, controls variable depth, variable position, and variable rate, and after trenching in the soil, evenly scatters the fertilizer into the trench.

Description

Technical Field

[0001] The present invention relates to a fertilizer applicator, in particular to a variable-depth, variable-position, variable-rate intelligent trenching fertilizer applicator based on the diameter of fruit trees, belonging to the technical field of agricultural and forestry machinery. Background Art

[0002] As is known to those skilled in the art, trenching is a time-consuming and laborious task during the fertilization process of fruit trees in orchards. Currently, in addition to manual excavation with hoes, special trenching machines have begun to be used in orchards. First, a cuboid trench is dug along the tree row, and then fertilizers are poured in. Such trenching machines not only have the disadvantages of easy flameout, difficult control of trenching depth, and the need to move the whole machine for adjusting the trenching position during the trenching process, but also cannot perform trenching and fertilization simultaneously, still requiring manual labor and being time-consuming and laborious. In addition, some orchards use injection fertilization for fruit trees, but this fertilization method has reliability problems such as high requirements for systemic insecticides, liquid medicine backflow and leakage, and will cause certain damage to the trees.

[0003] Research shows that the optimal fertilizer-absorbing root zone of fruit trees is related to the diameter of the fruit trees. The larger the diameter, the larger the fertilizer-absorbing root zone of the root crown. The fertilization of traditional technologies not only cannot achieve one-time operation and has low work efficiency, but also easily causes root burning and insufficient fertilization in some root zones due to the concentration of fertilizers in some root zones (see Figure 10a 、 Figure 10b , where 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 in the figure).

[0004] Chinese Patent with application number 201510665050.6 discloses an orchard target-variable annular trenching fertilizer applicator, which includes a hydraulic transmission system, an annular trenching fertilizer applicator, a sensor detection system, and a controller. The hydraulic transmission system drives the annular trenching fertilizer applicator to make the trenching shovel move along the trenching trajectory; the annular trenching fertilizer applicator performs semi-annular trenching, fertilizer amount control, and soil covering for the fruit tree target; the sensor detection system obtains the traveling speed of the fertilizer applicator, the relative position between the fruit tree and the fertilizer applicator, and the crown width information; the controller sets the fertilizer discharge amount information for each fruit tree, processes the detection information of the sensor detection system, calculates the trenching trajectory and the fertilizer discharge rate, and controls the annular trenching fertilizer applicator to perform annular trenching along the trenching trajectory and uniform fertilization along the annular trench. However, this technical solution is mainly applicable to fruit trees with similar growth conditions in orchards, cannot perform precise fertilization for fruit trees with different diameters continuously, and does not obtain the optimal fertilizer-absorbing root zone through the traveling speed, the relative position between the fruit tree and the fertilizer applicator, and the crown width information, thus unable to achieve variable-depth fertilization.

[0005] The Chinese patent document with the application number 202410553675.2 discloses a fruit tree variable fertilization device and method based on the Internet of Things, including a substrate fixedly installed on a traction device, lifting cylinders symmetrically installed at the upper end of the substrate, side support plates fixedly connected to the upper ends of the lifting cylinders, a fertilizer loading component, a material control component, a monitoring component, and an anti-blocking component. By setting up the monitoring component to monitor and feedback the composition of the air around the fruit tree roots in real time, the most suitable trench depth and fertilization amount can be obtained. Subsequently, the material control component is used to control the discharge of fertilizer to meet the fertilization operations with different fertilizer amounts. At the same time, during the fertilization process, the anti-blocking component can reciprocally press the soil on both sides of the trench to prevent soil blocks from backfilling and affecting the fertilization depth, and also avoid fertilizer blockage, improving the fertilization efficiency. However, the technical solution of this patent is susceptible to environmental influence in component monitoring, resulting in an inability to accurately determine the optimal fertilizer absorption area, and unable to select tools according to different soil conditions, resulting in poor trench opening efficiency in different soil environments.

