CN109085842A - A kind of control system and its control method of orchard fertilizer apparatus - Google Patents
A kind of control system and its control method of orchard fertilizer apparatus Download PDFInfo
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- CN109085842A CN109085842A CN201811263099.9A CN201811263099A CN109085842A CN 109085842 A CN109085842 A CN 109085842A CN 201811263099 A CN201811263099 A CN 201811263099A CN 109085842 A CN109085842 A CN 109085842A
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- control module
- chassis
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- 239000003337 fertilizer Substances 0.000 title claims abstract description 122
- 239000002420 orchard Substances 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 235000013399 edible fruits Nutrition 0.000 claims description 26
- 238000003825 pressing Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 3
- 239000000126 substance Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 230000004720 fertilization Effects 0.000 description 4
- 230000002262 irrigation Effects 0.000 description 4
- 238000003973 irrigation Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241001122767 Theaceae Species 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012851 eutrophication Methods 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000010871 livestock manure Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 239000003895 organic fertilizer Substances 0.000 description 1
- 230000020477 pH reduction Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003900 soil pollution Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
- A01C15/06—Fertiliser distributors with distributing slots, e.g. adjustable openings for dosing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Electromagnetism (AREA)
- Fertilizing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to the control systems and its control method of a kind of orchard fertilizer apparatus, it is characterized in that, including main control module, and the chassis drive module, vision detection system, inertial navigation system and the fertilizer distributor that are connected to the main control module, the chassis drive module are connected with underpan walking device.It further include switch key group, the switch key group is connected to the main control module；The switch key group includes master switch, chassis control switch and fertilizer distributor control switch.The vision detection system includes binocular sensor, and the binocular sensor is connect with the master controller of the main control module.The inertial navigation system includes inertial navigation sensor, and the inertial navigation sensor is connect with the master controller of the main control module.The present invention, structure is simple, low in cost, and easy to use and flexible is easy to operate, can it is convenient, fast, accurately complete fertilising operation, there is the features such as practical, to reduce manpower and material resources, for orchard fertilising provide it is a kind of simply, efficiently method.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of control system and its control of orchard fertilizer apparatus
Method.
Background technique
Vast territory and abundant resources in China, and fruit variety is various, and fruit output is munificent.Under good policy of reforming and opening up to the outside world, the fruit in China
Tree planting area and fruit output increase swift and violent.Fertilising is the important link in orchard operation, and rationally in due course fertilising is to fruit tree
Growth and increasing income for orchard worker be of great significance.
The major way of China orchard fertilising operation has artificial caving & fertilizing, mechanical ditching-fertilizing, liquid manure one at this stage
Water-saving irrigation technique etc..Wherein poor-water drought-hit area orchardist will use ditching-fertilizing technology, there are operation power consumptions big, low efficiency, fertilizer
Expect the problems such as low utilization rate, fertilization depth and position are unsatisfactory for agriculture requirement；Water-fertilizer integral water-saving irrigation technique is applied
The limitation of region, be used primarily in meet trickle irrigation, slight irrigation requirement fixation water source hydrous fluids orchard.
Moreover, China's chemical fertilizer total output accounts for the 16.6% of the world, second place of the world is occupied, total amount of application ranks first in the world.Often
Hectare dosage is 4 times of world's average dose, but effective rate of utilization is less than 30%.Chronic administration chemical fertilizer, though crops increasing can be obtained
The economic benefit of production, but can also generate many environmental problems, such as soil pollution, acidification, hardened, soil element is unbalance.It is excessive
Chemical fertilizer underground is flushed to by water quickly, influence the nutrient balance of soil, cause water eutrophication, influence the ecological balance.In view of
Increasingly serious medicine, fertile behaviour in service, the Ministry of Agriculture in 2015 propose two zero growth rate schemes: " making to the year two thousand twenty chemical fertilizer
Dosage zero growth rate action scheme " and " arriving the year two thousand twenty Pesticide use amount zero growth rate action scheme ".It has formulated within 2017 and " has carried out again
Fruit and vegetable tea organic fertilizer replacing fertilizer action scheme ", to accelerate to promote agriculture Green Development, resource circulation utilization is promoted, further
Reduce agriculture chemical dosage.
