Intelligent fertilizer applicator equipment capable of automatically avoiding obstacles and fertilizer application method thereof

Abstract

The invention discloses intelligent fertilizer applicator equipment capable of automatically avoiding obstacles and a fertilizer application method of the intelligent fertilizer applicator equipment, and particularly relates to the technical field of agricultural equipment.The intelligent fertilizer applicator equipment comprises a fixing seat, driving wheels are arranged at the bottom of the fixing seat, a material barrel is arranged on one side of the top of the fixing seat, and a fixing frame is fixedly connected to one side of the top of the fixing seat; an electric push rod is fixedly connected to the inner wall of the middle of the bottom end of the fixing frame, a push plate is fixedly connected to the output end of the bottom of the electric push rod, an inner pipe is fixedly connected to the center of the bottom of the push plate, and one end of the material barrel communicates with a guide pipe. In the fertilizing process, in the reciprocating motion process of the outer pipe, the worm and the stirring shaft are driven to rotate through transmission of the transmission mechanism, the stirring shaft rotates to drive the stirring rod to rotate synchronously so as to stir the fertilizer in the material barrel, the fertilizer can be stirred and mixed without extra power, and the fertilizing efficiency is improved. And the energy-saving performance of the device is improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural equipment, and more specifically, to an intelligent fertilizer spreader device capable of automatically avoiding obstacles and a fertilization method thereof. Background Art

[0002] Fertilizers are of great significance to the growth of crops and to increasing crop yields. In addition to absorbing water and carbon dioxide in the air to obtain elements such as carbon, hydrogen, and oxygen, crops must also absorb nitrogen, phosphorus, potassium, and other mineral nutrients from the soil, and synthesize organic matter with the help of solar energy to build their own organisms. However, the macronutrients of nitrogen, phosphorus, potassium, and other mineral nutrients in the soil generally cannot meet the needs of crop growth, and fertilizers containing nitrogen, phosphorus, and potassium are needed to supplement them.

[0003] After searching, the existing patent publication number: CN112567947A discloses an intelligent fertilization equipment based on the Internet of Things, including a fixed frame, a plurality of support legs are evenly arranged at the bottom of the fixed frame, a roller is arranged on the support leg, a push handle is arranged on the fixed frame, a fertilizer bin is arranged on the fixed frame, a discharge port is arranged at the bottom of the fertilizer bin, and a fertilizer storage pipe is arranged at the bottom of the fertilizer bin, a discharge device and a control device are arranged on the fertilizer storage pipe, and a landfill device for burying fertilizer on the land near the seedlings is arranged on the fertilizer storage pipe. The capacity of the fertilizer storage pipe is controlled by the control device, thereby automatically controlling the single fertilization amount, and the adjusted fertilizer amount can be discharged by the discharge device, and the discharged fertilizer can be buried on the land near the seedlings by the landfill device. The distance between the fertilizer landfill and the seedlings can also be adjusted according to actual needs, so that the seedlings can be fertilized automatically, and the fertilizer can be automatically buried, saving manpower, improving fertilization efficiency, and avoiding fertilizer being directly spread on the ground. In the process of realizing this application, the inventor found that the prior art has the following problems:

[0004] At present, fertilization equipment is often manually controlled, and does not have the functions of automatic fertilization and obstacle avoidance. At the same time, during the fertilization process, the plow shovel of the fertilization equipment often relies solely on traction to statically cut the soil, which has a large resistance. At the same time, the plow shovel is prone to soil adhesion. At the same time, when fertilizing in deep soil, the nozzle is easily blocked by the soil. At the same time, when stirring the fertilizer, a separate driving mechanism is often required to drive the stirring, which consumes a lot of energy.

[0005] Therefore, in view of the above problems, an intelligent fertilizer spreader device capable of automatically avoiding obstacles and a fertilization method thereof are proposed.

[0006] Application Contents

[0007] In order to overcome the above-mentioned defects of the prior art, the present application provides an intelligent fertilizer spreader device capable of automatically avoiding obstacles and a fertilization method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions: an intelligent fertilizer spreader device that can automatically avoid obstacles, comprising a fixed seat, a driving wheel is arranged at the bottom of the fixed seat, a foldable armrest is fixedly connected to an outer wall of one side of the fixed seat, a material bucket is arranged on one side of the top of the fixed seat, a fixed frame is fixedly connected to one side of the top of the fixed seat, an electric push rod is fixedly connected to the inner wall of the middle part of the bottom end of the fixed frame, a push plate is fixedly connected to the bottom output end of the electric push rod, a limiting groove is arranged in the middle of the fixed seat, an inner tube is fixedly connected to the bottom center of the push plate, an outer tube is sleeved on the outer wall of the inner tube, the inner tube and the outer tube are slidably connected, the outer tube and the inner tube pass through the limiting groove, an elastic steel plate is arranged and connected at the top edge of the outer tube, the end of the elastic steel plate away from the outer tube is connected to the push plate, one end of the material bucket is connected with a conduit, the conduit passes through the push plate and is connected with the inner tube, and a water pump is arranged in the middle of the conduit.

