An agricultural integrated intelligent fog-cultivation planting robot

Abstract

The application discloses an agricultural integrated intelligent fog-cultivation planting robot, which comprises an AGV trolley, a plurality of fixed feet are arranged on the upper end of the AGV trolley, a water and fertilizer tank is fixedly connected to the upper ends of the fixed feet, a tray is fixedly connected to the upper end of the water and fertilizer tank, and a cultivation rack is arranged on the upper end of the tray; an intelligent distribution assembly comprises three partition plates, a partition ring, a plurality of arc-shaped racks, vertical rods, gears and a plurality of extrusion plates, and the partition ring is coaxially arranged with the water and fertilizer tank. The application has the advantages of realizing mobile operation, accurate water and fertilizer proportioning, real-time crop monitoring and integrated integration, solves the problems of low intelligence, low operation efficiency, low water and fertilizer utilization rate and inconvenient maintenance of the existing fog-cultivation equipment, promotes the fog-cultivation technology to develop in the direction of intelligence, high efficiency and energy saving, and meets the demand of large-scale and intensive agricultural production.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, and in particular to an integrated intelligent fog-tillage planting robot. Background Technology

[0002] With the acceleration of agricultural modernization, agricultural production is gradually transforming towards intelligent, efficient, water- and fertilizer-saving practices. Fogging, as an advanced soilless cultivation technology, has been widely applied in facility agriculture and high-efficiency agriculture due to its advantages such as high water and fertilizer utilization, rapid crop growth, and lack of soil condition limitations. The core of fogging is to atomize water and fertilizer and apply it directly to the crop roots for precise supply. However, current fogging processes still face many technical challenges, including low levels of intelligence, insufficient precision in water and fertilizer ratios, low operational efficiency, and poor equipment integration, which severely restrict the large-scale promotion and application of fogging technology.

[0003] Currently, most existing aeroponic planting equipment has a fixed structure, making it impossible to operate mobilely. For large-scale planting scenarios, frequent manual relocation or zoned operations are required, which not only increases labor intensity but also reduces planting efficiency, making it difficult to meet the needs of large-scale, intensive agricultural production. Even those aeroponic equipment equipped with mobile chassis mostly use ordinary wheeled structures, resulting in poor mobility in complex scenarios such as greenhouses and fields. They cannot achieve precise positioning and stable operation, and the connection stability between the chassis and the water and fertilizer tanks and cultivation racks is insufficient, making them prone to shaking during movement and affecting the aeroponic spraying effect.

[0004] Regarding water and fertilizer supply and ratio, existing fog tillage equipment's water and fertilizer tanks are mostly single-cavity structures, directly conveying a mixture of various water and fertilizer raw materials. This makes it impossible to achieve independent storage and precise ratio of different water and fertilizer raw materials, and difficult to dynamically adjust the water and fertilizer ratio according to the nutritional needs of crops at different growth stages. This easily leads to problems of water and fertilizer oversupply or undersupply, resulting in poor crop growth, water and fertilizer waste, and even environmental pollution, which contradicts the development concept of water and fertilizer conservation in modern agriculture. Some water and fertilizer tanks with partitioned storage functions rely on multiple pumps for water and fertilizer delivery. This not only results in complex structures and high costs, but also high energy consumption, high failure rates, and inconvenient maintenance. Furthermore, the lack of effective flow monitoring and control mechanisms makes it impossible to accurately control the delivery amount of each water and fertilizer raw material, and to ensure the accuracy of the ratio.

