CN115191195A - Variable rate fertilization device for field and variable rate fertilization control method - Google Patents
Variable rate fertilization device for field and variable rate fertilization control method Download PDFInfo
- Publication number
- CN115191195A CN115191195A CN202211076278.8A CN202211076278A CN115191195A CN 115191195 A CN115191195 A CN 115191195A CN 202211076278 A CN202211076278 A CN 202211076278A CN 115191195 A CN115191195 A CN 115191195A
- Authority
- CN
- China
- Prior art keywords
- fertilizer
- conductivity
- information
- module
- variable rate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004720 fertilization Effects 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000003337 fertilizer Substances 0.000 claims abstract description 187
- 239000002689 soil Substances 0.000 claims abstract description 46
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000007599 discharging Methods 0.000 claims description 30
- 238000007667 floating Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000003993 interaction Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 239000000725 suspension Substances 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims 3
- 239000007924 injection Substances 0.000 claims 3
- 230000035558 fertility Effects 0.000 abstract description 8
- 238000012271 agricultural production Methods 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 24
- 238000006243 chemical reaction Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000003321 amplification Effects 0.000 description 8
- 238000009826 distribution Methods 0.000 description 8
- 238000003199 nucleic acid amplification method Methods 0.000 description 8
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 235000015097 nutrients Nutrition 0.000 description 4
- 230000035515 penetration Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- ZLMJMSJWJFRBEC-UHFFFAOYSA-N Potassium Chemical compound [K] ZLMJMSJWJFRBEC-UHFFFAOYSA-N 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 239000011591 potassium Substances 0.000 description 1
- 229910052700 potassium Inorganic materials 0.000 description 1
- 239000011541 reaction mixture Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
-
- 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
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Abstract
The invention relates to the technical field of agricultural production, and provides a field variable rate fertilization device and a variable rate fertilization control method. The field variable fertilizing device comprises a conductivity detection device, a speed measurement device, a traction machine tool, a control device and a fertilizing machine tool; the conductivity detection device is arranged at the front end of the traction machine, and the fertilizer applicator is arranged at the rear end of the traction machine; the conductivity detection device and the speed measurement device are respectively connected with the control device, and the control device is connected with the fertilizing machine. The invention can apply the fertilizer according to the requirements of the soil fertility in different areas of the field, can improve the utilization rate of the fertilizer, reduce the application cost of the fertilizer and reduce the pollution to the environment.
Description
Technical Field
The invention relates to the technical field of agricultural production, in particular to a field variable rate fertilization device and a variable rate fertilization control method.
Background
Researches show that different crops have different requirements on nutrient elements such as nitrogen, phosphorus, potassium and the like. Before planting crops, in order to ensure soil fertility, promote the seedling emergence effect of seeds and the growth demand of later-stage crops, topdressing operation needs to be carried out on a field to ensure the soil fertility.
The traditional top dressing operation mainly adopts a special top dressing machine tool to carry out ditching, soil covering and top dressing on a field or carry out throwing and top dressing, and the top dressing mode has the problem of excessive fertilization, thereby not only wasting fertilizer, but also polluting soil.
In recent years, with the improvement of the intelligent level of agricultural operation machines, an accurate variable fertilization technology appears, and variable fertilization control is mainly performed according to the change of operation speed. Although the fertilization uniformity is improved to a certain extent, the fertilization scheme still cannot carry out the application of fertilizers according to the requirements of soil fertility.
Disclosure of Invention
The invention provides a field variable rate fertilization device and a variable rate fertilization control method, which are used for solving the problem that the existing field fertilization scheme can not carry out fertilizer application according to the requirement of soil fertility.
The invention provides a field variable rate fertilization device, which comprises: the device comprises a conductivity detection device, a speed measurement device, a traction machine tool, a control device and a fertilizer applicator;
the conductivity detection device is arranged at the front end of the traction machine tool, and the fertilizer applicator is arranged at the rear end of the traction machine tool; the conductivity detection device and the speed measurement device are respectively connected with the control device, and the control device is connected with the fertilizing machine;
the conductivity detection device is used for detecting conductivity information of soil in a working area, and the speed measurement device is used for detecting speed information of the traction machine tool;
the control device determines fertilization information of the operation area according to the conductivity information, determines the operation position of the traction tool according to the speed information, and controls the fertilizer applicator to fertilize the operation area according to the fertilization information under the condition that the fertilizer applicator is determined to reach the operation area.