[0009] Preferably, a top block is fixedly connected to the bottom edge of the inner tube, the bottom end of the inner tube is connected to a nozzle, a spike portion is provided at the bottom end of the outer tube, and the outer walls on both sides of the spike portion are movably connected to side plates through a rotating shaft, a torsion spring is sleeved on the outer wall of the rotating shaft, and the two ends of the torsion spring are respectively connected to the side plate and the outer tube, the outer wall of the top block matches the inner wall of the side plate, the two groups of side plates are closed, and trigger switches are provided at the abutment of the two groups of side plates.

[0010] Preferably, mounting holes are arranged on both sides of the outer walls of the outer tube located at the top of the limit groove, one side of the mounting hole is connected to the limit block by bolts, a tooth groove is provided on the outer wall of the outer tube close to the barrel, a connecting frame is fixedly provided on the top side of the limit groove, a rotating rod is connected to the middle part of the connecting frame through a bearing, a gear is fixedly connected to the middle outer wall of the rotating rod, the gear is meshed with the tooth groove, and a graphite lubrication groove is provided at the meshing position of the gear 24 and the tooth groove 21.

[0011] Preferably, the middle inner wall of the barrel is connected to a stirring shaft through a bearing, the outer wall of the stirring shaft is arranged with stirring rods, the bottom end of the stirring shaft passes through the barrel and is connected to a worm gear, a transmission mechanism is arranged on one side of the bottom of the barrel, the transmission mechanism includes a transmission box, a worm, a transmission shaft, a first bevel gear and a second bevel gear, the stirring rod is made of spring steel, and a crushing tooth is arranged at the end.

[0012] Preferably, the transmission box is fixedly connected to one side of the top of the fixed seat, the worm wheel is arranged inside the transmission box, one inner wall of the transmission box is connected to a worm through a bearing, the worm and the worm wheel are meshed, one end of the worm is connected to a transmission shaft, the transmission shaft and the transmission box are connected through a bearing, one outer wall of the rotating rod is fixedly connected to a No. 1 bevel gear, one end of the transmission shaft passes through the transmission box and is connected to a No. 2 bevel gear, the No. 1 bevel gear is meshed with the No. 2 bevel gear.

[0013] Preferably, an auxiliary frame is provided on one side of the bottom of the fixed seat, the bottom end of the auxiliary frame is connected to an auxiliary rod through a bearing, both ends of the auxiliary rod are connected to auxiliary rollers, a cam is fixedly connected to the middle outer wall of the auxiliary rod, a fixing plate is fixedly connected to one side of the auxiliary frame, a push rod is connected through the middle of the fixing plate, one end of the push rod is connected to an arc plate, the outer wall of the arc plate abuts against the cam, a spring is arranged and connected at one end of the arc plate away from the cam, the end of the spring away from the arc plate is connected to the fixed plate, and the end of the push rod away from the arc plate is connected to a vibration block.

[0014] Preferably, one side of the bottom of the fixed seat is connected to a plow bar through a movable shaft, and the bottom end of the plow bar is movably connected to a plow shovel through a limit hinge, one side of the plow shovel abuts against a vibration block, and the contact surface between the vibration block and the plow shovel is a wedge-shaped locking structure, and an electric telescopic rod is provided on one side of the plow bar, one end of the electric telescopic rod is connected to the fixed seat through a movable shaft, and the output end of the electric telescopic rod is connected to the plow bar through a movable shaft.

[0015] Preferably, a high-definition camera is provided on one side of the fixing seat, a laser radar is provided on one side of the high-definition camera, a control cabinet is provided on one side of the barrel, a processing controller is provided inside the control cabinet, a positioning unit is provided on one side of the processing controller, and a mobile power supply is provided on one side of the bottom of the control cabinet.

[0016] Preferably, the fertilization method comprises the following steps:

[0017] Step 1: First, inject fertilizer into the bucket through the feed port on the top of the bucket, set the fertilization route in advance, and the driving wheel is driven by the motor to drive the fertilization equipment to automatically walk and fertilize. During the walking process, the high-definition camera and laser radar are used to scan the walking process, and then the signal is transmitted to the processing controller to determine whether there is an obstacle. If an obstacle is detected, the processing controller controls the driving wheel to automatically avoid it;

[0018] Step 2: The auxiliary roller of the fixed seat rotates while assisting the movement during the movement, and the rotation drives the auxiliary rod to rotate synchronously, and the rotation of the auxiliary rod drives the cam to rotate, and the rotation of the cam drives the arc plate and the top rod to push the vibration block to reciprocate, and the reciprocating movement of the vibration block causes the plow shovel to vibrate, thereby quickly plowing the land;

