Air-blowing type corn precise targeting variable rate fertilization robot

Abstract

The invention relates to an air-blowing type corn precise targeting variable rate fertilization robot which comprises a chassis, two rotating rods are rotatably mounted in the chassis, driving wheels are fixedly mounted at the two ends of the two rotating rods, a chain wheel is fixedly mounted on the outer surface of the rotating rod on the right side, a driving motor is fixedly mounted in the chassis, and the driving motor is fixedly mounted on the outer surface of the rotating rod on the right side. And an output shaft of the driving motor is in chain transmission connection with the chain wheel. According to the air-blowing type corn precise targeting variable fertilization robot, through cooperation of the camera and the controller, the camera identifies and positions corn plants in an area in front of operation of the fertilization robot, the controller identifies and analyzes collected images, and the positions and heights of the identified corn plants are calculated in real time; the fertilization position is determined according to the position of the corn plant, and the fertilization amount is determined according to the height of the corn plant, so that accurate target variable fertilization is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an air-blowing corn precision-target variable fertilizer application robot. Background Art

[0002] Fertilizers are a key input for improving soil fertility and crop yields. Applying fertilizers to the soil or spraying them onto plants through fertilizer applicators provides nutrients needed by plants and maintains and enhances soil fertility. This can increase crop yields, improve crop quality, enhance soil fertility, and increase economic returns. However, long-term excessive fertilizer application can lead to reduced fertility, soil structure damage, reduced crop quality, and environmental pollution, hindering sustainable agricultural development. Therefore, promoting reduced fertilizer use and increased efficiency is a key path to achieving green agricultural development.

[0003] With the continuous advancement of science and technology, robots are increasingly used in the field of agricultural planting. For example, a seed hole fertilization robot proposed in 202311364872.1 is driven by a power chassis and moves autonomously in the field. The sprocket drives the fertilizer discharge device and the seed discharge device to rotate synchronously to perform fertilizer and seed discharge. At the same time, the sprocket drives the hole-piercing device to realize the synchronous hole-piercing operation of seeds and fertilizers, and adjusts the amount of fertilizer applied to each hole in real time according to the soil conductivity information. It has the characteristics of simple structure, high working efficiency and labor saving.

[0004] However, traditional corn fertilizer spreaders are unable to apply targeted variable fertilizer according to the position and height of corn plants, resulting in fertilizer waste. Therefore, an air-blowing corn precision targeted variable fertilizer robot is proposed to solve the above problem. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides an air-blowing corn precision variable fertilizer application robot, which has the advantages of intelligent fertilization and avoiding fertilizer waste. It solves the problem that traditional corn fertilizer spreaders cannot apply targeted variable fertilizer according to the position and height of corn plants, resulting in fertilizer waste.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an air-blowing type corn precision target variable fertilization robot, comprising a chassis, two rotating rods rotatably installed inside the chassis, two driving wheels fixedly installed at both ends of the two rotating rods, a sprocket fixedly installed on the outer surface of the right rotating rod, a driving motor fixedly installed inside the chassis, an output shaft of the driving motor and the sprocket are chain-connected, a box body fixedly installed inside the chassis, a camera is provided on the top of the box body, a sealing door is provided on the left side of the box body, a fertilizer box is fixedly installed inside the box body, a fertilizer discharge pipe is fixedly installed at the bottom of the fertilizer box, an electromagnetic valve is fixedly installed on the outer surface of the fertilizer discharge pipe, a blower is fixedly installed inside the box body, the output end of the blower is connected to the electromagnetic valve through a conduit, a piercing mechanism is provided at the bottom of the box body, a support rod is fixedly installed at the bottom of the box body, a covering shovel is fixedly installed at the bottom end of the support rod, a lithium battery is fixedly installed inside the box body, and a controller is fixedly installed inside the box body;

[0007] The acupuncture mechanism includes a square box, a square box is fixedly provided on the bottom of the box body, an electric push rod is fixedly installed on the top of the square box, a telescopic tube is fixedly installed on the bottom of the fertilizer discharge pipe, a fertilizer discharge pipe is fixedly installed on the bottom end of the telescopic tube, two servo motors are fixedly installed inside the square box, a transmission rod is fixedly installed on the output shaft of the servo motor, the transmission rod, a connecting rod is rotatably installed on the bottom end of the connecting rod, and a connecting shaft is fixedly installed on the bottom of the connecting shaft.