[0005] Therefore, it is necessary to design an integrated intelligent fog-tillage robot to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing an integrated intelligent fog-tillage robot. This invention has the advantages of enabling mobile operation, precise water and fertilizer ratio, real-time crop monitoring, and integrated operation. It solves the problems of low intelligence, low operating efficiency, low water and fertilizer utilization, and inconvenient maintenance of existing fog-tillage equipment, and promotes the development of fog-tillage technology towards a more intelligent, efficient, and energy-saving direction, meeting the needs of large-scale and intensive agricultural production.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: An integrated intelligent fog-tillage planting robot for agriculture includes an AGV trolley. The upper end of the AGV trolley is provided with multiple fixed feet, and the upper ends of the multiple fixed feet are jointly fixedly connected to a water and fertilizer tank. The upper end of the water and fertilizer tank is fixedly connected to a tray, and the upper end of the tray is provided with a cultivation rack. The intelligent distribution component includes three partitions, a partition ring, multiple arc-shaped racks, a vertical rod, a gear, and multiple extrusion plates. The partition ring is coaxially arranged with the water-fertilizer tank. The partitions are fixedly connected between the partition ring and the inner wall of the water-fertilizer tank, dividing the partition ring and the inner wall of the water-fertilizer tank into three storage compartments. The storage compartments are used to store liquid water-fertilizer raw materials. The middle area of ​​the partition ring is a water-fertilizer mixing compartment. The three storage compartments and the mixing compartment are connected by a bend pipe. The vertical rod is rotatably connected to the inner top of the water-fertilizer tank. Every two extrusion plates are located in the storage compartments and are slidably connected to the partition ring and the inner wall of the water-fertilizer tank. The arc-shaped racks are fixedly connected to the corresponding extrusion plates. Two arc-shaped racks mesh with the corresponding gears and are located on opposite sides of the gears. The vertical rod drives the gears to rotate, and the two arc-shaped racks drive the two extrusion plates to rotate relative to each other, extruding the water-fertilizer raw materials between the two extrusion plates. The liquid level of the water-fertilizer raw materials rises and enters the water-fertilizer mixing compartment through the bend pipe.

[0008] Preferably, the cultivation rack is equipped with a spray pipe inside, and the outer wall of the spray pipe is provided with multiple spray holes. The spray pipe is rotatably connected to the tray. The lower end of the spray pipe is fixedly connected to a hollow rod. The lower end of the hollow rod passes through the inner bottom of the water and fertilizer tank and is connected to a rotary joint. A pump body is installed on the right side of the water and fertilizer tank. The inlet end of the pump body is connected to the bottom space of the water and fertilizer mixing chamber through a suction pipe. The outlet end of the pump body is connected to the bottom of the rotary joint through an outlet pipe. The bottom of the tray is connected to the space in the middle area of ​​the water and fertilizer tank through multiple return holes, so that the dripping water and fertilizer will flow back into the water and fertilizer mixing chamber.

[0009] Preferably, each of the three storage bins has a rotating rod rotatably connected to its inner bottom. The rotating rod is connected to the vertical rod via a cutting assembly. The cutting assembly includes a rectangular groove at the upper end of the rotating rod. A rectangular block is slidably connected in the rectangular groove. The rectangular block is elastically connected to the inner bottom of the rectangular groove via a spring. An electromagnet is embedded in the inner bottom of the rectangular groove. An insertion groove is provided at the lower end of the vertical rod.

[0010] Preferably, the system also includes an information terminal. Each of the three bends is equipped with a flow sensor. Multiple mounting rods are fixedly connected to the outer wall of the spray pipe. Each mounting rod has a chlorophyll sensor and a stem sensor fixedly connected to its upper and lower ends, respectively. The chlorophyll sensor and stem sensor monitor the state of the crop to determine its nutritional needs and dynamically adjust the water and fertilizer ratio. When the flow sensor detects that the water and fertilizer has reached a preset amount in the water and fertilizer mixing chamber through the bend, it transmits an electrical signal to the information terminal. The information terminal then controls the electromagnet to be energized, causing the corresponding vertical rod and rotating rod to disconnect and stop the addition of that water and fertilizer.

[0011] Preferably, a servo motor is installed at the bottom of the water and fertilizer tank, and bevel gears that mesh with each other are installed on both the hollow rod and the output shaft of the servo motor. The lower ends of the three rotating rods extend to the outside. The three rotating rods are connected by a first transmission assembly, and the hollow rod is connected to one of the rotating rods by a second transmission assembly.

[0012] Preferably, the hollow rod is fixedly connected to a plurality of stirring rods on a portion of the outer wall of the water-fertilizer mixing chamber. The stirring rods are arc-shaped rods, and the inlet end of the liquid extraction pipe is located in the area between the rotation range of the stirring rods and the inner wall of the partition ring.

