Orchard ditching and fertilizing machine and ditching and fertilizing control method used thereby

Abstract

Provided are an orchard ditching and fertilizing machine and a ditching and fertilizing control method used thereby. The orchard ditching and fertilizing machine (1) comprises a traveling device (11), a ditching device (12), a fertilizing device (13) and a control device (14), wherein the ditching device (12) comprises a multi-axis adjustment assembly (121) arranged on the traveling device (11) and a ditching assembly (122) arranged on the multi-axis adjustment assembly (121); the fertilizing device (13) comprises a fertilizer supply assembly (131) and a fertilizing assembly (132), the fertilizer supply assembly (131) being arranged on the traveling device (11) and provided with a fertilizer supply opening (133), and the fertilizing assembly (132) being movably arranged below the fertilizer supply opening (133) in a first direction; and the control device (14) is electrically connected to the traveling device (11), the multi-axis adjustment assembly (121), the ditching assembly (122), the fertilizer supply assembly (131) and the fertilizing assembly (132). The orchard ditching and fertilizing machine (1) identifies canopy drip lines of fruit trees on the basis of point clouds and images of the fruit trees, and determines the position of a fertilizer ditch on the basis of the canopy drip lines, so as to control the fertilizing assembly (132) and the ditching assembly (122) to be aligned with the position of the fertilizer ditch and to perform ditching and fertilizing, thereby achieving automated operation of fertilizer ditch positioning, ditching and fertilizing.

Description

Orchard furrowing fertilizing machine and furrowing fertilizing control method thereof Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and in particular to an orchard furrowing and fertilizing machine and a furrowing and fertilizing control method thereof. Background Art

[0002] During furrow fertilization, the optimal furrow fertilization location for each fruit tree is difficult to determine due to variations in the planting location and growth conditions of the fruit trees. Related orchard fertilization equipment has a low degree of automation and single functions, requiring manual operation to fertilize the desired location, resulting in low efficiency and high labor intensity. Summary of the Invention

[0003] The present invention provides an orchard furrowing fertilizing machine and a furrowing fertilizing control method thereof, which are used to solve the problems in the prior art that fertilizing equipment needs to rely on manual operation to fertilize at a required position, resulting in low operation efficiency and high labor intensity.

[0004] In a first aspect, the present invention provides an orchard furrowing and fertilizing machine, comprising:

[0005] running gear;

[0006] A trenching device, comprising a multi-axis adjustment assembly provided on the walking device and a trenching assembly provided on the multi-axis adjustment assembly, wherein the multi-axis adjustment assembly is used to adjust the position of the trenching assembly along multiple axes;

[0007] The fertilizing device includes a fertilizer supply assembly and a fertilizing assembly; the fertilizer supply assembly is disposed on the walking device, the fertilizer supply assembly is provided with a fertilizer supply port, and the fertilizing assembly is movably disposed below the fertilizer supply port along a first direction; the fertilizer supply assembly is used to supply fertilizer to the fertilizing assembly, and the fertilizing assembly is used to align the fertilizer groove with the position for fertilizing when the walking device moves;

[0008] a control device electrically connected to the travel device, the multi-axis adjustment assembly, the trenching assembly, the fertilizer supply assembly, and the fertilizing assembly; the control device is configured to determine a fertilizer trench excavation position based on a point cloud and an image of fruit trees on the side of the orchard trenching and fertilizing machine, and based on the excavation position and the position of the travel device, control the travel device and the fertilizing assembly so that the fertilizing assembly aligns with the excavation position for fertilizing, and control the multi-axis adjustment assembly so that the trenching assembly aligns with the excavation position for excavating a trench;

[0009] The first direction is perpendicular to the forward direction of the walking device.

[0010] Preferably, the multi-axis adjustment assembly includes a first adjustment assembly and a second adjustment assembly;

[0011] The first adjustment assembly includes a first driving member and a first slide extending in a vertical direction; the trenching assembly is slidably disposed on the first slide, and an output end of the first driving member is transmission-connected to the trenching assembly to drive the trenching assembly to slide in the vertical direction;

[0012] The second adjustment assembly includes a second driving member and a second slide extending along the first direction; the first slide is slidably disposed on the second slide, and the output end of the second driving member is transmission-connected to the first slide to drive the first slide and the trenching assembly to slide along the first direction;

[0013] The first driving member and the second driving member are both electrically connected to the control device.

[0014] Preferably, the first slide is provided with a sliding portion and a rotating portion extending along the second direction, and the second slide is provided with a sliding shaft extending along the first direction; there are two second driving members;

[0015] The sliding portion is slidably disposed on the sliding shaft, the rotating portion is rotatably disposed on the sliding portion, and the trenching assembly is disposed on the rotating portion; the output ends of the two second driving members are respectively connected to the two ends of the rotating portion to drive the rotating portion to move along the first direction or rotate about the vertical direction;

[0016] The second direction is parallel to the forward direction of the walking device.

[0017] Preferably, the trenching assembly includes a cutterhead, a soil cover, a third driving member and a bracket;

[0018] The bracket is arranged on the multi-axis adjustment component;

[0019] The cutter disc is rotatably arranged on the bracket;

[0020] The soil cover and the third driving member are both arranged on the bracket; the soil cover is located above the cutter disc; the output end of the third driving member is connected to the rotating shaft of the cutter disc to drive the cutter disc to rotate; the third driving member is electrically connected to the control device.

[0021] Preferably, the trenching device further comprises a pressing member;

[0022] The pressing member is arranged on the bracket and located behind the cutter disc, and is used for compacting the soil after the trench is opened.

[0023] Preferably, the fertilizer supply assembly includes a fertilizer box and a first transmission mechanism disposed in the fertilizer box;

[0024] The fertilizer box is used to store the fertilizer, and the first transmission mechanism is used to transport the fertilizer to the fertilizer supply port, so that the fertilizer reaches the fertilizing assembly from the fertilizer supply port;

[0025] The first transmission mechanism is electrically connected to the control device.

