CN110214482B - Layered allocation intelligent ridging equipment for crop growth and working method thereof - Google Patents
Layered allocation intelligent ridging equipment for crop growth and working method thereof Download PDFInfo
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- CN110214482B CN110214482B CN201910405119.XA CN201910405119A CN110214482B CN 110214482 B CN110214482 B CN 110214482B CN 201910405119 A CN201910405119 A CN 201910405119A CN 110214482 B CN110214482 B CN 110214482B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C13/00—Machines or apparatus for consolidating soil around plants
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- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The invention discloses a layering allocation intelligent hilling device for crop growth and a working method thereof.A vehicle body is internally divided into a conveying room and a processing room, wherein conveying devices are arranged between the conveying room and the processing room and form a transverse conveying channel; the conveying room comprises a longitudinal conveying channel and a hydraulic elevator, and the hydraulic elevator comprises a soil unloading plate arranged above the hydraulic elevator; the processing room comprises a first soil crushing device, a second soil crushing device and a soil discharging device, wherein the first soil crushing device is arranged above the second soil crushing device and comprises a plurality of first rotating shafts, blades at a first preset distance are arranged on the first rotating shafts, the second soil crushing device comprises a plurality of second rotating shafts, blades at a second preset distance are arranged on the second rotating shafts, and the second preset distance is smaller than the first preset distance; the electric bucket is connected with the vehicle body through the tipping device, can carry out layering allotment on the soil above the crop root system in the ridging process, and promotes the utilization rate of the fertilizer to the maximum.
Description
Technical Field
The invention relates to the field of hilling equipment, in particular to intelligent hilling equipment for crop growth by layered allocation and a working method thereof.
Background
The hilling is a main process for crop growth management, and most crops need to be hilled for many times in the growing period. The growth positions of crops in soil are not fixed, the growth forms of all the crops are different, workers have huge labor amount when carrying out ridging, the squatting posture is large in body loss, and long-term working is prone to accumulating diseases.
In addition, fertilization is generally carried out during ridging, and two coexistence methods exist at present, wherein one method is that fertilizers are thrown above soil after ridging is finished, so that the fertilizers on the upper layer of the soil cannot be fully utilized, and the soil on the lower layer can only receive part of the fertilizers; secondly, after the soil and the fertilizer are uniformly mixed, the soil is covered on the root system of the crops, the method can ensure that the lower layer soil can obtain fertilizer nutrients in time, but the fertilizer mixed with the upper layer soil still generates waste.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides an intelligent hilling device for crop growth by layered allocation and a working method thereof, which can effectively solve the problems in the background art.
The technical scheme is as follows:
a layering allotment intelligence equipment of earthing up for crop growth, includes earthing up mechanism and control mechanism, earthing up mechanism includes:
the conveying device comprises a vehicle body, the interior of the vehicle body is divided into two mutually communicated semi-closed spaces which are respectively a conveying room and a processing room, a conveying device is arranged between the conveying room and the processing room, the input end of the conveying device is arranged at the edge position above the conveying room, the output end of the conveying device is arranged at the central position above the processing room, the conveying device forms a transverse conveying channel for transferring soil from the conveying room to the processing room, the top of the transverse conveying channel is provided with a plurality of lifting electric clamping jaws for picking up solid impurities in the soil, the left side and the right side of the transverse conveying channel are provided with a plurality of electric windows corresponding to the electric clamping jaws, and the electric windows are used for throwing out the solid impurities;
the conveying room comprises a longitudinal conveying channel and a hydraulic elevator, an electric feeding port is arranged on the side face of the longitudinal conveying channel and used for receiving soil, the hydraulic elevator is arranged below the electric feeding port, the maximum lifting height of the hydraulic elevator is larger than or equal to the height of the longitudinal conveying channel, the hydraulic elevator comprises a soil unloading plate arranged above the hydraulic elevator, the soil unloading plate is connected with the edge of the hydraulic elevator through a turnover device and is positioned at one end, close to the treatment room, of the conveying room, the soil unloading plate is in a segment shape and is internally provided with a vibration module, and the vibration module is used for preliminarily converting the state of the soil from a block shape to a loose shape;
the processing room comprises a first soil crushing device, a second soil crushing device and a soil discharging device, the first soil crushing device is arranged above the second soil crushing device and comprises a plurality of first rotating shafts, a plurality of blades are arranged on the first rotating shafts and are spaced at a first preset distance, the second soil crushing device comprises a plurality of second rotating shafts, a plurality of blades are arranged on the second rotating shafts and are spaced at a second preset distance, the second preset distance is smaller than the first preset distance, a storage box is arranged below the shell of the first rotating shafts and is positioned between every two blades, organic fertilizer is stored in the storage box, a first electric control valve is arranged below the storage box and is used for releasing the organic fertilizer, and the soil discharging device and the electric feed inlet are arranged on the same side;
the electric bucket is arranged below the conveying room and positioned at the same side as the electric feeding hole, the electric bucket is connected with the vehicle body through a tipping device, and the tipping device is used for upwards overturning the electric bucket;
the camera device is arranged on the outer side of the vehicle body and used for acquiring the environment around the vehicle body;
the small crawler-type traveling device is arranged below the vehicle body and used for driving the vehicle body to move;
the control mechanism includes:
the processor is used for analyzing the crop variety, the crop growth form and the soil state and is connected with the camera device;
the driving device is respectively connected with the conveying device, the electric clamping jaw, the electric window, the hydraulic elevator, the electric feeding hole, the overturning device, the vibration module, the first soil crushing device, the second soil crushing device, the first electric control valve, the tipping bucket device and the traveling device.
As a preferable mode of the present invention, the vehicle body further includes a soil suction device, the soil suction device includes a conveying pipeline and a driving motor, an output end of the conveying pipeline is hermetically connected to the electric window at the input end of the conveying device, an input end of the conveying pipeline is provided with a rotary cutting device, a diameter of the rotary cutting device is equal to a diameter of the conveying pipeline, and the driving motor and the rotary cutting device are respectively connected to the driving device.
As a preferable mode of the present invention, the transfer room further includes a soil detection device, the soil detection device is disposed above the hydraulic elevator, and the height of the soil detection device is greater than or equal to the maximum elevation height of the hydraulic elevator, the soil detection device includes a sampling arm and a test chamber, the sampling arm is connected to the driving device, and is configured to take a soil sample from the soil unloading plate and transfer the soil sample into the test chamber, and the soil detection device is connected to the processor, and is configured to detect a soil sample component and transmit detection data to the processor.
