An adaptive terrain-targeting precision variable fertilizer application device and control method

Abstract

The application discloses a self-adaptive terrain-targeting precision variable fertilizer application device and a control method thereof, which comprises a walking unit, a transport unit and a fertilizer application unit.The walking unit comprises a caterpillar chassis, a speed reduction motor in transmission connection with the caterpillar chassis and a battery for providing power supply.The transport unit comprises a material box for storing and transporting granular fertilizer, and the material box is arranged on the caterpillar chassis.The fertilizer application unit comprises, in sequence from front to back, a furrowing cutter head, a fertilizer application mechanism and a ground wheel.The front end of the fertilizer application unit is movably connected with the rear end of the caterpillar chassis, and an electric push rod for adjusting the lifting of the fertilizer application unit to control the soil penetration depth of the furrowing cutter head is arranged at the connection.The distance measuring sensor for detecting the distance between the fertilizer application unit and the ground and the visual sensor for identifying and positioning the mulberry trunk are arranged on the fertilizer application unit.The scheme has high terrain adaptability, the furrowing cutter head depth can be self-adaptively adjusted, and the fertilizer application is accurate and targeted, so that the uniformity of the fertilizer application quality is ensured.

Description

Technical Field

[0001] This invention relates to the field of agricultural fertilization technology, specifically to a terrain-adaptive, targeted, precise variable fertilization device and control method. Background Technology

[0002] As an important economic crop, the growth and yield of mulberry trees are closely related to scientific fertilization. Traditional fertilization methods in mulberry orchards mainly rely on manual or semi-mechanized operations, which have the following technical drawbacks: 1. High labor intensity and low work efficiency: Manual fertilization is time-consuming and labor-intensive, making it difficult to meet the operational needs of large-scale mulberry orchards; at present, most mulberry orchards still rely on manual fertilization using tools such as hoes to dig holes and apply fertilizer, which consumes a lot of manpower and resources and is inefficient; although some existing fertilization machinery has achieved mechanized operation, the degree of automation is limited and still requires a lot of manual intervention.

[0003] 2. Uneven fertilization and low fertilizer utilization: Traditional broadcasting or trenching methods cannot guarantee even fertilizer distribution and cannot accurately fertilize according to the actual needs of individual mulberry trees, resulting in fertilizer waste and environmental pollution.

[0004] 3. Poor terrain adaptability: Mulberry orchards are mostly located in hilly or mountainous areas with uneven terrain. Conventional wheeled machinery has poor mobility and it is difficult to maintain a stable trenching depth and fertilization position, which affects the fertilization effect.

[0005] 4. Lack of intelligent control: Existing fertilization machinery generally lacks the ability to sense and respond to the working environment, and cannot achieve intelligent operation of "targeting" (i.e., aiming at the target plant) and "variable" (i.e., adjusting the amount of fertilizer according to needs).

[0006] In summary, there is an urgent need to develop a new type of mulberry orchard fertilization device and control method that can overcome the above-mentioned defects and integrate automatic walking, terrain adaptation, precise target targeting, and variable fertilization. Summary of the Invention

[0007] To address the aforementioned shortcomings of existing technologies, this invention provides an adaptive terrain-targeted precision variable fertilization device and control method to solve the problems of low efficiency, poor precision, weak terrain adaptability, and low level of intelligence in mulberry orchard fertilization operations.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, a terrain-adaptive, targeted, variable-rate fertilization device is provided, comprising: The traveling unit includes a tracked chassis, a geared motor that is driven to the tracked chassis, and a battery that provides power. The transport unit includes a hopper for storing and transporting granular fertilizer, and the hopper is mounted on a tracked chassis. The fertilization unit, from front to back, includes a trenching cutter head, a fertilization mechanism, and ground wheels. The trenching cutter head is driven by a trenching motor. The front end of the fertilization unit is movably connected to the rear end of the tracked chassis. An electric push rod is provided at the connection point to adjust the lifting of the fertilization unit to control the soil penetration depth of the trenching cutter head. The fertilization unit is equipped with a distance measuring sensor to detect its distance from the ground and a visual sensor to identify and locate the mulberry tree trunk. Control unit, which includes an industrial computer electrically connected to all electrical components.