[0019] Step 3: During the fertilization process, the push plate is pushed to reciprocate by the electric push rod, thereby driving the inner tube and the outer tube to reciprocate. When the limit block on one side of the outer tube abuts against the top of the limit groove, the outer tube stops moving, and the inner tube continues to move downward. At the same time, the elastic steel plate is compressed and contracted, and the movement of the inner tube drives the nozzle and the top block to move, so that the top block pushes the two sets of side plates open. When the two sets of side plates are pushed open, the trigger switch receives a signal and transmits the signal to the processing controller, and the processing controller controls the water pump to start, so as to carry out fertilization and spraying. When the inner tube is lifted, the two sets of side plates are automatically closed, thereby triggering the switch to receive a signal to control the water pump to close. The fertilization spacing is accurately controlled by controlling the extension and retraction speed of the electric push rod;

[0020] Step 4: During the reciprocating motion of the outer tube, the tooth grooves on the side wall of the outer tube drive the gear to rotate, the rotation of the gear drives the rotating rod to rotate, the rotation of the rotating rod drives the No. 1 bevel gear to rotate synchronously, and the transmission of the transmission mechanism drives the worm and the stirring shaft to rotate. The rotation of the stirring shaft drives the stirring rod to rotate synchronously, thereby achieving the mixing of the fertilizer inside the barrel.

[0021] Technical effects and advantages of this application:

[0022] 1. Compared with the prior art, in this intelligent fertilizer spreader device that can automatically avoid obstacles and its fertilization method, during the fertilization process, when the outer tube reciprocates, the tooth grooves on the side wall of the outer tube drive the gear to rotate, the rotation of the gear drives the rotating rod to rotate, the rotation of the rotating rod drives the No. 1 bevel gear to rotate synchronously, the transmission of the transmission mechanism drives the worm and the stirring shaft to rotate, the rotation of the stirring shaft drives the stirring rod to rotate synchronously, thereby realizing the stirring of the fertilizer inside the barrel, realizing the stirring and mixing of the fertilizer without additional power, and improving the energy saving of the device.

[0023] 2. Compared with the prior art, the intelligent fertilizer spreader equipment and fertilization method capable of automatic obstacle avoidance and the auxiliary roller can assist the device to move on the ground so as to pass through various complex road surfaces. At the same time, when the auxiliary roller rotates, the auxiliary rod will be driven to rotate synchronously. The rotation of the auxiliary rod drives the cam to rotate. The rotation of the cam drives the arc plate and the top rod to push the vibration block to reciprocate. The reciprocating motion of the vibration block oscillates the plow shovel, thereby quickly plowing the land. The plow shovel cuts grooves in the soil to provide a channel for subsequent fertilization. The vibration effect makes it easier for the plow shovel to cut into hard soil. Under the same traction force, the tillage depth can be increased by 5-10cm. At the same time, the vibration produces a slight displacement, which effectively prevents the accumulation of wet and sticky soil on the shovel surface and maintains the continuity of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of this application.

[0025] Figure 2 This is a schematic diagram of the three-dimensional structure of the outer tube of this application;

[0026] Figure 3 This is a schematic diagram of the three-dimensional structure of the spike portion of the present application;

[0027] Figure 4 This is a schematic diagram of the gear and tooth groove connection structure of the present application;

[0028] Figure 5 This is a schematic diagram of the connection structure between the outer tube and the inner tube of the present application;

[0029] Figure 6 This is a schematic diagram of the transmission mechanism connection structure of this application;

[0030] Figure 7 This is a schematic diagram of the connection structure between the auxiliary frame and the auxiliary rod of the present application;

[0031] Figure 8 This is a schematic diagram of the connection structure between the cam and the arc plate of the present application.

[0032] The accompanying drawings are marked as follows: 1, fixed seat; 2, driving wheel; 3, foldable armrest; 4, bucket; 5, fixed frame; 6, electric push rod; 7, push plate; 8, limit groove; 9, inner tube; 10, outer tube; 101, catheter; 102, water pump; 11, elastic steel plate; 12, top block; 13, nozzle; 14, spike; 15, rotating shaft; 16, side plate; 17, torsion spring; 18, trigger switch; 19, mounting hole; 20, limit block; 21, tooth groove; 22, connecting frame; 23, rotating rod; 24, gear; 25, stirring shaft; 26, stirring Mixing rod; 27. Worm gear; 28. Transmission mechanism; 29. ​​Transmission box; 30. Worm; 31. Transmission shaft; 32. No. 1 bevel gear; 33. No. 2 bevel gear; 34. Auxiliary frame; 35. Auxiliary rod; 36. Auxiliary roller; 37. Cam; 38. Fixed plate; 39. Push rod; 40. Arc plate; 41. Spring; 42. Vibrating block; 43. Plow rod; 44. Plow shovel; 45. Electric telescopic rod; 46. High-definition camera; 47. LiDAR; 48. Control cabinet; 49. Processing controller; 50. Positioning unit; 51. Mobile power supply. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] Example 1

