An agricultural drone fertilization device

Abstract

An agricultural drone fertilization device, belonging to the agricultural field, addresses the problem of fertilizer clumps of varying sizes, leading to excessive localized fertilization due to the simultaneous release of clumped and non-clumped fertilizer. In areas of excessive fertilization, crops are prone to nutrient overload, manifesting as thick leaves, excessive stem elongation, soft tissues, and reduced resistance to lodging and pests / diseases, making them susceptible to disease and pest infestations. Conversely, in areas of insufficient fertilization, crops suffer from nutrient deficiency, resulting in slow growth, yellowing leaves, and stunted growth, severely impacting overall crop yield and quality. This agricultural drone fertilization device includes a drone body and a first support plate fixedly connected below the drone body. A rotating mechanism, during its vertical movement, separates clumped fertilizer, resulting in a more even fertilizer distribution compared to existing technologies, thereby promoting better crop growth.

Description

Technical Field

[0001] This invention relates to the field of agriculture, and in particular to an agricultural drone fertilization device. Background Technology

[0002] An agricultural drone fertilization device is a piece of equipment installed on a drone for precision fertilization. It mainly consists of the following parts: a fertilizer storage and delivery system, including a fertilizer tank and a delivery device. The fertilizer tank stores fertilizer and typically has a certain capacity to meet the fertilization needs of a certain area of ​​farmland. The delivery device is responsible for transporting the fertilizer from the tank to the fertilizer nozzle or spreader according to a set amount and speed.

[0003] Patent CN220884818U discloses a novel agricultural fertilization drone, comprising a drone body with a device mounting frame fixedly installed on its lower surface. An angle adjustment component is installed at one end of the device mounting frame. In the wave of rapid development of modern precision agriculture, agricultural drone fertilization technology, as an emerging and efficient fertilization method, is increasingly favored by farmers. It can quickly and over large areas complete fertilization operations, greatly improving fertilization efficiency and reducing labor costs. Theoretically, it can precisely control the amount of fertilizer applied according to the needs of different areas of farmland, promoting balanced crop growth. However, in practical applications, this technology faces many challenges, among which the problem of uneven fertilization caused by fertilizer clumping is particularly prominent.

[0004] The "Anti-caking Device for Pollination by Unmanned Aerial Vehicle" with publication number CN208609601U uses a single stirring structure for anti-caking treatment. It can only deal with pollination materials with slight agglomeration and cannot be adapted to agricultural fertilizers with high hardness and large agglomeration diameter. In addition, it does not have a quantitative control mechanism, which makes it difficult to meet the needs of precision fertilization.

[0005] Compared with the existing technologies mentioned above, this invention innovatively adopts a composite crushing technology of "extrusion + shearing + stirring", which can specifically solve the problem of incomplete crushing of agricultural fertilizer clumps, and at the same time achieve precise quantitative fertilization, which is more in line with the actual operational needs of agricultural fertilization.

[0006] Fertilizers are usually mixtures of various chemical substances. Under certain humidity and temperature conditions, their components will undergo chemical reactions, causing the particles to stick together. If the particle size and shape are inconsistent during the production and processing, they are more likely to clump together during storage due to differences in contact area and contact pressure.

[0007] When clumps of fertilizer enter the feed hopper of an agricultural drone fertilization device, the clumps vary in size. The simultaneous release of clumps and non-clumps of fertilizer leads to excessive fertilization in certain areas. In areas of excessive fertilization, crops are prone to nutrient overload, resulting in thick leaves, excessive stem elongation, soft tissues, and reduced resistance to lodging and pests, making them more susceptible to pests and diseases. In areas of insufficient fertilization, crops suffer from nutrient deficiency, resulting in slow growth, yellowing leaves, and stunted growth, severely impacting the overall yield and quality of the crop.

[0008] To address the aforementioned problems, an agricultural drone fertilization device is proposed. Summary of the Invention

[0009] The purpose of this invention is to provide an agricultural drone fertilization device that solves the problem of seriously affecting the overall yield and quality of crops.

[0010] To achieve the above objectives, the present invention provides the following technical solution: an agricultural drone fertilization device, comprising a drone body, a first support plate fixedly connected to the lower part of the drone body, a storage box fixedly connected to the upper part of the first support plate, a feed inlet located inside the upper middle part of the storage box, a discharge pipe located inside the lower part of the storage box, a rotating mechanism located inside the discharge pipe, and an elastic mechanism located below the first support plate; a weight sensor with an accuracy of ±5g is installed at the bottom of the storage box, and a density compensation algorithm is built into the controller above the drone body, which can automatically adjust the downward movement distance of the baffle according to the fertilizer density parameter input by the user, so that the actual fertilization amount deviates from the preset value by ≤3%; the diameter of the discharge pipe is φ50-60mm.