[0009] Furthermore, the front end of the fertilization unit is vertically hinged to the rear end of the drive linkage, the front end of the drive linkage is vertically hinged to the rear end of the tracked chassis, the fixed end of the electric push rod is vertically hinged to the rear end of the tracked chassis, and the telescopic end of the electric push rod is vertically hinged to the rear end of the drive linkage.

[0010] Furthermore, a certain height difference is provided between the hinge point of the fixed end of the electric actuator and the hinge point of the front end of the drive linkage.

[0011] Furthermore, the rear end of the tracked chassis located above the drive link is vertically hinged to the front end of the stabilizer link, and the rear end of the stabilizer link is vertically hinged to the top of the front end of the fertilizer unit.

[0012] Furthermore, the fertilization mechanism includes a fertilizer box, a fertilization chamber connected to the bottom of the fertilizer box, a horizontal rotating shaft inside the fertilization chamber, several fertilization plates arranged around the circumference of the horizontal rotating shaft, the horizontal rotating shaft being connected to a fertilization motor, and a fertilization pipe at the bottom of the fertilization chamber.

[0013] Furthermore, the ranging sensors are symmetrically arranged on both sides of the fertilization unit, and the detection end faces of both ranging sensors are vertically downward. The vision sensor is located on one side of the fertilization unit and at the front end of the fertilization mechanism.

[0014] Furthermore, the walking unit also includes a range extender, which acts as a generator to power the geared motor or charge the battery.

[0015] Secondly, a control method for a terrain-adaptive, target-precision variable fertilization device is provided, comprising: Terrain adaptive control method: The vertical distance data between each side and the ground is collected in real time by the distance measuring sensors on both sides and uploaded to the industrial control computer; after the industrial control computer identifies and processes the data, it calculates the average value of the left and right ground clearance and uses it as the reference height; the difference between the real-time reference height and the preset ground clearance is calculated, and when the height deviation exceeds the preset error threshold, the electric push rod is controlled to adjust the height to compensate for the terrain undulation and maintain a constant trench depth; Precise target control method: The vision sensor detects the mulberry tree trunk in real time. When the trunk is detected, the industrial control computer dynamically calculates the delay time based on the physical distance between the vision sensor and the fertilizer outlet and the real-time driving speed, so that the fertilizer pipe can be moved to the root position of the mulberry tree and the fertilizer motor can be triggered to perform fertilization. Automatic line-changing control method: When line-changing operation is required, the industrial control computer controls the electric push rod to lift the front end of the fertilization unit until the trenching cutter head is lifted off the ground; and after reaching the predetermined line-changing position, the electric push rod drives the trenching cutter head to descend to the working depth.

[0016] Furthermore, in the terrain adaptive control method, the industrial control computer uses a sliding window extreme value removal and mean filtering algorithm to denoise the data. After caching, sorting, removing the maximum and minimum values ​​of multiple consecutive frames of data, the mean value is calculated, and finally stable real-time ground clearance data is output.

[0017] Furthermore, in the precise target control method, the industrial control computer continuously refreshes the driving speed, calculates the distance already traveled and the remaining compensation distance in real time during the calculation of the dynamic calculation delay time, and dynamically corrects the delay time until the remaining compensation distance is zero, at which point the fertilizer motor is triggered to perform fertilization.

[0018] The beneficial effects of this invention are as follows: 1. This solution has strong terrain adaptability: By combining a tracked chassis, a distance sensor, and an electric push rod, the depth of the trenching cutterhead can be adaptively adjusted, enabling the solution to travel stably in rugged mulberry orchards and maintain a constant trenching depth, thereby ensuring the uniformity of fertilization quality.

[0019] 2. Stable and efficient depth adjustment of the trenching cutterhead: This solution forms a triangular structure through the rear end of the tracked chassis, the drive linkage, and the electric push rod. When the electric push rod extends or retracts, it drives the rear end of the drive linkage to swing up and down, thereby causing the front end of the fertilization unit to swing up and down around the ground wheel as the rotation center, thus realizing the depth adjustment of the trenching cutterhead at the bottom of the fertilization unit. At the same time, a stabilizing linkage is also set between the tracked chassis and the fertilization unit, which can effectively enhance the stability of the fertilization unit.