[0026] Preferably, the walking device is provided with a slide rail extending along the first direction, and the fertilizing assembly includes a second transmission mechanism and a fourth driving member;

[0027] The second transmission mechanism is slidably disposed on the slide rail, and the output end of the fourth driving member is in transmission connection with the second transmission mechanism to drive the second transmission mechanism to slide along the slide rail;

[0028] When the second transmission mechanism slides along the slide rail, a portion of the second transmission mechanism is located below the fertilizer supply port, and one end of the second transmission mechanism extends to the outside of the walking device; the second transmission mechanism is used to receive the fertilizer falling from the fertilizer supply port and transport the fertilizer to one end of the second transmission mechanism to fall to the ground; the second transmission mechanism and the fourth driving member are both electrically connected to the control device.

[0029] In a second aspect, the present invention further provides a method for controlling furrowing and fertilizing of an orchard furrowing and fertilizing machine as described above, comprising:

[0030] Determine the crown drip line of each fruit tree based on the point cloud and image of the fruit trees on the side of the orchard furrowing and fertilizing machine;

[0031] Determine the excavation position of the fertilizer ditch according to the tree crown drip line;

[0032] Based on the excavation position and the current position of the walking device, the fertilizing component is controlled to fertilize the excavation position to form a fertilizer belt; and the trenching component is controlled to trench along the fertilizer belt.

[0033] Preferably, controlling the fertilizing assembly to fertilize at the excavation location to form a fertilizer belt; and controlling the trenching assembly to trench along the fertilizer belt, comprises:

[0034] determining a first distance between the fertilizing assembly and the excavation location, and a second distance between the trenching assembly and the excavation location based on a current position of the walking device and the excavation location;

[0035] When the first spacing is greater than the maximum adjustment amount of the fertilizing assembly on the walking device, controlling the walking device to move laterally; when the first spacing is not greater than the maximum adjustment amount of the fertilizing assembly on the walking device, controlling the fertilizing assembly to move relative to the walking device so that the fertilizing assembly is aligned with the excavation position;

[0036] When the second spacing is greater than the maximum adjustment amount of the ditching assembly on the walking device, the walking device is controlled to move laterally; when the second spacing is not greater than the maximum adjustment amount of the ditching assembly on the walking device, the ditching assembly is controlled to move relative to the walking device so that the ditching assembly is aligned with the fertilizer belt.

[0037] Preferably, it also includes:

[0038] The crown size of the fruit tree is determined based on the point cloud and the image, and the fertilizer supply rate of the fertilizer supply component and the fertilizer application rate of the fertilizer application component are controlled based on the crown size.

[0039] The orchard trenching and fertilizing machine of the present invention, by providing a control device, identifies the crown drip line of the fruit tree based on the point cloud and image of the fruit tree, and determines the relative position of the fertilizer trench and the traveling device based on the position of the traveling device and the crown drip line of the fruit tree; the control device then controls the fertilizing component and the trenching component to align with the excavation position of the fertilizer trench based on the relative position of the fertilizer trench and the traveling device, so as to perform precise trenching and fertilizing, thereby realizing the integrated automated operation of fertilizer trench positioning, trenching and fertilizing, and effectively solving the problem in the prior art that fertilizing equipment needs to rely on manual operation to perform extensive fertilization at the required position, resulting in low operation efficiency and high labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] FIG1 is a schematic diagram of an orchard trenching and fertilizing machine according to an embodiment of the present invention;

[0042] FIG2 is a second schematic diagram of an orchard furrowing and fertilizing machine according to an embodiment of the present invention;

[0043] FIG3 is a schematic diagram of a trenching device according to an embodiment of the present invention;

[0044] FIG4 is a second schematic diagram of a trenching device provided in an embodiment of the present invention;

[0045] FIG5 is a third schematic diagram of a trenching device provided in an embodiment of the present invention;

[0046] FIG6 is a schematic diagram of a fertilizing device and a slide rail of a furrowing device provided in an embodiment of the present invention;

[0047] FIG7 is a second schematic diagram of a fertilizing device and a slide rail of a furrowing device provided in an embodiment of the present invention;

[0048] 8 is a schematic diagram showing calculation of the feeding speeds of the first transmission mechanism and the second transmission mechanism provided in an embodiment of the present invention;

[0049] FIG9 is a flow chart of a trenching fertilization method provided by an embodiment of the present invention.

[0050] Figures: 1. Orchard trenching and fertilizing machine; 2. Fertilizer trench; 11. Travel device; 111. Slide rail; 12. Furrowing device; 121. Multi-axis adjustment assembly; 122. Furrowing assembly; 1221. Cutterhead; 1222. Soil cover; 1223. Third driving member; 1224. Bracket; 123. First adjustment assembly; 1231. First driving member; 1232. First slide; 1233. Sliding portion; 1234. Rotating portion; 124. Second adjustment assembly; 1241. Second driving member; 1242. Second slide; 1243. Sliding shaft; 125. Pressing member; 13. Fertilizing device; 131. Fertilizer supply assembly; 1311. Fertilizer box; 1312. First transmission mechanism; 132. Fertilizing assembly; 1321. Second transmission mechanism; 133. Fertilizer supply port; 14. Control device; 15. Power device; 16. Positioning device; 17. Scanning device. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0052] The orchard trenching and fertilizing machine provided by the present invention will be described below with reference to FIG1 to FIG8 .