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

[0007] The purpose of the present invention is to provide an intelligent trench opening and fertilizing machine based on variable depth, variable position, and variable amount, which can measure dimensions by means of images, not only significantly improve work efficiency, but also quickly and accurately locate after judging the optimal fertilizer absorption area according to different tree diameters and tree machine distances, aiming at the shortcomings of the above-mentioned existing technologies.

[0008] To achieve the above purpose, the intelligent trench opening and fertilizing machine based on variable depth, variable position, and variable amount according to the diameter of the fruit tree of the present invention includes a frame (1) arranged on a traveling device (2), and a power device (3), a fertilizing device (4), a spiral trench opening device (5), and a control device (6) supported on the frame (1); the power device provides power for the traveling device;

[0009] The fertilizing device includes a hopper-shaped fertilizer tank supported above the middle of the frame. A conveying auger driven by a fertilizing drive motor leads from the bottom to the upper part of the fertilizer tank, constituting a feeding mechanism for conveying fertilizer from the fertilizer tank to the fertilizer discharging pipe according to a control instruction;

[0010] The spiral trenching device includes a column fixedly connected to the frame. The column and a lifting slide seat driven by a lifting servo motor form a vertical moving pair; the lifting slide seat and a moving platform driven by a moving servo motor form a horizontal moving pair.

[0011] The spiral trenching device includes a vertical spiral trenching cutter driven by a spiral trenching drive motor installed at the lower part of the moving platform.

[0012] A vision camera and a lidar for detecting information such as the tree diameter, the distance between the tree and the machine, and the position of the fruit tree root zone are installed in the middle of the frame. The signal output ends of the vision camera and the lidar are respectively connected to the corresponding input end pins of the intelligent chip of the main control circuit in the control system. The control output ends of the intelligent chip are respectively connected to the controlled ends of the fertilizing drive motor, the moving servo motor, the spiral trenching drive motor, and the lifting servo motor.

[0013] During operation, the vision camera and the lidar are used to transmit detection signals such as the tree diameter, the position of the fruit tree root zone, and the distance between the tree and the machine to the intelligent chip, so that it can output corresponding control signals according to the predetermined relationship between the tree diameter, the trunk distance, the fertilizing amount, and the trenching position, and respectively control the driving of the fertilizing drive motor, the moving servo motor, the spiral trenching drive motor, and the lifting servo motor, so as to realize that the trenching device and the fertilizing device work at the optimal root zone position, control the spiral trenching and fertilizing machine to change depth, position, and amount, open a trench in the soil, and evenly spread the fertilizer into the trench to complete the fertilizing operation.

[0014] Compared with 201510665050.6, the present application uses a lidar and a vision camera to perform real-time image measurement on the diameter of the fruit tree trunk and the distance between the tree and the machine, and transmits the relevant data to the intelligent electric cabinet. The intelligent electric cabinet calls the database of the tree diameter and the root zone size, determines the optimal root zone position, and then adjusts the fertilizing amount, the trenching depth, and the fertilizing position through the variable speed of the conveying auger in the fertilizing device, the vertical moving pair of the spiral trenching device, and the horizontal moving pair of the spiral trenching device to achieve precise variable-depth, variable-position, and variable-amount fertilization.

[0015] A further improvement of the present invention is that the power device includes a diesel engine installed at the upper rear of the frame. The engine transmits the traveling power to a traveling device mainly composed of driving wheels, load-bearing wheels, crawlers, and crawler tensioning wheels through a speed reducer.

[0016] A further improvement of the present invention is that inclined baffle plates are arranged at intervals on the upper part of the conveying auger.

[0017] A further improvement of the present invention is that a lifting guide rail is installed in the vertical sliding groove on the column, and the lifting slide seat is fixedly connected with a set of lifting sliders, and forms a vertical moving pair with the column through the lifting sliders that are slidably matched with the lifting guide rail.

[0018] A further improvement of the present invention is that the lifting rack fixedly connected to one side of the column meshes with the lifting drive gear, and the lifting drive gear is driven by a lifting servo motor installed in the lifting slide seat through a lifting drive reduction gear.