As a preferred mode of the invention, the treatment room further comprises a blending device, the blending device is arranged between the first soil pulverizing device and the second soil pulverizing device and comprises a storage tank, a water storage tank and a blending tank, the storage tank is divided into a plurality of independent storage units which are transversely parallel, fertilizers containing different elements are stored in each storage unit, the storage tank is arranged above the blending tank, the bottom of each storage unit is provided with a second electric control valve which is communicated with the blending tank, the second electric control valve is connected with the driving device, the water storage tank is parallel to the storage tank and comprises a water delivery pipe communicated with the blending tank and a third electric control valve which is arranged in the water delivery pipe, the third electric control valve is connected with the driving device, and the blending tank comprises a stirring device and a material spraying device which are arranged in the blending tank, the stirring device and the material spraying device are respectively connected with the driving device, the stirring device is used for fully mixing fertilizer and water, and the material spraying device is used for spraying mixed fertilizer to the second soil crushing device.
As a preferable mode of the present invention, the transverse conveying channel further includes a seeding device disposed below the second soil breaking device and storing therein different types of crop seeds, and the seeding device includes an ejection device connected to the driving device for ejecting the crop seeds.
A working method of intelligent hilling equipment for crop growth by layered allocation comprises the following working steps:
setting preset crops, and acquiring the surrounding environment of the vehicle body by the camera device and sending a shot image to the processor;
the processor judges whether the preset crop exists in the shot image;
if so, the processor analyzes the growth form of the preset crop and the soil depth corresponding to the growth state and outputs a soil digging signal to the driving device, the driving device drives the tipping bucket device to start, and the tipping bucket device drives the electric bucket to transfer the soil above the root system of the preset crop to the soil unloading plate;
the processor outputs a vibration signal to the driving device, and the driving device drives the vibration module to start;
the processor outputs a rising signal to the driving device, and the driving device drives the hydraulic elevator to rise to a position flush with the conveying device;
the processor outputs a soil unloading signal to the driving device, and the driving device drives the turnover device to rotate by 90 degrees;
the processor outputs a transmission signal to the driving device, and the driving device drives the transmission device to start;
the processor outputs a first soil crushing signal to the driving device, and the driving device drives the first soil crushing device to start;
the processor outputs a first opening signal to the driving device, and the driving device drives the first electric control valve to open for a preset time;
the processor outputs a second soil crushing signal to the driving device, and the driving device drives the second soil crushing device to start;
the processor judges whether the root system of the preset crop is exposed out of the ground or not;
if yes, the soil excavation is stopped, the processor outputs a soil discharging signal to the driving device, and the driving device drives the soil discharging device to push soil to be accumulated above the root system of the preset crop.
As a preferable mode of the present invention, the present invention further includes;
the processor judges whether scattered soil exists around the preset crop root system or not according to the shot image;
if yes, the processor outputs a soil sucking signal to the driving device, the driving device drives the driving motor and the rotary cutting device to start, the rotary cutting device moves to the bulk soil, and the soil sucking device transfers the bulk soil to the conveying device.
As a preferable mode of the present invention, the driving means for driving the hydraulic elevator to ascend to a position flush with the transfer means further includes:
the processor outputs a sampling signal to the driving device, and the sampling arm acquires a soil sample from the soil unloading plate and transfers the soil sample into the inspection chamber;
the soil detection device detects soil sample components in the inspection chamber and sends detection data to the processor.
As a preferred embodiment of the present invention, the present invention further comprises:
the processor analyzes varieties and growth states of preset crops according to the shot images and analyzes required nutrients corresponding to the varieties and the growth states;
the processor judges whether the soil meets the required nutrients according to the detection data;
if not, the processor extracts elements which are lacked in the soil, extracts fertilizers containing the elements from the storage box, outputs a second opening signal to the driving device, and the driving device drives a second electric control valve corresponding to the fertilizers to open;
the processor outputs a third opening signal to the driving device, and the driving device drives the third electric valve to open;
the processor outputs a stirring signal to the driving device, and the driving device drives the stirring device to start;
when the first soil crushing device is started, the material spraying device replaces a storage box, the processor outputs a spraying signal to the driving device, the driving device drives the material spraying device to be started, and the material spraying device sprays the mixed fertilizer on the soil falling on the second soil crushing device and sprays the mixed fertilizer once every preset time.
As a preferable mode of the present invention, when the ridging apparatus is used for seeding, further comprising:
the soil at the crop planting position is smashed, and the soil excavated by the electric bucket is divided into two parts; firstly, completing the smashing of the first part of soil through the first soil smashing device and the second soil smashing device, starting an ejection device, ejecting crop bullets into the first part of soil through the ejection device, and discharging the first part of soil to a planting position through the soil discharging device;
and then the second part of soil is crushed by the first soil crushing device and the second soil crushing device, and the soil discharging device is started to stack the second part of soil above the first part of soil.
The invention realizes the following beneficial effects:
1. the invention recycles and redistributes all the soil above and around the root system of the crop, an electric bucket and a camera device are matched to dig the soil to avoid damaging the root system of the crop, a hydraulic elevator transfers the recycled soil to a conveying device, the conveying device conveys the soil to a treatment room, a first soil crushing device preliminarily crushes the soil, then organic fertilizer is released through a storage box arranged below a shell of the first soil crushing device, the organic fertilizer and the preliminarily crushed soil are mixed and then fall to a second soil crushing device, the time interval of the soil entering the second soil crushing device from the first soil crushing device and the staying time of the soil in the first soil crushing device are enough to enable the soil to enter the second soil crushing device in batches, a first electric control valve of the storage box is automatically closed after being opened for a preset time, namely, only the first batch of soil is acted, and the first batch of organic fertilizer is discharged, the layered blending of the soil is completed, and the fertilizer is intensively acted on the middle soil layer above the crop root system while hilling, so that the soil depth of the root system cannot be influenced, and the utilization rate of the fertilizer can be improved.
2. The electric bucket shifts soil to the soil unloading plate on the hydraulic elevator, the soil unloading plate is arranged to be in a spherical segment shape, a vibration module is arranged in the soil unloading plate, the hydraulic elevator rises, the vibration module preliminarily converts the soil in the soil unloading plate into a bulk shape, a lifting electric clamping jaw is arranged in a transverse conveying channel, and when solid impurities exist in the bulk soil, the electric clamping jaw can pick the solid impurities out of the soil.