[0035] As attached Figures 1 to 8 The intelligent fertilizer spreading machine device capable of automatically avoiding obstacles shown in the figure comprises a fixed seat 1, a driving wheel 2 is arranged at the bottom of the fixed seat 1, a foldable armrest 3 is fixedly connected to the outer wall of one side of the fixed seat 1, a material bucket 4 is arranged on the top side of the fixed seat 1, a fixed frame 5 is fixedly connected to the top side of the fixed seat 1, an electric push rod 6 is fixedly connected to the inner wall of the middle part of the bottom end of the fixed frame 5, a pushing plate 7 is fixedly connected to the bottom output end of the electric push rod 6, a limiting groove 8 is arranged in the middle of the fixed seat 1, and a pushing plate 7 is fixedly connected to the bottom output end of the electric push rod 6. An inner tube 9 is fixedly connected to the bottom center of the plate 7, an outer tube 10 is sleeved on the outer wall of the inner tube 9, the inner tube 9 and the outer tube 10 are slidingly connected, the outer tube 10 and the inner tube 9 pass through the limiting groove 8, and an elastic steel plate 11 is arranged and connected at the top edge of the outer tube 10, and the end of the elastic steel plate 11 away from the outer tube 10 is connected to the push plate 7, one end of the barrel 4 is connected with a conduit 101, the conduit 101 passes through the push plate 7 and is connected to the inner tube 9, and a water pump 102 is arranged in the middle of the conduit 101.

[0036] Among them, the fixed seat 1 plays a stabilizing role for the overall frame structure of the fertilizer spreader equipment, the driving wheel 2 is driven and steered by the motor control, the driving wheel 2 is the prior art and therefore will not be described in detail in the specification, the foldable armrest 3 can be folded and retracted during automatic fertilization, and can be unfolded during manual fertilization to facilitate the control of the device to walk, and during fertilization, the electric push rod 6 pushes the push plate 7 to reciprocate, thereby driving the inner tube 9 and the outer tube 10 to reciprocate, when the limit block 20 on one side of the outer tube 10 abuts against the top of the limit groove 8, the outer tube 10 stops moving, the inner tube 9 continues to move downward, and at the same time the elastic steel plate 11 is compressed and contracted, wherein the elastic steel plate 11 is elastic The spring steel material has high elasticity and is movably connected to the outer tube 10 and the push plate 7 through a rotatable shaft. The movement of the inner tube 9 drives the nozzle 13 and the top block 12 to move, so that the top block 12 pushes the two groups of side panels 16 open. When the two groups of side panels 16 are pushed open, the switch 18 is triggered to receive a signal and transmit the signal to the processing controller 49. The processing controller 49 controls the water pump 102 to start, so as to carry out fertilization and spraying. When the inner tube 9 is lifted, the two groups of side panels 16 are automatically closed, thereby triggering the switch 18 to receive a signal to control the water pump 102 to close. By controlling the extension and retraction speed of the electric push rod 6, the speed frequency of fertilization can be changed, thereby realizing precise control of the fertilization spacing during walking.

[0037] Example 2

[0038] Based on Example 1, the solution in Example 1 is further detailed in combination with the following specific working methods. Figures 1 to 8 As shown, see the following description for details:

[0039] As a preferred embodiment, a top block 12 is fixedly connected to the bottom edge of the inner tube 9, a nozzle 13 is connected to the bottom end of the inner tube 9, a spike portion 14 is provided at the bottom end of the outer tube 10, and the outer walls of the spike portion 14 on both sides are movably connected to side plates 16 through a rotating shaft 15. The outer wall of the rotating shaft 15 is sleeved with a torsion spring 17, and the two ends of the torsion spring 17 are respectively connected to the side plates 16 and the outer tube 10, the outer wall of the top block 12 matches the inner wall of the side plate 16, the two groups of side plates 16 are closed, and a trigger switch 18 is provided at the abutment of the two groups of side plates 16, wherein the side plates 16 can be pushed open by the top block 12, and the arrangement of the spike portion 14 can facilitate the nozzle 13 to penetrate into the soil, and at the same time, the spike portion 14 and the side plate 16 can protect the nozzle 13 from being blocked by the soil, and the torsion spring 17 can ensure that the side plate 16 can remain in a closed state when it is not pushed open by the top block 12.

[0040] As a preferred embodiment, mounting holes 19 are arranged on both sides of the outer walls of the outer tube 10 located at the top of the limiting groove 8, and one side of the mounting hole 19 is connected to the limiting block 20 by bolts. A tooth groove 21 is provided on the outer wall of the outer tube 10 on the side close to the barrel 4, and a connecting frame 22 is fixedly provided on the top side of the limiting groove 8. A rotating rod 23 is connected to the middle part of the connecting frame 22 through a bearing, and a gear 24 is fixedly connected to the middle outer wall of the rotating rod 23. The gear 24 is meshed with the tooth groove 21, and a graphite lubrication groove is provided at the meshing position of the gear 24 and the tooth groove 21, wherein the limiting block 20 plays a limiting role, and the position of the limiting block 20 can be changed by bolts so as to adjust the depth of the spike portion 14 inserted into the soil. During the reciprocating motion of the outer tube 10, the tooth groove 21 on the side wall of the outer tube 10 drives the gear 24 to rotate, and the rotation of the gear 24 drives the rotating rod 23 to rotate.