In response to national policy, fertilizer amount is reduced, improves chemical fertilizer utilization ratio, is solved above-mentioned present in the fertilising of orchard
It is imperative to design a kind of precisely easy-operating orchard fertilizer apparatus and its control system for problem.
Summary of the invention
The present invention devises the control system and its control method of a kind of orchard fertilizer apparatus, it is desirable to provide a kind of operation letter
Fertilizer apparatus control system and method single, that fertilizer can be saved, improve utilization rate of fertilizer.
To achieve the goals above, one aspect of the present invention discloses:
A kind of control system of orchard fertilizer apparatus, including main control module, and the chassis driving being connected to the main control module
Module, vision detection system, inertial navigation system and fertilizer distributor, the chassis drive module are connected with underpan walking device.
It further, further include switch key group, the switch key group is connected to the main control module.
Further, the switch key group includes master switch, chassis control switch and fertilizer distributor control switch.
Further, the vision detection system includes binocular sensor, the binocular sensor and the main control module
Master controller connection.
Further, the inertial navigation system includes inertial navigation sensor, the master control of the inertial navigation sensor and the main control module
Device connection processed.
Further, the chassis drive module includes multiple wheel electrical machine drivers, the wheel electrical machine driver and institute
The wheel electrical machine stated in underpan walking device corresponds.
Further, the underpan walking device includes wheel group and motor group, and the wheel group includes multiple wheels, described
Motor group includes multiple wheel electrical machines；The wheel and the wheel electrical machine correspond.
Further, there are four the wheels, the wheel electrical machine is DC speed-reducing.
Further, the fertilizer distributor includes stepper motor driver, stepper motor, outer groove-wheel fertilizer apparatus and fertilizer box,
The stepper motor and the outer groove-wheel fertilizer apparatus are coaxially connected, and the fertilizer box is mounted on the upper of the outer groove-wheel fertilizer apparatus
Side, the stepper motor driver are connect with the master controller of the main control module.
Further, the main control module includes master controller, and the master controller uses single-chip microcontroller.
Further, in control cabinet, the control cabinet setting exists for the main control module and the chassis drive module setting
On the chassis of orchard fertilizer apparatus.
It further, further include battery, the battery is arranged among the rear portion on orchard fertilizer apparatus chassis.
Further, the bottom frame that the ontology on the chassis of orchard fertilizer apparatus is made of criss-cross rod piece；The bottom frame
On be provided with several columns upwardly extended, pull rod is provided between adjacent columns to forming frame structure；The fertilizer distributor
It is arranged on the column in the middle part of the frame structure, the binocular sensor of the vision detection system is arranged in the frame structure
On the pull rod of front, the front end of the bottom frame is arranged in the inertial navigation sensor of the inertial navigation system.
To achieve the goals above, another aspect of the present invention is disclosed that
A kind of control method of orchard fertilizer apparatus, comprising the following steps:
The control system of step 1, orchard fertilizer apparatus carries out system initialization；
Step 2 presses each switch in switch key group；System judges switch key group state, judges corresponding module
Switch key whether press, when all switch keys are pressed, system runs program instruction；When there is switch key not other
When pressing, system issues prompt until all switch keys are pressed；
Step 3, main control module drive underpan walking device walking by chassis drive module, and orchard fertilizer apparatus moves ahead；Inertial navigation
The deflection situation on system real-time detection orchard fertilizer apparatus chassis, and defection signal is sent to main control module, main control module connects
After receiving defection signal, sends angular adjustment signal and give chassis drive module, chassis drive module changes four wheel electrical machines
Revolving speed realizes the adjusting to chassis, after the completion of inertial navigation sensor detects chassis angular adjustment, sends angular adjustment and completes letter
Number give main control module；When the binocular sensor of vision detection system detects fruit tree, pomology information signal is sent to main control module；
Step 4 completes signal and binocular sensor when main control module receives the angular adjustment that inertial navigation sensor is sent simultaneously
When the pomology information signal sent, the stepper motor that main control module sends order control fertilizer apparatus is rotated forward, and rotates forward duration t1,
Stepper motor and outer groove-wheel fertilizer apparatus are coaxially connected to realize that the rotation of outer groove-wheel fertilizer apparatus is applied fertilizer；Terminate when rotating forward time t1,
Main control module sends order and stops stepper motor rotating forward, completes the fertilising of single fruit tree；
Step 5 repeats the above steps three and step 4 to each fruit tree in orchard, completes the fertilising to orchard.