[0019] A further improvement of the present invention is that the moving rack fixedly connected to the moving platform meshes with the moving drive gear, and the moving drive gear is driven by a moving servo motor installed on one side of the lifting slide seat through a moving platform reduction gear.

[0020] A further improvement of the present invention is that a vertical spiral trenching cutter connected by a flange bolt group is installed at the lower part of the moving platform through a trenching drive reduction gear by a spiral trenching drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional structure diagram of an embodiment of the present invention.

[0022] Figure 2 is Figure 1 a schematic diagram of the planar projection structure of the embodiment. [[ID=XX]]

[0023] [[ID=XX]] Figure 3 is Figure 1 a schematic diagram of the three-dimensional structure of the main part of the fertilizing device of the embodiment.

[0024] Figure 4 is Figure 1 a schematic diagram of the three-dimensional structure of another perspective of the embodiment.

[0025] Figure 5 is Figure 1 a schematic diagram of the structure of the vertical moving pair of the spiral trenching device of the embodiment.

[0026] Figure 6 is Figure 1 a schematic diagram of the structure of the horizontal moving pair of the spiral trenching device of the embodiment.

[0027] Figure 7 is Figure 1 a schematic diagram of the three-dimensional exploded structure of the embodiment.

[0028] Figure 8 is Figure 1 a schematic diagram of the main control circuit principle of the embodiment.

[0029] Figure 9 is Figure 1 a control statistical table of the embodiment.

[0030] Figure 10a , Figure 10b are respectively the schematic diagrams before and after ditching and fertilizing in the prior art.

[0031] In the figure: 1. Frame; 2. Traveling device; 3. Power device; 4. Fertilizing device; 5. Spiral ditching device; 6. Control device; 21. Diesel engine; 22. Reducer; 23. Driving wheel; 24. Load-bearing wheel; 25. Crawler; 26. Crawler tensioning wheel; 31. Fertilizer tank; 32. Fertilizing drive motor; 33. Synchronous belt; 34. Baffle plate; 35. Conveyor auger; 36. Fertilizer discharge pipe; 41. Mobile servo motor; 42. Mobile platform reducer; 43. Mobile rack; 44. Mobile drive gear; 45. Mobile guide rail; 46. Spiral ditching drive motor; 47. Mobile slider; 48. Ditching drive reducer; 49. Flange bolt group; 50. Spiral ditching cutter; 51. Cable drag chain; 52. Lifting drive gear; 53. Lifting drive reducer; 54. Lifting servo motor; 55. Lifting slider; 56. Lifting guide rail; 57. Vertical rack; 58. Vertical chute; 61. Intelligent system display screen; 62. Intelligent electrical cabinet; 63. Battery pack; 64. Vision camera; 65. Lidar; 66. Fertilizer granules; 71. Soil fragmentation; 72. Compost; 73. Root fertilizer absorption area; 74. Soil covering operation area. Specific embodiments

[0032] The following describes in detail the specific embodiments of the present invention with reference to the accompanying drawings.

[0033] As shown in the Figure 1 accompanying drawings, the intelligent spiral ditching and fertilizing machine based on variable depth, variable position and variable quantity in this embodiment is referred to Figure 1 . The power device 3, the fertilizing device 4, the spiral ditching device 5 and the control device 6 are supported on the frame 1. The frame 1 is welded by steel structure and is in an overall rectangular frame, and is installed on the traveling device 2, so that the whole machine can walk stably in the orchard.

[0034] The power device 3 is referred to Figure 2, the diesel engine 21 installed at the upper rear of the frame 1 transmits the traveling power to the traveling device 2 mainly composed of a driving wheel 23, a load-bearing wheel 24, a crawler 25, and a crawler tensioning wheel 26. It is not difficult to see that the traveling device is installed at the bottom of the frame and consists of a driving wheel, a load-bearing wheel, a crawler, and a crawler tensioning wheel. The driving wheel is located at the rear end of the device and is connected to the power device to provide traveling power for the device. The load-bearing wheels are evenly distributed under the device to support the weight of the entire machine. The crawler surrounds the driving wheel, the load-bearing wheel, and the crawler tensioning wheel and contacts the ground to realize the movement of the machine. The crawler tensioning wheel is set at an appropriate position to adjust the tension of the crawler and ensure the normal operation of the crawler and good grip. The power device provides power for the fertilizer applicator and adopts an engine, a reducer, and a motor. The engine is connected to the crawler-type traveling structure through a synchronous belt and a reducer to drive the machine to move forward steadily.