[0041] As a preferred embodiment, the middle inner wall of the barrel 4 is connected to a stirring shaft 25 through a bearing, and stirring rods 26 are arranged on the outer wall of the stirring shaft 25. The bottom end of the stirring shaft 25 passes through the barrel 4 and is connected to a worm gear 27. A transmission mechanism 28 is provided on one side of the bottom of the barrel 4. The transmission mechanism 28 includes a transmission box 29, a worm 30, a transmission shaft 31, a first bevel gear 32 and a second bevel gear 33. The stirring rod 26 is made of spring steel and has a breaking tooth at the end. The stirring shaft 25 can rotate inside the barrel 4, thereby driving the stirring rod 26 to rotate synchronously. The worm 30 and the stirring shaft 25 are driven by the transmission of the transmission mechanism 28 to rotate. The rotation of the stirring shaft 25 drives the stirring rod 26 to rotate synchronously, thereby realizing the mixing of the fertilizer inside the barrel 4.

[0042] As a preferred embodiment, a transmission box 29 is fixedly connected to one side of the top of the fixing seat 1, a worm wheel 27 is arranged inside the transmission box 29, a worm 30 is connected to the inner wall of one side of the transmission box 29 through a bearing, the worm 30 is meshed with the worm wheel 27, one end of the worm 30 is connected to a transmission shaft 31, the transmission shaft 31 is connected to the transmission box 29 through a bearing, an outer wall of one side of the rotating rod 23 is fixedly connected to a first bevel gear 32, one end of the transmission shaft 31 passes through the transmission box 29 and is connected to a second bevel gear 33, the first bevel gear 32 is meshed with the second bevel gear 33, wherein, when the outer tube 10 moves to During the reciprocating motion, the tooth groove 21 on the side wall of the outer tube 10 drives the gear 24 to rotate, the rotation of the gear 24 drives the rotating rod 23 to rotate, the rotation of the rotating rod 23 drives the first bevel gear 32 to rotate, the rotation of the first bevel gear 32 drives the second bevel gear 33 to rotate, the rotation of the second bevel gear 33 drives the transmission shaft 31 to rotate synchronously, the rotation of the transmission shaft 31 drives the worm 30 to rotate synchronously, the rotation of the worm 30 drives the worm wheel 27 to rotate, and thus drives the stirring shaft 25 to rotate, so that the fertilizer can be stirred and mixed without additional power, thereby improving the energy saving of the device.

[0043] As a preferred embodiment, an auxiliary frame 34 is provided on one side of the bottom of the fixed seat 1, the bottom end of the auxiliary frame 34 is connected to an auxiliary rod 35 through a bearing, both ends of the auxiliary rod 35 are connected to auxiliary rollers 36, the middle outer wall of the auxiliary rod 35 is fixedly connected to a cam 37, one side of the auxiliary frame 34 is fixedly connected to a fixed plate 38, the middle of the fixed plate 38 is penetrated by a push rod 39, one end of the push rod 39 is connected to an arc plate 40, the outer wall of the arc plate 40 is in contact with the cam 37, and the end of the arc plate 40 away from the cam 37 A spring 41 is arranged and connected, and one end of the spring 41 away from the arc plate 40 is connected to the fixed plate 38, and one end of the push rod 39 away from the arc plate 40 is connected to the vibration block 42, wherein the auxiliary roller 36 can assist the device to move on the ground so as to pass through various complex road surfaces, and at the same time, when the auxiliary roller 36 rotates, it will drive the auxiliary rod 35 to rotate synchronously, and the rotation of the auxiliary rod 35 drives the cam 37 to rotate, and the rotation of the cam 37 drives the arc plate 40 and the push rod 39 to push the vibration block 42 to reciprocate.

[0044] As a preferred embodiment, a plow bar 43 is connected to one side of the bottom of the fixed seat 1 through a movable shaft, and a plow shovel 44 is movably connected to the bottom end of the plow bar 43 through a limit hinge, one side of the plow shovel 44 abuts against the vibration block 42, and the contact surface between the vibration block 42 and the plow shovel 44 is a wedge-shaped locking structure, and an electric telescopic rod 45 is provided on one side of the plow bar 43, one end of the electric telescopic rod 45 is connected to the fixed seat 1 through a movable shaft, and the output end of the electric telescopic rod 45 is connected to the plow bar 43 through a movable shaft, wherein the plow shovel 44 is connected to the plow bar 43 through a limit hinge, wherein the limit hinge can only make the plow shovel 44 move With a slight rotation of 10 degrees, the vibration block 42 reciprocates to vibrate the plow shovel 44, thereby quickly plowing the land. The plow shovel 44 cuts grooves in the soil to provide a channel for subsequent fertilization. The vibration effect makes it easier for the plow shovel 44 to cut into hard soil. Under the same traction force, the tillage depth can be increased by 5-10cm. At the same time, the vibration produces a slight displacement, which effectively prevents wet and sticky soil from accumulating on the shovel surface and maintains the continuity of the operation. The electric telescopic rod 45 is connected to the plow bar 43 to limit and fix it. At the same time, the angle between the plow bar 43 and the plow shovel 44 can be adjusted for storage when not in use.