The present invention also provides a variable rate fertilization control method of the field variable rate fertilization device, including:
acquiring conductivity information of soil in a working area and speed information of a traction machine;
dividing the operation area into a plurality of grids, determining the position information of the grids according to the speed information, binding the position information and the conductivity information of each grid, and sequentially storing the position information and the conductivity information in a message queue according to an operation sequence;
when the fertilizer applicator reaches the position of a target grid, conductivity information corresponding to the target grid is obtained from the message queue, fertilization information of the target grid is determined according to the conductivity information of the target grid, and the fertilizer applicator is controlled to fertilize the target grid according to the fertilization information.
According to the field variable rate fertilization device and the variable rate fertilization control method, the conductivity of the soil in the operation area is obtained on line in real time through the conductivity detection device arranged at the front end of the traction machine tool, and the fertilization information of the operation area can be determined according to the corresponding relation between the conductivity and the soil nutrients; meanwhile, the operation position of the field variable fertilizing device can be determined according to the operation speed of the traction machine tool, so that when the fertilizer application machine tool at the rear end of the traction machine tool reaches an operation area, the fertilizer application machine tool is controlled to apply fertilizer to the operation area according to the fertilizer application information, fertilizer application on demand is carried out according to the soil fertility requirements of different areas of a field, the utilization rate of the fertilizer can be improved, the application cost of the fertilizer is reduced, and the pollution to the environment is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a field variable rate fertilization device provided by the invention;
fig. 2 is a second schematic structural view of the field variable rate fertilizer apparatus provided by the present invention;
FIG. 3 is a schematic structural diagram of a conductivity detection device provided in the present invention;
FIG. 4 is a second schematic view of the conductivity detector according to the present invention;
fig. 5 is a third schematic structural diagram of the conductivity detection apparatus provided in the present invention;
FIG. 6 is a schematic diagram of a hydraulic drive system configured with a conductivity sensing device according to the present invention;
FIG. 7 is a schematic view of an electrode detecting unit according to the present invention;
FIG. 8 is a second schematic structural diagram of an electrode detecting unit according to the present invention;
FIG. 9 is a schematic view of a first depth wheel and a disc electrode in a first mating configuration in accordance with the present invention;
FIG. 10 is a schematic view of a second mating state of the first depth wheel and the disk electrode provided by the present invention;
fig. 11 is one of the structural schematic diagrams of the fertilizer applicator provided by the invention;
FIG. 12 is a second schematic structural view of a fertilizer applicator according to the present invention;
fig. 13 is a block diagram of a control structure of the field variable rate fertilizer apparatus provided by the present invention;
FIG. 14 is a circuit schematic of a signal generating circuit provided by the present invention;
FIG. 15 is a circuit schematic of a gain amplification circuit provided by the present invention;
FIG. 16 is a circuit schematic of the constant current source circuit provided by the present invention;
FIG. 17 is a circuit schematic of a differential amplifier circuit provided by the present invention;
FIG. 18 is a schematic circuit diagram of an AC-DC converter circuit provided by the present invention;
FIG. 19 is a schematic diagram of an operation interface of a human-computer interaction module provided by the present invention;
fig. 20 is a schematic flow chart of a variable fertilization control method based on a field variable fertilization device provided by the invention;
fig. 21 is a schematic view of the field variable rate fertilizer apparatus of the present invention performing fertilizer application along each grid of a work area;
fig. 22 is a schematic diagram of storing position information and conductivity information for each grid in the form of a message queue according to the job order provided by the present invention.
