CN109104949A - A kind of seeding and fertilizing spray is to cave operational method - Google Patents
A kind of seeding and fertilizing spray is to cave operational method Download PDFInfo
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- CN109104949A CN109104949A CN201810842868.4A CN201810842868A CN109104949A CN 109104949 A CN109104949 A CN 109104949A CN 201810842868 A CN201810842868 A CN 201810842868A CN 109104949 A CN109104949 A CN 109104949A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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Abstract
The present invention provides a kind of seeding and fertilizing sprays to cave operational method, comprising: obtains sowing acupuncture point point and generates sowing straight line according to sowing acupuncture point point；It is carried out to row using fertilizer applicator to cave-applied fertilizer according to the GPS position information of the sowing acupuncture point point on the sowing straight line and the sowing straight line；Drench cave row using leaching filling machine according to the sowing straight line and the GPS position information for sowing the sowing acupuncture point point on straight line and fills and spray.The present invention can carry out fixed-point watering, fertilising and spray according to sowing acupuncture point point, to reduce the consumption of the agricultural resources such as water-fertilizer-pesticide, and yield can be improved.
Description
Technical field
The present invention relates to field of agricultural production technologies, and in particular to a kind of seeding and fertilizing spray is to cave operational method.
Background technique
Modern agriculture begins to focus on accurate work compound, for example, by water, fertilizer and pesticide be aligned sowing position kind cave into
Row fixed-point watering, fertilising and spray improve yield to reduce the consumption of the agricultural resources such as water-fertilizer-pesticide.
It is carrying out in the operating process of cave, traditional method is to rely on manually substantially to judge, there are low precisions, by experience
The problem of.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of seeding and fertilizing sprays to cave operational method.
Specifically, the present invention provides following technical schemes:
The present invention provides a kind of seeding and fertilizing sprays to cave operational method characterized by comprising
It obtains sowing acupuncture point point and sowing straight line is generated according to sowing acupuncture point point；
Fertilizer applicator is utilized according to the GPS position information of the sowing acupuncture point point on the sowing straight line and the sowing straight line
It carries out to row to cave-applied fertilizer；
Leaching filling machine is utilized according to the GPS position information of the sowing acupuncture point point on the sowing straight line and the sowing straight line
Row drenches cave and fills and spray.
Further, the acquisition sows acupuncture point point and generates sowing straight line according to sowing acupuncture point point, comprising:
Each of seeder traveling process sowing acupuncture point point is obtained in following manner:
Centimeter Level difference DGPS actual measurement is used to obtain the coordinate of sowing acupuncture point point as Ps(Xs, Ys)；Wherein, (Xs, Ys)
=(X0+Xe, Y0+Ye)；P0(X0, Y0) be manual measurement sowing acupuncture point point coordinate；XeAnd YeIt is the systematic error of GPS and big
Tree aircraft blocks the error of interference；
According to the PsThe coordinate for obtaining the same sowing acupuncture point point in seeder traveling process is Pd(Xd, Yd)；Wherein,
(Xd, Yd)=(Xs+Xw, Ys+Yw)；XwAnd YwIt is the error that sowing position fast moves with system delay in seeder traveling process；
After the coordinate for obtaining each of seeder traveling process sowing acupuncture point point according to mode above, according to every
The Coordinate generation of one sowing acupuncture point point sows straight line.
Further, the GPS location according to the sowing acupuncture point point on the sowing straight line and the sowing straight line
Use of information fertilizer applicator is carried out to row to cave-applied fertilizer, comprising:
According to it is described sowing straight line on sowing acupuncture point point GPS position information set relaying, it is described relaying not with fertilising
Machine binding；
Judge that fertilizer applicator, whether beyond relaying signal cover, covers model if exceeding and relaying signal in moving process
It encloses, then re-searches for relaying, lock strongest trunk channel, and apply cave row according to the most strong trunk channel of locking
Fertilizer.