[0045] As a preferred embodiment, a high-definition camera 46 is provided on one side of the fixed seat 1, a laser radar 47 is provided on one side of the high-definition camera 46, a control cabinet 48 is provided on one side of the barrel 4, a processing controller 49 is provided inside the control cabinet 48, a positioning unit 50 is provided on one side of the processing controller 49, and a mobile power supply 51 is provided on the bottom side of the control cabinet 48. During the walking process, the device uses the high-definition camera 46 and the laser radar 47 to scan the moving process, and then transmits the signal to the processing controller 49 to determine whether there is an obstacle. When an obstacle is detected, the driving wheel 2 is controlled by the processing controller 49 to automatically avoid it.

[0046] As a preferred embodiment, the fertilization method comprises the following steps:

[0047] Step 1: First, inject fertilizer into the material barrel 4 through the feed port on the top of the material barrel 4, set the fertilization route in advance, and the driving wheel 2 is driven by the motor to drive the fertilization equipment to automatically walk and fertilize. During the walking process, the high-definition camera 46 cooperates with the laser radar 47 to scan the walking process, and then transmits the signal to the processing controller 49 to determine whether there is an obstacle. If an obstacle is detected, the processing controller 49 controls the driving wheel 2 to automatically avoid it;

[0048] Step 2: The auxiliary roller 36 rotates while assisting the movement of the fixed seat 1 during the movement, and the rotation drives the auxiliary rod 35 to rotate synchronously. The auxiliary rod 35 rotates to drive the cam 37 to rotate. The cam 37 rotates to drive the arc plate 40 and the top rod 39 to push the vibration block 42 to reciprocate. The vibration block 42 reciprocates to vibrate the plow shovel 44, thereby quickly plowing the land;

[0049] Step 3: During the fertilization process, the push plate 7 is pushed to reciprocate by the electric push rod 6, thereby driving the inner tube 9 and the outer tube 10 to reciprocate. When the limit block 20 on one side of the outer tube 10 abuts against the top of the limit groove 8, the outer tube 10 stops moving, and the inner tube 9 continues to move downward. At the same time, the elastic steel plate 11 is compressed and contracted, and the movement of the inner tube 9 drives the nozzle 13 and the top block 12 to move, so that the top block 12 pushes the two groups of side plates 16 open. When the two groups of side plates 16 are pushed open, the switch 18 is triggered to receive a signal and transmit the signal to the processing controller 49. The processing controller 49 controls the water pump 102 to start, so as to carry out fertilization and spraying. When the inner tube 9 is lifted, the two groups of side plates 16 are automatically closed, thereby triggering the switch 18 to receive a signal to control the water pump 102 to close. The fertilization spacing is accurately controlled by controlling the extension and retraction speed of the electric push rod 6;

[0050] Step 4: During the reciprocating motion of the outer tube 10, the tooth groove 21 on the side wall of the outer tube 10 drives the gear 24 to rotate, the rotation of the gear 24 drives the rotating rod 23 to rotate, the rotation of the rotating rod 23 drives the first bevel gear 32 to rotate synchronously, and the transmission of the transmission mechanism 28 drives the worm 30 and the stirring shaft 25 to rotate, the rotation of the stirring shaft 25 drives the stirring rod 26 to rotate synchronously, thereby achieving the stirring of the fertilizer inside the barrel 4.

[0051] The working process of the present application is as follows: first, the fertilizer is injected into the material barrel 4 through the feed port on the top of the material barrel 4, and the fertilization route is set in advance. The driving wheel 2 is driven by a motor to drive the fertilization equipment to automatically walk and fertilize. During the walking process, the high-definition camera 46 cooperates with the laser radar 47 to scan the walking process, and then the signal is transmitted to the processing controller 49 to determine whether there is an obstacle. If an obstacle is detected, the driving wheel 2 is controlled by the processing controller 49 to automatically avoid it. During the movement, the auxiliary roller 36 of the fixed seat 1 assists the movement and rotates at the same time, and the rotation drives the auxiliary rod 35 to rotate synchronously. The rotation of the auxiliary rod 35 drives the cam 37 to rotate, and the rotation of the cam 37 drives the arc plate 40 and the top rod 39 to push the vibration block 42 to reciprocate. The reciprocating motion of the vibration block 42 oscillates the plow shovel 44, so that the land is plowed quickly. During fertilization, the push plate 7 is pushed to reciprocate by the electric push rod 6, thereby driving the inner tube 9 and the outer tube 10 to reciprocate. When the limit block 20 on one side of the outer tube 10 abuts against the top of the limit groove 8, the outer tube 10 stops moving, and the inner tube 9 continues to move downward. At the same time, the elastic steel plate 11 is compressed and contracted, and the movement of the inner tube 9 drives the nozzle 13 and the top block 12 to move, so that the top block 12 pushes the two sets of side plates 16 open, and the push of the two sets of side plates 16 triggers the switch 18 to receive The signal is transmitted to the processing controller 49, and the water pump 102 is controlled to start by the processing controller 49, so as to carry out the fertilization and spraying work. When the inner tube 9 is lifted, the two sets of side panels 16 are automatically closed, thereby triggering the switch 18 to receive the signal to control the water pump 102 to close. The fertilization spacing is precisely controlled by controlling the extension and retraction speed of the electric push rod 6. During the reciprocating motion of the outer tube 10, the tooth groove 21 on the side wall of the outer tube 10 drives the gear 24 to rotate, and the rotation of the gear 24 drives the rotating rod 23 to rotate, and the rotation of the rotating rod 23 drives the first bevel gear 32 to rotate synchronously. The transmission of the transmission mechanism 28 drives the worm 30 and the stirring shaft 25 to rotate, and the rotation of the stirring shaft 25 drives the stirring rod 26 to rotate synchronously, thereby realizing the mixing of the fertilizer inside the barrel 4. The above is the working principle of the intelligent fertilizer spreader equipment that can automatically avoid obstacles and its fertilization method.