[0013] Preferably, the cultivation rack is a cylindrical structure, and the outer wall of the cultivation rack is provided with multiple cultivation holes. The outer wall of the cultivation rack is wrapped with a hydrophilic and breathable wrapping cloth, which covers all the cultivation holes and is used to support the crop roots in the cultivation holes and to facilitate water and fertilizer transfer.

[0014] Preferably, the four wheels of the AGV are Mecanum wheels, the fixed feet are retractable, and the lower end of the fixed feet is threaded to the upper end of the AGV. The outer wall of the water-fertilizer tank is provided with a liquid level observation window, and the top of the water-fertilizer tank is provided with three filling ports, each of which is provided with a sealing plug. The liquid level observation window is provided with scale lines corresponding to the three storage bins and the water-fertilizer mixing bin, for visual observation of the remaining liquid in each bin.

[0015] The present invention has the following beneficial effects: 1. Compared with the existing technology, the present invention realizes the mobile operation of the robot through the AGV trolley, and improves the mobility and positioning accuracy in complex farmland and greenhouse scenarios by combining it with Mecanum wheels. It can adapt to the mobile operation needs of large-scale and intensive planting, and solves the technical problems of fixed and low operation efficiency of existing fog tillage equipment. At the same time, the retractable fixed feet and threaded connection structure improve the installation stability of the water and fertilizer tank, and avoid the equipment shaking during mobile operation, which affects the fog tillage effect.

[0016] 2. Compared with the prior art, the water and fertilizer tank of the present invention adopts a coaxial ring partition structure combining a dividing ring and a partition plate, dividing the tank into three independent storage compartments and one mixing compartment, realizing the independent storage of different liquid water and fertilizer raw materials, avoiding the defects of uneven water and fertilizer mixing and inability to be proportioned as needed in a single chamber, providing a physical basis for precise water and fertilizer proportioning, and effectively improving the targeting and rationality of water and fertilizer supply.

[0017] 3. Compared with the prior art, the intelligent distribution component of the present invention uses the cooperation of vertical rods, gears, arc-shaped racks and extrusion plates to mechanically extrude water and fertilizer raw materials in the storage bin to the mixing bin. It eliminates the need for multiple pumps, simplifies the equipment structure, and reduces energy consumption and failure rate. Combined with the flow sensor and cutting component on the bend, it can accurately control the conveying amount of each water and fertilizer raw material, realize automatic stopping of the mixing ratio under the preset flow rate, ensure high precision of water and fertilizer ratio, and avoid water and fertilizer waste and ratio imbalance.

[0018] 4. Compared with existing technologies, this invention integrates a chlorophyll sensor, a stem sensor, and an information terminal, which can monitor the growth status of crops in real time and dynamically adjust the ratio of water and fertilizer raw materials to form a closed loop of "crop monitoring - ratio adjustment - precise supply". At the same time, the cylindrical structure of the cultivation rack, combined with hydrophilic and breathable wrapping cloth and return holes, realizes water and fertilizer recycling, which greatly improves the utilization rate of water and fertilizer. Furthermore, the rotating structure of the spray pipe and the mixing action of the stirring rod further ensure the uniformity of water and fertilizer atomization and mixing, promoting efficient crop growth.

[0019] In summary, this invention effectively solves the core technical problems of existing fog-tillage planting equipment, such as insufficient intelligence, low water and fertilizer ratio accuracy, poor operating efficiency, and low water and fertilizer utilization rate, through the integrated design of a mobile operating structure, a zoned water and fertilizer tank, intelligent proportioning components, and real-time crop monitoring. It also has the advantages of simple structure, low cost, convenient maintenance, and strong adaptability, promoting the development of fog-tillage planting technology towards intelligence, high efficiency, and water and fertilizer conservation, and has significant practical value and promotion prospects. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the external structure of an integrated intelligent fog-tillage planting robot proposed in this invention; Figure 2This is a cross-sectional view of the cultivation rack; Figure 3 This is a top sectional view of the water and fertilizer tank; Figure 4 This is a schematic diagram of the bottom structure of the water and fertilizer tank. Figure 5 for Figure 3 Top view; Figure 6 This is a sectional view of the vertical and rotating members; Figure 7 for Figure 2 A magnified structural diagram of point A in the middle.