The control system and its control method of the orchard fertilizer apparatus have the advantages that
(1) present invention may be implemented to determine section and quantitative fertilization to fruit tree, and the effective dosage for reducing chemical fertilizer, that improves chemical fertilizer has
Utilization rate is imitated, operating cost brought by artificially applying fertilizer is reduced；The device, which has, saves fertilizer, easy to operate, can improve fertilizer
The features such as utilization rate.
(2) present invention simple, efficiently can be detected and determined applying fruit trees with fertilizer position, right in conjunction with agronomy data
Applying fruit trees with fertilizer has certain flexibility and versatility.
(3) of the invention, structure is simple, low in cost, easy to use and flexible, simple and fast, easy to operate, can it is convenient, fast,
Accurately complete fertilising operation, there is the features such as practical, to reduce manpower and material resources, for orchard fertilising provide it is a kind of simply,
Efficiently method.
Detailed description of the invention
Fig. 1: the modular construction schematic diagram of the control system of orchard fertilizer apparatus in embodiment of the present invention；
Fig. 2: the modular construction schematic diagram of embodiment of the present invention indsole dish driving module and underpan walking device；
Fig. 3: the structural schematic diagram of orchard fertilizer apparatus in embodiment of the present invention；
Fig. 4: the work flow diagram of the control system of orchard fertilizer apparatus in embodiment of the present invention.
Description of symbols:
1-underpan walking device；11-motor groups；111-DC speed-reducings I；112-DC speed-reducings II；113-is straight
Flow decelerating motor III；114-DC speed-reducings IV；12-wheel groups；121-wheels I；122-wheels II；123-wheels
Ⅲ；124-wheels IV；2-chassis drive modules；21-wheel electrical machine drivers I；22-wheel electrical machine drivers II；23—
Wheel electrical machine driver III；24-wheel electrical machine drivers IV；3-inertial navigation sensors；4-binocular sensors；5-switch keys
Group；51-master switch；52-chassis controls switch；53-fertilizer distributor control switches；6-main control modules；7-fertilizer distributors；
71-stepper motor drivers；72-stepper motors；73-outer groove-wheel fertilizer apparatus；74-fertilizer boxes；8-control cabinets；9-electricity
Pond.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described:
Fig. 1 to Fig. 4 shows a kind of control system of orchard fertilizer apparatus of the present invention and its specific embodiment of control method.
Fig. 1 is the modular construction schematic diagram of the control system of orchard fertilizer apparatus in present embodiment；Fig. 2 is present embodiment indsole
The modular construction schematic diagram of dish driving module and underpan walking device；Fig. 3 is the knot of orchard fertilizer apparatus in present embodiment
Structure schematic diagram；Fig. 4 is the work flow diagram of the control system of orchard fertilizer apparatus in present embodiment.
As shown in Figure 1, the control system of the orchard fertilizer apparatus in present embodiment, including main control module 6, and with master
Control chassis drive module 2, vision detection system, inertial navigation system and fertilizer distributor 7 that module 6 connects, chassis drive module 2 and bottom
Disk running gear 1 connects.
Preferably, the control system of the orchard fertilizer apparatus in present embodiment, further includes switch key group 5, switch is pressed
Key group 5 is connect with main control module 6；Switch key group 5 includes master switch 51, chassis control switch 52 and fertilizer distributor control switch
53, as shown in Figure 1.