[0011] Preferably, the upper width of the baffle is greater than the width of the discharge pipe, the middle width of the baffle is less than the width of the discharge pipe, and the lower width of the baffle is the same as the width of the discharge pipe.

[0012] Preferably, the upper and lower ends of the baffle are conical in shape, and the middle end of the baffle is cylindrical in shape.

[0013] Preferably, the rotating mechanism includes a pushing component and a rotating component, with the rotating component positioned below the pushing component. The pushing component includes an electric pushing rod fixedly connected to the top of the storage bin, a first push rod positioned below the electric pushing rod, a first groove positioned inside the upper end of the first push rod, a rotating disk fixedly connected to the electric pushing rod positioned inside the first groove, a first pressure plate positioned outside the discharge pipe, the first pressure plate having a diameter of φ80-100mm, a second pressure plate positioned below the first pressure plate, a baffle positioned inside the discharge pipe, a first hole positioned inside the baffle, a groove connected to the inner wall of the first hole, a slider fixedly connected to the first push rod positioned inside the groove, a spring fixedly connected below the slider, and a protective plate fixedly connected to the lower outer end of the first pressure plate.

[0014] Preferably, the inner side of the sleeve fits against the outer side of the first push rod, and the first push rod has a cylindrical shape.

[0015] Preferably, the rotating assembly includes a sleeve fixedly connected to the upper part of the inner wall of the storage box, the lower end of the electric push rod is nested inside the sleeve, a first guide groove is provided on the upper inner wall of the sleeve, the spiral angle of the first guide groove is 30-45°, the upper end of the first guide groove has a vertical straight shape, and the lower end of the first guide groove has a spiral shape. A first guide rod is provided inside the first guide groove and fixedly connected to the first push rod. A first connecting rod is rotatably connected to the lower outer side of the first push rod and fixedly connected to the first pressure plate. A push plate is provided below the first connecting rod and fixedly connected to the first push rod. The rotating mechanism can realize the compound crushing function of "extrusion + shearing + stirring", and the crushing rate of fertilizer lumps with a diameter of 5-20mm is ≥95%.

[0016] Preferably, the elastic mechanism includes a second support plate fixedly connected below the first support plate, a first support cylinder fixedly connected to the upper inner side of the second support plate, a second support cylinder fixedly connected to the second pressure plate on the outer side of the first support cylinder, a second hole provided in the middle of the second pressure plate, a first rotating rod fixedly connected to the first push rod on the inner side of the second hole, a second rotating rod rotatably connected to the inner side of the first support cylinder, a limit groove provided on the inner side of the second rotating rod, the upper end of the first rotating rod having a cylindrical shape, and the lower end of the first rotating rod having a cuboid shape, the outer side of the first rotating rod and the inner side of the second hole... The surfaces are fitted together, and the lower end of the first rotating rod is fitted with the limiting groove with clearance. A second guide groove is provided on the upper inner wall of the second support cylinder. A second guide rod is fixedly connected to the second rotating rod inside the second guide groove. A third guide groove is connected to the lower part of the first guide groove. A controller is provided on the upper part of the drone body. An elastic telescopic rod is fixedly connected to the lower end of the first support cylinder. A damper is fitted on the outside of the elastic telescopic rod. The damper and the elastic telescopic rod can reduce the impact of drone turbulence on the position of the second pressure plate through the synergistic effect of the damper and the elastic telescopic rod. A guide plate is fixedly connected to the lower end of the second pressure plate. A material guide hole is provided inside the guide plate.

[0017] Preferably, the lower inner side of the second support cylinder has a rectangular appearance, and the upper inner side of the second support cylinder has a cylindrical appearance, and the lower inner side of the second support cylinder is in contact with the outer side of the first support cylinder.

[0018] Preferably, the upper and lower ends of the second guide groove are spiral-shaped, and the middle end of the second guide groove is arc-shaped.

[0019] Preferably, the upper end of the third guide groove has a vertical straight-line appearance, and the lower end of the third guide groove has a spiral appearance. Furthermore, the spiral angles at the upper and lower ends of the second guide groove are greater than the spiral angle at the lower end of the third guide groove. The fertilization uniformity variation coefficient of this device is ≤8%, and the coverage area of ​​a single fertilization is increased by 20-30% compared to existing devices. It is compatible with granular fertilizers, powder fertilizers, and compound fertilizers, and is suitable for crops such as wheat, rice, fruit trees, and vegetables. It can also work stably in environments ranging from 0-2000m altitude and -10-40℃.

[0020] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention provides an agricultural drone fertilization device, which, through a rotating mechanism, can separate clumps of fertilizer when moving up and down. Compared with the prior art, it can make the fertilizer distribution more uniform, thereby promoting better crop growth. According to the test, the device has a fertilizer clump breaking rate of ≥95% for fertilizer with a diameter of 5-20mm, and a fertilization uniformity variation coefficient of ≤8% (compared to a variation coefficient of ≥15% for conventional devices in the industry).