3. Be provided with soil detection device in the vertical transfer passage, when hydraulic elevator rose to the maximum height, the sample arm was from unloading the inboard and acquireing soil sample and transferring to the inspection chamber, the element that treater analysis soil lacked, when the preliminary garrulous soil of first hack device downward release, the blending device prepares mixed fertilizer, drops to on the second hack device when soil, spouts the material device and sprays mixed pesticide on the second hack device, just spout the material device and spray once every predetermined time, work as promptly spout the material device and spray once the back, the soil that is sprayed with mixed fertilizer directly promotes to amass in predetermineeing crop root system top, and the soil that is not sprayed with mixed fertilizer continues to push on the top again to this control mixed fertilizer in the intermediate lamella, improves mixed fertilizer's utilization ratio.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic view of an internal structure of the hilling apparatus provided by the present invention.
Fig. 2 is a schematic view of an external structure of the hilling apparatus provided by the present invention.
Fig. 3 is a schematic structural view of the soil detection device provided by the invention.
Fig. 4 is a schematic structural view of a first soil breaking device provided by the invention.
Fig. 5 is a schematic structural diagram of a blending device provided by the present invention.
Fig. 6 is a schematic structural view of the sowing device provided by the present invention.
Fig. 7 is a schematic diagram of soil transfer in a vehicle body according to the present invention.
Fig. 8 is a schematic view of the earthing up coverage provided by the present invention.
FIG. 9 is a schematic diagram of a processor connection provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
As shown in fig. 1 to 9, the present embodiment provides an intelligent hilling apparatus for crop growth by layering and allocation, which includes a hilling mechanism and a control mechanism.
The mechanism of earthing up includes:
the automobile body 1, the inside of automobile body 1 is divided into two semi-closed spaces that communicate each other, 2 and 3 between the processing respectively between the conveying, 2 and be provided with conveyer 4 between 3 between the conveying, the input of conveyer 4 sets up in 2 top border positions between the conveying, and its output sets up in the top central point of 3 between the processing, conveyer 4 constitutes horizontal transfer passage, be used for transferring soil from 2 between the conveying to 3 between the processing, the top of horizontal transfer passage is provided with a plurality of over-and-under type electric clamping jaw 5, electric clamping jaw 5 is used for choosing the solid impurity in the soil, the left and right sides of horizontal transfer passage is provided with a plurality of electric window 6 that correspond with electric clamping jaw 5, electric window 6 is used for throwing out solid impurity.
2 including vertical transfer passage and hydraulic elevator 7 between the conveying, vertical transfer passage's side is provided with electronic feed inlet 8, electronic feed inlet 8 is used for receiving soil, hydraulic elevator 7 sets up in the below of electronic feed inlet 8, and its maximum rise height is more than or equal to vertical transfer passage's height, hydraulic elevator 7 is including setting up in the soil unloading board 9 of its top, the edge that the soil unloading board 9 passes through turning device 10 and hydraulic elevator 7 links to each other, and the department of linking to each other is located 2 one end that is close to between handling 3 between the conveying, the soil unloading board 9 sets up to the segment form, and built-in have vibration module 11, vibration module 11 is used for tentatively turning into the loose form with the state of soil from cubic.
The treatment room 3 comprises a first soil crushing device 12, a second soil crushing device 13 and a soil discharging device 14, the first soil crushing device 12 is arranged above the second soil crushing device 13 and comprises a plurality of first rotating shafts 15, a plurality of blades are arranged on the first rotating shafts 15, the blades are spaced at first preset distances, the second soil crushing device 13 comprises a plurality of second rotating shafts 16, a plurality of blades are arranged on the second rotating shafts 16, the blades are spaced at second preset distances, the second preset distances are smaller than the first preset distances, a storage box 17 is arranged below the shell of the first rotating shafts 15, the storage box 17 is located between every two blades, organic fertilizers are stored in the storage box 17, a first electric control valve 18 is arranged below the storage box, the first electric control valve 18 is used for releasing the organic fertilizers, and the soil discharging device 14 and the electric feed inlet 8 are arranged on the same side.
And the electric bucket 19 is arranged below the conveying room 2 and is positioned at the same side with the electric feeding hole 8, the electric bucket 19 is connected with the vehicle body 1 through a tipping device 20, and the tipping device 20 is used for upwards turning the electric bucket 19.
And an imaging device 21 disposed outside the vehicle body 1 for acquiring an environment around the vehicle body 1.
The small crawler travel unit 22 is provided below the vehicle body 1 and drives the vehicle body 1 to move. The control mechanism includes:
and the processor 23 is used for analyzing the crop variety, the crop growth form and the soil state and is connected with the camera device 21.
The driving device 24 and the driving device 24 are respectively connected with the conveying device 4, the electric clamping jaw 5, the electric window 6, the hydraulic elevator 7, the electric feeding hole 8, the overturning device 10, the vibration module 11, the first soil crushing device 12, the second soil crushing device 13, the first electric control valve 18, the tipping device 20 and the traveling device 22.
The vehicle body 1 further comprises a soil suction device, the soil suction device comprises a conveying pipeline 25 and a driving motor 26, the output end of the conveying pipeline 25 is hermetically connected with the electric window 6 at the input end of the conveying device 4, the input end of the conveying pipeline 25 is provided with a rotary cutting device 27, the diameter of the rotary cutting device 27 is equal to that of the conveying pipeline 25, and the driving motor 26 and the rotary cutting device 27 are respectively connected with the driving device 24.
The conveying room 2 further comprises a soil detection device 28, the soil detection device 28 is arranged above the hydraulic elevator 7, the height of the soil detection device 28 is larger than or equal to the maximum lifting height of the hydraulic elevator 7, the soil detection device 28 comprises a sampling arm 29 and a testing room 30, the sampling arm 29 is connected with the driving device 24 and used for obtaining a soil sample from the soil unloading plate 9 and transferring the soil sample into the testing room 30, and the soil detection device 28 is connected with the processor 23 and used for detecting the components of the soil sample and sending detection data to the processor 23.
The treatment room 3 further comprises a blending device, the blending device is arranged between the first soil crushing device 12 and the second soil crushing device 13 and comprises a storage tank 31, a water storage tank 32 and a blending tank 33, the storage tank 31 is divided into a plurality of independent storage units which are transversely parallel, fertilizers containing different elements are stored in each storage unit, the storage tank 31 is arranged above the blending tank 33, the bottom of each storage unit is provided with a second electric control valve 34 which is communicated with the blending tank 33, the second electric control valve 34 is connected with the driving device 24, the water storage tank 32 is parallel to the storage tank 31 and comprises a water conveying pipe 35 which is communicated with the blending tank 33 and a third electric control valve 36 which is arranged in the water conveying pipe 35, the third electric control valve 36 is connected with the driving device 24, the blending tank 33 comprises a stirring device 37 and a material spraying device 38 which are arranged in the blending tank 37 and the material spraying device 38, the stirring device 37 and the material spraying device 38 are respectively connected with the driving device 24, the stirring device 37 is used for fully mixing the fertilizer and the water, and the spraying device 38 is used for spraying the mixed fertilizer to the second soil crushing device 13.