[0035] For the fertilizer application device 4, see Figure 3 , at the bottom of the hopper-shaped fertilizer tank 31 supported above the middle of the frame 1, a conveying auger 35 with inclined baffle plates 34 distributed at intervals is provided from the bottom to the upper part. The conveying auger is driven by a fertilizer application drive motor 32 controlled by a control system through a synchronous belt 33, forming a feeding mechanism that can convey fertilizer from the fertilizer tank 31 to the fertilizer discharging pipe 36 according to the instructions of the control system. The fertilizer tank is used to store fertilizer, the feeding mechanism conveys the fertilizer from the fertilizer tank to the fertilizer discharging pipe according to the instructions of the control system, and the fertilizer discharging pipe evenly scatters the fertilizer into the ditch.

[0036] For the spiral ditching device 5, see Figure 4 , Figure 5 and Figure 6 , a lifting guide rail 56 is installed in a vertical chute 58 on a vertical column V fixedly connected to the frame 1. A lifting slide seat B is fixedly connected with a set of lifting sliders 55, and forms a vertical moving pair with the vertical column V through the lifting sliders 55 slidably mated with the lifting guide rail 56. A lifting rack 57 fixedly connected to one side of the vertical column V meshes with a lifting drive gear 52, and the lifting drive gear 52 is driven by a lifting servo motor 54 installed in the lifting slide seat B through a lifting drive reducer 53. A cable drag chain 51 is installed above the vertical column V to protect and guide the circuit cables and extend the service life of the cables. The lower part of the lifting slide seat B forms a horizontal moving pair with a moving guide rail 45 installed on a moving platform H through a fixedly connected moving slider 47. A moving rack 43 fixedly connected to the moving platform H meshes with a moving drive gear 44, and the moving drive gear 44 is driven by a moving servo motor 41 installed on one side of the lifting slide seat B through a moving platform reducer 42.

[0037] See Figure 6, a vertical spiral trenching tool 50 connected by a flange bolt group 49 is installed at the lower part of the mobile platform H through a trenching drive reduction gear 48 driven by a spiral trenching drive motor 46. Since the trenching tool adopts a flange bolt group connection method, rapid tool change can be achieved to meet the precise fertilization requirements under different soil environments and different tree diameters.

[0038] See Figure 4 , a vision camera 64 and a lidar 65 for detecting information such as tree diameter size, fruit tree root zone position, and tree-machine distance are installed in the middle of the frame 1. The signal output ends of the vision camera 64 and the distance-measuring lidar 65 are respectively connected to PA5 and PA6 of the intelligent chip U1 (see Figure 8 ) of the main control circuit in the control system 6, for transmitting detection signals such as tree diameter size, fruit tree root zone position, and tree-machine distance to U1. U1 outputs corresponding control signals by PB8, PB6, PB7, PB9 according to the pre-determined tree diameter, trunk distance, fertilization amount, and trenching position depth statistical table (see Figure 9 ), and respectively controls the fertilization drive motor 32, the mobile servo motor 41, the spiral trenching drive motor 46, and the lifting servo motor 54, driving the trenching device and the fertilization device to work at the optimal root zone position - controlling the variable depth, variable position, and variable quantity of the spiral trenching fertilizer applicator. The spiral trenching device 5 trenches in the soil, and the fertilization device 4 evenly scatters fertilizers into the trench to complete the fertilization operation. The vertical moving pair and the horizontal moving pair of the spiral trenching device respectively control the variable depth and variable position of the trenching device. The spiral trenching tool is connected to the machine through a flange bolt group and is driven by a spiral trenching drive motor and a trenching drive reduction gear to rotate and trench.