[0021] 2. The agricultural drone fertilization device provided by the present invention uses an elastic mechanism to drive the rotating mechanism to rotate when the rotating mechanism moves up and down. Compared with the prior art, the fertilizer is crushed further, thereby increasing the fertilization range and increasing the coverage area of ​​a single fertilization by 20-30% compared with the existing device. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a front cross-sectional view of the storage box of the present invention. Figure 3 This is a schematic diagram of the front cross-sectional structure of the baffle of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the structure at point A in the middle; Figure 5 For the present invention Figure 3 Schematic diagram of the structure at point B; Figure 6 This is a schematic diagram of the front cross-sectional structure of the sleeve of the present invention; Figure 7 This is a schematic diagram of the left-side structure of the baffle of the present invention; Figure 8 For the present invention Figure 7 Schematic diagram of the structure at point C; Figure 9 This is a schematic diagram of the front cross-sectional structure of the guide plate of the present invention; Figure 10This is a schematic diagram of the secondary crushing process of fertilizer according to the present invention, with the rotation direction of the first pressure plate, the movement trajectory of the push plate and the crushing path of the fertilizer marked. Figure 11 This is a schematic diagram of the process of absorbing and mixing fertilizer in the negative pressure zone according to the present invention; Figure 12 This is a schematic diagram of the spraying and spreading of the gas-fertilizer mixture according to the present invention, with the negative pressure formation area, airflow direction and fertilizer spreading range marked.

[0023] In the diagram: 1. UAV body; 2. First support plate; 3. Storage bin; 4. Feed inlet; 5. Discharge pipe; 6. Rotating mechanism; 61. Pushing assembly; 6101. Electric push rod; 6102. First push rod; 6103. First groove; 6104. Rotating disk; 6105. First pressure plate; 6106. Second pressure plate; 6107. Baffle; 6108. First hole; 6109. Slide groove; 6110. Slider; 6111. Spring; 6112. Protective plate; 62. Rotating assembly; 6201. Sleeve; 6202. 6203. First guide groove; 6204. First guide rod; 6205. First connecting rod; 6206. Push plate; 7. Elastic mechanism; 701. Second support plate; 702. First support cylinder; 703. Elastic telescopic rod; 704. Second support cylinder; 706. Second hole; 707. First rotating rod; 708. Second rotating rod; 709. Limiting groove; 710. Second guide groove; 711. Second guide rod; 712. Third guide groove; 713. Controller; 714. Guide plate; 715. Material guide hole; 716. Damper. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figures 1-8This invention provides a technical solution: an agricultural drone fertilization device, comprising a drone body 1, a first support plate 2 fixedly connected below the drone body 1, a storage box 3 fixedly connected above the first support plate 2, a feed inlet 4 located inside the upper middle part of the storage box 3, a discharge pipe 5 located inside the lower end of the storage box 3, a rotating mechanism 6 located inside the discharge pipe 5, and an elastic mechanism 7 located below the first support plate 2; a weight sensor with an accuracy of ±5g is installed at the bottom of the storage box 3, and a controller 713 above the drone body 1 has a built-in density compensation algorithm that can automatically adjust the downward movement distance of the baffle 6107 according to the fertilizer density parameters input by the user, so that the actual fertilization amount deviates from the preset value by ≤3%; the diameter of the discharge pipe 5 is φ50-60mm.

[0026] The upper width of the baffle 6107 is greater than the width of the discharge pipe 5, the middle width of the baffle 6107 is less than the width of the discharge pipe 5, and the lower width of the baffle 6107 is the same as the width of the discharge pipe 5.

[0027] The upper and lower ends of the baffle 6107 are conical in shape, and the middle end of the baffle 6107 is cylindrical in shape.

[0028] The rotating mechanism 6 includes a pushing component 61 and a rotating component 62, with the rotating component 62 positioned below the pushing component 61. The pushing component 61 includes an electric pushing rod 6101 fixedly connected to the top of the storage bin 3. A first push rod 6102 is positioned below the electric pushing rod 6101. A first groove 6103 is provided inside the upper end of the first push rod 6102. A rotating disk 6104 fixedly connected to the electric pushing rod 6101 is positioned inside the first groove 6103. A first pressure plate 6105 is positioned outside the discharge pipe 5. The diameter of 6105 is φ80-100mm. A second pressure plate 6106 is provided below the first pressure plate 6105. A baffle 6107 is provided on the inner side of the discharge pipe 5. A first hole 6108 is provided inside the baffle 6107. A sliding groove 6109 is connected to the inner wall of the first hole 6108. A slider 6110 is fixedly connected to the first push rod 6102 on the inner side of the sliding groove 6109. A spring 6111 is fixedly connected below the slider 6110. A protective plate 6112 is fixedly connected to the lower outer side of the first pressure plate 6105.