Reference numerals are as follows:
10. a traction implement; 20. a speed measuring device; 30. a control device;
40. a conductivity detection device; 401. a switching frame; 402. a parallel four-bar linkage; 403. a cross beam; 404. a disk electrode assembly; 405. an ultrasonic sensor; 406. a depth wheel assembly; 407. a hydraulic drive system; 421. a first link; 422. a second link; 423. a third link; 424. a fourth link; 425. a lifting adjusting oil cylinder; 4041. an electrode detection unit; 441. A first fixed arm; 442. a first floating arm; 443. a pull rod; 444. a buffer spring; 445. a disk electrode; 461. a second fixed arm; 462. a second floating arm; 463. a depth adjusting oil cylinder; 464. a first depth wheel; 471. an oil tank; 472. a hydraulic motor; 473. a first direction changing valve; 474. a second directional control valve; 475. a one-way valve; 476. a filter; 477. a pressure relief valve; 478. hydraulic locking;
50. a fertilizer applicator; 501. a three-point suspension device; 502. a support frame; 503. a fertilizer delivery device; 504. fertilizing shovels; 505. a second depth wheel; 531. a fertilizer box; 532. a fertilizer discharging mechanism; 533. a fan; 534. a fertilizer discharging pipe;
141. a signal generating circuit; 142. a gain amplification circuit; 143. a constant current source circuit;
151. a differential amplification circuit; 152. an AC-DC conversion circuit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A field variable rate fertilization device and a variable rate fertilization control method according to the present invention will be described below with reference to fig. 1 to 22.
As shown in fig. 1 to fig. 2, the present embodiment provides a field variable rate fertilizer apparatus, including: conductivity detection device 40, speed sensor 20, traction implement 10, control device 30 and fertilizer applicator 50.
The tractor 10 may be a tractor known in the art, the speed measuring device 20 may be a stopwatch provided on the tractor 10, and the Control device 30 may be an Electronic Control Unit (ECU) on the tractor 10, or a single chip microcomputer or a PLC controller.
The conductivity detection device 40 is arranged at the front end of the traction machine 10, and the fertilizer applicator 50 is arranged at the rear end of the traction machine 10; the conductivity detection device 40 and the speed measurement device 20 are respectively connected with the control device 30, and the control device 30 is connected with the fertilizer applicator 50.
Further, the conductivity detection device 40 is used for detecting conductivity information of soil in the working area, and the speed measurement device 20 is used for detecting speed information of the tractor 10; the control device 30 determines fertilization information for the work area based on the conductivity information, determines the work position of the traction implement 10 based on the speed information, and controls the fertilizer applicator 50 to fertilize the work area in accordance with the fertilization information in the case where it is determined that the fertilizer applicator 50 reaches the work area.
As can be seen from the above, in the process of fertilizing a field or a field block by the field variable fertilizing device, with the advance of the traction implement 10, the conductivity of the soil in the operation area can be obtained online in real time by the conductivity detection device 40 arranged at the front end of the traction implement 10, and the fertilizing information of the operation area can be determined according to the corresponding relationship between the conductivity and the soil nutrients; meanwhile, the operation position of the field variable rate fertilizer device can be determined according to the operation speed of the traction tool 10, so that when the fertilizer applicator 50 at the rear end of the traction tool 10 reaches an operation area, the fertilizer applicator 50 can be controlled to apply fertilizer to the operation area according to the fertilizer application information, fertilizer can be applied according to the requirement of soil fertility in different areas of a field, the utilization rate of the fertilizer can be improved, the application cost of the fertilizer is reduced, and the pollution to the environment is reduced.
In some embodiments, as shown in fig. 3 to 5, the conductivity detection apparatus 40 of the present embodiment includes an adaptor bracket 401, a parallel four-bar linkage 402, a beam 403, and a disc electrode assembly 404.
Wherein, the disc electrode assembly 404 is provided with a plurality of disc electrodes 445 arranged in pairs, and when the detection of the soil conductivity is performed, the disc electrodes 445 protrude into the soil; based on the disc electrode assembly 404, the current-voltage four-terminal method can be adopted to perform online real-time detection on the soil conductivity.