Preferably, the vision detection system includes binocular sensor 4, the main control of binocular sensor 4 and main control module 6
Device connection, as shown in Figure 1.In the present embodiment, binocular sensor 4 is connected on master controller by bus, is sensed using binocular
Device 4 obtains current fruit tree position, sends current fruit tree position to master controller, master controller judges whether to reach fertilization point.
Preferably, the inertial navigation system includes inertial navigation sensor 3, the master controller company of inertial navigation sensor 3 and main control module 6
It connects, as shown in Figure 1.In the present embodiment, inertial navigation sensor 3 is connected on master controller by bus, is obtained using inertial navigation sensor 3
Take the motion state when front chassis, send current motion state to master controller, master controller by current motion state with
Setting motion state is compared, and controls bobbin movement.
Preferably, chassis drive module 2 includes multiple wheel electrical machine drivers, and wheel electrical machine driver and chassis walking fill
The wheel electrical machine set in 1 corresponds, as shown in Figure 2.
Preferably, underpan walking device 1 includes wheel group 12 and motor group 11, and wheel group 12 includes multiple wheels, motor
Group 11 includes multiple wheel electrical machines；Wheel and wheel electrical machine correspond, as depicted in figs. 1 and 2.
In the present embodiment, there are four wheels, is wheel I 121, wheel II 122, wheel III 123 and wheel IV 124 respectively；
Wheel electrical machine is DC speed-reducing, and there are four wheel electrical machines, is DC speed-reducing I 111, DC speed-reducing II respectively
112, DC speed-reducing III 113 and DC speed-reducing IV 114；There are four wheel electrical machine drivers, is wheel electrical machine respectively
Driver I 21, wheel electrical machine driver II 22, wheel electrical machine driver III 23 and wheel electrical machine driver IV 24.Such as Fig. 2 institute
Show, wheel, wheel electrical machine, wheel electrical machine driver correspond.
Preferably, fertilizer distributor 7 includes stepper motor driver 71, stepper motor 72, outer groove-wheel fertilizer apparatus 73 and fertilizer
Case 74, stepper motor 72 and outer groove-wheel fertilizer apparatus 73 are coaxially connected, and fertilizer box 74 is mounted on the top of outer groove-wheel fertilizer apparatus 73, step
It is connect into motor driver 71 with the master controller of main control module 6, as described in Figure 1.
Preferably, main control module 6 includes master controller, and the master controller uses single-chip microcontroller.
Preferably, main control module 6 and chassis drive module 2 are arranged in control cabinet 8, and the setting of control cabinet 8 is applied fertilizer in orchard
On the chassis of device, as shown in Figure 3.
It preferably, further include battery 9, battery 9 is arranged among the rear portion on orchard fertilizer apparatus chassis, as shown in Figure 3.
Preferably, the bottom frame that the ontology on the chassis of orchard fertilizer apparatus is made of criss-cross rod piece；The bottom frame
On be provided with several columns upwardly extended, pull rod is provided between adjacent columns to forming frame structure；Fertilizer distributor 7 is arranged
On the column in the middle part of the frame structure, the binocular sensor 4 of the vision detection system is arranged before the frame structure
On the pull rod in portion, the front end of the bottom frame is arranged in the inertial navigation sensor 3 of the inertial navigation system, as shown in Figure 3.