[0020] 3. This solution provides precise and efficient fertilization: It achieves accurate identification of mulberry tree trunks through visual sensors and compensates for the physical distance between the visual sensors and the fertilizer outlet by dynamically calculating the delay time, thus achieving precise and efficient fertilization, greatly improving fertilizer utilization, and reducing waste and environmental pollution.

[0021] 4. This solution has a high degree of automation and intelligence: the depth adjustment, targeted fertilization, row changing and lifting operations in the entire operation process are all completed automatically by the control unit, which greatly reduces the labor intensity of operators and their reliance on experience. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and other objects, features, and advantages of the present invention will become clearer through the accompanying drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not intentionally drawn to scale to actual dimensions; the focus is on illustrating the main points of the invention.

[0023] Figure 1 A schematic diagram of the first structure of a terrain-adaptive, target-precision variable fertilization device.

[0024] Figure 2 This is a schematic diagram of the second structure of a terrain-adaptive, target-precision variable fertilization device.

[0025] Figure 3 This is a schematic diagram of the third structure of a terrain-adaptive, target-precision variable fertilization device.

[0026] Figure 4 A schematic diagram of the internal structure of a terrain-adaptive, target-precision variable fertilization device.

[0027] Figure 5 This is a cross-sectional view of the fertilization mechanism.

[0028] The components are as follows: 1. Tracked chassis; 2. Gear motor; 3. Range extender; 4. Material box; 5. Trenching cutter head; 6. Trenching motor; 7. Electric push rod; 8. Distance sensor; 9. Vision sensor; 10. Drive linkage; 11. Stabilizing linkage; 12. Fertilizer box; 13. Fertilizer chamber; 14. Horizontal rotating shaft; 15. Fertilizer plate; 16. Fertilizer motor; 17. Fertilizer pipe; 18. Ground wheel; 19. Cooling fan; 20. Control box; 21. Control panel. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0033] like Figures 1 to 5 As shown, the terrain-adaptive, target-precision variable fertilization device of this scheme includes a walking unit, a transport unit, a fertilization unit, and a control unit.

[0034] The walking unit includes a tracked chassis 1, a geared motor 2 connected to the tracked chassis 1, a battery that provides power, and a range extender 3 that acts as a generator to power the geared motor 2 or charge the battery. The tracked chassis 1 provides excellent off-road and climbing performance, adapting to the complex terrain of the mulberry orchard. The range extender 3 provides a continuous and stable power supply to the system, solving the range anxiety problem of pure electric drive solutions in field operations. Cooling fans 19 are installed on both sides of the tracked chassis 1. The geared motor 2 is responsible for driving the tracked chassis 1 and ensuring stable power output, providing continuous and reliable power to the fertilization unit.

[0035] The transport unit includes a hopper 4 for storing and transporting granular fertilizer, and the hopper 4 is mounted on the tracked chassis 1. This solution supports filling the hopper anytime and anywhere during operation, ensuring the continuity of fertilization operations and improving overall work efficiency.

[0036] The fertilization unit is the core actuator for achieving precision fertilization. From front to back, the fertilization unit includes a trenching cutter head 5, a fertilization mechanism, and a ground wheel 18. The trenching cutter head 5 is connected to the trenching motor 6 and is used to dig fertilization trenches near the roots of mulberry trees. The ground wheel 18 is used to support the rear end of the fertilization unit. The front end of the fertilization unit is movably connected to the rear end of the tracked chassis 1, and an electric push rod 7 is provided at the connection point to adjust the lifting of the fertilization unit to control the soil penetration depth of the trenching cutter head 5. The fertilization unit is equipped with a distance sensor 8 for detecting its distance from the ground and a vision sensor 9 for identifying and locating the trunk of the mulberry tree.

[0037] The control unit includes an industrial computer, a control box 20, and a control panel 21 that are electrically connected to all electrical components. The industrial computer acts as the core controller, runs control algorithms, processes sensor data, and issues instructions to each actuator.