[0053] As shown in Figures 1 and 2, the orchard furrowing and fertilizing machine 1 of the present invention includes: a walking device 11, a furrowing device 12, a fertilizing device 13 and a control device 14; the furrowing device 12 includes a multi-axis adjustment component 121 provided on the walking device 11 and a furrowing component 122 provided on the multi-axis adjustment component 121, and the multi-axis adjustment component 121 is used to adjust the position of the furrowing component 122 along the first direction and the vertical direction; the fertilizing device 13 includes a fertilizer supply component 131 and a fertilizer supply component 132; the fertilizer supply component 131 is provided on the walking device 11, and a fertilizer supply port 133 is provided on the fertilizer supply component 131, and the fertilizer supply component 132 is movably provided below the fertilizer supply port 133 along the first direction (the Y-axis direction in the figure); the fertilizer supply component 131 Used to supply fertilizer to the fertilizing component 132, and the fertilizing component 132 is used to fertilize the position of the fertilizer ditch 2 when the traveling device 11 moves; the control device 14 is electrically connected to the traveling device 11, the multi-axis adjustment component 121, the ditching component 122, the fertilizer supply component 131 and the fertilizing component 132; the control device 14 is used to determine the excavation position of the fertilizer ditch 2 based on the point cloud and image of the fruit trees on the side of the orchard ditching and fertilizing machine 1, and based on the excavation position and the position of the traveling device 11, control the traveling device 11 and the fertilizing component 132 to align the fertilizing component 132 with the excavation position for fertilizing, and control the multi-axis adjustment component 121 to align the ditching component 122 with the excavation position for digging a ditch; the first direction is perpendicular to the forward direction of the traveling device 11.

[0054] In this embodiment, the control device 14 is used to identify the crown drip line of the fruit tree based on the point cloud and image of the fruit tree, and determine the excavation position of the fertilizer ditch 2 based on the crown drip line to achieve the best fertilization effect; the control device 14 controls the walking device 11 and the fertilizing device 13 according to the relative position of the walking device 11 and the fertilizer ditch 2, and spreads the fertilizer on the ground corresponding to the position of the fertilizer ditch 2. Specifically, first, the fertilizing component 132 is adjusted according to the distance between the walking device 11 and the fertilizer ditch 2 along the first direction, so that the fertilizing component 132 is aligned with the excavation position of the fertilizer ditch 2. When the walking device 11 moves to the excavation position of the fertilizer ditch 2, the fertilizer supply component 131 is controlled to supply fertilizer to the fertilizing component 132, and fertilization is completed by the fertilizing component 132; at the same time, the control device 14 can also control the multi-axis adjustment component 121 to adjust the excavation position of the ditching component 122, so that the ditching component 122 can be aligned with the excavation position of the fertilizer ditch 2. When the ditching component 122 moves to above the starting position of the fertilizer ditch 2, the control device 14 controls the multi-axis adjustment component 121 to drive the ditching component 122 to move downward and start ditching. The depth of the fertilizer ditch 2 can be controlled by the multi-axis adjustment component 121.

[0055] The orchard trenching and fertilizing machine 1 of the present invention is provided with a control device 14, which identifies the crown drip line of the fruit tree based on the point cloud and image of the fruit tree, and determines the relative position of the fertilizer trench 2 and the traveling device 11 based on the position of the traveling device 11 and the crown drip line of the fruit tree; the control device 14 then controls the fertilizing component 132 and the trenching component 122 to align with the excavation position of the fertilizer trench 2 based on the relative position of the fertilizer trench 2 and the traveling device 11, so as to perform precise trenching and fertilizing, thereby realizing the integrated automated operation of fertilizer trench positioning, trenching, and fertilizing, and effectively solving the problem in the prior art that fertilizing equipment needs to rely on manual operation to perform extensive fertilization at the required position, resulting in low operation efficiency and high labor intensity.

[0056] Optionally, the relative positions of the trenching assembly 122 and the fertilizing assembly 132 can be set according to actual needs. Specifically, if the operation process of trenching first and then fertilizing is adopted, the trenching assembly 122 is set in front of the fertilizing assembly 132; if the operation process of fertilizing first and then trenching is adopted, the trenching assembly 122 is set behind the fertilizing assembly 132. After fertilizing, the trenching assembly 122 will then trench. During the trenching process, the fertilizer and soil are mixed together, so that the fertilizer can be quickly absorbed by the soil, and the fertilizing effect is better.

[0057] Optionally, in actual use, the control device 14 may be used to control the trenching assembly 122 and the fertilizing assembly 132 to perform an operation process of only trenching without fertilizing or only fertilizing without trenching.

[0058] Optionally, the orchard trenching and fertilizing machine 1 further includes a plurality of sensors, which are respectively arranged on the multi-axis adjustment component 121 and the fertilizing component 132 and are electrically connected to the control device 14 to detect the positions of the trenching component 122 and the fertilizing component 132 .

[0059] Specifically, in some embodiments, as shown in Figures 3, 4 and 5, the multi-axis adjustment assembly 121 includes a first adjustment assembly 123 and a second adjustment assembly 124; the first adjustment assembly 123 includes a first driving member 1231 and a first slide 1232 extending in a vertical direction; the ditching assembly 122 is slidably disposed on the first slide 1232, and the output end of the first driving member 1231 is transmission-connected to the ditching assembly 122 to drive the ditching assembly 122 to slide in the vertical direction; the second adjustment assembly 124 includes a second driving member 1241 and a second slide 1242 extending in the first direction; the first slide 1232 is slidably disposed on the second slide 1242, and the output end of the second driving member 1241 is transmission-connected to the first slide 1232 to drive the first slide 1232 and the ditching assembly 122 to slide in the first direction; the first driving member 1231 and the second driving member 1241 are both electrically connected to the control device 14.