As shown in figure 4, the control method of the orchard fertilizer apparatus in present embodiment, comprising the following steps:
The control system of step 1, orchard fertilizer apparatus carries out system initialization；
Step 2 presses each switch in switch key group 5；System judges 5 state of switch key group, judges respective mode
Whether the switch key of block is pressed, when all switch keys are pressed, system runs program instruction；When there is switch key not have
When not pressing, system issues prompt until all switch keys are pressed；
Step 3, main control module 6 drive underpan walking device 1 to walk by chassis drive module 2, and orchard fertilizer apparatus moves ahead；
The deflection situation on inertial navigation system real-time detection orchard fertilizer apparatus chassis, and defection signal is sent to main control module 6, master control mould
After block 6 receives defection signal, angular adjustment signal is sent to chassis drive module 2, chassis drive module 2 changes four wheels
The revolving speed of motor realizes the adjusting to chassis, after the completion of inertial navigation sensor 3 detects chassis angular adjustment, sends angle tune
Section completes signal namely signal 1, gives main control module 6；When the binocular sensor 4 of vision detection system detects fruit tree, master control is given
Module 6 sends pomology information signal namely signal 2；
Step 4 completes signal and binocular sensing when main control module 6 receives the angular adjustment that inertial navigation sensor 3 is sent simultaneously
When the pomology information signal that device 4 is sent namely when main control module 6 is detected simultaneously by signal 1 and signal 2, main control module 6 is sent
The stepper motor 72 of order control fertilizer apparatus 7 rotates forward, and rotates forward duration t1, stepper motor 72 coaxially connects with outer groove-wheel fertilizer apparatus 73
It connects to realize the rotation fertilising of outer groove-wheel fertilizer apparatus 73；Terminate when rotating forward time t1, main control module 6 sends order and stops stepping electricity
Machine 72 rotates forward, and completes the fertilising of single fruit tree；
Step 5 repeats the above steps three and step 4 to each fruit tree in orchard, completes the fertilising to orchard.
Specifically, vision system binocular sensor 4 obtain image, the master controller of main control module 6 to image at
Reason, obtains fruit tree location information.
The present invention is after being manually pressed by switch key group, bobbin movement, obtains chassis using inertial navigation sensors and transports
Dynamic state obtains pomology information to master controller using binocular sensor, and master controller sends fertilising signal, stepper motor driving
Device drives stepper motor rotation, rotates the t1 time, and stepper motor and outer groove-wheel fertilizer apparatus are coaxially connected, realizes outer groove-wheel fertilizer apparatus
Fertilizer.Energy is convenient, fast, accurately completes fertilising operation, has the features such as practical, to reduce manpower and material resources, applies for orchard
Fertilizer provides a kind of simple, efficiently method.
The present invention may be implemented to determine section and quantitative fertilization to fruit tree, and the effective dosage for reducing chemical fertilizer improves chemical fertilizer
Effective rate of utilization reduces operating cost brought by artificially applying fertilizer；The device, which has, saves fertilizer, easy to operate, can improve fertilizer
The features such as expecting utilization rate.
The present invention simple, efficiently can be detected and determined applying fruit trees with fertilizer position, in conjunction with agronomy data, to fruit tree
Fertilising has certain flexibility and versatility.
According to design scheme provided by the present invention, peasant household can use orchard fertilizer apparatus of the invention to apply fruit tree
Fertile operation, it is convenient and efficient, it is easy to operate.By the device, the location information of fruit tree is easily and efficiently obtained, realizes applying for fruit tree
Fertilizer, the present invention provides a kind of saving chemical fertilizer, easy-operating fertilizer apparatuses.
The present invention, structure is simple, low in cost, and easy to use and flexible is simple and fast, can be applied to existing orchard, is one
Plant very easily orchard fertilizer apparatus.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of control system of orchard fertilizer apparatus, which is characterized in that connect including main control module, and with the main control module
Chassis drive module, vision detection system, inertial navigation system and the fertilizer distributor connect, the chassis drive module and chassis walking dress
Set connection.
2. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that it further include switch key group,
The switch key group is connected to the main control module；The switch key group includes master switch, chassis control switch and fertilizer
Device control switch.
3. the control system of orchard fertilizer apparatus according to claim 1 or 2, which is characterized in that the vision-based detection system
System includes binocular sensor, and the binocular sensor is connect with the master controller of the main control module.
4. the control system of orchard fertilizer apparatus according to claim 1 or 2, which is characterized in that the inertial navigation system packet
Inertial navigation sensor is included, the inertial navigation sensor is connect with the master controller of the main control module.