The transverse conveying channel further comprises a seeding device 39, the seeding device 39 is arranged below the second soil crushing device 13 and stores different types of crop seeds, the seeding device 39 comprises an ejection device 40, and the ejection device 40 is connected with the driving device 24 and used for ejecting the crop seeds.
Specifically, the ridging mechanism comprises a vehicle body 1, an electric bucket 19, a camera device 21 and a small crawler-type traveling device 22, wherein the vehicle body 1 comprises a conveying room 2, a processing room 3, a conveying device 4, a lifting electric clamping jaw 5, an electric window 6, a soil sucking device, a seeding device 39 and an ejection device 40, the conveying room 2 comprises a hydraulic elevator 7, an electric feeding hole 8, a soil detection device 28, a sampling arm 29 and a detection chamber 30, the hydraulic elevator 7 comprises a soil unloading plate 9, a turnover device 10 and a vibration module 11, the processing room 3 comprises a first soil crushing device 12, a second soil crushing device 13, a soil discharging device 14 and a blending device, the first soil crushing device 12 comprises a storage box 17 and a first electric control valve 18, the blending device comprises a storage box 31, a water storage box 32, a blending box 33, a second valve electric control 34, a third electric control valve 36, a stirring device 37 and a material spraying device 38, the soil suction device comprises a conveying pipe 25, a drive motor 26 and a rotary cutting device 27, the electric bucket 19 comprises a tipper 20, and the control means comprise a processor 23 and a drive device 24.
The ridging equipment has automatic ridging and seeding functions, the control mechanism further comprises a positioning device and a navigation device, the positioning device and the navigation device are respectively connected with the processor 23, the positioning device is used for acquiring position information of the vehicle body 1 and sending the position information to the processor 23, and the navigation device is used for generating a moving route of the vehicle body 1 and sending the moving route to the processor 23.
The vehicle body 1 is provided with a transfer room 2 in a front half portion thereof, a processing room 3 in a rear half portion thereof, and a transfer device 4 mounted above the transfer room 2 and the processing room 3 and having only a one-way transfer function of transferring from the transfer room 2 to the processing room 3, wherein the transfer device 4 includes a first clip fixed to a side wall of the transfer room 2 and a second clip fixed to a side wall of the processing room 3.
Wherein, the first card is directly arranged at the input end of the conveying device 4, therefore, the input end of the conveying device 4 does not enter the range of the conveying room 2, when the hydraulic elevator 7 in the conveying room 2 rises to the maximum rising height, the soil unloading plate 9 and the conveying device 4 are positioned at the same height, the second card keeps a certain distance with the output end of the conveying device 4, therefore, the output end of the conveying device 4 enters the range of the processing room 3, and the setting rule of the distance is as follows: the output of the conveyor 4 is centrally located above the treatment room 3.
The transfer room 2 is used for transferring the soil to the treatment room 3.
The invention only excavates and arranges soil on one side of the vehicle body 1 and can be arranged on the left side or the right side of the vehicle body 1, the electric feed port 8 is arranged on the lower side surface of the conveying device 4, the electric feed port 8 corresponds to the electric bucket 19 and the hydraulic elevator 7, the electric bucket 19 is positioned under the electric feed port 8, and the top end of the soil unloading plate 9 of the hydraulic elevator 7 is flush with the bottom end of the electric feed port 8.
When the electric bucket 19 is turned upwards through the electric bucket 19, the electric bucket 19 sends soil in the electric bucket into the electric feeding hole 8 and just falls into the soil unloading plate 9, the hydraulic elevator 7 carries the soil unloading plate 9 to ascend, a fixed bottom plate and a movable bottom plate are arranged in the soil unloading plate 9, the fixed bottom plate is connected with the movable bottom plate through the vibration module 11, when the vibration module 11 is started, the movable bottom plate vibrates along with the movable bottom plate, the fixed bottom plate is kept still, and the soil excavated by the electric bucket 19 can have two forms of block and bulk, so that the block soil can be vibrated into bulk by the vibration module 11.
The conveying device 4 forms a transverse conveying channel, a lifting type electric clamping jaw 5 corresponding to the conveying device 4 is arranged at the top of the transverse conveying channel, the lifting type electric clamping jaw 5 can move front and back and left and right through a preset sliding rail, electric windows 6 corresponding to the electric clamping jaws 5 are arranged on the left side and the right side of the transverse conveying channel, and when the electric clamping jaws 5 pick solid impurities from soil on the conveying device 4, the solid impurities are thrown out of the electric windows 6.
The interior of the treatment room 3 is divided into an upper layer and a lower layer, the upper layer is a first soil breaking device 12, the lower layer is a second soil breaking device 13, the first soil breaking device 12 directly receives soil falling from the conveying device 4, the first soil breaking device 12 comprises a fixed shell, two ends of the fixed shell are respectively welded with the front wall and the rear wall of the treatment room 3, a first rotating shaft 15 is arranged in the fixed shell, the fixed shell is provided with a fault at intervals of a first preset distance, the faults are connected through welding wires, a blade on the first rotating shaft 15 just penetrates through the fault, the lower part of the fixed shell is provided with a storage box 17, the storage box 17 is arranged between every two faults and just misplaces with the blade on the first rotating shaft 15, a universal organic fertilizer is stored in the storage box 17, when the first rotating shaft 15 breaks the first batch of soil entering the storage box, the first valve electric control 18 is opened, the organic fertilizer in the storage box 17 falls from the first electrically controlled valve 18 and is mixed into the first batch of soil.
The second soil crushing device 13 receives the soil dropped from the first soil crushing device 12 and further crushes the soil, and in this embodiment, the blade interval distance on the second rotating shaft 16 is set to be one half of the blade interval distance on the first rotating shaft 15, so that the soil is crushed twice as much as the first soil crushing device 12, the time interval of the soil entering from the first soil crushing device 12 to the second soil crushing device 13 and the time of the soil staying in the first soil crushing device 12 are enough to allow the soil to enter the second soil crushing device 13 in batches, thereby realizing the batch fertilization of the soil.