[0060] In this embodiment, the control device 14 can control the first driving member 1231 to drive the ditching assembly 122 to slide along the first slide 1232, thereby adjusting the height of the ditching assembly 122, and then adjusting the ditching depth of the ditching assembly 122; similarly, the control device 14 can also control the power device 15 to drive the second driving member 1241 to drive the first slide 1232 to slide along the second slide 1242, thereby driving the ditching assembly 122 to slide along the first direction, and then adjusting the position of the ditching assembly 122 in the first direction, so that the ditching assembly 122 can be aligned with the excavation position, thereby realizing automatic alignment and ditching of the fertilizer ditch 2.

[0061] Optionally, the first driving member 1231 and the second driving member 1241 can be driving devices such as a cylinder, a gear rack, a screw nut, etc.

[0062] In a specific embodiment, the first driving member 1231 can be a hydraulic cylinder, which is provided with a displacement sensor and an angle sensor. The control device 14 determines the height of the current trenching assembly 122 based on the displacement data and angle data of the hydraulic cylinder, thereby determining the trenching depth.

[0063] Optionally, in some embodiments, as shown in Figures 3, 4 and 5, the first slide 1232 is provided with a sliding portion 1233 and a rotating portion 1234 extending along the second direction (such as the X-axis direction in the figure), and the second slide 1242 is provided with a sliding shaft 1243 extending along the first direction; there are two second driving members 1241; the sliding portion 1233 is slidably arranged on the sliding shaft 1243, the rotating portion 1234 is rotatably arranged on the sliding portion 1233, and the ditching assembly 122 is arranged on the rotating portion 1234; the output ends of the two second driving members 1241 are respectively connected to the two ends of the rotating portion 1234, so that the rotating portion 1234 moves along the first direction or rotates around the vertical direction; the second direction is parallel to the forward direction of the walking device 11.

[0064] In this embodiment, by connecting the output ends of the two second driving members 1241 to the two ends of the rotating part 1234 respectively, when the two second driving members 1241 drive the two ends of the rotating part 1234 to move the same distance in the same direction, the rotating part 1234 and the sliding part 1233 can be driven to move along the sliding shaft 1243 to adjust the position of the trenching component 122 along the first direction; when the two second driving members 1241 drive the two ends of the rotating part 1234 to move different distances in the same direction or in different directions, the rotating part 1234 can be rotated relative to the sliding part 1233, thereby driving the trenching component 122 to rotate around the vertical direction, thereby realizing the adjustment of the angle of the trenching component 122.

[0065] In a specific embodiment, as shown in Figures 3, 4 and 5, the sliding part 1233 is a universal ball sleeved on the sliding shaft 1243, the rotating part 1234 is a rudder rod, the middle part of the rudder rod is rotatably connected to the universal ball, and the second driving parts 1241 are all cylinders. The two cylinders are respectively located on both sides of the rudder rod along the first direction, and the output ends of the two cylinders are respectively connected to the two ends of the rudder rod; when the two cylinders contract or extend at the same time, or one contracts and the other extends and the contraction and extension distances are different, the rudder rod can be driven to rotate around the vertical direction; when one of the two cylinders contracts and the other extends and the contraction and extension distances are the same, the rudder rod can be driven to translate along the first direction.

[0066] In some embodiments, as shown in Figures 3, 4 and 5, the trenching assembly 122 includes a cutter disc 1221, a soil cover 1222, a third drive member 1223 and a bracket 1224; the bracket 1224 is arranged on the multi-axis adjustment assembly 121; the cutter disc 1221 is rotatably arranged on the bracket 1224; the soil cover 1222 and the third drive member 1223 are both arranged on the bracket 1224; the soil cover 1222 is located above the cutter disc 1221; the output end of the third drive member 1223 is connected to the rotating shaft of the cutter disc 1221 to drive the cutter disc 1221 to rotate; the third drive member 1223 is electrically connected to the control device 14.

[0067] In this embodiment, the bracket 1224 is used to install the cutter disc 1221, the soil cover 1222, and the third driving member 1223, and moves under the drive of the multi-axis adjustment component 121 so that the cutter disc 1221 can move horizontally to align with the position of the fertilizer ditch 2 or adjust the height of the cutter disc 1221; the control device 14 can control the third driving member 1223 to drive the cutter disc 1221, and the cutter disc 1221 can dig trenches and mix soil and fertilizer when rotating; at the same time, by covering the top of the cutter disc 1221 with the soil cover 1222, when the cutter disc 1221 rotates, the soil cover 1222 can prevent soil and fertilizer from splashing, so that the soil and fertilizer can fall back into the fertilizer ditch 2, completing the soil covering operation, and also avoiding fertilizer waste.

[0068] Specifically, the bracket 1224 is arranged on a first slide 1232 extending in the vertical direction; the bracket 1224 is slidably arranged on the first slide 1232, and the output end of the first driving member 1231 is transmission-connected to the bracket 1224 to drive the bracket 1224 to slide in the vertical direction, thereby driving the cutter disc 1221 to move up and down.

[0069] Specifically, third drive element 1223 is a hydraulic motor, whose output shaft is connected to the rotating shaft of cutterhead 1221 via a chain. The speed of the hydraulic motor is primarily regulated by controlling a proportional valve. The present invention employs PWM regulation of the proportional valve. The proportional valve input signal is a series of electrical pulses. The width and duty cycle of these pulses determine the valve position, and thus the speed of the hydraulic motor.

[0070] In some embodiments, as shown in FIG3 , FIG4 and FIG5 , the trenching device 12 further includes a pressing member 125 ; the pressing member 125 is disposed on the bracket 1224 and is located behind the cutter head 1221 for compacting the soil after trenching.

[0071] In this embodiment, by arranging a suppressing member 125 on the bracket 1224 and positioning the suppressing member 125 behind the cutter disc 1221, when the multi-axis adjustment assembly 121 adjusts the position of the trenching assembly 122, the suppressing member 125 moves synchronously with the bracket 1224 and is always positioned behind the cutter disc 1221. When the cutter disc 1221 trenches along the excavation position of the fertilizer trench 2, the suppressing member 125 moves along the fertilizer trench 2 with the cutter disc 1221 and compacts the soil in the trench.