[0008] Furthermore, the box body is located between the rotating rods on both sides, and both ends of the rotating rods pass through the chassis and extend to the outside of the chassis.

[0009] Furthermore, the sealing door is located above the fertilizer box, and the bottom of the box body passes through the chassis and extends to the bottom of the chassis.

[0010] Furthermore, the bottom end of the fertilizer discharge pipe passes through the box and extends to the bottom of the box, and the output end of the lithium battery is electrically connected to the drive motor, camera, solenoid valve, blower, electric push rod and servo motor through wires.

[0011] Furthermore, a single-chip microcomputer is embedded in the controller, and the pins of the single-chip microcomputer are electrically connected to the drive motor, camera, solenoid valve, blower, electric push rod and servo motor respectively, and the controller is electrically connected to the lithium battery through a wire.

[0012] Furthermore, the fertilizer discharging pipe extends between the two acupuncturers, and the servo motor is located on the left and right sides of the fertilizer discharging pipe.

[0013] Furthermore, the soil covering shovel is located on the left side of the hole piercer, and the servo motors on both sides synchronously drive the transmission rods to rotate.

[0014] Furthermore, it also includes a fertilization control system, which consists of a collection module, an analysis module and a control module;

[0015] The acquisition module is used to control the camera (7) to acquire images of corn plants in front of the operation;

[0016] The analysis module is used to calculate the corn plant position data and height data;

[0017] The control module controls the fertilization robot according to the corn plant position and height data determined by the analysis module, thereby achieving accurate fertilization of the target variable.

[0018] Compared with the existing technology, the technical solution of this application has the following beneficial effects:

[0019] 1. This air-blowing corn precision target variable fertilizer robot works with a camera and a controller. The camera identifies and locates the corn plants in the area in front of the fertilizing robot. The controller identifies and analyzes the collected images, calculates the position and height of the identified corn plants in real time, determines the fertilization position according to the position of the corn plants, and determines the fertilizer amount according to the height of the corn plants, thereby realizing precise target variable fertilizer and achieving the purpose of precise fertilization.

[0020] 2. This air-blown corn precision target variable fertilization robot is equipped with a hole-piercing mechanism. When fertilizing, the fertilizer is sent into the fertilizer box. The fertilizer enters the fertilizer discharge pipe and the amount of fertilizer is controlled by the solenoid valve. The blower is connected and the wind force generated by it pushes the fertilizer downward for rapid movement, thereby improving the fertilization efficiency. The hole-piercing device is inserted into the soil through the electric push rod, and the transmission rod is driven to rotate by the servo motor. The transmission rod drives the connecting rod to rotate to realize the digging of the soil to both sides, and then the fertilizer is discharged from the fertilizer outlet pipe. After the fertilization is completed, the hole-piercing device closes and rises, and part of the soil will naturally backfill into the fertilizer pit. At this time, the fertilization robot moves forward and pushes the soil into the fertilizer pit for covering through the covering shovel to ensure that the fertilizer will not be lost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the box of the present invention;

[0023] Figure 3 This is a schematic diagram of an embodiment of the present invention wherein the piercing mechanism is inserted into the soil;

[0024] Figure 4 This is a schematic diagram of the acupuncture mechanism for acupuncture in the present invention;

[0025] Figure 5 This is a schematic diagram of an embodiment of the acupuncture mechanism moving upwards according to the present invention;

[0026] Figure 6 Schematic diagram of the control system of the present invention.

[0027] In the figure: 1. chassis; 2. rotating rod; 3. driving wheel; 4. sprocket; 5. driving motor; 6. box; 7. camera; 8. sealing door; 9. fertilizer box; 10. fertilizer discharge pipe; 11. solenoid valve; 12. blower; 13. hole-piercing mechanism; 1301. square box; 1302. electric push rod; 1303. telescopic tube; 1304. fertilizer discharge pipe; 1305. servo motor; 1306. transmission rod; 1307. connecting rod; 1308. connecting shaft; 1309. hole-piercing device; 14. support rod; 15. covering shovel; 16. lithium battery; 17. controller. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figure 1-6 In this embodiment, an air-blowing corn precision target variable fertilizer robot includes a chassis 1, two rotating rods 2 are rotatably installed inside the chassis 1, and driving wheels 3 are fixedly installed at both ends of the two rotating rods 2. A sprocket 4 is fixedly installed on the outer surface of the right rotating rod 2, a driving motor 5 is fixedly installed inside the chassis 1, and a chain transmission connection is formed between the output shaft of the driving motor 5 and the sprocket 4. A box 6 is fixedly installed inside the chassis 1, a camera 7 is provided on the top of the box 6, a sealing door 8 is provided on the left side of the box 6, and the inside of the box 6 A fertilizer box 9 is fixedly installed on the bottom, a fertilizer discharge pipe 10 is fixedly installed on the bottom of the fertilizer box 9, a solenoid valve 11 is fixedly installed on the outer surface of the fertilizer discharge pipe 10, a blower 12 is fixedly installed inside the box body 6, and the output end of the blower 12 is connected to the solenoid valve 11 through a conduit, a piercing mechanism 13 is provided at the bottom of the box body 6, a support rod 14 is fixedly installed on the bottom of the box body 6, a covering shovel 15 is fixedly installed on the bottom end of the support rod 14, a lithium battery 16 is fixedly installed inside the box body 6, and a controller 17 is fixedly installed inside the box body 6.