[0021] In the diagram: 1 AGV trolley, 2 fixed foot, 3 water and fertilizer tank, 4 tray, 5 cultivation rack, 6 pump body, 7 liquid extraction pipe, 8 liquid outlet pipe, 9 servo motor, 10 spray pipe, 11 spray hole, 12 return hole, 13 partition plate, 14 chlorophyll sensor, 15 bend pipe, 16 extrusion plate, 17 arc rack, 18 vertical rod, 19 rotating rod, 20 gear, 21 bevel gear, 22 rotary joint, 23 first transmission assembly, 24 second transmission assembly, 25 partition ring, 26 stirring rod, 27 hollow rod, 28 rectangular groove, 29 spring, 30 rectangular block, 31 insertion groove, 32 stem sensor, 33 mounting rod. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] Reference Figures 1-7An integrated intelligent aeroponics planting robot includes an AGV (Automated Guided Vehicle) cart. The AGV cart has multiple fixed feet 2 at its upper end, and a water and fertilizer tank 3 is fixedly connected to the upper end of each foot 2. A tray 4 is fixedly connected to the upper end of the water and fertilizer tank 3, and the tray 4 is sealed to the upper surface of the water and fertilizer tank 3 to prevent dripping water and fertilizer from leaking out at the connection. The tray 4 is made of waterproof and corrosion-resistant material, and its upper surface has a sloping structure with a lower center and higher edges, facilitating the rapid collection of dripping water and fertilizer to the return hole 12. A cultivation rack 5 is located at the upper end of the tray 4. The cultivation rack 5 has a cylindrical structure, and multiple cultivation holes are opened around its outer wall. The outer wall of the cultivation rack 5 is wrapped with a hydrophilic and breathable material. The wrapping cloth covers all the cultivation holes to support the crop roots and facilitate water and fertilizer transfer. The AGV has four Mecanum wheels, which are adapted to complex terrains such as greenhouses and fields, enabling the robot to move in all directions and turn on the spot without the need for extra turning space, thus improving operational flexibility. The fixed feet 2 are retractable, and the lower end of the fixed feet 2 is threaded to the upper end of the AGV. The outer wall of the water and fertilizer tank 3 is equipped with a liquid level observation window, and the top of the water and fertilizer tank 3 is equipped with three filling ports, each of which is equipped with a sealing plug. The liquid level observation window is equipped with scale lines corresponding to the three storage bins and the water and fertilizer mixing bin, which are used to visually observe the remaining liquid in each bin. The intelligent distribution component includes three partitions 13, a separating ring 25, multiple arc-shaped racks 17, vertical rods 18, gears 20, and multiple extrusion plates 16. The separating ring 25 is coaxially arranged with the water-fertilizer tank 3. The partitions 13 are fixedly connected between the separating ring 25 and the inner wall of the water-fertilizer tank 3. The three partitions 13 are evenly distributed around the circumference of the separating ring 25, and the included angle between two adjacent partitions 13 is 120°. The partitions 13, the separating ring 25, and the inner wall of the water-fertilizer tank 3 are all sealed and welded to ensure that the three storage compartments are independent of each other and that there is no cross-flow of water and fertilizer. The separating ring 25 and the inner wall of the water-fertilizer tank 3 are divided into three storage compartments for storing liquid water-fertilizer raw materials. The three storage compartments have the same volume and can store different types of liquid water-fertilizer according to actual needs, such as nitrogen, phosphorus, and potassium mother liquor, trace element mother liquor, diluent, etc. The middle area of ​​the separating ring 25 is the water-fertilizer mixing compartment. Three storage bins are connected to the mixing bin via a bend 15. A vertical rod 18 is rotatably connected to the top of the water-fertilizer tank 3. Two extrusion plates 16 are located inside the storage bins and are slidably connected to the partition ring 25 and the inner wall of the water-fertilizer tank 3. The extrusion plates 16 are made of corrosion-resistant elastic material and have sealing strips on their edges to ensure that there are no gaps between the extrusion plates 16 and the partition ring 25 and the inner wall of the water-fertilizer tank 3, preventing water and fertilizer from leaking through the gaps and ensuring that the extrusion plates 16 slide smoothly. An arc-shaped rack 17 is fixedly connected to the corresponding extrusion plate 16. Two arc-shaped racks 17 mesh with the corresponding gears 20 and are located on the symmetrical sides of the gears 20. The vertical rod 18 drives the gears 20 to rotate, and the two arc-shaped racks 17 drive the two extrusion plates 16 to rotate relative to each other, squeezing the water-fertilizer raw material between the two extrusion plates 16. The liquid level of the water-fertilizer raw material rises and enters the water-fertilizer mixing bin through the bend 15.