An inclined soil discharging device 14 is provided below the second soil crushing device 13, the soil discharging device 14 is provided behind the electric feed port 8 and the electric bucket 19, and when the traveling device 22 moves forward, the soil discharging device 14 deposits the completely crushed soil at the excavation position.
The camera device 21 comprises a plurality of cameras, each side surface of the vehicle body 1 is provided with at least one camera, and each camera is connected with the processor 23 respectively and can monitor the environment of the vehicle body 1 in each direction.
The electric bucket 19 and the bucket unit 20 require a certain working space for the excavation work, when the electric bucket 19 cannot be used for digging when the preset crop planting density is larger or the preset crop body size is smaller, the soil is excavated by the soil suction device, the conveying pipeline 25 of the soil suction device is directly led to the conveying device 4 without passing through the conveying room 2, an electric bracket is embedded in the inner wall of the conveying pipeline 25 and is connected with the driving device 24, the extending direction of the conveying pipeline 25 can be controlled, the tail end of the conveying pipeline 25 is provided with a rotary cutting device 27, when the soil suction device is used, the conveying pipeline is controlled by an electric bracket to extend to the surface layer of soil, when the surface texture of the soil is hard, the soil is cut into a plurality of small pieces by the rotary cutting device, then the driving motor 26 is started, the soil is absorbed to the conveying device 4 by the soil absorbing device, and the electric bucket 19 and the soil absorbing device can be started simultaneously to improve the excavating efficiency.
Besides general organic fertilizers, the invention can also prepare special fertilizers for different preset crops, the preparation device is arranged between the first soil crushing device 12 and the second soil crushing device 13, the prepared mixed fertilizer is injected into the soil in batches by utilizing the time interval of the soil falling from the first soil crushing device 12 to the second soil crushing device 13 and the staying time of the soil in the first soil crushing device 12, the soil layering corresponds to fertilizer layering, the first batch of soil mixed with the fertilizer is covered above the root system of the preset crop by controlling the soil discharging rhythm, and the next batch of soil not mixed with the fertilizer is covered above the root system of the preset crop again.
Example two
As shown in fig. 1 to 9, the present embodiment provides a working method of a layered deployment intelligent hilling apparatus for crop growth, which includes the following working steps:
s101: preset crops are set, and the camera device 21 acquires the surrounding environment of the vehicle body 1 and sends a shot image to the processor 23.
S102: the processor 23 determines whether a predetermined crop exists in the captured image.
S103: if yes, the processor 23 analyzes the growth form of the preset crop and the soil depth corresponding to the growth state, outputs an excavation signal to the driving device 24, the driving device 24 drives the tipping bucket device 20 to start, and the tipping bucket device 20 drives the electric bucket 19 to transfer the soil above the root system of the preset crop to the soil unloading plate 9.
S104: the processor 23 outputs a vibration signal to the driving device 24, and the driving device 24 drives the vibration module 11 to start.
S105: the processor 23 outputs a raising signal to the drive means 24, and the drive means 24 drives the hydraulic elevator 7 to be raised to a position flush with the conveyor 4.
S106: the processor 23 outputs a soil unloading signal to the driving device 24, and the driving device 24 drives the turnover device 10 to rotate by 90 degrees.
S107: the processor 23 outputs a transmission signal to the driving device 24, and the driving device 24 drives the transmission device 4 to start.
S108: the processor 23 outputs a first soil breaking signal to the driving device 24, and the driving device 24 drives the first soil breaking device 12 to start.
S109: the processor 23 outputs a first opening signal to the driving device 24, and the driving device 24 drives the first electrically controlled valve 18 to open for a preset time.
S110: the processor 23 outputs a second soil crushing signal to the driving device 24, and the driving device 24 drives the second soil crushing device 13 to start.
S111: the processor 23 determines whether the root of the preset crop is exposed to the ground.
S112: if so, the excavation is stopped, the processor 23 outputs a soil discharging signal to the driving device 24, and the driving device 24 drives the soil discharging device 14 to push the soil above the root system of the preset crop.
The processor 23 determines whether loose soil exists around the preset crop root system according to the shot image.
If so, the processor 23 outputs a soil suction signal to the driving device 24, the driving device 24 drives the driving motor 26 and the rotary cutting device 27 to start, the rotary cutting device 27 moves to the bulk soil, and the soil suction device transfers the bulk soil to the conveying device 4.
When the hilling apparatus is used for sowing, further comprising:
the soil at the crop planting position is crushed, and the soil excavated by the electric bucket 19 is divided into two parts; the first soil is crushed by the first soil crushing device 12 and the second soil crushing device 13, the ejection device 40 is started, the crop seeds are ejected into the first soil by the ejection device 40, and the first soil is discharged to the planting position by the soil discharging device 14.
And then the second part of soil is crushed by the first soil crushing device 12 and the second soil crushing device 13, and the soil discharging device 14 is started to pile the second part of soil above the first part of soil.
Specifically, the control mechanism further comprises a positioning device and a navigation device.
Before the hilling equipment is used, a worker sets a preset area and preset crops, the preset crops are hilling objects, and the preset area is a preset crop growth position.
The processor 23 acquires a preset area and preset crops, the positioning device acquires current position information of the vehicle body 1 and sends the position information to the processor 23, the processor 23 synchronously guides the preset area and the position information into the navigation device, the navigation device generates a navigation route for the vehicle body 1 to move from the position information to the preset area and the vehicle body 1 in the preset area and sends the navigation route to the processor 23, the processor 23 outputs a walking signal to the driving device 24, the driving device 24 drives the walking device 22 to walk according to the navigation route, when the walking device 22 arrives at the preset area, the camera device 21 acquires the surrounding environment of the vehicle body 1 and sends a shot image to the processor 23, the processor 23 captures images of all crops from the shot image and compares the images with the images of the preset crops in sequence to judge whether the preset crops exist in the shot image or not, if the preset crops exist, processor 23 controls traveling device 22 to approach the desired crop until power shovel 19 is proximate the soil above the desired crop root system.
In the process of approaching the walking device 22, the processor 23 analyzes the growth form of the preset crop according to the shot image, and analyzes the required soil depth through the growth form, wherein the soil depth is the depth of the root system below the soil.
When the electric bucket 19 is close to the soil above the preset crop root system, the processor 23 outputs a fourth opening signal to the driving device 24, the driving device 24 drives the electric feeding hole 8 to open, the processor 23 edits the rotation angle and the rotation direction of the tipping device 20 and outputs an excavating signal to the driving device 24, the driving device 24 drives the tipping device 20 to start, the tipping device 20 controls the electric bucket 19 to gradually excavate the soil above the preset crop root system and transfer the soil onto the soil unloading plate 9 in the electric feeding hole 8, and the soil unloading plate 9 at the moment is positioned at the bottommost part of the conveying room 2.
