CN114384956A - Orchard air-explosion type liquid fertilizer perforating and fertilizing machine control system and fruit tree position identification method - Google Patents

Orchard air-explosion type liquid fertilizer perforating and fertilizing machine control system and fruit tree position identification method Download PDF

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CN114384956A
CN114384956A CN202210034472.3A CN202210034472A CN114384956A CN 114384956 A CN114384956 A CN 114384956A CN 202210034472 A CN202210034472 A CN 202210034472A CN 114384956 A CN114384956 A CN 114384956A
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fertilizer
gas explosion
fruit tree
module
control module
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王金星
刘树峰
赵天平
刘双喜
张宏建
姜远茂
宋若弘
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Shandong Agricultural University
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Shandong Agricultural University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
    • 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
    • A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
    • 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
    • A01B77/00—Machines for lifting and treating soil
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/007—Metering or regulating systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/04—Machines for making or covering holes for sowing or planting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Water Supply & Treatment (AREA)
  • Fertilizing (AREA)

Abstract

The invention relates to an orchard gas explosion type liquid fertilizer drilling and fertilizing machine control system and a fruit tree position identification method, wherein the orchard gas explosion type liquid fertilizer drilling and fertilizing machine control system comprises a main controller, a walking control module, a transverse adjusting module, a longitudinal adjusting module, a fertilizer control module, a drilling depth control module, a gas explosion control module and a fruit tree position identification module; the transverse adjusting module is used for adjusting the position of the gas explosion punching fertilizer injector along the width direction; the longitudinal adjusting module is used for adjusting the position of the gas explosion perforating fertilizer injector along the front and back directions; the punching depth control module is used for adjusting the height position of the gas explosion punching fertilizer injector; the fertilizer control module is used for controlling the fertilizing amount of the gas explosion punching fertilizer injector; the gas explosion control module is used for receiving the instruction of the main controller and controlling the gas explosion amount of the gas explosion perforating fertilizer injector; the fruit tree position identification module is used for identifying the position of a fruit tree and transmitting identification information to the main controller. The invention realizes the automatic control of the gas explosion punching fertilizer injector and improves the fertilizer application efficiency.

Description

Orchard air-explosion type liquid fertilizer perforating and fertilizing machine control system and fruit tree position identification method
Technical Field
The invention relates to the technical field of agricultural machinery fertilizer applicators, in particular to an orchard air-explosion type liquid fertilizer perforating and fertilizing machine control system and a fruit tree position identification method.
Background
China is a big country for orchard planting, but the operation mechanization level is low, the manual labor intensity is high, the efficiency is low, the fertilization difficulty is high in the process of applying the liquid fertilizer, the human health is damaged by long-term manual operation, and the efficiency is further reduced due to the volatility of the liquid fertilizer. The orchard soil hardening is not beneficial to the absorption of fruit trees to fertilizers and the growth of the root systems of the fruit trees, and the problem can be effectively solved by air explosion and soil loosening.
The land shape of the domestic orchard is characterized by diversity, small land volume and low standardization, so that the foreign fertilization machines are not suitable for the current planting situation of China, and the foreign related fertilization machines are high in price and difficult to apply by common farmers. In the orchard air explosion type liquid fertilizer hole-punching fertilizer applicator and the fertilizing method (patent number: 202011478464.5), the basic functions of orchard air explosion and liquid fertilizer hole-punching fertilization can be completed, but the position and the punching depth of a fertilizing mechanism still need to be adjusted manually in the liquid fertilizer application process, the position of a fruit tree cannot be identified automatically, and the automation level is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the control system of the orchard air-explosion type liquid fertilizer perforating and fertilizing machine and the fruit tree position identification method, which can identify the position of a fruit tree and greatly improve the automation level of the orchard air-explosion type liquid fertilizer perforating and fertilizing machine.