[0039] More specifically, Figure 4 the intelligent system display screen 61 in []] is used to display information visualization. The intelligent electric cabinet 62 generates and outputs control signals according to the information of the vision camera 64 and the lidar 65. The battery pack 63 provides electrical energy for the intelligent electric cabinet 62. Figure 8(1) Analog quantity acquisition: Pins PA0 and PA1 are used as analog quantity signal acquisition pins to collect the signals fed back by the draw-wire sensor, which are used to measure the left-right and up-down movement positions of the fertilizing and trenching device. Pin PA2 collects the knob signal, which is used to measure and control the motor speed. (2) Digital quantity input: The SIGNAL signal is externally connected to the DIN port to detect digital quantity signals such as emergency stop, manual / start switchover, up-down movement of the fertilizing device, etc. (3) Digital quantity output: A 5V digital quantity signal is output to the DOUT port through the PWM pin, and two PWM signals are output for driving the motor to move horizontally and vertically. (4) Analog quantity output: Pins PB6 and PB7 are for IIC communication, which is used to control the output of 0 - 5V analog quantity signal to control the motor speed. (5) Host computer communication: Pins PA9 and PA10 are for USART communication, communicating with the host computer's USB interface, receiving the control signals sent by the host computer, and sending the current states of the fertilizing device and the spiral trenching device. The intelligent system display screen is used to display various parameters such as tree diameter, fertilizing amount, trenching depth, etc.

[0040] In this embodiment, when determining the variable relationship between the tree diameter and the optimal root zone position, the following is considered: As the tree diameter increases, the area or range of the root zone also shows an increasing trend. Assume that there is an empirical formula to describe the relationship between the 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, the statistical data is imported, and based on Internet technology and deep learning, it can be used for fertilizing amounts and trenching depths of different tree diameters to achieve the optimal fertilization operation: For different tree diameters and tree-machine distances, find the optimal fertilizer-absorbing root zone of the fruit tree, and then perform variable-depth, variable-position, and variable-rate fertilization control. At the same time, complete the operations of trenching, soil covering, and soil-fertilizer mixing in one go.

[0041] Tests show that this embodiment of the present application is applicable to fruit tree fertilization in orchards with different environments, different sizes, and different heights, and has the following beneficial effects:

[0042] Intelligent control based on Internet technology and deep learning: The control system, based on the fruit tree diameter and tree-machine distance conveyed by the lidar and the vision camera, calls the database of tree diameter and root zone size, conducts deep learning and calculation for decision-making, intelligently explores the optimal root zone position and tree-machine distance information, and then outputs control signals to adjust the trenching depth, fertilization position, and fertilization amount to achieve intelligent control.

[0043] Variable-depth, variable-position, and variable-rate fertilization: By means of the variable speed of the conveying auger in the fertilizing device, the vertical moving pair of the spiral trenching device, and the horizontal moving pair of the spiral trenching device, the fertilization amount, trenching depth, and fertilization position are adjusted to achieve variable-depth, variable-position, and variable-rate fertilization operations.

[0044] Quick tool change: The trenching tool is fastened by flange bolts, facilitating the quick replacement of the tool according to soil conditions and requirements.

[0045] Wide application range: The fertilizer applicator can be applied to various types of orchards and fruit trees with different tree diameters, meeting the fertilization requirements under different tree species and soil conditions.

[0046] This fertilizer applicator can intelligently control the trenching depth, fertilization position, and fertilization amount, improving the trenching efficiency and fertilizer utilization rate, and reducing the consumption of human and material resources. Some existing spiral trenching and fertilizing machines on the current market can perform trenching and fertilizing operations, but most of them lack intelligent control, making it difficult to achieve variable-depth, variable-position, and variable-rate trenching and fertilizing operations, and unable to intelligently find the optimal root zone position and the distance between the tree and the machine according to the tree diameter of the fruit tree to adjust the trenching depth, fertilization position, and fertilization amount.