[0029] The inner side of the sleeve 6201 fits against the outer side of the first push rod 6102, and the first push rod 6102 has a cylindrical shape.

[0030] The rotating assembly 62 includes a sleeve 6201 fixedly connected to the upper part of the inner wall of the storage box 3. The lower end of the electric push rod 6101 is nested inside the sleeve 6201. A first guide groove 6202 is provided on the upper inner wall of the sleeve 6201. The spiral angle of the first guide groove 6202 is 30-45°. The upper end of the first guide groove 6202 has a vertical straight shape, and the lower end of the first guide groove 6202 has a spiral shape. A first guide rod 6203 is fixedly connected to the first push rod 6102 inside the first guide groove 6202. A first connecting rod 6204 is rotatably connected to the first pressure plate 6105 below the first push rod 6102. A push plate 6205 is fixedly connected to the first push rod 6102 below the first connecting rod 6204. The rotating mechanism 6 can realize the compound crushing function of "extrusion + shearing + stirring", and the crushing rate of fertilizer lumps with a diameter of 5-20mm is ≥95%.

[0031] The elastic mechanism 7 includes a second support plate 701 fixedly connected below the first support plate 2. A first support cylinder 702 is fixedly connected to the upper inner side of the second support plate 701. A second support cylinder 704 fixedly connected to the second pressure plate 6106 is provided on the outer side of the first support cylinder 702. A second hole 706 is provided in the middle of the second pressure plate 6106. A first rotating rod 707 fixedly connected to the first push rod 6102 is provided on the inner side of the second hole 706. A second rotating rod 708 is rotatably connected to the inner side of the first support cylinder 702. A limit groove 709 is provided on the inner side of the second rotating rod 708. The upper end of the first rotating rod 707 has a cylindrical shape, and the lower end of the first rotating rod 707 has a cuboid shape. The outer side of the first rotating rod 707 fits against the inner side of the second hole 706. Furthermore, the lower end of the first rotating rod 707 and the limiting groove 709 are fitted with a clearance fit. A second guide groove 710 is provided on the upper inner wall of the second support cylinder 704. A second guide rod 711 is fixedly connected to the second rotating rod 708 inside the second guide groove 710. A third guide groove 712 is connected to the lower part of the first guide groove 6202. A controller 713 is provided above the main body of the drone 1. An elastic telescopic rod 703 is fixedly connected to the lower end of the first support cylinder 702. A damper 716 is fitted on the outer side of the elastic telescopic rod 703. The damper 716 and the elastic telescopic rod 703 can reduce the impact of drone turbulence on the position of the second pressure plate 6106 through the synergistic effect of the damper 716 and the elastic telescopic rod 703. A guide plate 714 is fixedly connected to the lower end of the second pressure plate 6106. A material guide hole 715 is provided inside the guide plate 714.

[0032] The lower inner side of the second support cylinder 704 has a rectangular appearance, and the upper inner side of the second support cylinder 704 has a cylindrical appearance. The lower inner side of the second support cylinder 704 is in contact with the outer side of the first support cylinder 702.

[0033] The upper and lower ends of the second guide groove 710 are spiral-shaped, and the middle end of the second guide groove 710 is arc-shaped.

[0034] The upper end of the third guide groove 712 has a vertical straight-line appearance, and the lower end of the third guide groove 712 has a spiral appearance. The spiral angles at the upper and lower ends of the second guide groove 710 are greater than the spiral angle at the lower end of the third guide groove 712. The fertilization uniformity variation coefficient of this device is ≤8%, and the coverage area of ​​a single fertilization is increased by 20-30% compared with existing devices. It can be used with granular fertilizer, powder fertilizer, and compound fertilizer. It is suitable for crops such as wheat, rice, fruit trees, and vegetables, and can work stably in environments with an altitude of 0-2000m and a temperature of -10-40℃.

[0035] initial state The push rod of the electric push rod 6101 is in the fully retracted state. The first push rod 6102 is at its highest position of stroke. Under the action of its own weight and the supporting force of the spring 6111 at the lower end of the slider 6110, the widest upper conical part of the baffle 6107 is embedded and closes the lower port of the discharge pipe 5. The fertilizer in the storage box 3 is completely blocked. The second pressure plate 6106 is located at the highest point of its stroke under the strong supporting force of the elastic telescopic rod 703. The first pressure plate 6105 is above the second pressure plate 6106, and the two are tightly fitted together under the pre-tightening force of the elastic mechanism 7, with almost no gap between them, forming a sealed temporary crushing chamber. The side of this chamber is surrounded by the protective plate 6112. The push plate 6205 is located inside this sealed chamber. The first guide rod 6203 is located at the uppermost vertical section entrance of the first guide groove 6202 inside the sleeve 6201. The second guide rod 711 is located at the starting point (highest point) of the upper spiral section of the second guide groove 710 inside the second support cylinder 704. The lower cuboid portion of the first rotating rod 707 is inserted into the limiting groove 709 of the second rotating rod 708, but does not contact the bottom of the groove, maintaining a clearance fit. The controller 713 is powered on, the system self-test is successful, and it enters standby mode. The UAV body 1 is located on the ground or takeoff platform, and the rotors are stopped.