Further, described to judge whether fertilizer applicator exceeds relaying signal cover in moving process, if in exceeding
It after signal cover, then re-searches for relaying, locks strongest trunk channel, and carry out according to the most strong trunk channel of locking
To row to cave-applied fertilizer, comprising:
Judge that fertilizer applicator, whether beyond relaying signal cover, covers model if exceeding and relaying signal in moving process
It encloses, then re-searches for relaying, lock strongest trunk channel, and according to the most strong trunk channel regulated fertilization machine driving wheel of locking
Centering is realized and is applied fertilizer to row so that fertilizer applicator is in sowing institute on straight line；
In the most strong trunk channel regulated fertilization machine driving wheel centering according to locking, so that fertilizer applicator is in where sowing directly
After on line, it is opened and closed according to the GPS position information control fertilization mouth interval of the sowing acupuncture point point sowed on straight line, realization pair
Cave-applied fertilizer.
Further, the fertilizer applicator driving wheel is internally provided with hall electric machine, to realize frequent differential steering.
Further, the fertilizer applicator accesses junction network by the way of multi-hop and roaming.
Further, the GPS location according to the sowing acupuncture point point on the sowing straight line and the sowing straight line
Use of information leaching filling machine drench to row to cave and fills and spray, comprising:
Relaying is set according to the GPS position information of the sowing acupuncture point point on the sowing straight line, the relaying is not filled with leaching
Machine binding；
Judge to drench filling machine in moving process whether beyond relaying signal cover, if covering model beyond relaying signal
It encloses, then re-searches for relaying, lock strongest trunk channel, and drench cave row according to the most strong trunk channel of locking and fill
And spray.
Further, described to judge to drench filling machine in moving process whether beyond relaying signal cover, if in exceeding
It after signal cover, then re-searches for relaying, locks strongest trunk channel, and carry out according to the most strong trunk channel of locking
Row drenches cave and fills and sprays, comprising:
Judge to drench filling machine in moving process whether beyond relaying signal cover, if covering model beyond relaying signal
It encloses, then re-searches for relaying, lock strongest trunk channel, and adjust leaching filling machine driving wheel according to the most strong trunk channel of locking
Centering, so that leaching filling machine is in sowing institute on straight line, realization is filled to row leaching and spray；
Leaching filling machine driving wheel centering is adjusted in the most strong trunk channel according to locking, so that leaching filling machine is in straight where sowing
After on line, solenoid valve and spray electromagnetism are filled according to the GPS position information control leaching of the sowing acupuncture point point on the sowing straight line
Valve carries out leaching filling and spray to cave.
Further, the leaching filling machine driving wheel is internally provided with hall electric machine, to realize frequent differential steering.
Further, the method also includes:
When fill the gaps with seedlings operation, the acupuncture point point filled the gaps with seedlings as needed fill the gaps with seedlings cave；
After fill the gaps with seedlings cave, the location information filled the gaps with seedlings cave is obtained, and carry out to cave according to the location information of acquisition
Fertilising, leaching fill and spray.
As shown from the above technical solution, seeding and fertilizing spray provided by the invention obtains sowing to cave operational method first
Acupuncture point point simultaneously generates sowing straight line according to sowing acupuncture point point, then according to broadcasting on the sowing straight line and the sowing straight line
The GPS position information of kind of acupuncture point point is carried out to row using fertilizer applicator to cave-applied fertilizer, and according to the sowing straight line and described
The GPS position information of sowing acupuncture point point on sowing straight line carries out drenching filling and spray to cave to row using leaching filling machine.As it can be seen that this hair
It is bright to carry out fixed-point watering, fertilising and spray according to sowing acupuncture point point, so that the consumption of the agricultural resources such as water-fertilizer-pesticide is reduced, and
Yield can be improved.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the flow chart that the seeding and fertilizing that one embodiment of the invention provides sprays to cave operational method；
Fig. 2 is the specific implementation flow chart that the seeding and fertilizing that one embodiment of the invention provides sprays to cave operational method；
Fig. 3 is that the seeding and fertilizing spray that one embodiment of the invention provides illustrates the entity structure that cave operational method is based on
Figure；
Fig. 4 is that the GPS location that one embodiment of the invention provides obtains schematic diagram；
Fig. 5 is that the sowing cave site location that one embodiment of the invention provides obtains schematic illustration；
Fig. 6 is the partial enlarged view of Fig. 5.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The present invention provides a kind of seeding and fertilizing sprays to cave operational method, and the present invention is directed to seeder, fertilizer applicator and leaching
The institutional operations such as filling machine spraying machine acquire corresponding location information and realize that collaboration is made using mobile equipment as GPS mobile node
Industry carries out fixed-point watering, fertilising and spray according to sowing acupuncture point point to realize, to reduce disappearing for the agricultural resources such as water-fertilizer-pesticide
Consumption.It will be described in detail below to provided by the invention to cave method by specific embodiment.