[0047] In addition to the above embodiments, the present invention may have other embodiments. Any technical solutions formed by equivalent replacement or equivalent deformation fall within the protection scope required by the present invention.

Claims

1. A variable-depth, variable-position, variable-quantity intelligent trench-digging and fertilizing machine based on the diameter of fruit trees, comprising a frame installed on a traveling device, and a power device, a fertilizing device, a spiral trench-digging device, and a control device supported on the frame; the power device provides power for the traveling device; it is characterized in that: The fertilizing device includes a hopper-shaped fertilizer tank supported above the middle of the frame. The bottom of the fertilizer tank leads to a feeding auger driven by a fertilizing drive motor in the upper part, forming a feeding mechanism for conveying fertilizer from the fertilizer tank to the fertilizer discharge pipe according to control instructions; The spiral trench-digging device includes a column fixedly connected to the frame. The column and a lifting slide seat driven by a lifting servo motor form a vertical moving pair; the lifting slide seat and a moving platform driven by a moving servo motor form a horizontal moving pair; The spiral trench-digging device includes a vertical spiral trench-digging cutter installed under the moving platform and driven by a spiral trench-digging drive motor; A vision camera and a lidar for detecting the tree diameter, the distance between the tree and the machine, and the position information of the fruit tree root zone are installed in the middle of the frame. The signal output ends of the vision camera and the lidar are respectively connected to the corresponding input terminal pins of the intelligent chip of the main control circuit in the control system. The control output ends of the intelligent chip are respectively connected to the controlled ends of the fertilizing drive motor, the moving servo motor, the spiral trench-digging drive motor, and the lifting servo motor; The control system calls the database of tree diameter and root zone size based on the fruit tree diameter and the distance between the tree and the machine conveyed by the lidar and the vision camera, conducts in-depth learning and calculation for decision-making, intelligently explores the optimal root zone position and the distance information between the tree and the machine, and then outputs control signals to adjust the trench-digging depth, the fertilizing position, and the fertilizing quantity to achieve intelligent control.

2. The variable-depth, variable-position, and variable-quantity intelligent trenching and fertilizing machine based on the diameter of fruit trees according to claim 1, wherein: The power device includes a diesel engine installed at the upper rear of the frame. The engine transmits the traveling power to the traveling device composed of drive wheels, load-bearing wheels, crawlers, and crawler tensioning wheels through a speed reducer.

3. The intelligent trenching and fertilizing machine with variable depth, displacement and variable amount based on the diameter of fruit trees according to claim 2, characterized in that: Inclined baffle plates are arranged at intervals in the upper part of the feeding auger.

4. The intelligent trenching and fertilizing machine with variable depth, displacement and variable amount based on the diameter of fruit trees according to claim 3, wherein: Lifting guide rails are installed in the vertical sliding grooves on the column. The lifting slide seat is fixedly connected with a group of lifting sliders, and forms a vertical moving pair with the column through the lifting sliders slidingly matched with the lifting guide rails.

5. The intelligent trenching and fertilizing machine with variable depth, displacement and variable amount based on the diameter of fruit trees according to claim 4, characterized in that: A lifting rack fixedly connected to one side of the column meshes with a lifting drive gear. The lifting drive gear is driven by a lifting servo motor installed in the lifting slide seat through a lifting drive speed reducer.

6. The intelligent trenching and fertilizing machine with variable depth, displacement and quantity based on the diameter of fruit trees according to claim 5, wherein: A moving rack fixedly connected to the moving platform meshes with a moving drive gear. The moving drive gear is driven by a moving servo motor installed on one side of the lifting slide seat through a moving platform speed reducer.

7. The intelligent trenching and fertilizing machine with variable depth, position and amount based on the diameter of fruit trees according to claim 6, wherein: A vertical spiral trench-digging cutter connected by a flange bolt group is installed under the moving platform and driven by a spiral trench-digging drive motor through a trench-digging drive speed reducer.

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