[0072] Specifically, in some embodiments, as shown in Figures 2, 6 and 7, the fertilizer supply component 131 includes a fertilizer box 1311 and a first transmission mechanism 1312 arranged in the fertilizer box 1311; the fertilizer box 1311 is used to store fertilizer, and the first transmission mechanism 1312 is used to transport the fertilizer to the fertilizer supply port 133, so that the fertilizer reaches the fertilizing component 132 from the fertilizer supply port 133; the first transmission mechanism 1312 is electrically connected to the control device 14.

[0073] In this embodiment, by setting a first transmission mechanism 1312 in the fertilizer box 1311, the control device 14 controls the first transmission mechanism 1312 to drive the fertilizer stored in the fertilizer box 1311, transporting the fertilizer to the fertilizer supply port 133, and from the fertilizer supply port 133 to the fertilizer assembly 132 for fertilization. The structure is simple and practical.

[0074] In a specific embodiment, the fertilizer supply port 133 is arranged at the bottom of one side of the fertilizer box 1311, and the fertilizer supply port 133 is covered with a baffle that can open and close the fertilizer supply port 133. The first transmission mechanism 1312 is a chain plate arranged at the bottom of the fertilizer box 1311. The chain plate can deliver fertilizer to the fertilizer supply port 133, and the fertilizer supply port 133 can squeeze open the baffle and reach the fertilization assembly 132.

[0075] In some embodiments, as shown in Figures 2, 6 and 7, the walking device 11 is provided with a slide rail 111 extending along the first direction, and the fertilizing assembly 132 includes a second transmission mechanism 1321 and a fourth driving member; the second transmission mechanism 1321 is slidably provided on the slide rail 111, and the output end of the fourth driving member is transmission-connected to the second transmission mechanism 1321 to drive the second transmission mechanism 1321 to slide along the slide rail 111; when the second transmission mechanism 1321 slides along the slide rail 111, a portion of the second transmission mechanism 1321 is located below the fertilizer supply port 133, and one end of the second transmission mechanism 1321 extends to the outside of the walking device 11; the second transmission mechanism 1321 is used to receive fertilizer falling from the fertilizer supply port 133, and transport the fertilizer to one end of the second transmission mechanism 1321 to fall to the ground; the second transmission mechanism 1321 and the fourth driving member are both electrically connected to the control device 14.

[0076] In this embodiment, the control device 14 controls the second transmission mechanism 1321 to transport the fertilizer falling from the fertilizer supply port 133 to one end of the second transmission mechanism 1321, and drop it to the ground from one end to complete the fertilization; at the same time, the control device 14 controls the fourth driving member to drive the second transmission mechanism 1321 to slide along the slide rail 111, adjust the position of the second transmission mechanism 1321, and make the second transmission mechanism 1321 extend to the excavation position where one end outside the walking device 11 can be aligned.

[0077] In a specific embodiment, the second transmission mechanism 1321 is an electric transmission belt.

[0078] During the actual fertilization process, since it takes time for the fertilizer to reach the ground from the fertilizer tank 1311, the first transmission mechanism 1312 and the second transmission mechanism 1321 need to be activated in advance. Specifically, the time for the fertilizer to fall from the fertilizer tank 1311 through the first transmission mechanism 1312 to the second transmission mechanism 1321 is t1, the time it takes for the fertilizer to remain on the second transmission mechanism 1321 is t2, and the time it takes for the fertilizer to fall to the ground from the second transmission mechanism 1321 is t3. During fertilization, the first transmission mechanism 1312 and the second transmission mechanism 1321 need to be activated t1+t2+t3 in advance, before the second transmission mechanism 1321 reaches the starting position of the fertilizer trench 2.

[0079] The feeding speeds of the first transmission mechanism 1312 and the second transmission mechanism 1321 need to be kept synchronized to avoid accumulation or discontinuous feeding of fertilizer on the second transmission mechanism 1321, which would affect the fertilization effect.

[0080] In a specific embodiment, as shown in FIG6 and FIG7 , a downwardly inclined guide plate is provided at the fertilizer supply port 133 .

[0081] In this embodiment, as shown in FIG8 , the feeding speed of the first transmission mechanism 1312 and the second transmission mechanism 1321 is mainly determined based on the fertilizer application rate B (kg / s) per unit time. The fertilizer application rate B (kg / s) per unit time is calculated as follows: B = ρ·H·L·v1 (1)

[0082] Wherein, ρ is the density of the fertilizer (kg / m3), H is the height of the fertilizer supply port 133 (m), L is the width of the fertilizer supply port 133 (m), and v1 is the feeding speed of the first transmission mechanism 1312 (m / s).

[0083] According to formula (1), the calculation method of the feeding speed v1 of the first transmission mechanism 1312 is as follows: v1=B / (ρ·H·L) (2)

[0084] Similarly, the feeding speed of the second transmission mechanism 1321 is calculated as follows:

[0085] Wherein, h is the vertical distance between the fertilizer supply port 133 and the second transmission mechanism 1321, and θ is the angle between the guide plate and the plumb line.

[0086] In some embodiments, the orchard furrowing and fertilizing machine 1 further includes a power device 15, which can be one or more power sources such as an engine and a battery; the power device 15 can provide power for each driving member and transmission mechanism in the above embodiments.

[0087] In some embodiments, as shown in Figure 2, the orchard furrowing and fertilizing machine 1 also includes a positioning device 16 and a scanning device 17; the positioning device 16 and the scanning device 17 are both arranged on the walking device 11, and the positioning device 16 and the scanning device 17 are both electrically connected to the control device 14; the positioning device 16 is used to determine the positioning of the walking device 11 and send the position information to the control device 14; the scanning device 17 is used to scan and obtain the point cloud and image of the fruit tree in front of the orchard furrowing and fertilizing machine 1, and send it to the control device 14.