[0030] The acupuncture mechanism 13 includes a square box 1301, the bottom of the box body 6 is fixedly provided with the square box 1301, the top of the square box 1301 is fixedly installed with an electric push rod 1302, the bottom of the fertilizer discharge pipe 10 is fixedly installed with a telescopic tube 1303, the bottom end of the telescopic tube 1303 is fixedly installed with a fertilizer discharge pipe 1304, and two servo motors 1305 are fixedly installed inside the square box 1301. The output shaft of the servo motor 1305 is fixedly installed with a transmission rod 1306, and the transmission rod 1306 and the bottom end of the transmission rod 1306 are rotatably installed with a connecting rod 1307, and the bottom end of the connecting rod 1307 is rotatably installed with a connecting shaft 1308, and the bottom of the connecting shaft 1308 is fixedly installed with a acupuncturist 1309.

[0031] In this embodiment, the camera 7 and the controller 17 cooperate to use the acquisition module to control the camera to shoot the corn plants in the area in front of the fertilizing robot. The analysis module is used to calculate the position data and height data of the corn plants. The control module controls the fertilizing robot according to the position and height data of the corn plants determined by the analysis module. The setting of the solenoid valve 11 and the blower 12 can control the flow rate of the fertilizer. The solenoid valve 11 controls the amount of fertilizer flowing into the fertilizer outlet pipe 1304, thereby achieving precise fertilization of the target variable.

[0032] Specifically, computer vision and machine learning methods are used to detect corn plants and count the number of their developmental stages. SAM and YOLOv5 semi-automatic annotation are used to analyze the images collected by the acquisition module and detect corn plants.

[0033] During implementation, follow these steps:

[0034] 1) First, by setting up a camera 7 and a controller 17 to cooperate, the camera 7 takes pictures of corn plants in a certain area in front of the fertilizing robot, and the controller 17 recognizes and analyzes the collected images;

[0035] 2) The fertilizer is then fed into the fertilizer box 9, and the fertilizer enters the fertilizer discharge pipe 10, where the solenoid valve 11 controls the amount of fertilizer applied, and the blower 12 is connected to push the fertilizer downward through the wind force generated by the blower 12 for rapid movement;

[0036] 3) The electric push rod 1302 is then used to insert the hole punch 1309 into the soil, and the servo motor 1305 drives the transmission rod 1306 to rotate;

[0037] 4) Finally, the transmission rod 1306 drives the connecting rod 1307 to rotate to dig up the soil on both sides, and then the fertilizer is discharged from the fertilizer pipe 1304. After the fertilization is completed, the hole drill 1309 closes and rises, and part of the soil will naturally backfill into the fertilization pit.

[0038] In summary, this air-blown precision variable-rate fertilization robot for corn utilizes a camera and controller. The camera identifies and locates corn plants in the area in front of the robot. The controller identifies and analyzes the captured images, calculating the position and height of the identified corn plants in real time. The position and amount of fertilizer are then determined based on the plant's position, and the amount of fertilizer applied is determined based on the plant's height, thereby achieving precise variable-rate fertilization. Fertilizer enters the fertilizer discharge pipe 10, where the solenoid valve 11 controls the amount of fertilizer applied. A blower 12 is connected, where the wind generated by the blower propels the fertilizer downward, rapidly moving it and improving fertilization efficiency. A hole punch 1309 is inserted into the soil, spreading the soil to both sides. Fertilizer is then discharged from the fertilizer discharge pipe 1304. After fertilization is complete, the hole punch 1309 closes and rises, naturally backfilling the fertilizer pit. The robot then advances, using a covering shovel 15 to push the soil into the pit for coverage, ensuring that the fertilizer does not escape.