One embodiment of the invention provides a kind of seeding and fertilizing spray to cave operational method, and referring to Fig. 1, this method includes such as
Lower step:
Step 101: obtaining sowing acupuncture point point and sowing straight line is generated according to sowing acupuncture point point.
Step 102: according to the GPS position information benefit of the sowing acupuncture point point on the sowing straight line and the sowing straight line
It is carried out to row with fertilizer applicator to cave-applied fertilizer.
Step 103: according to the GPS position information benefit of the sowing acupuncture point point on the sowing straight line and the sowing straight line
Drench cave row with leaching filling machine and fills and spray.
As seen from the above description, seeding and fertilizing spray provided in this embodiment obtains sowing cave to cave operational method first
Site simultaneously generates sowing straight line according to sowing acupuncture point point, then according to the sowing on the sowing straight line and the sowing straight line
The GPS position information of acupuncture point point is carried out to row using fertilizer applicator to cave-applied fertilizer, and according to the sowing straight line and described is broadcast
The GPS position information of sowing acupuncture point point on kind straight line drench cave row using leaching filling machine and fills and spray.As it can be seen that this implementation
Example can carry out fixed-point watering, fertilising and spray according to sowing acupuncture point point, so that the consumption of the agricultural resources such as water-fertilizer-pesticide is reduced, and
Yield can be improved.
It should be noted that the present embodiment records sowing location information by GPS, then moved by installing GPS to equipment
Dynamic node, realize subsequent job link to cave operation.In a preferred embodiment, referring to fig. 2~4, above-mentioned steps 102
It is realized especially by such as under type:
According to it is described sowing straight line on sowing acupuncture point point GPS position information set relaying, it is described relaying not with fertilising
Machine binding；
Judge that fertilizer applicator, whether beyond relaying signal cover, covers model if exceeding and relaying signal in moving process
It encloses, then re-searches for relaying, lock strongest trunk channel, and apply cave row according to the most strong trunk channel of locking
Fertilizer.
In a preferred embodiment, described to judge fertilizer applicator in moving process whether beyond relaying signal covering model
It encloses, if re-searching for relaying beyond relaying signal cover, locks strongest trunk channel, and according to the most strong of locking
Trunk channel is carried out to row to cave-applied fertilizer, comprising:
Judge that fertilizer applicator, whether beyond relaying signal cover, covers model if exceeding and relaying signal in moving process
It encloses, then re-searches for relaying, lock strongest trunk channel, and according to the most strong trunk channel regulated fertilization machine driving wheel of locking
Centering is realized and is applied fertilizer to row so that fertilizer applicator is in sowing institute on straight line；
In the most strong trunk channel regulated fertilization machine driving wheel centering according to locking, so that fertilizer applicator is in where sowing directly
After on line, it is opened and closed according to the GPS position information control fertilization mouth interval of the sowing acupuncture point point sowed on straight line, realization pair
Cave-applied fertilizer.It should be noted that sowing acupuncture point with exterior domain without fertilising.
In a preferred embodiment, the fertilizer applicator driving wheel is internally provided with hall electric machine, frequent to realize
Differential steering.
In a preferred embodiment, the fertilizer applicator accesses junction network by the way of multi-hop and roaming.
It should be noted that any movement due to the GPS on agricultural machinery causes wireless network topology structure unstable.This reality
The problem of GPS mobile node algorithm for applying example offer, which can solve, cooperates with equipment number more, structural instability.Algorithm setting
GPS mobile receiving end is to relay, and relaying is not bound with the terminal of agricultural machinery, when what is covered in agricultural machinery moving process beyond relaying signal
It after range, re-searches for relaying, locks strongest trunk channel.Mobile agricultural machinery is the bottom at network, and important is on equipment
Terminal positioned, and control seeding machinery mechanism, fertilizer machinery mechanism is acted.Equipment is according to mobile node equipment control
It makes, the terminal on equipment uses multi-hop and roaming access in the present embodiment.