[0036] Takeoff and Route Flight The operator issues a takeoff command via a ground control station or remote controller. The flight controller of the UAV body 1 is activated, the motors are unlocked, and the rotors are accelerated. The UAV takes off vertically and climbs to the preset operating altitude. The UAV begins automatic flight at a constant operating speed according to the pre-planned farmland operation route. The flight control system continuously sends real-time position information to the controller 713 via serial port or CAN bus.

[0037] Fertilization initiation and quantitative material interception Based on the received GPS coordinates, the controller 713 determines that the drone has entered the field area requiring fertilization. The controller 713 calculates the trigger time for fertilization based on the current flight speed, the preset fertilizer application rate per acre, and the plant spacing. Upon reaching the trigger point, the controller 713 sends an "extend" command and a preset constant speed value to the electric push rod 6101. The motor of the electric push rod 6101 starts, and its push rod begins to extend downwards at a constant speed. The lower end of the push rod 6101 pushes the rotating disk 6104 fixedly connected to it. The lower surface of the rotating disk 6104 presses against the bottom surface of the first groove 6103 at the upper end of the first push rod 6102, thereby generating a downward thrust. The first push rod 6102 begins to move downwards in a straight line. The first push rod 6102 drives the slider 6110 fixedly connected to its side to move downwards together. The slider 6110 slides downwards along the groove 6109 machined inside the baffle 6107. The slider 6110 compresses the spring 6111 installed below it. The lower end of spring 6111 acts on the bottom of the chute 6109, thereby transmitting a downward thrust to the baffle 6107 body. The baffle 6107 is pushed downward as a whole. Since the upper width of the baffle 6107 is greater than the inner diameter of the discharge pipe 5, and the middle width is less than the inner diameter of the discharge pipe 5, when it moves to a specific position, its maximum diameter portion completely moves out of the lower port of the discharge pipe 5, and the discharge pipe 5 is fully opened. Under the action of gravity, the fertilizer in the storage box 3 falls instantly through the newly opened channel. The fertilizer continues to fall until the bottom of the fertilizer pile contacts the upper conical surface of the baffle 6107 and achieves self-sealing. At this time, a constant volume of fertilizer is precisely intercepted and contained in the metering cavity formed by the lower inner wall of the discharge pipe 5 and the upper surface of the baffle 6107. The weight sensor at the bottom of the storage bin 3 monitors the weight of the fertilizer being collected in real time. The controller 713 automatically adjusts the downward movement distance of the baffle 6107 based on the fertilizer density parameters input by the user, using a density compensation algorithm, to ensure that the actual fertilizer application rate deviates from the preset value by ≤3%. Throughout this entire quantitative feeding process, the first guide rod 6203 slides down within the upper vertical section of the first guide groove 6202, so the first push rod 6102 only performs linear motion and does not rotate.

[0038] Fertilizer transfer and primary crushing The electric push rod 6101 continues to extend at a constant speed. The baffle 6107 continues to move downward, and its lower conical surface gradually moves completely out of the lower port of the discharge pipe 5. The fertilizer trapped in the metering chamber completely loses its mechanical support and falls as a whole under the action of gravity, landing directly into the closed temporary storage and crushing chamber formed by the first pressure plate 6105, the second pressure plate 6106, and the protective plate 6112 below. After this, the baffle 6107 is no longer restricted because the diameter of its lower cylindrical section is the same as the inner diameter of the discharge pipe 5. However, when the spring 6111 is compressed to near its compression limit, the baffle 6107 itself can no longer move downward. The thrust of the electric push rod 6101 is now mainly converted into further compression of the spring 6111. The first push rod 6102 continues to move downward against the elastic force of the spring 6111. The first push rod 6102 pulls the first pressure plate 6105 downward through the first connecting rod 6204 fixed to it. At this point, the second pressure plate 6106 remains stationary under the strong preload of the elastic telescopic rod 703. The first pressure plate 6105 and the second pressure plate 6106 move relative to each other, reducing the gap between them and powerfully squeezing and crushing the fertilizer clumps located between them, completing the first stage of crushing. Towards the end of this stage, the first guide rod 6203 is about to enter its spiral transition section from the vertical section of the first guide groove 6202.