The invention is realized by the following technical scheme, and provides an orchard gas explosion type liquid fertilizer drilling and fertilizing machine control system which comprises a main controller, and a walking control module, a transverse adjusting module, a longitudinal adjusting module, a fertilizer control module, a drilling depth control module, a gas explosion control module and a fruit tree position identification module which are electrically connected with the main controller;
the main controller receives the identification information of the fruit tree position identification module and sends instructions to the walking control module, the transverse adjustment module, the longitudinal adjustment module, the fertilizer control module, the punching depth control module and the gas explosion control module; the walking control module is used for receiving the instruction of the main controller and controlling the walking state of the fertilizer applicator; the transverse adjusting module is used for receiving the instruction of the main controller and adjusting the position of the gas explosion punching fertilizer injector along the width direction so as to adapt to different line spacing requirements; the longitudinal adjusting module is used for receiving the instruction of the main controller and adjusting the position of the gas explosion punching fertilizer injector along the front-back direction, so that the automatic adjustment during the identification of the fruit tree trunk is facilitated, and the positioning accuracy of the punching fertilizer injection position is improved; the punching depth control module is used for receiving the instruction of the main controller and adjusting the height position of the gas explosion punching fertilizer injector, so that the automatic adjustment of the punching depth is conveniently realized; the fertilizer control module is used for receiving the instruction of the main controller and controlling the fertilizing amount of the gas explosion punching fertilizer injector, so that the automatic control of the fertilizing amount can be conveniently realized according to a set value; the gas explosion control module is used for receiving the instruction of the main controller and controlling the gas explosion amount of the gas explosion perforating fertilizer injector; the fruit tree position identification module is used for identifying the position of a fruit tree and transmitting identification information to the main controller.
As optimization, the gas explosion punching fertilizer injector is installed on the movable frame, and the fruit tree position identification module comprises an infrared sensor installed on the outer side surface of the movable frame. This optimization scheme responds to the trunk through infrared sensor, simple structure, and control is convenient moreover.
As optimization, a touch switch is installed on the outer side of the front portion of the chassis, a touch switch signal serves as an opening signal of the fruit tree position identification module, and when a touch rod of the touch switch touches a fruit tree trunk, the fruit tree position begins to be measured, and the judgment accuracy is improved.
As optimization, two infrared sensors are installed on the outer side face of the movable frame, the two infrared sensors are respectively located on the front side and the rear side of the central axis of the gas explosion punching fertilizer injector, the distance between the two infrared sensors and the central axis of the gas explosion punching fertilizer injector is equal, and the distance between the two infrared sensors is smaller than the diameter of a trunk of a fruit tree. This optimization scheme's setting is convenient for improve the accuracy to trunk position identification, when two infrared sensor are in the received signal state simultaneously, can ensure that the gas explosion punches and annotates fertile ware and relative with the trunk, pinpoints the fruit tree trunk position promptly.
As optimization, the fruit tree position identification module is further including installing two ultrasonic sensor in removing a lateral surface, and two ultrasonic sensor are located the preceding, the back both sides of gas explosion punching fertilizer injection ware axis respectively, and two ultrasonic sensor and gas explosion punching fertilizer injection ware axis's distance equals. This optimization scheme measures the fruit tree trunk distance through two ultrasonic sensor, sends the calculated result for each position control system, and driving motor drives the gas explosion and punches and annotates the fertile ware and remove, can judge the approximate position of fruit tree, with infrared sensor combined action, has improved the recognition efficiency to the trunk position.
The scheme also provides a fruit tree position identification method by using the orchard air-explosion type liquid fertilizer perforating and fertilizing control system, which comprises the following steps:
1. the two ultrasonic sensors on the outer side surface of the same moving frame are respectively an ultrasonic sensor I and an ultrasonic sensor II which are sequentially arranged along the walking direction of the fertilizer applicator, the distance between the ultrasonic sensor I and the trunk is obtained as a by sending ultrasonic waves to judge the distance between the ultrasonic sensor I and the trunk, and the distance between the ultrasonic sensor II and the trunk is obtained as b;
2. the distance between ultrasonic sensor I and ultrasonic sensor II is c, and the trunk is w to the perpendicular line segment length on ultrasonic sensor I and the plane of ultrasonic sensor II place, ultrasonic sensor II with distance between the perpendicular line segment is d, and it is relative along width direction to make the axis of gas explosion punching fertilizer injection ware and trunk, and the distance that the gas explosion punching fertilizer injection ware still need move forward is e, calculates d and w according to following algorithm:
a2＝(c+d)2+w2
b2＝d2+w2
a2-b2＝c2+cd
Figure BDA0003467759580000031
Figure BDA0003467759580000032
Figure BDA0003467759580000041
3. the gas explosion perforating fertilizer injector moves forwards by a distance e through the longitudinal adjusting module, and moves outwards by a distance w along the width direction through the transverse adjusting module, wherein the units of a, b, c, d, e and w are meters;
4. two infrared sensor of same removal frame lateral surface are infrared sensor I and infrared sensor II that set gradually along fertilizer distributor walking direction respectively, and the gas explosion in step (3) is punched and is annotated fertile ware and move the in-process forward, and infrared sensor I and infrared sensor II move along with removing the frame, and after II received signals of infrared sensor, judge whether I received signals of infrared sensor, after I all received signals of infrared sensor and infrared sensor, fix a position fruit tree trunk position promptly.