[0038] Specifically, the front end of the fertilization unit is vertically hinged to the rear end of the drive link 10, the front end of the drive link 10 is vertically hinged to the rear end of the track chassis 1, the fixed end of the electric push rod 7 is vertically hinged to the rear end of the track chassis 1, and the telescopic end of the electric push rod 7 is vertically hinged to the rear end of the drive link 10. A certain height difference is set between the hinge point of the fixed end of the electric push rod 7 and the hinge point of the front end of the drive link 10, so that the rear end of the track chassis 1, the drive link 10 and the electric push rod 7 form a triangular structure. When the electric push rod 7 extends or retracts, it can drive the rear end of the drive link 10 to swing up and down, thereby driving the front end of the fertilization unit to swing up and down around the ground wheel 18 as the rotation center, thereby realizing the depth adjustment of the trenching cutter head 5 at the bottom of the fertilization unit.

[0039] The rear end of the tracked chassis 1, located above the drive link 10, is vertically hinged to the front end of the stabilizing link 11. The rear end of the stabilizing link 11 is vertically hinged to the top of the front end of the fertilization unit. The stabilizing link 11 in this design can effectively enhance the stability of the fertilization unit.

[0040] The fertilization mechanism includes a fertilizer box 12, a fertilizer chamber 13 connected to the bottom of the fertilizer box 12, a horizontal rotating shaft 14 inside the fertilizer chamber 13, a number of fertilizer plates 15 arranged around the circumference of the horizontal rotating shaft 14, the horizontal rotating shaft 14 being connected to a fertilizer motor 16, and a fertilizer pipe 17 at the bottom of the fertilizer chamber 13; variable fertilization can be achieved by opening and closing the fertilizer motor 16 and adjusting its speed.

[0041] The distance sensors 8 are symmetrically arranged on both sides of the fertilization unit, and the detection end faces of both distance sensors 8 are vertically downward. The vision sensor 9 is located on one side of the fertilization unit and at the front end of the fertilization mechanism.

[0042] This solution combines a tracked chassis 1, a distance sensor 8, and an electric push rod 7 to achieve adaptive adjustment of the trenching head 5 depth. This allows the solution to travel stably in uneven mulberry orchards while maintaining a constant trenching depth, thus ensuring the uniformity of fertilization quality. Simultaneously, a vision sensor 9 enables precise identification of mulberry tree trunks, and by dynamically calculating the delay time, the physical distance between the vision sensor 9 and the fertilizer outlet is offset, achieving precise and efficient fertilization, significantly improving fertilizer utilization, and reducing waste and environmental pollution. Furthermore, the entire operation process, including depth adjustment, targeted fertilization, and row shifting / lifting, is automatically completed by the control unit. Its high degree of automation and intelligence greatly reduces the labor intensity of operators and their reliance on experience.

[0043] The working process of this plan will be explained in detail below: 1. Preparation stage: Add granular fertilizer to the material bin 4, power on the machine, and the operator sets the initial parameters through the control unit.

[0044] 2. Depth Adjustment: The industrial control computer controls the electric push rod 7 to move, so that the trenching cutter head 5 descends to the preset trenching depth; at the same time, the distance sensors 8 on both sides start to work and calculate their initial height above the ground.

[0045] 3. Targeted fertilization operation: The whole machine moves forward, and the tracked chassis 1 drives the fertilization unit to move along the mulberry tree row. During this process, terrain adaptive control and precise target control are carried out.

[0046] (1) The terrain adaptive control method includes: real-time acquisition of vertical distance data between the two sides and the ground by the distance sensors 8 on both sides and uploading it to the industrial control computer; after the industrial control computer identifies and processes the data, it calculates the average value of the left and right ground clearance and uses it as the reference height; the real-time reference height is calculated with the preset ground clearance, and when the height deviation exceeds the preset error threshold, the electric push rod 7 is controlled to adjust the height to compensate for the terrain undulation and maintain a constant trench depth. In practical implementation: The distance sensors 8 on both sides continuously and at high frequency collect vertical distance data between themselves and the ground in real time, and upload the raw detection data to the industrial control computer in real time. After receiving the raw detection data from both sides, the industrial control computer first performs data validity verification, removes extreme value data, interference data and invalid data that exceed the preset valid value range, and counts and records single data anomalies. For the collected valid height data, the industrial control computer uses a sliding window extreme value removal mean filtering algorithm for noise reduction. By caching, sorting and removing the maximum and minimum values ​​of multiple consecutive frames of data and then calculating the mean, it effectively filters out the high-frequency jitter of data caused by field ground bumps, voltage fluctuations and electromagnetic interference, and outputs stable and accurate real-time ground clearance values ​​for both sides.