5. the control system of orchard fertilizer apparatus according to claim 1 or 2, which is characterized in that the chassis drives mould
Block includes multiple wheel electrical machine drivers, and the wheel electrical machine in the wheel electrical machine driver and the underpan walking device is one by one
It is corresponding.
6. the control system of orchard fertilizer apparatus according to claim 1 or 2, which is characterized in that the chassis walking dress
It sets including wheel group and motor group, the wheel group includes multiple wheels, and the motor group includes multiple wheel electrical machines；The vehicle
Wheel and the wheel electrical machine correspond.
7. the control system of orchard fertilizer apparatus according to claim 1 or 2, which is characterized in that the fertilizer distributor packet
Include stepper motor driver, stepper motor, outer groove-wheel fertilizer apparatus and fertilizer box, the stepper motor and the outer groove-wheel fertilizer apparatus
Coaxially connected, the fertilizer box is mounted on the top of the outer groove-wheel fertilizer apparatus, the stepper motor driver and the master control
The master controller of module connects.
8. the control system of orchard fertilizer apparatus according to claim 1 or 2, which is characterized in that the main control module packet
Master controller is included, the master controller uses single-chip microcontroller.
9. the control system of orchard fertilizer apparatus according to any one of claims 1 to 8, which is characterized in that it further include battery,
The battery is arranged among the rear portion on orchard fertilizer apparatus chassis.
10. a kind of control method of orchard fertilizer apparatus, which comprises the following steps:
The control system of step 1, orchard fertilizer apparatus carries out system initialization；
Step 2 presses each switch in switch key group；System judges switch key group state, judges corresponding module
Switch key whether press, when all switch keys are pressed, system runs program instruction；When there is switch key not other
When pressing, system issues prompt until all switch keys are pressed；
Step 3, main control module drive underpan walking device walking by chassis drive module, and orchard fertilizer apparatus moves ahead；Inertial navigation
The deflection situation on system real-time detection orchard fertilizer apparatus chassis, and defection signal is sent to main control module, main control module connects
After receiving defection signal, sends angular adjustment signal and give chassis drive module, chassis drive module changes four wheel electrical machines
Revolving speed realizes the adjusting to chassis, after the completion of inertial navigation sensor detects chassis angular adjustment, sends angular adjustment and completes letter
Number give main control module；When the binocular sensor of vision detection system detects fruit tree, pomology information signal is sent to main control module；
Step 4 completes signal and binocular sensor when main control module receives the angular adjustment that inertial navigation sensor is sent simultaneously
When the pomology information signal sent, the stepper motor that main control module sends order control fertilizer apparatus is rotated forward, and rotates forward duration t1,
Stepper motor and outer groove-wheel fertilizer apparatus are coaxially connected to realize that the rotation of outer groove-wheel fertilizer apparatus is applied fertilizer；Terminate when rotating forward time t1,
Main control module sends order and stops stepper motor rotating forward, completes the fertilising of single fruit tree；
Step 5 repeats the above steps three and step 4 to each fruit tree in orchard, completes the fertilising to orchard.
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| CN201811263099.9A CN109085842A (en) | 2018-10-27 | 2018-10-27 | A kind of control system and its control method of orchard fertilizer apparatus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110476561A (en) * | 2019-07-23 | 2019-11-22 | 邳州舜邦生物科技有限公司 | A kind of Semi-automatic device for Garlic Fertilization |
| CN110679238A (en) * | 2019-11-21 | 2020-01-14 | 山东农业大学 | Orchard ditching and fertilizing device and method |
| CN111587647A (en) * | 2020-04-26 | 2020-08-28 | 北京农业信息技术研究中心 | Fertilizing method and system |
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| CN110679238A (en) * | 2019-11-21 | 2020-01-14 | 山东农业大学 | Orchard ditching and fertilizing device and method |
| CN110679238B (en) * | 2019-11-21 | 2024-04-02 | 山东农业大学 | Orchard ditching and fertilizing device and method |
| CN111587647A (en) * | 2020-04-26 | 2020-08-28 | 北京农业信息技术研究中心 | Fertilizing method and system |
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