[0024] The cultivation rack 5 is equipped with a spray pipe 10, which is coaxially arranged with the cultivation rack 5. The length of the spray pipe 10 is adapted to the height of the cultivation rack 5 to ensure that the spray holes 11 can correspond to the cultivation holes of each layer. The outer wall of the spray pipe 10 is provided with multiple spray holes 11. The spray pipe 10 is rotatably connected to the tray 4. The lower end of the spray pipe 10 is fixedly connected to a hollow rod 27. The lower end of the hollow rod 27 passes through the bottom of the water and fertilizer tank 3 and is connected to a rotary joint 22. A pump body 6 is installed on the right side of the water and fertilizer tank 3. The inlet end of the pump body 6 is connected to the bottom space of the water and fertilizer mixing chamber through a suction pipe 7. The outlet end of the pump body 6 is connected to the bottom of the rotary joint 22 through an outlet pipe 8. The bottom of the tray 4 is connected to the space in the middle area of ​​the water and fertilizer tank 3 through multiple return holes 12. The return holes 12 are equipped with anti-clogging filters to prevent crop residues and tangled cloth fibers from entering the mixing chamber, so that the dripping water and fertilizer will flow back into the water and fertilizer mixing chamber.

[0025] Each of the three storage bins has a rotating rod 19 rotatably connected to its inner bottom. The rotating rod 19 is connected to the vertical rod 18 via a cutting assembly. The cutting assembly includes a rectangular groove 28 located at the upper end of the rotating rod 19. A rectangular block 30 is slidably connected within the rectangular groove 28. The rectangular block 30 is elastically connected to the inner bottom of the rectangular groove 28 via a spring 29. An electromagnet is embedded in the inner bottom of the rectangular groove 28. The lower end of the vertical rod 18 has an insertion groove 31. The electromagnet uses a waterproof and sealed structure to prevent short circuits caused by contact with water and fertilizer. When the electromagnet is energized, the attraction force generated is greater than the elastic force of the spring 29, which can quickly attract the rectangular block 30 and retract it into the rectangular groove 28. A servo motor 9 is installed at the bottom of the water and fertilizer tank 3. Both the hollow rod 27 and the output shaft of the servo motor 9 are equipped with meshing bevel gears 21. The lower ends of the three rotating rods 19 extend to the outside. The three rotating rods 19 are connected by a first transmission assembly 23. The first transmission assembly 23 adopts a chain drive structure to ensure that the three rotating rods 19 rotate synchronously. The transmission assembly is equipped with a sealed protective cover to prevent dust and impurities from entering and affecting the transmission effect. The hollow rod 27 and one of the rotating rods 19 are connected by a second transmission assembly 24. The second transmission assembly 24 also adopts a chain drive or belt drive structure. Its transmission ratio is designed to ensure that the rotation speed of the hollow rod 27 and the rotating rod 19 is adapted to the requirements of extrusion conveying and mixing.

[0026] The system also includes an information terminal, which uses an industrial-grade controller and integrates display, control, and data storage functions. It can receive monitoring data from various sensors and send control commands to various execution components. The information terminal can communicate with various components via wired or wireless means, facilitating remote operation and monitoring. Each of the three bends 15 is equipped with a flow sensor. Multiple mounting rods 33 are fixedly connected to the outer wall of the spray pipe 10. Each mounting rod 33 has a chlorophyll sensor 14 and a stem sensor 32 fixedly connected to its upper and lower ends, respectively. The chlorophyll sensor 14 and the stem sensor 32 monitor the state of the crop, thereby determining the crop's nutritional needs and dynamically adjusting the water and fertilizer ratio. The flow sensor detects that when the water and fertilizer enter the water and fertilizer mixing chamber through the bend 15 and reach the preset amount, it transmits an electrical signal to the information terminal. The information terminal controls the electromagnet to be energized, causing the corresponding vertical rod 18 and rotating rod 19 to disconnect, thus stopping the addition of the water and fertilizer.