Further, the front end of the traction tool 10 is connected with the adapter 401, the adapter 401 is connected with one end of the parallel four-bar linkage 402, the other end of the parallel four-bar linkage 402 is connected with the beam 403, and the parallel four-bar linkage 402 can drive the beam 403 to ascend or descend; the disk electrode assembly 404 is provided on the lower side of the cross member 403, and the parallel four-bar linkage 402 and the disk electrode assembly 404 are connected to the control device 30, respectively.
Specifically, the parallel four-bar linkage 402 includes a first link 421, a second link 422, a third link 423, a fourth link 424, and a lift adjustment cylinder 425; the first connecting rod 421, the second connecting rod 422, the third connecting rod 423 and the fourth connecting rod 424 are sequentially hinged end to end; the first link 421 and the third link 423 have the same length and are arranged in parallel; the second link 422 and the fourth link 424 are equal in length and are arranged in parallel. The adapter 401 is connected to a first link 421, the beam 403 is connected to a third link 423, one end of the lift adjusting cylinder 425 is rotatably connected to a second link 422, and the other end is rotatably connected to a fourth link 424.
In this way, under the condition that the first connecting rod 421 and the third connecting rod 423 are vertically arranged, since the installation position of the first connecting rod 421 relative to the adapter 401 remains unchanged, the third connecting rod 423 can move up and down on a vertical plane by controlling the telescopic length of the piston rod of the lifting adjusting cylinder 425, so that the cross beam 403 is driven by the third connecting rod 423 to lift relative to the ground.
When the field variable fertilizer device does not perform fertilizer application operation, the beam 403 can be controlled to ascend through the parallel four-bar linkage 402, so that the disc electrode assembly 404 is separated from the ground, and the passing performance of the field variable fertilizer device is ensured. Correspondingly, when the field variable rate fertilizer device performs fertilizer application operation, the beam 403 can be controlled to descend through the parallel four-bar linkage 402, so that the disc electrode 445 of the disc electrode assembly 404 extends into the soil, and the conductivity of the soil in the operation area can be detected.
In order to improve the detection accuracy of the conductivity, the conductivity detection device 40 is further provided with an ultrasonic sensor 405; the ultrasonic sensor 405 is provided on the beam 403, the ultrasonic sensor 405 is used for detecting the depth of the penetration of the disc electrode 445 in the disc electrode assembly 404, and the ultrasonic sensor 405 is connected to the control device 30.
The ultrasonic sensor 405 may determine the depth of the disc electrode 445 into the soil by detecting a change value of the height of the cross beam 403 relative to the ground in a preset time period.
In some embodiments, the disk electrode assembly 404 of the present embodiment includes a plurality of electrode sensing units 4041; a plurality of electrode detecting units 4041 are provided in pairs on the cross beam 403. For example, the disk electrode assembly 404 of the present embodiment includes four electrode detection units 4041, and the four electrode detection units 4041 are sequentially disposed at intervals in the extending direction of the beam 403.
Further, as shown in fig. 7 and 8, each electrode detecting unit 4041 of the present embodiment includes a first fixing arm 441, a first floating arm 442, a tension rod 443, a buffer spring 444, and a disc electrode 445.
Specifically, a stopper is provided at a first end of the first fixed arm 441, and a linkage portion is provided at a first end of the first floating arm 442; a first end of the first fixed arm 441 is rotatably connected to a first end of the first floating arm 442, a second end of the first fixed arm 441 is connected to the cross beam 403, and a second end of the first floating arm 442 is rotatably connected to the disk electrode 445; the pull rod 443 penetrates through the buffer spring 444, one end of the pull rod 443 is connected with one end of the buffer spring 444, the other end of the buffer spring 444 abuts against the stopping portion, and the other end of the pull rod 443 penetrates through the stopping portion and is movably connected with the linkage portion.
In the practical application process, the present embodiment is based on the installation of the disc electrode 445, and ensures that the disc electrode 445 can reach a preset depth in the soil, when the disc electrode 445 encounters a hard object in the moving process, the disc electrode 445 is lifted by buffering, and a good protection effect is achieved on the disc electrode 445 based on the floating buffering provided by the buffer spring 444.