Claims

1. An intelligent fertilizer spreading machine capable of automatically avoiding obstacles, comprising a fixing seat (1), characterized in that: The bottom of the fixed seat (1) is provided with a driving wheel (2), one side of the outer wall of the fixed seat (1) is fixedly connected to a foldable handrail (3), one side of the top of the fixed seat (1) is provided with a material bucket (4), one side of the top of the fixed seat (1) is fixedly connected to a fixing frame (5), the inner wall of the middle part of the bottom end of the fixing frame (5) is fixedly connected to an electric push rod (6), the bottom output end of the electric push rod (6) is fixedly connected to a push plate (7), a limiting groove (8) is provided in the middle of the fixed seat (1), and the bottom center of the push plate (7) is fixedly connected to an inner tube (9). The outer wall of the inner tube (9) is sleeved with an outer tube (10), the inner tube (9) and the outer tube (10) are slidably connected, the outer tube (10) and the inner tube (9) are inserted into the limiting groove (8), an elastic steel plate (11) is arranged and connected at the top edge of the outer tube (10), the end of the elastic steel plate (11) away from the outer tube (10) is connected to the pushing plate (7), one end of the barrel (4) is connected to a conduit (101), the conduit (101) passes through the pushing plate (7) and is connected to the inner tube (9), and a water pump (102) is arranged in the middle of the conduit (101).

2. The intelligent fertilizer spreader capable of automatically avoiding obstacles according to claim 1 is characterized in that: A top block (12) is fixedly connected to the bottom edge of the inner tube (9), the bottom end of the inner tube (9) is connected to a nozzle (13), a spike portion (14) is provided at the bottom end of the outer tube (10), the outer walls of both sides of the spike portion (14) are movably connected to side plates (16) via a rotating shaft (15), a torsion spring (17) is sleeved on the outer wall of the rotating shaft (15), the two ends of the torsion spring (17) are respectively connected to the side plates (16) and the outer tube (10), the outer wall of the top block (12) matches the inner wall of the side plates (16), the two groups of the side plates (16) are closed, and trigger switches (18) are provided at the abutment points of the two side plates (16).

3. The intelligent fertilizer spreader capable of automatically avoiding obstacles according to claim 2 is characterized in that: The outer walls of both sides of the outer tube (10) located at the top of the limiting groove (8) are arranged with mounting holes (19), one side of the mounting hole (19) is connected to the limiting block (20) by bolts, the outer wall of the outer tube (10) on the side close to the barrel (4) is provided with a tooth groove (21), a connecting frame (22) is fixedly provided on one side of the top of the limiting groove (8), the middle part of the connecting frame (22) is connected to a rotating rod (23) by a bearing, the middle outer wall of the rotating rod (23) is fixedly connected with a gear (24), the gear (24) is meshed with the tooth groove (21), and a graphite lubrication groove is provided at the meshing position of the gear (24) and the tooth groove (21).

4. The intelligent fertilizer spreader capable of automatically avoiding obstacles according to claim 3 is characterized in that: The inner wall of the middle part of the material barrel (4) is connected to a stirring shaft (25) through a bearing, and stirring rods (26) are arranged on the outer wall of the stirring shaft (25). The bottom end of the stirring shaft (25) passes through the material barrel (4) and is connected to a worm gear (27). A transmission mechanism (28) is arranged on one side of the bottom of the material barrel (4), and the transmission mechanism (28) includes a transmission box (29), a worm (30), a transmission shaft (31), a first bevel gear (32) and a second bevel gear (33). The stirring rod (26) is made of spring steel and has a crushing tooth at the end.

5. The intelligent fertilizer spreader capable of automatically avoiding obstacles according to claim 4 is characterized in that: The transmission box (29) is fixedly connected to one side of the top of the fixing seat (1); the worm wheel (27) is arranged inside the transmission box (29); a worm (30) is connected to an inner wall of one side of the transmission box (29) via a bearing; the worm (30) and the worm wheel (27) are meshed with each other; one end of the worm (30) is connected to a transmission shaft (31); the transmission shaft (31) and the transmission box (29) are connected via a bearing; an outer wall of one side of the rotating rod (23) is fixedly connected to a first bevel gear (32); one end of the transmission shaft (31) passes through the transmission box (29) and is connected to a second bevel gear (33); the first bevel gear (32) and the second bevel gear (33) are meshed with each other.