[0027] Among them, the hollow rod 27 is located in the water-fertilizer mixing chamber and has multiple stirring rods 26 fixedly connected to the outer wall array. The stirring rods 26 are arc-shaped rods, and the liquid inlet end of the liquid extraction pipe 7 is located in the area between the rotation range of the stirring rod 26 and the inner wall of the partition ring 25.

[0028] The functional principle of this invention can be explained through the following operation: First, perform equipment initialization preparation: inject three different liquid fertilizer raw materials into three independent storage bins through the three corresponding addition ports on the top of the fertilizer tank 3. After injection, seal the addition ports with sealing plugs. Confirm that there is sufficient liquid fertilizer raw material in each storage bin through the liquid level observation window and corresponding scale lines on the outer wall of the fertilizer tank 3. Plant crop seedlings into the cultivation holes on the outer wall of the cultivation rack 5, ensuring that the seedling roots are in contact with the hydrophilic and breathable wrapping cloth covering the cultivation holes. The wrapping cloth can support the roots and assist in the conduction of water and fertilizer. Adjust the height of the retractable fixed feet 2 and lock the fixed feet 2 to the AGV trolley through the threaded connection structure to ensure the installation stability of the fertilizer tank 3, tray 4 and cultivation rack 5. According to the needs of the operation scenario, adjust the robot position through the Mecanum wheels of the AGV trolley. The Mecanum wheels can improve the robot's mobility and positioning accuracy in complex scenarios such as greenhouses and fields, and complete the equipment initialization.

[0029] Next, the equipment is started and the intelligent water-fertilizer mixing operation is performed: the servo motor 9 is started, and the servo motor 9 drives the hollow rod 27 to rotate through the meshing bevel gear 21. The hollow rod 27 drives one of the rotating rods 19 to rotate through the second transmission component 24. The rotating rod 19 then drives the other two rotating rods 19 to rotate synchronously through the first transmission component 23. When the rotating rod 19 rotates, the rectangular block 30 in the rectangular groove 28 at its upper end engages with the vertical rod 18 under the elastic action of the spring 29, thereby driving the vertical rod 18 to rotate synchronously. When the vertical rod 18 rotates, it drives the gear 20 to rotate. The gear 20 cooperates with the arc-shaped racks 17 that mesh symmetrically on both sides, driving the two extrusion plates 16 to rotate relative to each other in the storage bin, generating an extrusion action on the water-fertilizer raw material between the two extrusion plates 16, causing the water-fertilizer raw material liquid level to rise, and being transported through the bend pipe 15 to the middle of the separating ring 25. Inside the water and fertilizer mixing chamber; during this process, the flow sensor on the bend 15 monitors the delivery volume of each water and fertilizer raw material in real time and transmits the monitoring data to the information terminal. The information terminal combines the crop growth status data monitored by the chlorophyll sensor 14 and the stem sensor 32 (chlorophyll content reflects nitrogen nutrition, and stem diameter reflects growth vitality) to dynamically adjust the preset delivery volume of each water and fertilizer raw material. When the delivery volume of a certain water and fertilizer raw material reaches the preset value, the information terminal controls the electromagnet on the corresponding storage bin rotating rod 19 to be energized. The electromagnet generates a suction force to attract the rectangular block 30, causing the rectangular block 30 to compress the spring 29 and retract into the rectangular groove 28, disconnecting the vertical rod 18 from the rotating rod 19. The vertical rod 18 stops rotating, the extrusion plate 16 stops extruding, and the water and fertilizer raw material stops being delivered to the mixing chamber, thus completing the precise proportioning of the three water and fertilizer raw materials in sequence.