Wherein the second end of the first fixing arm 441 of the present embodiment is connected to the beam 403 through an insulating pad to ensure that the disc electrode 445 is electrically isolated from the beam 403. In this embodiment, the disk electrode 445 may be mounted at the second end of the first floating arm 442 through a plurality of bearings, so as to ensure the smoothness of the rotation of the disk electrode 445 and prevent the disk electrode 445 from swinging laterally during the rotation.
In some embodiments, to control the penetration depth of the disc electrode 445, the conductivity detection device 40 of the present embodiment is further provided with a depth wheel assembly 406.
As shown in fig. 5, the depth wheel assembly 406 includes a second fixed arm 461, a second floating arm 462, a depth adjustment cylinder 463, and a first depth wheel 464; a first end of the second fixed arm 461 is connected with the cross beam 403, a second end of the second fixed arm 461 is rotatably connected with a first end of the second floating arm 462, and a second end of the second floating arm 462 is rotatably connected with the first depth wheel 464; one end of the depth adjusting cylinder 463 is rotatably connected to the second fixed arm 461, and the other end is rotatably connected to the second floating arm 462; the depth adjusting cylinder 463 is connected to the control device 30.
Wherein, through the flexible length of the piston rod of adjusting degree of depth adjusting cylinder 463, the lift of adjustable first gauge wheel 464 realizes the regulation to the degree of depth of penetrating into the soil of disc electrode 445.
As shown in fig. 9, when the disc electrode 445 is in an operating state, the first depth wheel 464 can be driven to rise by a preset height through the depth adjusting cylinder 463, so that when the first depth wheel 464 contacts with the ground, the disc electrode 445 extends into the soil.
As shown in fig. 10, when the disc electrode 445 is in a non-operation state, the first depth wheel 464 may be driven to descend by a predetermined height by the depth adjustment cylinder 463, so that the disc electrode 445 is separated from the ground when the first depth wheel 464 contacts the ground.
In some embodiments, to ensure the stability of the lifting and lowering of the cross beam 403 with respect to the ground, two parallel four-bar linkages 402 are provided, and the two parallel four-bar linkages 402 are spaced apart in the width direction of the towing implement 10.
As shown in fig. 2 and 6, in order to facilitate the synchronous operation of the elevation adjustment cylinders 425 among the two parallel four-bar linkages 402 and the synchronous operation of the depth adjustment cylinders 463 among the two depth wheel assemblies 406, the present embodiment is provided with a hydraulic drive system 407 for the two elevation adjustment cylinders 425 and the two depth adjustment cylinders 463.
As shown in fig. 3, 5 and 6, the hydraulic drive system 407 includes a tank 471, a hydraulic motor 472, a first direction change valve 473 and a second direction change valve 474; the oil tank 471 is communicated with the oil inlet end of the hydraulic motor 472, and the oil outlet end of the hydraulic motor 472 is communicated with the oil inlet of the first reversing valve 473 and the oil inlet of the second reversing valve 474 respectively; one working oil port of the first reversing valve 473 is communicated with the rodless cavity of the lifting adjusting oil cylinder 425 corresponding to the two parallel four-bar linkages 402, and the other working oil port of the first reversing valve 473 is communicated with the rod cavity of the lifting adjusting oil cylinder 425 corresponding to the two parallel four-bar linkages 402; wherein, the lift adjustment cylinders 425 corresponding to the two parallel four-bar linkages 402 can be respectively identified as OC11 and OC12.
Meanwhile, one working oil port of the second reversing valve 474 is communicated with the rodless cavity of the depth adjusting oil cylinder 463 corresponding to the two depth wheel assemblies 406, and the other working oil port of the second reversing valve 474 is communicated with the rod cavity of the depth adjusting oil cylinder 463 corresponding to the two depth wheel assemblies 406; wherein the depth adjustment cylinders 463 corresponding to the two depth wheel assemblies 406 may be identified as OC21 and OC22, respectively.
Further, the oil return port of the first direction changing valve 473 and the oil return port of the second direction changing valve 474 are communicated with the oil tank 471, respectively.
To ensure that hydraulic oil flows directionally from the hydraulic motor 472 to the first and second direction changing valves 473, 474, the hydraulic motor 472 is communicated to the first and second direction changing valves 473, 474, respectively, through a check valve 475, with filters 476 connected in parallel across the check valve 475.