[0088] Specifically, the positioning device 16 may be a GPS positioning device; the scanning device 17 may be a laser radar.

[0089] In a specific embodiment, the orchard furrowing and fertilizing machine 1 also includes an Internet of Things monitoring device, which is electrically connected to the control device 14 and is used to communicate with an external terminal (such as a mobile phone, a computer, or a server).

[0090] The Internet of Things monitoring device can collect various working data of the orchard trenching and fertilizing machine 1, including but not limited to the position and speed of the walking device 11, the fertilizer amount and fertilizer rate of the fertilizing device 13, the position and trenching depth of the trenching device 12, etc.; and can transmit various working data to an external terminal (usually a cloud server), and the external terminal can store this data for users to access and query through computers, mobile phones and other devices.

[0091] On the other hand, the present invention also provides a method for controlling furrowing and fertilizing using the orchard furrowing and fertilizing machine 1 according to any of the above embodiments. By using the orchard furrowing and fertilizing machine 1, the furrowing and fertilizing method of the present invention also has the advantages of the orchard furrowing and fertilizing machine 1, which will not be described in detail here. The furrowing and fertilizing method of the present invention, as shown in FIG9 , includes the following steps:

[0092] Step S101: Determine the crown drip line of each fruit tree based on the point cloud and image of the fruit trees on the side of the orchard furrowing and fertilizing machine.

[0093] Step S102: Determine the excavation location of the fertilizer ditch according to the tree crown drip line.

[0094] Step S103: controlling the fertilizing component to fertilize at the excavation location to form a fertilizer belt; and controlling the trenching component to trench along the fertilizer belt.

[0095] Generally speaking, fruit trees in an orchard are planted in rows and columns. When performing furrow fertilization, it is necessary to first drive the orchard furrow fertilization machine 1 between two rows of fruit trees, and then scan and obtain the point cloud and image of the fruit trees on the side of the orchard furrow fertilization machine 1 through the scanning device 17 (laser radar, visual recognition, etc.). Among them, it is possible to obtain only the point cloud and image of the fruit trees on one side of the orchard furrow fertilization machine 1, or to obtain the point cloud and image of the fruit trees on both sides of the orchard furrow fertilization machine 1 at the same time. It can be understood that the obtained point cloud and image of the fruit trees are the point cloud and image information of the fruit trees that have not been fertilized in front of the traveling direction of the walking device 11.

[0096] Based on the acquired fruit tree point cloud and image, the crown boundary points are extracted to form the crown drip line. Specifically, a vehicle-mounted LiDAR dynamically scans the fruit trees on both sides of the fertilizer spreader's row, acquiring a massive amount of fruit tree point cloud information. The point cloud is gridded, and the normal vector of each grid point is calculated. A crown boundary feature estimation algorithm is used to calculate the boundary features of each grid in the point cloud. The grid in the point cloud is traversed to extract the fruit tree crown boundary points, and the individual crown drip lines are formed by fitting the boundary points.

[0097] After determining the crown drip line of the fruit tree, the crown drip line can be tangentially fitted to convert the discontinuous drip line into a continuous fertilizer ditch positioning line. To ensure the accuracy of the fertilizer ditch positioning line, the boundary points of the fruit tree and the ditching line can be displayed on a display device (such as a display screen) so that the operator can view and confirm them and make timely adjustments. The excavation position of fertilizer ditch 2 is determined based on the fertilizer ditch positioning line. Preferably, the excavation position of fertilizer ditch 2 is 10 cm-15 cm away from the fertilizer ditch positioning line.

[0098] After determining the excavation position of the fertilizer trench 2, the control device 14 controls the walking device 11 and / or the fertilizing assembly 132 to align the fertilizing assembly 132 with the excavation position. The fertilizer supply assembly 131 supplies fertilizer to the fertilizing assembly 132, and the fertilizing assembly 132 completes the fertilization, forming a fertilizer belt. Then, the multi-axis adjustment assembly 121 is controlled to adjust the position of the trenching assembly 122 so that the trenching assembly 122 can align with the excavation position, and controls the trenching assembly 122 to dig a trench along the fertilizer belt. It should be noted that the start time of the trenching assembly 122 is later than that of the fertilizing assembly 132. While the fertilizing assembly 132 is applying fertilizer at the front end, the trenching assembly 122 is digging a trench at the rear end to complete the mixing of fertilizer and soil.

[0099] In some specific embodiments, step 103 includes:

[0100] A first distance between the fertilizing assembly 132 and the excavation location, and a second distance between the trenching assembly 122 and the excavation location are determined based on the current position of the traveling device 11 and the excavation location.

[0101] When the first spacing is greater than the maximum adjustment amount of the fertilizing assembly 132 on the walking device 11, the walking device 11 is controlled to move laterally; when the first spacing is not greater than the maximum adjustment amount of the fertilizing assembly 132 on the walking device 11, the fertilizing assembly 132 is controlled to move relative to the walking device 11 so that the fertilizing assembly 132 is aligned with the excavation position.

[0102] When the second spacing is greater than the maximum adjustment amount of the ditching assembly 122 on the walking device 11, the walking device 11 is controlled to move laterally; when the second spacing is not greater than the maximum adjustment amount of the ditching assembly 122 on the walking device 11, the ditching assembly 122 is controlled to move relative to the walking device 11 so that the ditching assembly 122 is aligned with the fertilizer belt.