[0030] Next, the water-fertilizer mixing and atomized spraying operation is performed: when the hollow rod 27 rotates, its arc-shaped stirring rod 26 located in the water-fertilizer mixing chamber rotates synchronously, fully stirring the three water-fertilizer raw materials in the mixing chamber to ensure uniform water-fertilizer mixing. The inlet end of the suction pipe 7 is located between the rotation range of the stirring rod 26 and the inner wall of the partition ring 25, allowing for the extraction of uniformly mixed water-fertilizer. The pump body 6 is started, and the pump body 6 extracts the mixed water-fertilizer from the mixing chamber through the suction pipe 7, which is then transported to the rotary joint 22 through the outlet pipe 8, and then transported to the spray nozzle through the hollow rod 27. Inside the liquid pipe 10, the spray pipe 10 rotates synchronously under the drive of the hollow rod 27. The mixed water and fertilizer are atomized and sprayed out through multiple spray holes 11 on the outer wall of the spray pipe 10, which are precisely applied to the crop roots in the cultivation holes of the cultivation rack 5. The hydrophilic and breathable wrapping cloth can evenly conduct the atomized water and fertilizer to all parts of the root system, improving the crop absorption efficiency. During the spraying process, the dripping water and fertilizer that is not absorbed by the crop falls onto the tray 4 and flows back into the water and fertilizer mixing chamber through multiple return holes 12 at the bottom of the tray 4, realizing the recycling of water and fertilizer and avoiding resource waste.

[0031] Finally, the equipment operation and maintenance and adjustment operations are performed: During the operation, the liquid level in each storage bin and mixing bin is observed in real time through the liquid level observation window. When the water and fertilizer raw materials in the storage bin are insufficient, multiple electromagnets are de-energized, causing the rectangular block 30 to be inserted into the corresponding insertion slot 31. The servo motor 9 is started, causing its output shaft to rotate, thereby driving multiple extrusion plates 16 to reset and opening the sealing plug to replenish water and fertilizer. The chlorophyll sensor 14 and stem sensor 32 continuously monitor the crop growth status and transmit the data to the information terminal in real time. The information terminal dynamically adjusts the ratio of the three water and fertilizer raw materials according to the crop growth changes to ensure that the water and fertilizer supply is accurately matched with the crop demand. When it is necessary to adjust the operation area, the AGV trolley is controlled to move to the designated position through the Mecanum wheels. The height of the fixed foot 2 is adjusted to fix the equipment and the operation continues. After the operation is completed, the servo motor 9 and pump body 6 are turned off, and the water and fertilizer residue in the spray pipe 10, bend pipe 15 and mixing bin are cleaned to complete the equipment cleaning and maintenance.

[0032] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An integrated intelligent fog-tillage planting robot, characterized in that, include: An AGV trolley is provided with multiple fixed feet (2) at the upper end of the AGV trolley. A water and fertilizer tank (3) is fixedly connected to the upper end of the multiple fixed feet (2). A tray (4) is fixedly connected to the upper end of the water and fertilizer tank (3). A cultivation rack (5) is provided at the upper end of the tray (4). The intelligent distribution component includes three partitions (13), a partition ring (25), multiple arc-shaped racks (17), a vertical rod (18), a gear (20), and multiple extrusion plates (16). The partition ring (25) is coaxially arranged with the water-fertilizer tank (3). The partitions (13) are fixedly connected between the partition ring (25) and the inner wall of the water-fertilizer tank (3), dividing the partition ring (25) and the inner wall of the water-fertilizer tank (3) into three storage bins. The storage bins are used to store liquid water-fertilizer raw materials. The middle area of ​​the partition ring (25) is a water-fertilizer mixing bin. The three storage bins and the mixing bins are connected by a bend (15). The vertical rod (16) 18) Rotatably connected to the inner top of the water and fertilizer tank (3), each pair of the extrusion plates (16) are located in the storage bin and are sealed and slidably connected to the partition ring (25) and the inner wall of the water and fertilizer tank (3). The arc-shaped rack (17) is fixedly connected to the corresponding extrusion plate (16). The two arc-shaped racks (17) mesh with the corresponding gear (20) and are located on the symmetrical sides of the gear (20). The gear (20) is driven to rotate by the vertical rod (18). The two arc-shaped racks (17) drive the two extrusion plates (16) to rotate relative to each other, and the water and fertilizer raw materials between the two extrusion plates (16) are squeezed. The liquid level of the water and fertilizer raw materials rises and enters the water and fertilizer mixing bin through the bent pipe.