It should be noted that obtaining reference line using feedback signal to location information by GPS or Beidou position receiver
Deviation information.Equipment is walked after sideslip, and bus control unit issues revise signal, so that equipment is in sowing institute on straight line.Example
Such as, control fertilizing equipment is on sowing straight line, and controls fertilization mouth interval and be opened and closed, and realizes to cave-applied fertilizer.
It should be noted that the present embodiment records sowing location information by GPS, then moved by installing GPS to equipment
Dynamic node, realize subsequent job link to cave operation.In a preferred embodiment, referring to fig. 2~4, above-mentioned steps 103
It is realized especially by such as under type:
Relaying is set according to the GPS position information of the sowing acupuncture point point on the sowing straight line, the relaying is not filled with leaching
Machine binding；
Judge to drench filling machine in moving process whether beyond relaying signal cover, if covering model beyond relaying signal
It encloses, then re-searches for relaying, lock strongest trunk channel, and drench cave row according to the most strong trunk channel of locking and fill
And spray.
In a preferred embodiment, described whether to judge to drench filling machine in moving process beyond relaying signal covering model
It encloses, if re-searching for relaying beyond relaying signal cover, locks strongest trunk channel, and according to the most strong of locking
Trunk channel drench to row to cave and fills and spray, comprising:
Judge to drench filling machine in moving process whether beyond relaying signal cover, if covering model beyond relaying signal
It encloses, then re-searches for relaying, lock strongest trunk channel, and adjust leaching filling machine driving wheel according to the most strong trunk channel of locking
Centering, so that leaching filling machine is in sowing institute on straight line, realization is filled to row leaching and spray；
Leaching filling machine driving wheel centering is adjusted in the most strong trunk channel according to locking, so that leaching filling machine is in straight where sowing
After on line, solenoid valve and spray electromagnetism are filled according to the GPS position information control leaching of the sowing acupuncture point point on the sowing straight line
Valve carries out leaching filling and spray to cave.It should be noted that sowing acupuncture point is filled and is sprayed without leaching with exterior domain.
In a preferred embodiment, the leaching filling machine driving wheel is internally provided with hall electric machine, frequent to realize
Differential steering.
In a preferred embodiment, the leaching filling machine accesses junction network by the way of multi-hop and roaming.
It should be noted that any movement due to the GPS on agricultural machinery causes wireless network topology structure unstable.This reality
The problem of GPS mobile node algorithm for applying example offer, which can solve, cooperates with equipment number more, structural instability.Algorithm setting
GPS mobile receiving end is to relay, and relaying is not bound with the terminal of agricultural machinery, when what is covered in agricultural machinery moving process beyond relaying signal
It after range, re-searches for relaying, locks strongest trunk channel.Mobile agricultural machinery is the bottom at network, and important is on equipment
Terminal positioned, and control seeding machinery mechanism, leaching fill mechanical mechanism and spray electromagnetic valve mechanism acted.Equipment is pressed
It is controlled according to mobile node equipment, the terminal on equipment uses multi-hop and roaming access in the present embodiment.
It should be noted that obtaining reference line using feedback signal to location information by GPS or Beidou position receiver
Deviation information.Equipment is walked after sideslip, and bus control unit issues revise signal, so that equipment is in sowing institute on straight line.Example
Such as, control leaching fills equipment on sowing straight line, and controls to drench and fill solenoid valve and spray solenoid valve to cave leaching filling and spray.
As seen from the above description, in the present embodiment, it applies fertilizer, leaching fills and spray is all based on sowing acupoint information, sowing
Acupuncture point is not applied fertilizer with exterior domain, is not drenched filling, is not sprayed, so as to which the consumption of the agricultural resources such as water-fertilizer-pesticide is effectively reduced, and can
To improve agricultural output.