[0103] It should be noted that the maximum adjustment amount of the fertilizer component 132 on the traveling device 11 refers to the maximum amount that the fertilizer component 132 can be adjusted on the traveling device 11 in the process of approaching the excavation position from the current position of the fertilizer component 132. For example, before or after each use of the orchard trenching fertilizer applicator 1, the fertilizer component 132 is reset and located at an extreme position on the traveling device 11. The maximum adjustment amount of the fertilizer component 132 on the traveling device 11 is consistent with the active stroke of the fertilizer component 132. For another example, the orchard trenching fertilizer applicator 1 stays directly in place after each use without being reset. The maximum adjustment amount of the fertilizer component 132 on the traveling device 11 is less than or equal to the active stroke of the fertilizer component 132, and is consistent with the maximum movement amount that the fertilizer component 132 can move relative to the traveling device 11 when approaching the excavation position. The maximum adjustment amount of the trenching component 122 on the traveling device 11 is similar to the above and will not be repeated.

[0104] After the excavation location is determined, the fertilizing assembly 132 and the trenching assembly 122 are controlled to be in place according to the size of the first and second spacings. When the spacing is large, the traveling device 11 is controlled to move to quickly shorten the spacing. Then, by using the movement of the fertilizing assembly 132 and the trenching assembly 122 on the traveling device 11, the positions of the fertilizing assembly 132 and the trenching assembly 122 are fine-tuned to align the fertilizing assembly 132 with the excavation location and the trenching assembly 122 with the fertilizer belt.

[0105] Specifically, the fertilizing assembly 132 is controlled to move on the traveling device 11 by controlling the fourth drive member to drive the second transmission mechanism 1321 to move along the slide rail 111 extending in the first direction, so that the fertilizer-spreading end of the second transmission mechanism 1321 is aligned with the excavation location, so that fertilizer is spread at the excavation location and a fertilizer belt is formed. The trenching assembly 122 is controlled to move on the traveling device 11 by controlling the multi-axis adjustment assembly 121 to adjust the horizontal position and height of the trenching assembly 122. That is, the first adjustment assembly 123 is controlled to drive the cutterhead 1221 to move in the first direction to align with the position of the fertilizer belt, and the second adjustment assembly 124 is controlled to drive the cutterhead 1221 to rise and fall, so that the cutterhead 1221 can descend to the preset excavation depth when it reaches the position of the fertilizer belt, thereby excavating the fertilizer trench 2 and evenly mixing the soil and fertilizer.

[0106] Preferably, by calculating the time from when the fertilizer supply component 131 starts supplying fertilizer to when the fertilizer falls to the ground, the fertilizer supply component 131 and the fertilizer application component 132 can be started in advance before the fertilizer application component 132 reaches above the trenching position, so that when the fertilizer application component 132 reaches above the trenching position, the fertilizer can just fall into the trenching position of the fertilizer trench 2.

[0107] In some embodiments, the furrow fertilization control method of the present invention further includes: determining the crown size based on the point cloud and image of the fruit tree, and controlling the fertilization rate of the fertilization component and the fertilization rate of the fertilization component based on the crown size.

[0108] After obtaining the point cloud and image of the fruit tree on the side of the orchard trenching and fertilizing machine 1, the point cloud and image of the fruit tree can be processed to extract the boundary points of the fruit tree crown, thereby determining the size of the corresponding fruit tree crown, and determining the optimal amount of fertilizer for the corresponding fruit tree according to the size of the fruit tree crown. When the orchard trenching and fertilizing machine 1 fertilizes the fertilizer trench 2 at the corresponding position of the fruit tree, the fertilizer supply rate of the fertilizer supply component 131 and the fertilizer application rate of the fertilizer application component 132 are controlled according to the fertilizer application amount of the corresponding fruit tree, so that the fertilizer application amount in the fertilizer trench 2 at the corresponding position of the fruit tree reaches the optimal amount and the fertilization effect is better. Generally speaking, fruit trees with larger crown sizes require more fertilizer per unit area. When fertilizing fruit trees, it is necessary to appropriately increase the fertilizer supply rate of the fertilizer supply component 131 and the fertilizer application rate of the fertilizer application component 132; conversely, when the crown size is smaller, when fertilizing fruit trees, it is necessary to appropriately reduce the fertilizer supply rate of the fertilizer supply component 131 and the fertilizer application rate of the fertilizer application component 132.

[0109] The above-described embodiments are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art may understand and implement the present embodiment without inventive effort.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An orchard trenching and fertilizing machine (1), characterized in that: include: Walking device (11); A trenching device (12) comprises a multi-axis adjustment component (121) provided on the walking device (11) and a trenching component (122) provided on the multi-axis adjustment component (121), wherein the multi-axis adjustment component (121) is used to adjust the position of the trenching component (122) along multiple axes; A fertilizing device (13) comprises a fertilizer supply component (131) and a fertilizer application component (132); the fertilizer supply component (131) is arranged on the walking device (11), a fertilizer supply port (133) is provided on the fertilizer supply component (131), and the fertilizer application component (132) is movably arranged below the fertilizer supply port (133) along a first direction; the fertilizer supply component (131) is used to supply fertilizer to the fertilizer application component (132), and the fertilizer application component (132) is used to apply fertilizer to the position of the fertilizer ditch (2) when the walking device (11) moves; A control device (14) is electrically connected to the travel device (11), the multi-axis adjustment component (121), the trenching component (122), the fertilizer supply component (131) and the fertilizer application component (132); the control device (14) is used to determine the excavation position of the fertilizer trench (2) based on the point cloud and image of the fruit trees on the side of the orchard trenching and fertilizer application machine (1), and based on the excavation position and the position of the travel device (11), control the travel device (11) and the fertilizer application component (132) so that the fertilizer application component (132) is aligned with the excavation position to apply fertilizer, and control the multi-axis adjustment component (121) so that the trenching component (122) is aligned with the excavation position to dig the trench; The multi-axis adjustment component (121) includes a first adjustment component (123) and a second adjustment component (124); The first adjusting assembly (123) includes a first driving member (1231) and a first slide (1232) extending in a vertical direction; the trenching assembly (122) is slidably disposed on the first slide (1232), and the output end of the first driving member (1231) is transmission-connected to the trenching assembly (122) to drive the trenching assembly (122) to slide in the vertical direction; The second adjustment assembly (124) includes a second driving member (1241) and a second slide (1242) extending along the first direction; the first slide (1232) is slidably disposed on the second slide (1242); the output end of the second driving member (1241) is transmission-connected to the first slide (1232) to drive the first slide (1232) and the trenching assembly (122) to slide along the first direction; The first driving member (1231) and the second driving member (1241) are both electrically connected to the control device (14); The first direction is perpendicular to the forward direction of the walking device (11).