In order to ensure the safety of the operation of the hydraulic drive system 407 and prevent the hydraulic components from being damaged due to excessive system pressure during operation, the oil inlet of the first direction changing valve 473 and the oil inlet of the second direction changing valve 474 are commonly communicated with the oil tank 471 through the relief valve 477.
To prevent the lift adjust cylinder 425 from rocking due to ground resistance during operation, hydraulic locks 478 are provided in the oil path between the first diverter valve 473 and the lift adjust cylinders of the two parallel four bar linkage assemblies 402, and in the oil path between the second diverter valve 474 and the depth adjust cylinders of the two depth wheel assemblies 406.
In this way, when the field variable rate fertilizer apparatus does not need to perform fertilizer application, the control device 30 may control the switching state of the first direction valve 473, so that the piston rods of the lift adjusting cylinders 425 of the two parallel four-bar linkages 402 are extended synchronously, so that the disc electrode 445 is kept at a certain distance from the ground, and the tractor 10 can be safely moved on the road surface when the conductivity detection device 40 is in the non-operating state.
After the field variable fertilizing apparatus reaches the working area, the control device 30 controls the switching state of the first direction changing valve 473 again so that the disc electrode assembly 404 falls and the depth of penetration of the disc electrode 445 is detected by the ultrasonic sensor 405, and then the falling heights of the two first depth wheels 464 are controlled by the second direction changing valve 474 to ensure that the depth of penetration of the disc electrode 445 is greater than 10cm.
Due to the fluctuation of terrain, the depth of the disc electrode 445 in the process of operation can be changed continuously, at the moment, the change of the depth of the disc electrode 445 in the process of operation is monitored in real time through the ultrasonic sensor 405, and the first reversing valve 473 and the second reversing valve 474 are cooperatively controlled according to the depth of the disc electrode 445, so that the depth of the disc electrode 445 in the process of operation can be accurately adjusted.
In some embodiments, as shown in fig. 3, fig. 7 and fig. 13, the control device 30 of the present embodiment includes a control module, a constant current source circuit module and a signal processing module.
Specifically, the control module is connected with the constant current source circuit module, the constant current source circuit module is connected with one part of the disc electrodes 445 in the disc electrode assembly 404, the other part of the disc electrodes 445 in the disc electrode assembly 404 is connected with the signal processing module, the signal processing module is connected with the control module, and the control module is connected with the fertilizer applicator 50.
As shown in fig. 14 to 16, the constant current source circuit module is used for providing a constant current source signal to the disc electrode 445, the constant current source circuit module includes a signal generating circuit 141, a gain amplifying circuit 142 and a constant current source circuit 143, the control module is respectively connected to the signal generating circuit 141 and the gain amplifying circuit 142, the signal generating circuit 141, the gain amplifying circuit 142 and the constant current source circuit 143 are sequentially connected, and the constant current source circuit 143 is connected to the disc electrode assembly 404.
As shown in fig. 14, the signal generating circuit 141 employs a high-precision digital programmable signal generator of type AD9833, and the output terminal of the signal generator is connected to the gain amplifying circuit through a voltage follower, so that the driving capability and the anti-interference capability of the signal generated by the signal generator can be increased based on the voltage follower, and the stability can be improved.
As shown in fig. 15, the gain amplifier circuit 142 employs a voltage-controlled gain chip and a D/a conversion chip connected to each other, the model of the voltage-controlled gain chip is VCA821, the model of the D/a conversion chip is TLV5618, the control module is connected to the D/a conversion chip, and the D/a conversion chip and the voltage follower are respectively connected to the voltage-controlled gain chip. The output end of the gain amplifying circuit 142 is connected with a gain fine tuning circuit formed by a high-precision low-temperature-drift operational amplifier OP27, the gain of the gain amplifying circuit is finely tuned to a required proportion, and an alternating voltage signal with stable frequency and adjustable amplitude is obtained.