2. The integrated intelligent fog-tillage planting robot according to claim 1, characterized in that: The cultivation rack (5) is equipped with a spray pipe (10) inside. The outer wall of the spray pipe (10) is provided with multiple spray holes (11). The spray pipe (10) is rotatably connected to the tray (4). The lower end of the spray pipe (10) is fixedly connected to a hollow rod (27). The lower end of the hollow rod (27) passes through the bottom of the water and fertilizer tank (3) and is connected to a rotary joint (22). A pump body (6) is installed on the right side of the water and fertilizer tank (3). The inlet end of the pump body (6) is connected to the bottom space of the water and fertilizer mixing chamber through a suction pipe (7). The outlet end of the pump body (6) is connected to the bottom of the rotary joint (22) through an outlet pipe (8). The bottom of the tray (4) is connected to the space in the middle area of ​​the water and fertilizer tank (3) through multiple return holes (12), so that the dripping water and fertilizer will flow back into the water and fertilizer mixing chamber.

3. The integrated intelligent fog-tillage planting robot according to claim 2, characterized in that: The bottom of each of the three storage bins is rotatably connected to a rotating rod (19). The rotating rod (19) is connected to the vertical rod (18) through a cutting assembly. The cutting assembly includes a rectangular groove (28) at the upper end of the rotating rod (19). A rectangular block (30) is slidably connected in the rectangular groove (28). The rectangular block (30) is elastically connected to the bottom of the rectangular groove (28) through a spring (29). An electromagnet is embedded in the bottom of the rectangular groove (28). An insertion groove (31) is provided at the lower end of the vertical rod (18).

4. The integrated intelligent fog-tillage planting robot according to claim 3, characterized in that: It also includes an information terminal. Each of the three bends (15) is equipped with a flow sensor. The outer wall of the spray pipe (10) is fixedly connected with multiple mounting rods (33). Each mounting rod (33) is fixedly connected to a chlorophyll sensor (14) and a stem sensor (32) at its upper and lower ends, respectively. The chlorophyll sensor (14) and the stem sensor (32) monitor the state of the crop, thereby determining the crop's nutritional needs and dynamically adjusting the ratio of water and fertilizer raw materials. The flow sensor monitors the water and fertilizer raw materials entering the water and fertilizer mixing chamber through the bend (15) to reach the preset amount, and transmits an electrical signal to the information terminal. The information terminal controls the electromagnet to be energized, so that the corresponding vertical rod (18) and rotating rod (19) are disconnected, and the addition of the water and fertilizer raw materials is stopped.

5. The integrated intelligent fog-tillage planting robot according to claim 3, characterized in that: The bottom of the water and fertilizer tank (3) is equipped with a servo motor (9). The hollow rod (27) and the output shaft of the servo motor (9) are both equipped with meshing bevel gears (21). The lower ends of the three rotating rods (19) extend to the outside. The three rotating rods (19) are connected by a first transmission assembly (23). The hollow rod (27) and one of the rotating rods (19) are connected by a second transmission assembly (24).

6. The integrated intelligent fog-tillage planting robot according to claim 5, characterized in that: The hollow rod (27) is located on the outer wall of a portion of the water-fertilizer mixing chamber, where multiple stirring rods (26) are fixedly connected. The stirring rods (26) are arc-shaped rods, and the inlet end of the liquid extraction pipe (7) is located in the area between the rotation range of the stirring rod (26) and the inner wall of the partition ring (25).

7. The integrated intelligent fog-tillage planting robot according to claim 1, characterized in that: The cultivation rack (5) is a cylindrical structure, and the outer wall of the cultivation rack (5) is surrounded by multiple cultivation holes. The outer wall of the cultivation rack (5) is wrapped with a hydrophilic and breathable wrapping cloth, which covers all the cultivation holes and is used to support the crop roots in the cultivation holes and conduct water and fertilizer.

8. The integrated intelligent fog-tillage planting robot according to claim 1, characterized in that: The four wheels of the AGV are Mecanum wheels. The fixed foot (2) is a telescopic structure, and the lower end of the fixed foot (2) is threadedly connected to the upper end of the AGV. The outer wall of the water-fertilizer tank (3) is provided with a liquid level observation window. The top of the water-fertilizer tank (3) is provided with three filling ports, and each of the three filling ports is provided with a sealing plug. The liquid level observation window is provided with scale lines corresponding to the three storage bins and the water-fertilizer mixing bin, for visual observation of the remaining liquid in each bin.

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