[0039] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0040] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An air-blowing corn precision target variable fertilization robot, comprising a chassis (1), characterized in that: Two rotating rods (2) are rotatably mounted inside the chassis (1), and driving wheels (3) are fixedly mounted at both ends of the two rotating rods (2). A sprocket (4) is fixedly mounted on the outer surface of the right rotating rod (2). A driving motor (5) is fixedly mounted inside the chassis (1), and a chain transmission connection is formed between the output shaft of the driving motor (5) and the sprocket (4). A box (6) is fixedly mounted inside the chassis (1), and a camera (7) is provided on the top of the box (6). A sealing door (8) is provided on the left side of the box (6). A fertilizer box (9) is fixedly mounted inside the box (6). The fertilizer box A fertilizer discharge pipe (10) is fixedly installed at the bottom of (9), a solenoid valve (11) is fixedly installed on the outer surface of the fertilizer discharge pipe (10), a blower (12) is fixedly installed inside the box (6), the output end of the blower (12) is connected to the solenoid valve (11) through a conduit, a piercing mechanism (13) is provided at the bottom of the box (6), a support rod (14) is fixedly installed at the bottom of the box (6), a soil covering shovel (15) is fixedly installed at the bottom end of the support rod (14), a lithium battery (16) is fixedly installed inside the box (6), and a controller (17) is fixedly installed inside the box (6); The puncturing mechanism (13) comprises a square box (1301), the bottom of the box body (6) is fixedly provided with the square box (1301), the top of the square box (1301) is fixedly installed with an electric push rod (1302), the bottom of the fertilizer discharge pipe (10) is fixedly installed with a telescopic tube (1303), the bottom end of the telescopic tube (1303) is fixedly installed with a fertilizer discharge pipe (1304), two servo motors (1305) are fixedly installed inside the square box (1301), the output shaft of the servo motor (1305) is fixedly installed with a transmission rod (1306), the bottom end of the transmission rod (1306) is rotatably installed with a connecting rod (1307), the bottom end of the connecting rod (1307) is rotatably installed with a connecting shaft (1308), and the bottom of the connecting shaft (1308) is fixedly installed with a puncturing device (1309).

2. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: The box body (6) is located between the rotating rods (2) on both sides, and both ends of the rotating rods (2) pass through the chassis (1) and extend to the outside of the chassis (1).

3. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: The sealing door (8) is located above the fertilizer box (9), and the bottom of the box body (6) passes through the chassis (1) and extends to the bottom of the chassis (1).

4. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: The bottom end of the fertilizer discharge pipe (10) passes through the box (6) and extends to the bottom of the box (6), and the output end of the lithium battery (16) is electrically connected to the drive motor (5), the camera (7), the solenoid valve (11), the blower (12), the electric push rod (1302) and the servo motor (1305) through wires.

5. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: The controller (17) is internally embedded with a C51 single-chip microcomputer, and the pins of the single-chip microcomputer are electrically connected to the drive motor (5), the camera (7), the solenoid valve (11), the blower (12), the electric push rod (1302) and the servo motor (1305). The controller (17) is electrically connected to the lithium battery (16) via a wire.

6. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: The fertilizer discharging pipe (1304) extends between the two hole piercing devices (1309), and the servo motor (1305) is located on the left and right sides of the fertilizer discharging pipe (1304).

7. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: The soil covering shovel (15) is located on the left side of the hole piercing device (1309), and the servo motors (1305) on both sides synchronously drive the transmission rod (1306) to rotate.

8. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: It also includes a fertilization control system, which consists of a collection module, an analysis module and a control module; The acquisition module is used to control the camera (7) to acquire images of corn plants in front of the operation; The analysis module is used to calculate the corn plant position data and height data; The control module controls the fertilization robot according to the corn plant position and height data determined by the analysis module, thereby achieving accurate fertilization of the target variable.

9. The air-blowing corn precision target variable fertilization robot according to claim 1, characterized in that: The target variable fertilization is performed by intelligently controlling the opening and closing of the electromagnetic valve (11) through a camera (7) and a controller (17), and the amount of fertilization is intelligently controlled by controlling the displacement of the electromagnetic valve (11).

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