In a preferred embodiment, referring to figs. 5 and 6, above-mentioned steps 101 are realized especially by such as under type:
Each of seeder traveling process sowing acupuncture point point is obtained in following manner:
Centimeter Level difference DGPS actual measurement is used to obtain the coordinate of sowing acupuncture point point as Ps(Xs, Ys)；Wherein, (Xs, Ys)
=(X0+Xe, Y0+Ye)；P0(X0, Y0) be manual measurement sowing acupuncture point point coordinate；XeAnd YeIt is the systematic error of GPS and big
Tree aircraft blocks the error of interference；
According to the PsThe coordinate for obtaining the same sowing acupuncture point point in seeder traveling process is Pd(Xd, Yd)；Wherein,
(Xd, Yd)=(Xs+Xw, Ys+Yw)；XwAnd YwIt is the error that sowing position fast moves with system delay in seeder traveling process；
After the coordinate for obtaining each of seeder traveling process sowing acupuncture point point according to mode above, according to every
The Coordinate generation of one sowing acupuncture point point sows straight line.
Referring to figs. 5 and 6, r is coordinate obtained by static measurement according to range formula calculating gained distance, and m is that dynamic measures
Gained coordinate calculates gained distance according to range formula, can carry out continuous multiple regression by the size of m and the coordinate of point Pd, lead to
The mode for crossing linear fit model obtains most accurately acupuncture point point matching.
In a preferred embodiment, the method also includes:
When fill the gaps with seedlings operation, the acupuncture point point filled the gaps with seedlings as needed fill the gaps with seedlings cave；
After fill the gaps with seedlings cave, the location information filled the gaps with seedlings cave is obtained, and carry out to cave according to the location information of acquisition
Fertilising, leaching fill and spray.
It, can basis when because of the reasons such as weather, there is the not high situation of emergence rate as it can be seen that in the present embodiment
Sowing acupuncture point point on sowing straight line obtains the acupuncture point point be short of seedling namely need to fill the gaps with seedlings, and the acupuncture point then filled the gaps with seedlings as needed clicks through
Row fills the gaps with seedlings to cave, it is seen then that the seeding and fertilizing spray that present embodiment provides can also precisely fill the gaps with seedlings to cave operational method.This
Outside, fertilising, the leaching after filling the gaps with seedlings are filled and is sprayed, can also realize that precise positioning fertilising, leaching fill based on the mode to cave operation
And spray.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.Unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " shall be understood in a broad sense, example
Such as, it may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection, be also possible to be electrically connected
It connects；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of seeding and fertilizing spray is to cave operational method characterized by comprising
It obtains sowing acupuncture point point and sowing straight line is generated according to sowing acupuncture point point；
It is carried out according to the GPS position information of the sowing acupuncture point point on the sowing straight line and the sowing straight line using fertilizer applicator
To row to cave-applied fertilizer；
It is carried out according to the GPS position information of the sowing acupuncture point point on the sowing straight line and the sowing straight line using leaching filling machine
Row drenches cave and fills and sprays.
2. the method according to claim 1, wherein the acquisition sows acupuncture point point and according to sowing acupuncture point point life
At sowing straight line, comprising:
Each of seeder traveling process sowing acupuncture point point is obtained in following manner:
Centimeter Level difference DGPS actual measurement is used to obtain the coordinate of sowing acupuncture point point as Ps(Xs, Ys)；Wherein, (Xs, Ys)=(X0
+Xe, X0+Ye)；P0(X0, Y0) be manual measurement sowing acupuncture point point coordinate；XeAnd YeIt is the systematic error and tree aircraft greatly of GPS
Block the error of interference；
According to the PsThe coordinate for obtaining the same sowing acupuncture point point in seeder traveling process is Pd(Xd, Yd)；Wherein, (Xd,
Yd)=(Xs+Xw, Ys+Yw)；XwAnd YwIt is the error that sowing position fast moves with system delay in seeder traveling process；
After the coordinate for obtaining each of seeder traveling process sowing acupuncture point point according to mode above, according to each
The Coordinate generation for sowing acupuncture point point sows straight line.