6. The intelligent fertilizer spreader capable of automatically avoiding obstacles according to claim 5, characterized in that: An auxiliary frame (34) is provided on one side of the bottom of the fixed seat (1). The bottom end of the auxiliary frame (34) is connected to an auxiliary rod (35) through a bearing. Both ends of the auxiliary rod (35) are connected to auxiliary rollers (36). A cam (37) is fixedly connected to the outer wall of the middle part of the auxiliary rod (35). A fixed plate (38) is fixedly connected to one side of the auxiliary frame (34). A push rod (39) is connected through the middle part of the fixed plate (38). One end of the push rod (39) is connected to an arc plate (40). The outer wall of the arc plate (40) abuts against the cam (37). A spring (41) is arranged and connected to one end of the arc plate (40) away from the cam (37). One end of the spring (41) away from the arc plate (40) is connected to the fixed plate (38). One end of the push rod (39) away from the arc plate (40) is connected to a vibration block (42).

7. The intelligent fertilizer spreader capable of automatically avoiding obstacles according to claim 6, characterized in that: A plow bar (43) is connected to one side of the bottom of the fixed seat (1) via a movable shaft, and a plow shovel (44) is movably connected to the bottom end of the plow bar (43) via a limit hinge, one side of the plow shovel (44) is in contact with a vibration block (42), and the contact surface between the vibration block (42) and the plow shovel (44) is a wedge-shaped locking structure, and an electric telescopic rod (45) is provided on one side of the plow bar (43), one end of the electric telescopic rod (45) is connected to the fixed seat (1) via a movable shaft, and an output end of the electric telescopic rod (45) is connected to the plow bar (43) via a movable shaft.

8. The intelligent fertilizer spreader capable of automatically avoiding obstacles according to claim 7, characterized in that: A high-definition camera (46) is arranged on one side of the fixing seat (1), a laser radar (47) is arranged on one side of the high-definition camera (46), a control cabinet (48) is arranged on one side of the barrel (4), a processing controller (49) is arranged inside the control cabinet (48), a positioning unit (50) is arranged on one side of the processing controller (49), and a mobile power supply (51) is arranged on one side of the bottom of the control cabinet (48).

9. A fertilization method of an intelligent fertilizer spreader capable of automatically avoiding obstacles, using the intelligent fertilizer spreader capable of automatically avoiding obstacles as claimed in any one of claims 1 to 8, characterized in that: The fertilization method comprises the following steps: Step 1: First, the fertilizer is injected into the material barrel (4) through the feed port at the top of the material barrel (4), and the fertilization route is set in advance. The driving wheel (2) is driven by the motor to drive the fertilization equipment to automatically walk and fertilize. During the walking process, the high-definition camera (46) cooperates with the laser radar (47) to scan the walking process, and then the signal is transmitted to the processing controller (49) to determine whether there is an obstacle. If an obstacle is detected, the driving wheel (2) is controlled by the processing controller (49) to automatically avoid it; Step 2: The auxiliary roller (36) is rotated while assisting the movement of the fixed seat (1) during the movement, and the rotation drives the auxiliary rod (35) to rotate synchronously, and the rotation of the auxiliary rod (35) drives the cam (37) to rotate, and the rotation of the cam (37) drives the arc plate (40) and the top rod (39) to push the vibration block (42) to reciprocate, and the reciprocating movement of the vibration block (42) causes the plow shovel (44) to vibrate, so as to quickly plow the land; Step 3: During the fertilization process, the electric push rod (6) pushes the push plate (7) to reciprocate, thereby driving the inner tube (9) and the outer tube (10) to reciprocate. When the limit block (20) on one side of the outer tube (10) abuts against the top of the limit groove (8), the outer tube (10) stops moving, and the inner tube (9) continues to move downward. At the same time, the elastic steel plate (11) is compressed and contracted, and the movement of the inner tube (9) drives the nozzle (13) and the top block (12) to move, so that the top block (12) The two sets of side panels (16) are pushed open. When the two sets of side panels (16) are pushed open, the trigger switch (18) receives a signal and transmits the signal to the processing controller (49). The processing controller (49) controls the water pump (102) to start, thereby performing fertilization and spraying. When the inner tube (9) is lifted, the two sets of side panels (16) are automatically closed, thereby triggering the switch (18) to receive a signal and control the water pump (102) to close. The fertilization spacing is precisely controlled by controlling the extension and retraction speed of the electric push rod (6); Step 4: During the reciprocating motion of the outer tube (10), the tooth groove (21) on the side wall of the outer tube (10) drives the gear (24) to rotate, the rotation of the gear (24) drives the rotating rod (23) to rotate, the rotation of the rotating rod (23) drives the first bevel gear (32) to rotate synchronously, and the transmission of the transmission mechanism (28) drives the worm (30) and the stirring shaft (25) to rotate, the rotation of the stirring shaft (25) drives the stirring rod (26) to rotate synchronously, thereby achieving the stirring of the fertilizer inside the barrel (4).

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