[0047] The industrial control computer calculates the average of the filtered left and right ground clearances, using this as the benchmark for the actual terrain ground clearance at the current equipment location. The industrial control computer then calculates the difference between the real-time average ground clearance and the preset target constant ground clearance to obtain the real-time height deviation. When the absolute value of the height deviation is less than the preset error threshold, the system determines that the current sensor ground clearance meets the standard and controls the electric push rod 7 to maintain its current travel position, avoiding frequent fine-tuning that could cause vibration and wear. When the height deviation exceeds the allowable error threshold, the system determines that the terrain has changed and initiates dynamic contour compensation adjustment logic.

[0048] To address height deviations caused by terrain undulations, this solution employs a gradual, step-by-step fine-tuning strategy for height compensation. When the ground protrudes and the sensor's real-time height above the ground exceeds the target height, the industrial control computer outputs a downward adjustment command to lower the sensor frame height. Conversely, when the ground sinks and the sensor's real-time height above the ground falls below the target height, the industrial control computer outputs an upward adjustment command to raise the sensor frame height. During adjustment, the maximum single adjustment stroke of the electric actuator 7 is strictly limited to gradually adapt to sudden terrain elevation changes, preventing equipment impact, frame swaying, and height adjustment inaccuracies caused by sudden actuator rises and falls, ensuring a smooth and continuous height compensation process. Simultaneously, the system incorporates a dual limit mechanism for the actuator's mechanical stroke, automatically clamping and correcting target adjustment positions exceeding the maximum and minimum mechanical strokes, effectively preventing hardware failures such as actuator overtravel jamming, lead screw deformation, and motor overload burnout.

[0049] This solution can be configured with a multi-level fault-tolerant control mechanism to adapt to various sudden abnormal conditions in the field. During operation, the system monitors the working status of both side sensors in real time. When a single side sensor experiences faults such as loose wiring, signal interruption, data jumps, or continuous invalidity, the system accumulates the number of abnormalities and triggers a single-side fault degradation operation mode. The data from the faulty side is discarded, and the effective detection data from the normal side is used to complete the terrain height calculation and adaptive compensation adjustment, ensuring that the equipment can continue to operate without interruption. When both side sensors experience continuous faults at the same time and are completely unable to collect effective height data, the system determines that the detection function has completely failed, immediately triggers emergency lock protection, keeps the push rod in its current position, and stops adaptive adjustment, preventing serious displacement of sensor height above the ground and equipment damage caused by blind adjustment without a reference.

[0050] Furthermore, the system monitors data communication and hardware execution status in real time. For issues such as signal transmission fluctuations and short-term communication timeouts, a fault counting and reset mechanism handles the faults, preventing false alarms and shutdowns. For hardware anomalies such as push rod adjustment jamming or execution failure, the system retains the current height status and avoids repeatedly triggering abnormal adjustment commands, preventing hardware jamming from exacerbating the fault. The entire control system operates in a fully automated closed-loop manner without manual intervention. It can adapt to complex terrain and various unexpected conditions, always ensuring that the vertical distance between the sensors on both sides and the ground remains highly consistent. This effectively solves the shortcomings of traditional equipment, such as poor terrain adaptability, insufficient height consistency, and weak fault tolerance, significantly improving the equipment's operational accuracy and reliability.