The identification method can combine the agricultural and agricultural requirements of the orchard machine, can automatically identify the position of the trunk of the fruit tree during fertilization, utilizes the air explosion mode to air-explode and loosen the soil of hardened orchard soil, applies liquid fertilizer in combination with the actual demand of the orchard, and controls the fertilization depth and the fertilization amount.
The invention has the beneficial effects that: the fruit tree position recognition module is used for automatically recognizing the position of a fruit tree, and then each position adjusting support is controlled according to each position adjusting module, so that the moving frame can move in three dimensions of the transverse dimension, the longitudinal dimension and the vertical dimension, and the automatic control of the gas explosion punching fertilizer injector is realized; two groups of gas explosion punching fertilizer injection devices are arranged and symmetrically distributed, so that horizontal operation of two rows of fruit trees can be performed, and the fertilizer application efficiency can be improved; the machine can finish soil air explosion and soil loosening while fertilizing, can also finish the accurate control of the fertilizing amount and the fertilizing depth of various fruit trees, solves the problem of low automation level of the existing liquid fertilizer applicator for the orchard, is suitable for most of domestic orchards, and has great economic benefit and social benefit.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is an ultrasonic sensor working diagram;
FIG. 6 is an operational view of an infrared sensor;
FIG. 7 is a control schematic;
shown in the figure:
1. the device comprises a control console, 2, a diesel engine, 3, a fertilizer box, 4, a movable truss, 5, a row spacing adjusting support, 6, a height adjusting support, 7, a touch switch, 8, a chassis, 9, a row spacing proximity switch, 10, a pneumatic cylinder, 11, a puncher, 12, an infrared sensor, 13, an ultrasonic sensor, 14, a fertilizer pipe, 15, an air pipe, 16 and an air compressor.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
The orchard air-explosion type liquid fertilizer perforating and fertilizing machine control system is applied to the orchard air-explosion type liquid fertilizer perforating and fertilizing machine, and comprises a chassis provided with a walking device, an air compressor 16, a fertilizer box 3, a control system of the embodiment and air-explosion perforating and fertilizer injecting devices arranged on two sides of the chassis. The chassis 8 supports and fixes all parts of the invention, and is fixedly arranged on various agricultural machines through the chassis 8; the power of the whole machine is a diesel engine 2, the diesel engine 2 and an air compressor 16 are arranged on the rear side of the fertilizer box 3, the power is provided for the air compressor through belt transmission, and the whole machine shares the same power source, so that the structure of the whole machine is simpler and more compact.
The gas explosion punches and annotates fertile ware includes the vertical drive arrangement that puncher 11 and drive puncher reciprocated, the vertical drive arrangement of this embodiment is the pneumatic cylinder 10 of vertical setting, the puncher lower extreme is most advanced, inside is hollow structure, the exhaust hole and the fertilizer discharging hole that link to each other with trachea and fertilizer pipe are seted up to the lateral part lower extreme, exhaust hole and fertilizer discharging hole lie in the below ground when the fertilization punches, control exhaust and arrange fertile respectively through controlling electromagnetic switch, pneumatic cylinder 10 drives puncher 11 and does and reciprocate and punch the action, gas explosion and fertilization after through electromagnetic switch time-sharing control. High-pressure gas enters the puncher through the exhaust hole, and the gas is injected into the soil gap through the puncher, so that the gas explosion fertilizer injection depth can be controlled by the stroke of the pneumatic cylinder.
The fertilizer injection device for gas explosion punching is symmetrically distributed on two sides of the chassis, can perform double-row operation simultaneously, improves the working efficiency, avoids the influence on the operation flexibility of the equipment due to overlarge size of the equipment, ensures that the equipment adapts to the use requirements of small blocks and small row spacing of domestic orchards, and has reasonable structure. Be fixed with the support holder on the chassis, the gas explosion is punched and is annotated fertile ware and install on altitude mixture control support 6, and altitude mixture control support 6 is through setting up and moving 4 line spacing adjusting support 5 of sliding connection of truss, has realized that the gas explosion punches and annotates fertile ware in the position control of width direction to satisfy the fertilization requirement of punching of different line spacings, line spacing adjusting support 5 slides along width direction and removal truss. The movable truss is in wheel connection with the supporting bracket along the length direction, the supporting bracket is fixedly connected with the chassis, the movable truss can be driven to move integrally through the pulley, the friction between the movable truss and the chassis is reduced, the punching and fertilizing requirements of different lengths are met, the multi-directional position adjustment of the gas explosion punching fertilizer injector is realized, and the punching and fertilizing requirements of different position row spacings are met. Horizontal removal is followed to line spacing regulation support 5, realize that the gas explosion punches and annotates fertile ware at the position adjustment of width direction, remove truss 4 along fore-and-aft removal, realize the gas explosion and punch and annotate the position adjustment of fertile ware in the front and back direction, the gas explosion punches and annotates fertile ware and adjusts the leg joint through altitude mixture control support and line spacing, the altitude mixture control that is equipped with the removal frame and the drive removal frame of installation vertical drive arrangement on the altitude mixture control support along vertical movement, the gas explosion punches and annotates fertile ware and installs on removing the frame, the reciprocating of removing the frame has realized the gas explosion and has punched and annotate the adjustment of fertile ware high position, line spacing regulation support 5, the removal of removing truss 4 and removing the frame is all realized through motor drive lead screw nut mechanism.