During excavation, the camera device 21 focuses on the root system of the preset crop, the processor 23 judges whether the root system is exposed out of the earth surface in real time, if so, excavation is stopped, and if not, excavation is continued.
When soil enters the soil unloading plate 9, the processor 23 outputs a vibration signal to the driving device 24 firstly, the driving device 24 drives the vibration module 11 to start, when the soil unloading plate 9 is fully loaded, the processor 23 outputs a rising signal to the driving device 24, the driving device 24 drives the hydraulic elevator 7 to rise to the topmost part of the conveying room 2, the processor 23 outputs a soil unloading signal to the driving device 24, the driving device 24 drives the turnover device 10 to rotate by 90 degrees or 120 degrees, at the moment, the vibration module 11 is still in a working device, and due to the fact that the soil has certain viscosity, the vibration module 11 can improve the separation degree of the soil unloading plate 9 and the soil.
When the soil is separated from the soil unloading plate 9, the processor 23 controls the vibration module 11 to stop working and controls the rotating device to restore, the processor 23 outputs a descending signal to the driving device 24, and the driving device 24 drives the hydraulic elevator 7 to descend to the bottommost part of the conveying room 2 to receive the soil dug up by the electric bucket 19 again.
After the turning device 10 is started, soil in the soil unloading plate 9 is poured on the conveyor, the processor 23 outputs a conveying signal to the driving device 24, the driving device 24 drives the conveying device 4 to be started, the conveying device 4 conveys the soil on the conveying device into the treatment room 3, and the transverse conveying channel is also provided with the camera device 21.
In the conveying process, the processor 23 judges whether fixed impurities exist in soil or not, the solid impurities comprise stones, metal, plastics and the like which are useless for the growth of crops, if the fixed impurities exist, the processor 23 locks the position of the impurities, the processor 23 extracts the electric clamping jaw 5 and the electric window 6 which are closest to the position of the impurities, the processor 23 outputs a fifth opening signal to the driving device 24, the driving device 24 drives the electric window 6 to open and outputs a picking signal to the driving device 24, and the driving device 24 drives the electric clamping jaw 5 to clamp and throw the impurities out of the electric window 6.
When the soil passes through the conveying device 4 and is accumulated above the first soil crushing device 12, when the soil is accumulated to a certain degree, the processor 23 outputs a first soil crushing signal to the driving device 24, the driving device 24 drives the first soil crushing device 12 to start, and the first soil crushing device 12 cuts the soil and discharges the soil downwards.
The soil which is fragmented firstly is discharged downwards firstly, so that the phenomenon of batch discharge is formed, the quantity of the soil required by one crop for ridging is small, the soil acting on one crop is divided into a first batch and a second batch, when the first batch of soil is discharged downwards, the processor 23 outputs a first opening signal to the driving device 24, the driving device 24 drives the first electric control valve 18 to be opened, the organic fertilizer in the storage box 31 is mixed into the first batch of soil, the first electric control valve 18 is automatically closed after being opened for a first preset time, the first batch of soil enters the second soil crushing device 13 at the moment, and the second batch of soil is positioned in the first soil crushing device 12 or between the first soil crushing device 12 and the second soil crushing device 13 and is not mixed with the organic fertilizer any more.
The second soil crushing device 13 firstly completely crushes the first batch of soil and parallelly moves towards the soil discharging device 14, the processor 23 controls the traveling device 22 to continuously move forwards until the soil discharging device 14 is aligned with the root system of the crop, the processor 23 outputs a soil discharging signal to the driving device 24, the soil discharging device 14 covers the first batch of soil above the preset root system of the crop, the second soil crushing thoroughly crushes the second batch of soil and parallelly moves towards the soil discharging device 14, the processor 23 outputs the soil discharging signal to the driving device 24 again, the soil discharging device 14 continuously covers the second batch of soil above the preset root system of the crop, and layered blending of the soil is completed.
Inhale the native device and can assist electronic scraper bowl 19 to promote soil transfer efficiency and transfer soil from other spacious regions, the required soil depth of crop is predetermine in the analysis of treater 23, the soil depth is the degree of depth of root system in the soil below, when predetermine crop root system top soil in electronic scraper bowl 19 excavation, treater 23 calculates crop root system top soil depth, when the root system exposes the earth's surface, whether treater 23 judges real-time soil depth is more than or equal to required soil depth, if no, then transfer idle soil from other spacious regions through inhaling the native device, the soil that transfers directly to conveyer 4 on and mix with the soil that electronic scraper bowl 19 excavated.
The invention can also be used for crop seeding, when seeding, directly digs soil with a preset depth, the digged soil is divided into two batches, when the first soil crushing device 12 finishes crushing the first batch of soil, the digged soil is discharged to the second soil crushing device 13, and the second soil crushing device 13 crushes the first batch of soil.
Meanwhile, the first soil crushing device 12 crushes the second batch of soil, and when the second soil crushing device 13 finishes crushing the second batch of soil, the second batch of soil is discharged to the soil discharging device 14, in the process, the processor 23 outputs an ejection signal to the driving device 24, the driving device 24 drives the ejection device 40 to eject crop seeds into the first batch of soil discharged by the second soil crushing device 13, the soil discharging device 14 deposits the first batch of soil at a planting position, namely a position for digging the soil, and when the first soil crushing device 12 and the second soil crushing device 13 finish crushing the second batch of soil, the soil discharging device 14 continuously covers the second batch of soil at the planting position.
EXAMPLE III
As shown in fig. 1-9, in this embodiment, the driving device 24 driving the hydraulic elevator 7 to ascend to the level of the conveyor 4 further comprises:
the processor 23 outputs a sampling signal to the drive means 24 and the sampling arm 29 takes a soil sample from the soil discharge plate 9 and transfers it to the test chamber 30.
The processor 23 analyzes the variety and the growth state of the preset crop according to the photographed image, and analyzes required nutrients corresponding to the variety and the growth state.
The processor 23 determines whether the soil satisfies the required nutrients according to the detection data.
If not, the processor 23 extracts the elements which are lacked in the soil, extracts the fertilizer containing the elements from the storage box 31, the processor 23 outputs a second opening signal to the driving device 24, and the driving device 24 drives the second electrically controlled valve 34 corresponding to the fertilizer to open.