[0051] (2) The precise target control method includes: the vision sensor 9 detects the mulberry tree trunk in real time. When the trunk is detected, the industrial control computer dynamically calculates the delay time based on the physical distance between the vision sensor 9 and the fertilizer outlet and the real-time driving speed, so that the fertilizer pipe 17 moves to the root position of the mulberry tree and triggers the fertilizer motor 16 to perform fertilization. During the process of calculating the dynamic delay time, the industrial control computer continuously refreshes the driving speed, calculates the distance already traveled and the remaining compensation distance in real time, and dynamically corrects the delay time until the remaining compensation distance is zero, and then triggers the fertilizer motor 16 to perform fertilization.

[0052] In practical implementation: The hardware components of the precision target-alignment control system may include an industrial control computer, a vision sensor 9, a travel speed encoder, a fertilizer applicator motor 16, and supporting signal transmission lines. The vision sensor 9 is fixedly installed on the side of the equipment frame to acquire real-time images of the main trunk and output a trunk identification signal. The fertilizer applicator pipe 17 and the fertilizer applicator motor 16 are installed in the middle and rear of the equipment frame. A fixed physical offset distance is reserved between the vision sensor 9 and the fertilizer applicator pipe 17; this distance is a core calibration parameter of the system and is calibrated and entered into the industrial control computer system according to the actual structure of the equipment. The travel speed encoder is installed at the axle of the equipment's drive wheel to acquire the equipment's linear travel speed in real time and transmit the speed pulse signal to the industrial control computer. The industrial control computer establishes signal and control connections with the vision sensor 9, the speed encoder, and the fertilizer applicator motor 16, forming a closed-loop control system for signal acquisition, calculation compensation, and precise execution.

[0053] Before system operation, parameter calibration and initialization are completed. Fixed operating condition parameters such as physical offset distance between vision sensor 9 and fertilizer pipe 17, legal driving speed range, maximum and minimum compensation delay, motor working time, fault judgment threshold, and anti-repeated trigger interval are uniformly entered. Speed ​​data filtering window, fault count clearing, and system status reset initialization are completed to provide benchmark parameter support for automated compensation operation.

[0054] During the equipment's field operation, vision sensor 9 continuously collects images of the side work area in real time, dynamically detecting the main target on the side. When vision sensor 9 identifies the main target and outputs a valid detection signal, the industrial control computer does not immediately trigger the fertilization action, avoiding the problem of premature fertilization misalignment caused by the physical distance between the front and rear. At the same time, the industrial control computer reads the driving speed data from the speed encoder in real time, and uses a sliding window extreme value removal and mean filtering algorithm on multiple consecutive frames of speed data to remove speed jumps and noise data caused by field bumps and electromagnetic interference, and filters out invalid data that exceeds the legal speed range, thus obtaining a stable and accurate real-time driving speed of the equipment.

[0055] The industrial control computer dynamically calculates and accurately compensates for the delay time based on the preset physical offset distance and real-time filtered driving speed through the correspondence between distance and speed. At the same time, it performs upper and lower limit clamping correction on the calculated delay to prevent infinite delay caused by low-speed equipment stagnation and delay failure caused by high-speed driving, ensuring that the compensated delay is always within the legal and valid range.

[0056] During the compensation delay waiting process, the system continuously refreshes the vehicle's driving speed at high frequency, calculates the device's travel time and remaining compensation distance in real time, and dynamically corrects the delay compensation accuracy. When the remaining compensation distance is detected to be close to zero, it is determined that the fertilizer pipe 17 has accurately moved to the fertilization position at the root of the main trunk, and the delay waiting is terminated in advance, triggering the fertilization execution command, effectively eliminating the alignment error caused by dynamic fluctuations in vehicle speed.

[0057] Once the fertilizer applicator 17 is precisely aligned with the main root, the industrial control computer outputs a drive signal to control the fertilizer applicator motor to start. The motor works stably for a preset fixed duration to complete the quantitative fertilization operation. After the working time is over, the machine automatically stops to prevent the motor from being overloaded and burned out due to prolonged power supply, ensuring that the amount of fertilizer applied each time is stable and controllable.