Specifically, the height adjusting support is connected with a height adjusting lead screw through threads, the height adjusting lead screw is connected with the moving frame in a rotating mode, the height adjusting lead screw is connected with the height adjusting lead screw through a height control system motor, the moving frame is enabled to move up and down through the threaded connection with the moving frame, and the ground clearance of the puncher is adjusted up and down along the sliding rail. The height adjusting support is hinged to the row spacing support, the angle adjusting support is hinged to the height adjusting support, the angle adjusting support can telescopically adjust the angle of the gas explosion punching fertilizer injector, and the angle adjusting support is hinged to one end, away from the height adjusting support, of the row spacing adjusting support. The angle adjusting bracket consists of an adjusting motor and a bracket, and the angle of the angle adjusting bracket is controlled by a motor of the height control system so as to control the ground-entering angle of the puncher 11. Through the adjusting device who sets up, make the degree of depth, the angle that this fertilizer distributor fertilizies and the height of hole puncher all can adjust according to actual work condition, improved the flexibility of device.
Fertilizer case 3 sets firmly at the chassis middle part, fertilizer case bottom is passed through fertilizer pipe 14 and is fed through the hole intercommunication of advancing on the hole puncher, fertilizer pipe is less than the fertilizer case liquid level with the junction of fertilizer case, the fertilizer case passes through fertilizer pipe and advances the fertilizer hole intercommunication, through three-way valve and trachea intercommunication, the liquid level in the fertilizer case is less than with the junction of fertilizer case to the fertilizer pipe, tracheal junction is higher than the liquid level in the fertilizer case, liquid level sensor is equipped with in the fertilizer case, the fertilizer liquid measure in the detectable fertilizer case. Liquid fertilizer is conveyed to the two hole puncher 11 of the air explosion punching fertilizer injection device after the air explosion system works along the fertilizer pipe 14 through the three-way valve through high pressure in the fertilizer box, and the liquid fertilizer is injected into a soil gap after the air explosion, so that the fertilizer injection work is completed.
An air outlet of the air compressor 16 is communicated with an exhaust hole of the puncher through an air pipe 15, and a pressure release valve is arranged on the air pipe 15. In the embodiment, the high-pressure air outlet of the air compressor is communicated with two pipelines which are respectively communicated with the fertilizer box and the puncher, and the high-pressure air simultaneously drives and conveys the liquid fertilizer and the puncher to explode the soil deeply, so that the structure is more compact, the number of driving and executing parts is reduced, and the cost of the system is reduced; all set up the relief valve on two pipelines of air compressor machine output, each pipeline pressure that can control fertilizer control module on the one hand, the atmospheric pressure gas explosion intensity that on the other hand can control the gas explosion and loosen the soil, the parameter of being convenient for sets for. The air compressor machine 16 turns into high-pressure air along trachea 15 output with the power of drive arrangement transmission, and trachea 15 is connected fertilizer can 3 and the perforator 11 that the gas exploded the punching and annotates the fertilizer ware respectively from air compressor machine 16 front and back gas outlet, and through the atmospheric pressure of the release valve 5 control output air that sets up on the trachea, high-pressure air passes through trachea 15 and transmits fertilizer can 3 and perforator 11 to, and high-pressure air makes and produces the high pressure in the fertilizer can 3, arranges fertile with higher speed.