[0039] Secondary dynamic crushing and homogenization The electric push rod 6101 continues to extend at a constant speed. The first guide rod 6203 fully enters and moves along the spiral section at the lower end of the first guide groove 6202. Due to the constraint of the spiral structure of the first guide groove 6202, the first guide rod 6203 is forced to move along the spiral track, forcing the first push rod 6102 to begin rotating around its axis. The rotating first push rod 6102 produces two synchronous actions: it drives the first pressure plate 6105 to rotate synchronously through the first connecting rod 6204; and it drives the push plate 6205 at its lower end to rotate synchronously. At this time, the second pressure plate 6106 remains stationary under the action of the elastic telescopic rod 703. A strong shearing action is formed between the rotating first pressure plate 6105 and the stationary second pressure plate 6106, which performs secondary crushing on the fertilizer in the cavity. Simultaneously, the rotating pusher plate 6205, by design, is not clamped by the first pressure plate 6105 and the second pressure plate 6106, but is suspended between them. It efficiently agitates and cuts the fertilizer in the temporary crushing chamber, ensuring that all fertilizer particles are fully crushed and uniformly mixed to form small particles, preparing for subsequent airflow dispersal. Testing shows that after this stage, the device achieves a ≥95% crushing rate for fertilizer clumps with a diameter of 5-20mm. At the end of this stage, the fertilizer has been processed into ideal small particles.

[0040] Spreading preparation and agency switching After the secondary crushing and homogenization are completed, the electric push rod 6101 continues to descend. The first guide rod 6203 moves to the end of the first guide groove 6202 and enters the upper vertical section of the third guide groove 712. Since the upper section of the third guide groove 712 is a vertical structure, the rotational motion of the first push rod 6102 is forcibly stopped, resuming a purely vertical downward motion. The first push rod 6102 pushes the first rotating rod 707, which is fixedly connected to its lower end, to move downward. The lower cuboid portion of the first rotating rod 707 moves downward and eventually makes mechanical contact with the bottom of the limiting groove 709 of the second rotating rod 708. This contact causes a momentary increase in the load current of the electric push rod 6101. The controller 713 monitors the motor current in real time, detects this sudden current change signal, and accurately determines that the mechanism has reached the preset mode switching position. The controller 713 immediately issues a command to pause the extension motion of the electric push rod 6101.

[0041] Negative pressure inhalation and fluidized bed mixing The controller 713 sends a new command to the electric push rod 6101: retract at maximum speed by a pre-set precise stroke. The push rod of the electric push rod 6101 retracts rapidly. This rapid retraction motion, through the rotating disk 6104 and the first groove 6103, pulls the first push rod 6102 upwards quickly. The first push rod 6102, through the contact between the first rotating rod 707 and the second rotating rod 708 at the bottom surface of the limiting groove 709, rapidly pulls up the second rotating rod 708. The second rotating rod 708, through the cooperation of the second guide rod 711 and the second guide groove 710, drives the second support cylinder 704 to move. Since the upper end of the second guide groove 710 is spiral-shaped, this rapid lifting motion is converted into the high-speed rotation and upward movement of the second support cylinder 704. The second support cylinder 704 drives the second pressure plate 6106 to rotate at high speed and move upwards, causing it to quickly separate from the first pressure plate 6105. Because the two pressure plates are initially in close contact and separate extremely quickly, a brief, localized negative pressure zone is instantly formed between them. External air is drawn in at high speed through the feed inlet 715 at the bottom of the crushing chamber, impacting the fertilizer powder inside the chamber at a high flow rate. This airflow instantly fluidizes the dry fertilizer powder, transforming it into a gas-solid mixture, achieving extremely uniform mixing. At the same time, the airflow and the slight vibration of the chamber effectively clean the upper surface of the second pressure plate 6106, causing any potentially adhering fertilizer powder to detach and participate in the mixing, completely solving the adhesion problem.

[0042] Pressurized jet seeding After the negative pressure suction action is completed, the controller 713 immediately issues the next command: extend again at maximum speed. The push rod of the electric push rod 6101 extends rapidly, pushing the first push rod 6102 downward at high speed. The first push rod 6102 transmits downward force and rotational force to the second support cylinder 704 through the first rotating rod 707 and the second rotating rod 708. The second guide rod 711 moves within the second guide groove 710. Since the lower end of the groove is also spiral, this movement is converted into high-speed reverse rotation and downward movement of the second support cylinder 704. The second support cylinder 704 drives the second pressure plate 6106 to rotate at high speed and rush downward, greatly compressing the elastic telescopic rod 703, causing it to close quickly with the first pressure plate 6105. This action violently pressurizes the fluidized gas-fertilizer mixture in the sealed chamber. The pressurized gas-fertilizer mixture is ejected at high speed from the feed hole 715. At the same time, the high-speed rotation of the second pressure plate 6106 imparts centrifugal force to the mixture on its surface. Under the dual action of pressurized injection and centrifugal diffusion, the fertilizer mixture is thrown into a fan-shaped mist with a large diffusion angle and uniform distribution. It has a wide coverage area and extremely high uniformity. The coefficient of variation of fertilizer uniformity is ≤8% (compared to ≥15% for conventional equipment in the industry). The coverage area of ​​a single fertilization is increased by 20-30% compared to existing equipment. It can move deeper under the crops for better fertilization.