[0058] This solution can be configured with multiple fault-tolerant protection mechanisms to adapt to various unexpected abnormal conditions in the field. For visual signal anomalies, the system monitors in real time for faults such as sensor disconnection, false triggering by electromagnetic interference, and continuous invalid signals. An abnormal signal is masked through a fault accumulation and counting mechanism, while a fixed timestamp locking mechanism is set up to prevent repeated triggering of the same main line within a short period, which could lead to excessive fertilization. For abnormal vehicle speed conditions, faults such as equipment shutdown, low-speed over-limit, over-speed, speed signal loss, and data jumps are classified and judged. If multiple consecutive speed anomalies occur, the current fertilization command is automatically masked, fertilization operations are suspended, and the equipment continues to operate normally, avoiding fertilization misalignment caused by the lack of baseline compensation.

[0059] To address sudden speed changes and frequent speed shifts during operation, the system abandons the fixed delay compensation mode and dynamically adjusts compensation parameters based on real-time vehicle speed, adaptively adapting to speed variations to ensure precise alignment between the fertilizer outlet and the main root. To address command stacking issues, a global delay waiting state lock is implemented. If the current compensation operation is not completed, subsequent new identification commands are blocked, preventing fertilization logic confusion caused by multiple command accumulation. For communication anomalies, a counter reset process is implemented for sensor communication timeouts and data transmission interruptions. Once the accumulated fault exceeds the limit, state protection is triggered to ensure the system does not crash or freeze, maintaining continuous and stable operation.

[0060] The precision target-alignment control system operates fully automatically without human intervention. It uses a distance-velocity dynamic compensation algorithm to offset the physical offset error of the equipment structure. Combined with multi-dimensional fault tolerance, data filtering, and state self-locking protection mechanisms, it can stably achieve precise fertilization of the main stem roots under complex field conditions. It completely solves the technical defects of traditional fixed delayed fertilization, such as misalignment, fertilization omission, over-fertilization, and easy equipment failure. The operation accuracy and adaptability of equipment conditions are significantly improved.

[0061] 4. Line break and end: When a row of work is completed and a new row is needed, the industrial control computer controls the electric push rod 7 to raise the front end of the entire fertilization unit to a safe height to avoid damage to the machinery or crops during the transfer process; after reaching the next row, it automatically lowers to the working depth and continues the work.

[0062] When the fertilizer in the hopper 4 is about to run out, the fertilization unit can be automatically lifted by the electric push rod 7 to prevent the trenching from continuing when there is no fertilizer, thus avoiding ineffective work and energy waste.

[0063] 5. Precision variable fertilization: This plan can also be used to pre-set the amount of fertilizer to be applied based on the age of the mulberry tree and the amount of fertilizer required in the season, and to adjust the length of the groove wheel and the opening time of the fertilizer inlet to accurately control the amount of fertilizer applied.

[0064] In summary, this solution, through the combination of tracked chassis 1, distance sensor 8, and electric push rod 7, achieves adaptive adjustment of the trenching disc 5 depth. This allows the solution to travel stably in rugged mulberry orchards while maintaining a constant trenching depth, thus ensuring the uniformity of fertilization quality. Simultaneously, the vision sensor 9 enables precise identification of mulberry tree trunks, and by dynamically calculating the delay time, the physical distance between the vision sensor 9 and the fertilizer outlet is offset, achieving precise and efficient fertilization, significantly improving fertilizer utilization, and reducing waste and environmental pollution. Furthermore, the entire operation process, including depth adjustment, targeted fertilization, and row shifting / lifting, is automatically completed by the control unit. Its high degree of automation and intelligence greatly reduces the labor intensity of operators and their reliance on experience.

[0065] Although the specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent; various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims are still within the scope of protection of this patent.

Claims

1. A terrain-adaptive, target-precision variable fertilization device, characterized in that, include: The traveling unit includes a tracked chassis, a geared motor that is driven to the tracked chassis, and a battery that provides power. The transport unit includes a hopper for storing and transporting granular fertilizer, and the hopper is mounted on a tracked chassis. The fertilization unit, from front to back, includes a trenching cutter head, a fertilization mechanism, and ground wheels. The trenching cutter head is driven by a trenching motor. The front end of the fertilization unit is movably connected to the rear end of the tracked chassis. An electric push rod is provided at the connection point to adjust the lifting of the fertilization unit to control the soil penetration depth of the trenching cutter head. The fertilization unit is equipped with a distance measuring sensor for detecting its distance from the ground and a visual sensor for identifying and locating the mulberry tree trunk. The control unit includes an industrial computer that is electrically connected to all electrical components.