The walking device of the embodiment is an orchard crawler, a control console 1 is arranged near an operation console of the crawler, a worker can complete the operation of equipment while driving the orchard crawler, and the control console comprises a switch part, an alarm part, a display part, a signal lamp part, a signal processing part and a signal output part; the switch part comprises a main switch, a fertilizing amount switch, a pressure relief valve switch and a motor switch, the switch part of the embodiment is divided into a control console of the walking device, the drilling, air explosion and fertilization are controlled along with the control of the fertilizer applicator to advance, the main switch controls the equipment to drill and air explosion to fertilize, and the motor switch is provided with two gears to control the positive rotation and the negative rotation of the motor of each position adjusting module; the fertilizing amount switch is provided with two shift settings and is used for controlling the fertilizer injection time of the puncher and the opening and closing of the fertilizer injection system; the pressure relief valve is arranged at the gas output end of the air compressor, and the pressure of high-pressure air output by the air compressor is controlled by a pressure relief valve switch, so that the gas explosion strength of the system is controlled; the alarm module can provide an alarm when each adjusting bracket is about to enter the maximum stroke, and prompts a worker to process in time; the display module can display the punching number and the fertilizing amount; the signal lamp module displays red and green colors, real-time displays the working condition of the whole system, the red represents the operation, and the green represents the completion of the standby of the operation system; the signal processing module is a single chip microcomputer control system, processes signals through a single chip microcomputer and sends control signals to the signal output module; signal output module includes electromagnetic switch and infrared sensor, ultrasonic sensor, electromagnetic switch sets up at pneumatic cylinder 10, the exhaust hole and the row fertilizer hole department of hole puncher 11, through infrared sensor and ultrasonic sensor cooperation automatic identification fruit tree position, signal processing module sends the signal that ultrasonic sensor and infrared sensor record apart from obtaining earlier and gives each regulation frame, when waiting that position control targets in place, send the electromagnetic switch signal, on-off control punches, the gas explosion and fertilize, gear control fertilization amount through fertilization amount switch, combine to adjust the gradient control of the high realization fertilization amount of hole puncher and the depth of fertilizer application. When equipment is in standby state, the signal lamp shows for green, and electromagnetic switch is whole for the off-state, and when equipment moves, the signal lamp is red state, and during the punching, pneumatic cylinder's electromagnetic switch opens, and corresponding electromagnetic switch opens when the fertile is arranged in the gas explosion, and the gas explosion is arranged fertile and is ended, and corresponding electromagnetic switch closes, and pneumatic cylinder's electromagnetic switch closes, and pneumatic cylinder 10 drives puncher 11 and rises, and the signal lamp becomes for green state, and the fertile operation of gas explosion row of once punching is accomplished.
The fruit tree position can be discerned to the fertile fertilizer distributor control system that punches of orchard gas, and automatically regulated fertilizing mechanism improves the rate of automation, can the gas explosion before fertile is annotated to liquid fertilizer after the discernment and punch and loosen the soil, can control the quantity of liquid fertilizer and the fertilization degree of depth that punches. Concretely, orchard gas explosion type liquid fertilizer drilling and fertilizing machine control system, including main control unit, and the walking control module who is connected with the main control unit electricity, horizontal adjusting module, vertical adjusting module, fertilizer control module, the degree of depth control module that punches, gas explosion control module and fruit tree position identification module, fertilizer control module is located the equipment middle part, horizontal adjusting module, vertical adjusting module, the degree of depth control module that punches all is located the front portion of complete machine, gas explosion control module is located between motor control module and the fertilizer control module. When the transverse adjusting module is combined with a specific fertilizer applicator, the transverse adjusting module comprises a row spacing adjusting bracket 5, a row spacing adjusting bracket motor and a row spacing proximity switch 9, and the row spacing proximity switch is arranged at the tail end of the row spacing adjusting bracket to prevent the control system from exceeding the maximum moving stroke when controlling the row spacing adjusting bracket to move so as to cause faults; the longitudinal adjusting module comprises a movable truss 4, a movable truss motor and a length proximity switch, wherein the length proximity switch is arranged at the tail end of the movable truss 4, so that the phenomenon that the maximum moving stroke is exceeded when the control system controls the movable truss to move is prevented, and a fault is caused; the fertilizer control module comprises a fertilizer pipe 14, a fertilizer box 3, a fertilizer pressure control valve and a liquid level sensor; the gas explosion control module comprises a gas pipe 15, an air compressor 16 and a gas explosion pressure control valve; the punching depth control module comprises a height adjusting support 6, a pneumatic cylinder 10, a puncher 11 and a height proximity switch, the punching depth control module is installed on the row spacing adjusting support, and the height proximity switch is installed at the tail end of the height adjusting support, so that the situation that the maximum moving stroke is exceeded when the control system controls the height adjusting support to move, and faults are caused is prevented; the motor control module comprises a control console 1, the fruit tree position identification module comprises a touch switch 7, an ultrasonic sensor 13 and an infrared sensor 12, the touch switch 7 is installed on the outer side of the front portion of the chassis 8, and the ultrasonic sensor 13 and the infrared sensor 12 are installed on the outer side face of the movable frame. Wherein touch switch installs at the chassis front end, and this optimization scheme installs touch switch at the chassis front end, and touch switch 7's signal is as the opening signal of fruit tree position identification module to judge the accurate moment that fruit tree position identification module opened, improve the accuracy of fruit tree position identification.