As shown in fig. 16, the constant current source circuit 143 may be a chip with a model number INA333, and the constant current source circuit 143 may convert the ac voltage signal output from the gain amplification circuit 142 into a constant current signal and supply the constant current signal to two disk electrodes 445, where the two disk electrodes 445 are identified as a disk electrode J and a disk electrode K in fig. 13.
As shown in fig. 17 to 18, the signal processing module includes a differential amplifying circuit 151, an ac/dc converting circuit 152 and an analog-to-digital converting circuit, the disc electrode assembly 404 is connected to the differential amplifying circuit 151, the ac/dc converting circuit 152 and the analog-to-digital converting circuit are connected in sequence, and the analog-to-digital converting circuit is connected to the control module.
As shown in fig. 17, the differential amplifier 151 is an integrated chip with low cost and high precision, the model of the integrated chip is AD620, and the voltage signal input port and the voltage signal output port of the integrated chip are provided with low-pass filter circuits to filter out high-frequency noise signals.
A disc electrode M and a disc electrode N are arranged between the disc electrode J and the disc electrode K, the disc electrode M and the disc electrode N are respectively connected with the input side of a differential amplification circuit 151, and the differential amplification circuit 151 performs differential amplification on detected voltage signals output by the disc electrode M and the disc electrode N, so that the signal precision is improved.
As shown in fig. 18, the ac/dc conversion circuit 152 is a voltage conversion chip with model number AD637, and the ac/dc conversion circuit 152 converts the ac voltage signal output by the differential amplification circuit 151 into a dc voltage signal.
The analog-to-digital conversion circuit selects a 16-bit analog-to-digital conversion chip, the type of the analog-to-digital conversion chip is ADS1115, the analog-to-digital conversion circuit converts the direct-current voltage signal into a digital signal and outputs the digital signal to the control module, and the control module reads the digital signal through IIC communication.
In operation, after the constant current signal generated by the constant current source circuit module flows to the ground through the two disk electrodes 445 on the outer side in the disk electrode assembly 404, an alternating constant current electric field is generated between the two disk electrodes 445, and the voltage value of the two disk electrodes 445 on the inner side in the disk electrode assembly 404 changes with the change of the soil conductivity. The voltage signals generated by the two disc electrodes 445 positioned at the inner side in the disc electrode assembly 404 are amplified and converted into direct current signals by the signal processing module, the signal processing module continuously collects the direct current signals, converts the direct current signals into digital signals and then transmits the digital signals to the control module, and the control module calculates the conductivity of the soil in the working area according to the following formula.
In the above-mentioned formula, the reaction mixture,
is the conductivity of the soil in units of mus/cm;Xthe voltage value output by the disc electrode is mV;Ythe water content of the soil; z is the depth of the disc electrode in the soil, and the unit is mm;Tis the temperature value of the soil in degrees centigrade.
In some embodiments, as shown in fig. 13, the control device 30 further includes a positioning module, a human-computer interaction module, and a storage module; the positioning module, the man-machine interaction module and the storage module are respectively connected with the control module.
The control module can adopt a single chip microcomputer, the positioning module can adopt a GPS positioning module or a Beidou positioning module which are known in the field, the human-computer interaction module can adopt a touch screen controller which is known in the field, and the storage module can adopt an SD card.
Therefore, after the conductivity information of the soil in the operation area is obtained, the control module can obtain the fertilization information of the operation area according to the corresponding relation between the conductivity information and the soil nutrients. When the fertilizer applicator 50 reaches the operation area, the fertilizer applicator 50 can be controlled to apply fertilizer to the operation area according to the fertilizer application information, and the fertilizer can be applied according to the requirements of the soil fertility in different areas of the field, so that the accurate variable fertilizer application is realized.
Meanwhile, the control module can acquire the position information of the operation area through the positioning module, so that the position information of the operation area is respectively bound with the conductivity information and the fertilization information of the operation area, a conductivity distribution map and a fertilization amount distribution map of the operation area can be obtained, and the storage module can store the conductivity distribution map and the fertilization amount distribution map, so that the subsequent data analysis and query are facilitated.
In addition, in order to facilitate the input of the operation parameters and the display of the operation data, the present embodiment may set the operation interface of the system based on the human-computer interaction module.