2. The adaptive terrain-targeted precision variable fertilization device according to claim 1, characterized in that, The front end of the fertilization unit is vertically hinged to the rear end of the drive link, the front end of the drive link is vertically hinged to the rear end of the track chassis, the fixed end of the electric push rod is vertically hinged to the rear end of the track chassis, and the telescopic end of the electric push rod is vertically hinged to the rear end of the drive link.

3. The adaptive terrain-targeted precision variable fertilization device according to claim 2, characterized in that, There is a certain height difference between the hinge point of the fixed end of the electric push rod and the hinge point of the front end of the drive link.

4. The adaptive terrain-targeted precision variable fertilization device according to claim 2, characterized in that, The rear end of the tracked chassis, located above the drive link, is vertically hinged to the front end of the stabilizing link, and the rear end of the stabilizing link is vertically hinged to the top of the front end of the fertilization unit.

5. The adaptive terrain-targeted precision variable fertilization device according to claim 1, characterized in that, The fertilization mechanism includes a fertilizer box, a fertilization chamber communicating with the bottom of the fertilizer box, a horizontal rotating shaft inside the fertilization chamber, several fertilization plates arranged circumferentially on the horizontal rotating shaft, the horizontal rotating shaft being connected to a fertilization motor, and a fertilization pipe at the bottom of the fertilization chamber.

6. The adaptive terrain-targeted precision variable fertilization device according to claim 1, characterized in that, The ranging sensors are symmetrically arranged on both sides of the fertilization unit, and the detection end faces of both ranging sensors are vertically downward. The vision sensor is located on one side of the fertilization unit and at the front end of the fertilization mechanism.

7. The adaptive terrain-targeted precision variable fertilization device according to claim 1, characterized in that, The walking unit also includes a range extender, which acts as a generator to power the geared motor or charge the battery.

8. A control method for a target-oriented precision variable fertilization device for adaptive terrain as described in any one of claims 1-7, characterized in that, include: Terrain adaptive control method: The vertical distance data between each side and the ground is collected in real time by the distance measuring sensors on both sides and uploaded to the industrial control computer; after the industrial control computer identifies and processes the data, it calculates the average value of the left and right ground clearance and uses it as the reference height; the difference between the real-time reference height and the preset ground clearance is calculated, and when the height deviation exceeds the preset error threshold, the electric push rod is controlled to adjust the height to compensate for the terrain undulation and maintain a constant trench depth; Precise target control method: The vision sensor detects the mulberry tree trunk in real time. When the trunk is detected, the industrial control computer dynamically calculates the delay time based on the physical distance between the vision sensor and the fertilizer outlet and the real-time driving speed, so that the fertilizer pipe can be moved to the root position of the mulberry tree and the fertilizer motor can be triggered to perform fertilization. Automatic line-changing control method: When line-changing operation is required, the industrial control computer controls the electric push rod to lift the front end of the fertilization unit until the trenching cutter head is lifted off the ground; After reaching the predetermined changeover position, the trenching cutter head is driven to descend to the working depth via an electric push rod.

9. The control method for the adaptive terrain-targeted precision variable fertilization device according to claim 8, characterized in that, In the terrain adaptive control method, the industrial control computer uses a sliding window extreme value removal and mean filtering algorithm to denoise the data. After caching, sorting, removing the maximum and minimum values ​​of multiple consecutive frames of data, the mean value is calculated, and finally stable real-time ground clearance data is output.

10. The control method for the adaptive terrain-targeted precision variable fertilization device according to claim 8, characterized in that, In the precise target control method, the industrial control computer continuously refreshes the driving speed, calculates the distance already traveled and the remaining compensation distance in real time during the dynamic calculation delay time, and dynamically corrects the delay time until the remaining compensation distance is zero, at which point the fertilizer motor is triggered to perform fertilization.

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