The orchard gas explosion type liquid fertilizer perforating and fertilizing machine control system of the embodiment drives the puncher to move downwards through the vertical driving device to punch, the motor control module controls the air compressor to convey high-pressure air to the puncher extending below the ground through the air pipe, the high-pressure air acts on soil through the exhaust holes, gas explosion is achieved to loosen the soil, liquid fertilizer is conveyed to the puncher from the fertilizer box through the fertilizer control module and flows into the soil after being subjected to gas explosion through the fertilizer exhaust holes, and the liquid fertilizer is applied.
The main controller receives the identification information of the fruit tree position identification module and sends instructions to the walking control module, the transverse adjustment module, the longitudinal adjustment module, the fertilizer control module, the punching depth control module and the gas explosion control module, and the main controller adopts a single chip microcomputer control system and performs signal processing through a single chip microcomputer as a signal processing module.
The walking control module is used for receiving an instruction sent by the main controller and controlling the walking state of the fertilizer applicator; the transverse adjusting module is used for receiving an instruction sent by the main controller and adjusting the position of the gas explosion punching fertilizer injector along the width direction so as to adjust the row spacing of the gas explosion punching fertilizer injector; the longitudinal adjusting module is used for receiving an instruction sent by the main controller so as to adjust the position of the movable truss, and therefore the position of the gas explosion punching fertilizer injector along the front and back directions is adjusted; the punching depth control module is used for receiving an instruction sent by the main controller, adjusting the height position of the gas explosion punching fertilizer injector and controlling the punching depth of the gas explosion punching fertilizer injector; the fertilizer control module is used for receiving an instruction sent by the main controller and controlling the fertilizing amount of the gas explosion punching fertilizer injector; the gas explosion control module is used for receiving an instruction sent by the main controller and controlling the gas explosion amount of the gas explosion perforating fertilizer injector; the fruit tree position identification module is used for identifying the position of a fruit tree and transmitting identification information to the main controller.
Fruit tree position identification module is including installing in the infrared sensor who removes a lateral surface, and in this embodiment, two infrared sensor are installed to the lateral surface that removes a frame, and two infrared sensor are located the gas explosion respectively and punch the preceding of annotating fertile ware axis, back both sides, and two infrared sensor and gas explosion punch the distance of annotating fertile ware axis and equal, and the distance between two infrared sensor is less than fruit tree trunk diameter, and two infrared sensor on the same removal frame are about the gas explosion center axis symmetry of punching the notes fertile ware.
The fruit tree position identification module of this embodiment is still including installing in two ultrasonic sensor of removing a lateral surface, and two ultrasonic sensor are located the preceding, the back both sides of gas explosion punching fertilizer injection ware axis respectively, and two ultrasonic sensor and gas explosion punch the distance of fertilizer injection ware axis and equal.
The invention controls the gas explosion perforating fertilizer applicator through each adjusting module and each fruit tree position identifying module, can automatically identify the position of a fruit tree, and control the angle, the position and the perforating depth of fertilization.
The fruit tree position identification method implemented by using the orchard air-explosion type liquid fertilizer drilling and fertilizing control system comprises the following steps:
1. the two ultrasonic sensors on the outer side surface of the same moving frame are respectively an ultrasonic sensor I and an ultrasonic sensor II which are sequentially arranged along the walking direction of the fertilizer applicator, a touch switch signal is used as an opening signal of a fruit tree position identification module, when a touch rod of a touch switch touches a fruit tree trunk, the fruit tree position is started to be measured, the two ultrasonic sensors send ultrasonic waves to judge the distance between the fruit tree trunk and the ultrasonic sensors, the distance between the ultrasonic sensor I and the fruit tree trunk is obtained to be a, and the distance between the ultrasonic sensor II and the fruit tree trunk is obtained to be b;
2. the distance between ultrasonic sensor I and ultrasonic sensor II is c, and the trunk is w to the perpendicular line segment length on ultrasonic sensor I and the plane of ultrasonic sensor II place, ultrasonic sensor II with distance between the perpendicular line segment is d, and it is relative along width direction to make the axis of gas explosion punching fertilizer injection ware and trunk, and the distance that the gas explosion punching fertilizer injection ware still need move forward is e, calculates d and w according to following algorithm:
a2＝(c+d)2+w2
b2＝d2+w2
a2-b2＝c2+cd
Figure BDA0003467759580000121
Figure BDA0003467759580000122
Figure BDA0003467759580000123
3. the gas explosion perforating fertilizer injector moves forwards by a distance e through the longitudinal adjusting module, and moves outwards by a distance w along the width direction through the transverse adjusting module;
4. two infrared sensor of same removal frame lateral surface are infrared sensor I and infrared sensor II that set gradually along fertilizer distributor walking direction respectively, and the gas explosion in step 3 punches and annotates the fertile ware and move the in-process forward, and infrared sensor I and infrared sensor II move along with removing the frame, and after II received signals of infrared sensor, judge whether I received signals of infrared sensor, after I all received signals of infrared sensor and infrared sensor, fix a position fruit tree trunk position promptly.