3. according to the method described in claim 2, it is characterized in that, described according to the sowing straight line and the sowing straight line
On sowing acupuncture point point GPS position information using fertilizer applicator carry out to row to cave-applied fertilizer, comprising:
Relaying is set according to the GPS position information of the sowing acupuncture point point on the sowing straight line, the relaying is not tied up with fertilizer applicator
It is fixed；
Judge that fertilizer applicator, whether beyond relaying signal cover, relays signal cover if exceeding in moving process,
It re-searches for relaying, locks strongest trunk channel, and carry out to row to cave-applied fertilizer according to the most strong trunk channel of locking.
4. according to the method described in claim 3, it is characterized in that, described judge whether fertilizer applicator exceeds in moving process
After signal cover, if re-searching for relaying, locking strongest trunk channel, and press beyond relaying signal cover
It carries out to row according to the most strong trunk channel of locking to cave-applied fertilizer, comprising:
Judge that fertilizer applicator, whether beyond relaying signal cover, relays signal cover if exceeding in moving process,
It re-searches for relaying, locks strongest trunk channel, and according to the most strong trunk channel regulated fertilization machine driving wheel centering of locking,
So that fertilizer applicator is in sowing institute on straight line, realizes and apply fertilizer to row；
In the most strong trunk channel regulated fertilization machine driving wheel centering according to locking, so that fertilizer applicator is in sowing institute on straight line
Later, it is opened and closed according to the GPS position information control fertilization mouth interval of the sowing acupuncture point point on the sowing straight line, cave is applied in realization
Fertilizer.
5. according to the method described in claim 4, it is characterized in that, the fertilizer applicator driving wheel is internally provided with hall electric machine,
To realize frequent differential steering.
6. the method according to claim 3 or 4, which is characterized in that the fertilizer applicator is connect by the way of multi-hop and roaming
Enter junction network.
7. according to the method described in claim 2, it is characterized in that, described according to the sowing straight line and the sowing straight line
On sowing acupuncture point point GPS position information using leaching filling machine carry out to row to cave drench fill and spray, comprising:
Relaying is set according to the GPS position information of the sowing acupuncture point point on the sowing straight line, the relaying is not tied up with leaching filling machine
It is fixed；
Whether judge to drench filling machine in moving process beyond relaying signal cover, if beyond relaying signal cover,
It re-searches for relaying, locks strongest trunk channel, and drench cave row according to the most strong trunk channel of locking and fill and spray
Medicine.
8. the method according to the description of claim 7 is characterized in that described judge to drench during whether filling machine exceed in moving process
After signal cover, if re-searching for relaying, locking strongest trunk channel, and press beyond relaying signal cover
It carries out drenching filling and spray to cave to row according to the most strong trunk channel of locking, comprising:
Whether judge to drench filling machine in moving process beyond relaying signal cover, if beyond relaying signal cover,
It re-searches for relaying, locks strongest trunk channel, and adjust leaching filling machine driving wheel centering according to the most strong trunk channel of locking,
So that leaching filling machine is in sowing institute on straight line, realization is filled to row leaching and spray；
Leaching filling machine driving wheel centering is adjusted in the most strong trunk channel according to locking, so that leaching filling machine is in sowing institute on straight line
Later, solenoid valve and spray solenoid valve pair are filled according to the GPS position information control leaching of the sowing acupuncture point point on the sowing straight line
Cave carries out leaching filling and spray.
9. according to the method described in claim 8, it is characterized in that, the leaching filling machine driving wheel is internally provided with hall electric machine,
To realize frequent differential steering.
10. the method according to claim 1, wherein the method also includes:
When fill the gaps with seedlings operation, the acupuncture point point filled the gaps with seedlings as needed fill the gaps with seedlings cave；
After fill the gaps with seedlings cave, obtain the location information filled the gaps with seedlings cave, and according to the location information of acquisition carry out to cave-applied fertilizer,
Leaching fills and spray.
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| CN201810842868.4A CN109104949B (en) | 2018-07-27 | 2018-07-27 | Sowing, fertilizing, pesticide spraying and hole aligning operation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113349038A (en) * | 2021-06-30 | 2021-09-07 | 广州极飞科技股份有限公司 | Irrigation operation control method and device, storage medium and irrigation equipment |
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