2. The orchard trenching and fertilizing machine (1) according to claim 1, characterized in that: The first slide (1232) is provided with a sliding portion (1233) and a rotating portion (1234) extending along the second direction, and the second slide (1242) is provided with a sliding shaft (1243) extending along the first direction; there are two second driving members (1241); The sliding portion (1233) is slidably disposed on the sliding shaft (1243), the rotating portion (1234) is rotatably disposed on the sliding portion (1233), and the trenching assembly (122) is disposed on the rotating portion (1234); the output ends of the two second driving members (1241) are respectively connected to the two ends of the rotating portion (1234) to drive the rotating portion (1234) to move along the first direction or rotate around the vertical direction; The second direction is parallel to the forward direction of the walking device (11).

3. The orchard trenching and fertilizing machine (1) according to claim 1, characterized in that: The trenching assembly (122) includes a cutterhead (1221), a soil cover (1222), a third driving member (1223) and a bracket (1224); The bracket (1224) is arranged on the multi-axis adjustment component (121); The cutter disc (1221) is rotatably arranged on the bracket (1224); The soil covering cover (1222) and the third driving member (1223) are both arranged on the bracket (1224); the soil covering cover (1222) is located above the cutter disc (1221); the output end of the third driving member (1223) is connected to the rotating shaft of the cutter disc (1221) to drive the cutter disc (1221) to rotate; the third driving member (1223) is electrically connected to the control device (14).

4. The orchard furrowing and fertilizing machine (1) according to claim 3, characterized in that: The trenching device (12) further includes a pressing member (125); The pressing member (125) is arranged on the bracket (1224) and is located behind the cutter head (1221) for compacting the soil after trenching.

5. The orchard trenching and fertilizing machine (1) according to claim 1, characterized in that: The fertilizer supply assembly (131) comprises a fertilizer box (1311) and a first transmission mechanism (1312) disposed in the fertilizer box (1311); The fertilizer box (1311) is used to store the fertilizer, and the first transmission mechanism (1312) is used to transport the fertilizer to the fertilizer supply port (133), so that the fertilizer reaches the fertilizing assembly (132) from the fertilizer supply port (133); The first transmission mechanism (1312) is electrically connected to the control device (14).

6. The orchard furrowing and fertilizing machine (1) according to claim 1, characterized in that: The walking device (11) is provided with a slide rail (111) extending along the first direction, and the fertilizing assembly (132) includes a second transmission mechanism (1321) and a fourth driving member; The second transmission mechanism (1321) is slidably disposed on the slide rail (111), and the output end of the fourth driving member is in transmission connection with the second transmission mechanism (1321) to drive the second transmission mechanism (1321) to slide along the slide rail (111); When the second transmission mechanism (1321) slides along the slide rail (111), a portion of the second transmission mechanism (1321) is located below the fertilizer supply port (133), and one end of the second transmission mechanism (1321) extends to the outside of the walking device (11); the second transmission mechanism (1321) is used to receive the fertilizer dropped from the fertilizer supply port (133) and transport the fertilizer to one end of the second transmission mechanism (1321) so as to drop to the ground; the second transmission mechanism (1321) and the fourth driving member are both electrically connected to the control device (14).

7. A method for controlling ditching and fertilizing of an orchard ditching and fertilizing machine (1) according to any one of claims 1 to 6, characterized in that: include: Determine the crown drip line of each fruit tree based on the point cloud and image of the fruit trees on the side of the orchard trenching and fertilizing machine (1); Determining the excavation position of the fertilizer ditch (2) according to the tree crown drip line; Based on the excavation position and the current position of the walking device (11), the fertilizing component (132) is controlled to fertilize the excavation position to form a fertilizer belt; and the trenching component (122) is controlled to trench along the fertilizer belt.

8. The ditch fertilization control method according to claim 7, characterized in that: controlling the fertilizing component (132) to fertilize the excavated location to form a fertilizer belt; and controlling the trenching assembly (122) to trench along the fertilizer belt, comprising: Determining a first distance between the fertilizing assembly (132) and the excavation location, and a second distance between the trenching assembly (122) and the excavation location based on the current position of the walking device (11) and the excavation location; When the first spacing is greater than the maximum adjustment amount of the fertilizing component (132) on the walking device (11), the walking device (11) is controlled to move laterally; when the first spacing is not greater than the maximum adjustment amount of the fertilizing component (132) on the walking device (11), the fertilizing component (132) is controlled to move relative to the walking device (11) so that the fertilizing component (132) is aligned with the excavation position; When the second spacing is greater than the maximum adjustment amount of the ditching assembly (122) on the walking device (11), the walking device (11) is controlled to move laterally; when the second spacing is not greater than the maximum adjustment amount of the ditching assembly (122) on the walking device (11), the ditching assembly (122) is controlled to move relative to the walking device (11) so that the ditching assembly (122) is aligned with the fertilizer belt.

9. The ditch fertilization control method according to claim 7, characterized in that: Also includes: The crown size is determined based on the point cloud and image of the fruit tree, and the fertilizer supply rate of the fertilizer supply component (131) and the fertilizer application rate of the fertilizer application component (132) are controlled based on the crown size.

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