The specific work flow of the fertilizer applicator using the control system of the embodiment is as follows:
1. injecting the prepared liquid fertilizer into a pesticide box, and driving the whole machine to move to an orchard fertilizing position;
2. setting a row spacing adjusting bracket, a punching depth and a fertilizing amount according to the row spacing and the fruit tree shape of the orchard;
3. selecting an operation mode, an automatic mode or a manual mode;
4. a touch rod of a touch switch arranged on the front part of the chassis touches the trunk, and the fruit tree position identification module is started to work;
5. two ultrasonic sensors arranged on a puncher bracket roughly measure and calculate the distance of a fruit tree, a main controller issues an instruction to control a motor, and a movable truss is adjusted by controlling the motion time of the motor;
6. two infrared sensors arranged on the puncher bracket successively obtain signals when the movable truss moves, and the specific position of a fruit tree is identified;
7. starting an air compressor to work, driving the hole punches on the two sides downwards by the air cylinder, then opening the air explosion electromagnetic switch, ejecting high-pressure air from the exhaust holes of the hole punches to perform air explosion and soil loosening, finally opening the fertilizer injection electromagnetic switch, and performing quantitative fertilizer injection according to a preset fertilizer application amount;
8. after fertilizer injection is completed, the pneumatic cylinder drives the hole puncher on the two sides to move upwards, so that the hole puncher is separated from the fertilizing hole, and one-time punching action is completed;
9. after the fertilization is finished, the whole machine is moved to the next working place by personnel, and the operation is repeated.
Through the control system and the identification method of the embodiment, the position of the fruit tree can be automatically identified during fertilization, the fruit tree soil can be subjected to gas explosion for loosening the soil through gas explosion, the punching depth and the fertilizing amount can also be controlled, and the problems of mechanization, low intelligent level and high cost of related intelligent agricultural machinery in the orchard in China at present can be solved.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.

Claims (5)

1. The utility model provides a fertile fertilizer distributor control system that punches of orchard gas explosion formula liquid, its characterized in that: the fruit tree drilling machine comprises a main controller, and a walking control module, a transverse adjusting module, a longitudinal adjusting module, a fertilizer control module, a drilling depth control module, an air explosion control module and a fruit tree position identification module which are electrically connected with the main controller;
the main controller receives the identification information of the fruit tree position identification module and sends instructions to the walking control module, the transverse adjustment module, the longitudinal adjustment module, the fertilizer control module, the punching depth control module and the gas explosion control module;
the walking control module is used for receiving the instruction of the main controller and controlling the walking state of the fertilizer applicator;
the transverse adjusting module is used for receiving the instruction of the main controller and adjusting the position of the gas explosion punching fertilizer injector along the width direction;
the longitudinal adjusting module is used for receiving the instruction of the main controller and adjusting the position of the gas explosion punching fertilizer injector along the front and back directions;
the punching depth control module is used for receiving the instruction of the main controller and adjusting the height position of the gas explosion punching fertilizer injector;
the fertilizer control module is used for receiving the instruction of the main controller and controlling the fertilizing amount of the gas explosion punching fertilizer injector;
the gas explosion control module is used for receiving the instruction of the main controller and controlling the gas explosion amount of the gas explosion perforating fertilizer injector;
the fruit tree position identification module is used for identifying the position of a fruit tree and transmitting identification information to the main controller.
2. The orchard air-explosion type liquid fertilizer drilling and fertilizing control system of claim 1, characterized in that: the gas explosion punching fertilizer injector is installed on the movable frame, and the fruit tree position identification module comprises a touch switch installed on the outer side of the front portion of the chassis and an infrared sensor installed on the outer side face of the movable frame.
3. The orchard air-explosion type liquid fertilizer drilling and fertilizing control system of claim 2, characterized in that: the touch switch signal is used as an opening signal of the fruit tree position identification module, and the fruit tree position is measured after a touch rod of the touch switch touches a fruit tree trunk; two infrared sensors are installed on the outer side face of the moving frame, the two infrared sensors are respectively located on the front side and the rear side of the central axis of the gas explosion punching fertilizer injector, the distance between the two infrared sensors and the central axis of the gas explosion punching fertilizer injector is equal, and the distance between the two infrared sensors is smaller than the diameter of a trunk of a fruit tree.