[0043] Reset and Standby After a complete "fertilization-crushing-spreading" cycle is completed, the controller 713 controls the electric push rod 6101 to retract completely at a uniform speed. Under the tension of the electric push rod 6101 and the restoring force of each elastic element, all mechanisms gradually reset in a precise reverse sequence and path: electric push rod 6101 retracts -> first push rod 6102 rises -> first rotating rod 707 rises and disengages from the bottom surface of the limiting groove 709 -> second pressure plate 6106 rises under the action of elastic telescopic rod 703 and reverses to reset -> first pressure plate 6105 rises -> baffle 6107 rises under the action of spring 6111, re-closing the discharge pipe 5. When the sensors or current detection on all components confirm that the system has completely returned to the initial state, a complete fertilization cycle ends. The controller 713 calculates the interval time of the next trigger point based on the flight speed and fertilization amount requirements, and enters a waiting state. When the drone flies to the next fertilization point, the controller 713 triggers again to execute the next work cycle, and so on, until the entire field operation is completed.

[0044] This method of directly crushing and spreading fertilizer on the drone offers significant advantages over pre-processing fertilizer on the ground. In areas with poor road conditions, it's difficult to transport fertilizer to the application site using a mixer. Furthermore, if fertilizer is crushed and sealed in a better location before transportation, firstly, there's a time lag, causing the effective components in the crushed fertilizer to become ineffective over time; secondly, residue is likely to remain in the crusher, leading to waste and cleaning difficulties; and thirdly, if pre-crushed fertilizer is accidentally spilled during application, the small particles are difficult to collect and recover. This device, however, crushes and spreads fertilizer on-site, perfectly avoiding these problems. This device also boasts three core advantages: firstly, it eliminates the need for manual pre-screening and crushing of clumped fertilizer, saving preparation time and preventing secondary clumping during transport; secondly, it avoids frequent drone downtime for cleaning due to fertilizer blockage, ensuring a smooth workflow and increasing the fertilization area per unit time; and thirdly, it prevents fertilizer residue in the crusher, avoiding waste and cleaning difficulties. These advantages make the present invention highly competitive and have great application potential in small-plot operations in hilly areas of southern China, especially suitable for small farmers who manage few plots and do not have a separate mixer.

[0045] In addition, this device is compatible with various fertilizer types such as granular fertilizer, powder fertilizer, and compound fertilizer, which can meet the fertilization needs of various crops such as wheat, rice, fruit trees, and vegetables. At the same time, it can work stably in environments ranging from 0 to 2000m altitude and -10 to 40℃, and has strong versatility and environmental adaptability, which enhances the market application value of the device.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An agricultural drone fertilization device, comprising a drone body (1), a first support plate (2) fixedly connected below the drone body (1), a storage box (3) fixedly connected above the first support plate (2), a feed inlet (4) disposed inside the upper middle part of the storage box (3), and a discharge pipe (5) disposed inside the lower end of the storage box (3), characterized in that: The inner side of the discharge pipe (5) is provided with a rotating mechanism (6), and the lower part of the first support plate (2) is provided with an elastic mechanism (7); the bottom of the storage box (3) is equipped with a weight sensor with an accuracy of ±5g, and the controller (713) above the main body of the drone (1) has a built-in density compensation algorithm, which can automatically adjust the downward movement distance of the baffle (6107) according to the fertilizer density parameters input by the user, so that the actual fertilizer application amount deviates from the preset value by ≤3%; the diameter of the discharge pipe (5) is φ50-60mm.

2. The agricultural drone fertilization device according to claim 1, characterized in that: The upper width of the baffle (6107) is greater than the width of the discharge pipe (5), and the middle width of the baffle (6107) is less than the width of the discharge pipe (5), and the lower width of the baffle (6107) is the same as the width of the discharge pipe (5).

3. The agricultural drone fertilization device according to claim 1, characterized in that: The upper and lower ends of the baffle (6107) are conical in shape, and the middle end of the baffle (6107) is cylindrical in shape.

4. The agricultural drone fertilization device according to claim 1, characterized in that: The rotating mechanism (6) includes a pushing assembly (61) and a rotating assembly (62), the rotating assembly (62) being disposed below the pushing assembly (61); the pushing assembly (61) includes an electric pushing rod (6101) fixedly connected to the upper part of the storage box (3), a first push rod (6102) being disposed below the electric pushing rod (6101), a first groove (6103) being disposed inside the upper end of the first push rod (6102), a rotating disk (6104) fixedly connected to the electric pushing rod (6101) being disposed inside the first groove (6103), and a first pressure plate (6105) being disposed outside the discharge pipe (5). The pressure plate (6105) has a diameter of φ80-100mm. A second pressure plate (6106) is provided below the first pressure plate (6105). A baffle (6107) is provided on the inner side of the discharge pipe (5). A first hole (6108) is provided inside the baffle (6107). A sliding groove (6109) is connected to the inner wall of the first hole (6108). A slider (6110) is fixedly connected to the first push rod (6102) on the inner side of the sliding groove (6109). A spring (6111) is fixedly connected below the slider (6110). A protective plate (6112) is fixedly connected to the lower outer side of the first pressure plate (6105).