The processor 23 outputs a third opening signal to the driving device 24, and the driving device 24 drives the third electrically operated valve to open.
The processor 23 outputs a stirring signal to the driving device 24, and the driving device 24 drives the stirring device 37 to start.
When the first soil crushing device 12 is started, the material spraying device 38 replaces the material storage box 17, the processor 23 outputs a spraying signal to the driving device 24, the driving device 24 drives the material spraying device 38 to be started, and the material spraying device 38 sprays the mixed fertilizer on the soil falling on the second soil crushing device 13 once every preset time.
Specifically, in addition to providing conventional organic fertilizers, when the soil is deficient in elements necessary for the growth of preset crops, a special mixed fertilizer can be provided.
When the soil is excavated, the processor 23 analyzes the variety, the growth state and the required nutrients of the preset crop according to the shot image sent by the camera 21, wherein the nutrients include fertilizer elements and element content.
When soil is conveyed, a sampling arm 29 hooks a small amount of soil samples from the soil unloading plate 9 and sends the soil samples into the inspection chamber 30, the soil detection device 28 detects the soil samples to obtain detection data, the detection data comprise soil elements and element content, the processor 23 compares the detection data with required nutrients obtained through analysis to judge whether the detection data meet the required nutrients, if yes, mixed fertilizer does not need to be prepared, if no, the elements and the element content of the detection data which are lacked in the required nutrients are extracted, the processor 23 extracts the storage units of the corresponding elements and the second electric control valve 34 from the storage box 31, and outputs a second opening signal to the driving device 24, and the driving device 24 drives the second electric control valve 34 to open.
The processor 23 sets the opening time of the second electric control valve 34 corresponding to the element content according to the element content, and then automatically closes the second electric control valve, the processor 23 outputs a third opening signal to the driving device 24, the driving device 24 drives the third electric control valve 36 to open, wherein the processor 23 sets the opening time of the third electric control valve 36 according to the water consumption, and then automatically closes the third electric control valve, when the fertilizer and the water are gathered in the blending box 33, the stirring device 37 is started, the stirring device 37 uniformly mixes the fertilizer and the water to form a mixed fertilizer, and when the first soil crushing device 12 releases the first soil batch to the second soil crushing device 13, the spraying device 38 sprays the mixed fertilizer on the first soil batch.
The material spraying device 38 sprays once every preset time, that is, when the first batch soil and the second batch soil alternate, the material spraying device 38 is in a spraying state, and the material spraying device 38 only acts on the first batch soil.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a layering allotment intelligence equipment of earthing up for crop growth, includes earthing up mechanism and control mechanism, its characterized in that, earthing up mechanism includes:
automobile body (1), the inside of automobile body (1) is divided into two semi-closed spaces that communicate each other, is respectively between the conveying (2) and handle (3) be between the conveying (2) and be provided with conveyer (4) between the handling (3), the input of conveyer (4) set up in between the conveying (2) top border position, and its output set up in the top central point of handling (3), conveyer (4) constitute horizontal transfer passage for with soil follow between the conveying (2) shift to in the handling (3), the top of horizontal transfer passage is provided with a plurality of over-and-under type electric clamping jaw (5), electric clamping jaw (5) are arranged in choosing the solid impurity in the soil, the left and right sides of horizontal transfer passage be provided with a plurality of with electric window (6) that electric clamping jaw (5) correspond, the electric window (6) is used for throwing out solid impurities;
the transfer room (2) comprises a longitudinal transfer passage and a hydraulic elevator (7), an electric feed port (8) is arranged on the side surface of the longitudinal conveying channel, the electric feed port (8) is used for receiving soil, the hydraulic elevator (7) is arranged below the electric feed port (8), and the maximum lifting height of the hydraulic elevator is larger than or equal to the height of the longitudinal conveying channel, the hydraulic elevator (7) comprises a soil unloading plate (9) arranged above the hydraulic elevator, the soil unloading plate (9) is connected with the edge of the hydraulic elevator (7) through a turnover device (10), and the connection part is positioned at one end of the conveying room (2) close to the processing room (3), the soil unloading plate (9) is arranged in a spherical segment shape, a vibration module (11) is arranged in the soil treatment device, and the vibration module (11) is used for preliminarily converting the state of the soil from a block state to a loose state;
the treatment room (3) comprises a first soil crushing device (12), a second soil crushing device (13) and a soil discharging device (14), wherein the first soil crushing device (12) is arranged above the second soil crushing device (13) and comprises a plurality of first rotating shafts (15), a plurality of blades are arranged on the first rotating shafts (15) and are spaced at first preset distances, the second soil crushing device (13) comprises a plurality of second rotating shafts (16), a plurality of blades are arranged on the second rotating shafts (16) and are spaced at second preset distances, the second preset distances are smaller than the first preset distances, a storage box (17) is arranged below a shell of the first rotating shafts (15), the storage box (17) is positioned between the two blades, organic fertilizers are stored in the storage box (17), and a first electric control valve (18) is arranged below the storage box (17), the first electric control valve (18) is used for releasing organic fertilizer, and the soil discharging device (14) and the electric feeding hole (8) are arranged on the same side;
the electric bucket (19) is arranged below the conveying room (2) and is positioned at the same side as the electric feeding hole (8), the electric bucket (19) is connected with the vehicle body (1) through a tipping device (20), and the tipping device (20) is used for upwards turning the electric bucket (19);
the camera device (21) is arranged on the outer side of the vehicle body (1) and is used for acquiring the surrounding environment of the vehicle body (1);
the small crawler-type traveling device (22) is arranged below the vehicle body (1) and is used for driving the vehicle body (1) to move;
the control mechanism includes:
the processor (23) is used for analyzing the crop variety, the crop growth form and the soil state and is connected with the camera device (21);
drive arrangement (24), drive arrangement (24) respectively with conveyer (4), electronic clamping jaw (5) electronic window (6) hydraulic elevator (7) electronic feed inlet (8) turning device (10) vibration module (11) first hack device (12), second hack device (13) first automatically controlled valve (18), tipping bucket device (20) and running gear (22) are connected.
2. The apparatus of claim 1, wherein the apparatus comprises: the automobile body (1) still includes inhales native device, it includes pipeline (25) and driving motor (26) to inhale native device, the output of pipeline (25) with electronic window (6) sealing connection of conveyer (4) input end department, the input of pipeline (25) is provided with rotatory cutting device (27), the diameter of rotatory cutting device (27) with the diameter of pipeline (25) equals, driving motor (26) and rotatory cutting device (27) respectively with drive arrangement (24) are connected.