4. The orchard air-explosion type liquid fertilizer drilling and fertilizing control system of claim 2, characterized in that: fruit tree position identification module is still including installing in two ultrasonic sensor of removing a lateral surface, and two ultrasonic sensor are located the preceding, the back both sides of gas explosion punching fertilizer injection ware axis respectively, and two ultrasonic sensor and gas explosion punch the distance of fertilizer injection ware axis and equal.
5. A fruit tree position identification method implemented by using the orchard air-explosion type liquid fertilizer drilling and fertilizing control system of any one of claims 1 to 4 is characterized by comprising the following steps:
(1) the two ultrasonic sensors on the outer side surface of the same moving frame are respectively an ultrasonic sensor I and an ultrasonic sensor II which are sequentially arranged along the walking direction of the fertilizer applicator, the distance between the ultrasonic sensor I and the trunk is obtained as a by sending ultrasonic waves to judge the distance between the ultrasonic sensor I and the trunk, and the distance between the ultrasonic sensor II and the trunk is obtained as b;
(2) the distance between ultrasonic sensor I and ultrasonic sensor II is c, and the trunk is w to the perpendicular line segment length on ultrasonic sensor I and the plane of ultrasonic sensor II place, ultrasonic sensor II with distance between the perpendicular line segment is d, and it is relative along width direction to make the axis of gas explosion punching fertilizer injection ware and trunk, and the distance that the gas explosion punching fertilizer injection ware still need move forward is e, calculates d and w according to following algorithm:
a2＝(c+d)2+w2
b2＝d2+w2
a2-b2＝c2+cd
Figure FDA0003467759570000021
Figure FDA0003467759570000022
Figure FDA0003467759570000031
(3) the gas explosion perforating fertilizer injector moves forwards by a distance e through the longitudinal adjusting module, and moves outwards by a distance w along the width direction through the transverse adjusting module;
(4) two infrared sensor of same removal frame lateral surface are infrared sensor I and infrared sensor II that set gradually along fertilizer distributor walking direction respectively, and the gas explosion in step (3) is punched and is annotated fertile ware and move the in-process forward, and infrared sensor I and infrared sensor II move along with removing the frame, and after II received signals of infrared sensor, judge whether I received signals of infrared sensor, after I all received signals of infrared sensor and infrared sensor, fix a position fruit tree trunk position promptly.
CN202210034472.3A 2022-01-13 2022-01-13 Orchard air-explosion type liquid fertilizer perforating and fertilizing machine control system and fruit tree position identification method Pending CN114384956A (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106647440A (en) * 2016-10-20 2017-05-10 江苏大学镇江流体工程装备技术研究院 Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof
CN109601089A (en) * 2019-02-19 2019-04-12 石家庄鑫农机械有限公司 A kind of suspension type intelligence orchard furrowing fertilizer applicator
CN111869398A (en) * 2020-08-11 2020-11-03 仙居贝格智能设备科技有限公司 Fruit tree fertilizing device capable of automatically identifying positions
CN111903303A (en) * 2020-09-16 2020-11-10 山东农业大学 Organic fertilizer, water, fertilizer and gas integrated fertilizer applicator for orchard and fertilizer application method
CN112335386A (en) * 2020-10-29 2021-02-09 华南农业大学 Banana garden variable rate fertilizer distributor
CN112352522A (en) * 2020-12-15 2021-02-12 山东农业大学 Orchard air-explosion type liquid fertilizer perforating and fertilizing machine and fertilizing method
CN213847637U (en) * 2020-12-17 2021-08-03 河南师范大学 Fruit tree fertilizer injection unit based on automated control

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106647440A (en) * 2016-10-20 2017-05-10 江苏大学镇江流体工程装备技术研究院 Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof
CN109601089A (en) * 2019-02-19 2019-04-12 石家庄鑫农机械有限公司 A kind of suspension type intelligence orchard furrowing fertilizer applicator
CN111869398A (en) * 2020-08-11 2020-11-03 仙居贝格智能设备科技有限公司 Fruit tree fertilizing device capable of automatically identifying positions
CN111903303A (en) * 2020-09-16 2020-11-10 山东农业大学 Organic fertilizer, water, fertilizer and gas integrated fertilizer applicator for orchard and fertilizer application method
CN112335386A (en) * 2020-10-29 2021-02-09 华南农业大学 Banana garden variable rate fertilizer distributor
CN112352522A (en) * 2020-12-15 2021-02-12 山东农业大学 Orchard air-explosion type liquid fertilizer perforating and fertilizing machine and fertilizing method
CN213847637U (en) * 2020-12-17 2021-08-03 河南师范大学 Fruit tree fertilizer injection unit based on automated control

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Application publication date: 20220422