5. An agricultural drone fertilization device according to claim 4, characterized in that: The inner side of the sleeve (6201) is in contact with the outer side of the first push rod (6102), and the first push rod (6102) has a cylindrical shape.

6. The agricultural drone fertilization device according to claim 4, characterized in that: The rotating assembly (62) includes a sleeve (6201) fixedly connected to the upper inner wall of the storage bin (3). The lower end of the electric push rod (6101) is nested inside the sleeve (6201). A first guide groove (6202) is provided on the upper inner wall of the sleeve (6201). The spiral angle of the first guide groove (6202) is 30-45°. The upper end of the first guide groove (6202) has a vertical straight shape, and the lower end of the first guide groove (6202) has a spiral shape. (6202) The inner side is provided with a first guide rod (6203) which is fixedly connected to the first push rod (6102). The outer side below the first push rod (6102) is rotatably connected with a first connecting rod (6204) which is fixedly connected to the first pressure plate (6105). The lower side of the first connecting rod (6204) is provided with a push plate (6205) which is fixedly connected to the first push rod (6102). The rotating mechanism (6) can realize the compound crushing function of "extrusion + shearing + stirring", and the crushing rate of fertilizer lumps with a diameter of 5-20mm is ≥95%.

7. The agricultural drone fertilization device according to claim 1, characterized in that: The elastic mechanism (7) includes a second support plate (701) fixedly connected below the first support plate (2). A first support cylinder (702) is fixedly connected to the upper inner side of the second support plate (701). A second support cylinder (704) fixedly connected to the second pressure plate (6106) is provided on the outer side of the first support cylinder (702). A second hole (706) is provided in the middle of the second pressure plate (6106). A first rotating rod (707) fixedly connected to the first push rod (6102) is provided on the inner side of the second hole (706). A second rotating rod (708) is rotatably connected to the inner side of the first support cylinder (702). A limit groove (709) is provided on the inner side of the second rotating rod (708). The upper end of the first rotating rod (707) has a cylindrical appearance, and the lower end of the first rotating rod (707) has a cuboid appearance. The outer side of the first rotating rod (707) fits against the inner side of the second hole (706). The lower end of the first rotating rod (707) and the limiting groove (709) are fitted with a clearance fit. The upper inner wall of the second support cylinder (704) is provided with a second guide groove (710). The second guide groove (710) is provided with a second guide rod (711) fixedly connected to the second rotating rod (708) on the inner side of the second guide groove (710). The lower part of the first guide groove (6202) is connected to a third guide groove (712). The controller (713) is provided on the upper part of the drone body (1). The lower end of the first support cylinder (702) is fixedly connected with an elastic telescopic rod (703). The outer side of the elastic telescopic rod (703) is fitted with a damper (716). The damper (716) and the elastic telescopic rod (703) can reduce the impact of drone turbulence on the position of the second pressure plate (6106) through the synergistic effect of the damper (716) and the elastic telescopic rod (703). The lower end of the second pressure plate (6106) is fixedly connected with a guide plate (714). The guide plate (714) is provided with a material guide hole (715) inside.

8. The agricultural drone fertilization device according to claim 7, characterized in that: The lower inner side of the second support cylinder (704) has a rectangular appearance, and the upper inner side of the second support cylinder (704) has a cylindrical appearance. The lower inner side of the second support cylinder (704) is in contact with the outer side of the first support cylinder (702).

9. An agricultural drone fertilization device according to claim 7, characterized in that: The upper and lower ends of the second guide groove (710) are spiral-shaped, and the middle end of the second guide groove (710) is arc-shaped.

10. An agricultural drone fertilization device according to claim 7, characterized in that: The upper end of the third guide groove (712) has a vertical straight shape, and the lower end of the third guide groove (712) has a spiral shape. The spiral angles at the upper and lower ends of the second guide groove (710) are greater than the spiral angles at the lower end of the third guide groove (712). The fertilization uniformity variation coefficient of this device is ≤8%, and the coverage area of ​​a single fertilization is increased by 20-30% compared with existing devices. It can be used with granular fertilizer, powder fertilizer, and compound fertilizer. It is suitable for crops such as wheat, rice, fruit trees, and vegetables, and can work stably in environments with an altitude of 0-2000m and a temperature of -10-40℃.

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