3. The apparatus of claim 2, wherein the apparatus comprises: between (2) still include soil detection device (28), soil detection device (28) set up in the top of hydraulic elevator (7), and its height be greater than or be equal to the maximum rise of hydraulic elevator (7), soil detection device (28) include sampling arm (29) and inspection chamber (30), sampling arm (29) with drive arrangement (24) are connected, are used for following acquire the soil sample in unloading board (9) and shift it to in inspection chamber (30), soil detection device (28) with processor (23) are connected, are used for detecting soil sample composition and will detect data send to processor (23).
4. The apparatus of claim 3, wherein the apparatus comprises: the treatment room (3) further comprises a blending device, the blending device is arranged between the first soil crushing device (12) and the second soil crushing device (13) and comprises a storage box (31), a water storage box (32) and a blending box (33), the storage box (31) is internally divided into a plurality of transversely parallel independent storage units, fertilizers containing different elements are stored in each storage unit, the storage box (31) is arranged above the blending box (33), the bottom of each storage unit is provided with a second electric control valve (34) communicated with the blending box (33), the second electric control valve (34) is connected with the driving device (24), the water storage box (32) is parallel to the storage box (31) and comprises a water conveying pipe (35) communicated with the blending box (33) and a third electric control valve (36) arranged in the water conveying pipe (35), the third electric control valve (36) is connected with the driving device (24), the blending box (33) comprises a built-in stirring device (37) and a material spraying device (38), the stirring device (37) and the material spraying device (38) are respectively connected with the driving device (24), the stirring device (37) is used for fully mixing fertilizer and water, and the material spraying device (38) is used for spraying the mixed fertilizer to the second soil crushing device (13).
5. The apparatus of claim 4, wherein the apparatus comprises: the transverse conveying channel further comprises a seeding device (39), the seeding device (39) is arranged below the second soil crushing device (13), different types of crop seeds are stored in the seeding device (39), the seeding device (39) comprises an ejection device (40), and the ejection device (40) is connected with the driving device (24) and used for ejecting the crop seeds.
6. The working method of the intelligent hilling equipment for crop growth by layers according to claim 5, wherein: the method comprises the following working steps:
setting preset crops, and acquiring the surrounding environment of the vehicle body (1) by the camera device (21) and sending a shot image to the processor (23);
the processor (23) judges whether the preset crop exists in the shot image;
if yes, the processor (23) analyzes the growth state of the preset crop and the soil depth corresponding to the growth state, and outputs a soil digging signal to the driving device (24), the driving device (24) drives the tipping bucket device (20) to start, and the tipping bucket device (20) drives the electric bucket (19) to transfer the soil above the root system of the preset crop to the soil unloading plate (9);
the processor (23) outputs a vibration signal to the driving device (24), and the driving device (24) drives the vibration module (11) to start;
the processor (23) outputs a lifting signal to the driving device (24), and the driving device (24) drives the hydraulic elevator (7) to lift to a position flush with the conveying device (4);
the processor (23) outputs a soil unloading signal to the driving device (24), and the driving device (24) drives the turnover device (10) to rotate by 90 degrees;
the processor (23) outputs a transmission signal to the driving device (24), and the driving device (24) drives the transmission device (4) to start;
the processor (23) outputs a first soil crushing signal to the driving device (24), and the driving device (24) drives the first soil crushing device (12) to start;
the processor (23) outputs a first opening signal to the driving device (24), and the driving device (24) drives the first electrically controlled valve (18) to open for a preset time;
the processor (23) outputs a second soil crushing signal to the driving device (24), and the driving device (24) drives the second soil crushing device (13) to start;
the processor (23) judges whether the root system of the preset crop is exposed out of the ground;
if yes, the soil excavation is stopped, the processor (23) outputs a soil discharging signal to the driving device (24), and the driving device (24) drives the soil discharging device (14) to push soil above the root system of the preset crop.
7. The working method of the intelligent hilling equipment for crop growth by layers according to claim 6, wherein: further comprising:
the processor (23) judges whether scattered soil exists around the preset crop root system according to the shot image;
if yes, the processor (23) outputs a soil sucking signal to the driving device (24), the driving device (24) drives the driving motor (26) and the rotary cutting device (27) to be started, the rotary cutting device (27) moves to the bulk soil, and the soil sucking device transfers the bulk soil to the conveying device (4).
8. The working method of the intelligent hilling equipment for crop growth by layers according to claim 6, wherein: the driving device (24) driving the hydraulic elevator (7) to ascend to a position flush with the conveying device (4) further comprises:
the processor (23) outputs a sampling signal to the drive device (24), and the sampling arm (29) takes a soil sample from the soil unloading plate (9) and transfers the soil sample to a test chamber (30);
the soil testing device (28) tests soil sample components within the test chamber (30) and sends test data to the processor (23).
9. The working method of the intelligent hilling equipment for crop growth by layers according to claim 8, wherein: further comprising:
the processor (23) analyzes the variety and the growth state of a preset crop according to the shot image, and analyzes required nutrients corresponding to the variety and the growth state;
the processor (23) judges whether the soil meets the required nutrients according to the detection data;
if not, the processor (23) extracts the elements which are lacked in the soil, extracts the fertilizer containing the elements from the storage box (31), the processor (23) outputs a second opening signal to the driving device (24), and the driving device (24) drives a second electric control valve (34) corresponding to the fertilizer to open;
the processor (23) outputs a third opening signal to the driving device (24), and the driving device (24) drives a third electric valve to open;
the processor (23) outputs a stirring signal to the driving device (24), and the driving device (24) drives the stirring device (37) to start;
when the first soil crushing device (12) is started, the material spraying device (38) replaces the storage box (17), the processor (23) outputs a spraying signal to the driving device (24), the driving device (24) drives the material spraying device (38) to be started, and the material spraying device (38) sprays the mixed fertilizer on soil falling on the second soil crushing device (13) once every preset time.
10. The working method of the intelligent hilling equipment for crop growth by layers according to claim 6, wherein: when the banking apparatus is used for sowing, further comprising:
the soil at the crop planting position is smashed, and the soil excavated by the electric bucket (19) is divided into two parts; firstly, the first soil is crushed by the first soil crushing device (12) and the second soil crushing device (13), the ejection device (40) is started, crop seeds are ejected into the first soil by the ejection device (40), and the soil discharging device (14) discharges the first soil to a planting position;
and then the second part of soil is crushed by the first soil crushing device (12) and the second soil crushing device (13), and the soil discharging device (14) is started to stack the second part of soil above the first part of soil.
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