As shown in fig. 19, a communication parameter setting area, a soil conductivity parameter area, a fertilization operation parameter area, a conductivity detection device elevation control area, and an operation control area are provided on an operation interface of the human-computer interaction module. An operator can set communication parameters, soil conductivity parameters and variable fertilization parameters through an operation interface of the human-computer interaction module, control the lifting of the conductivity detection device and control the starting and stopping of fertilization operation.
Wherein, the communication parameter setting area is used for connecting the conductivity detection device and the fertilizer applicator. The soil conductivity parameter area can input parameters of the depth of the disc electrode, the soil moisture content and the soil temperature, and the soil conductivity can be calculated in real time according to a voltage signal output by the disc electrode; in order to improve the conductivity detection precision, a conductivity coefficient calibration function is added. The fertilization operation parameter area can display the fertilization amount, the real-time fertilization amount, the fertilizer discharging rotating speed and the operation speed in real time, and can input the operation width, the fertilizer discharging coefficient and the PID parameters. The conductivity detection device lift control area can facilitate the operator to control the raising and lowering of the disc electrode. The operation control area is convenient for operating personnel to control the start-stop operation of the whole machine.
In some embodiments, as shown in fig. 11 and 12, the fertilizer applicator 50 of the present embodiment includes a three-point suspension device 501, a support frame 502, a fertilizer conveying device 503, and a fertilizing shovel 504; the three-point suspension device 501 is connected with the rear end of the traction machine 10, the support frame 502 is connected with the three-point suspension device 501, the fertilizer conveying device 503 is arranged on the support frame 502, and the fertilizing shovel 504 is arranged on the lower side of the support frame 502; the fertilizer delivery device 503 is connected with the control device 30 to deliver fertilizer to the position of the fertilizing shovel 504 under the control of the control device 30. Wherein, the lower side of the supporting frame 502 is further provided with a second depth wheel 505, and the three-point suspension device 501, the second depth wheel 505 and the fertilizing shovel 504 are sequentially arranged from front to back along the advancing direction of the traction machine 10.
Specifically, the fertilizer conveying device 503 comprises a fertilizer box 531, a fertilizer discharging mechanism 532, a fan 533 and a fertilizer discharging pipe 534; the fertilizer discharging mechanism 532 is arranged at a fertilizer outlet of the fertilizer box 531, and the fertilizer discharging mechanism 532 is connected with the control device 30 so as to discharge the fertilizer in the fertilizer box 531 into the fertilizer discharging pipe 534 under the control of the control device 30; the fan 533 is communicated with one end of the fertilizer discharging pipe 534, and the other end of the fertilizer discharging pipe 534 extends to the position of the fertilizing shovel 504. Wherein, the fertilizer discharging pipe 534 of this embodiment is provided with four, and the fertilizer discharging pipe 534 and the fertilization shovel 504 set up one by one relatively.
Meanwhile, the fertilizer mechanism 532 comprises a fertilizer motor and a fertilizer wheel, the fertilizer wheel is connected with an output shaft of the fertilizer motor, the fertilizer wheel is arranged at a fertilizer outlet of the fertilizer box 531, and the fertilizer outlet of the fertilizer box 531 is communicated with the fertilizer pipe 534. Thus, when the fertilizer motor controls the fertilizer wheel to rotate, the fertilizer amount output by the fertilizer applicator 50 can be controlled by the fertilizer wheel.
In addition, in the embodiment, by providing the fan 533, the fertilizer at the fertilizer outlet of the fertilizer box 531 can be sucked into the fertilizer discharging pipe 534 by the high-speed airflow generated when the fan 533 operates. Obviously, the airflow output by the fan 533 can prevent the fertilizer outlet from being blocked in the falling process of the fertilizer while realizing auxiliary fertilizer discharge, and the wind pressure and the wind speed generated by the fan 533 can be used for ensuring the falling fluency of the fertilizer.
As shown in fig. 13, the fertilizer applicator 50 of the present embodiment is provided with a first driving circuit and a second driving circuit, the control module is connected with the fertilizer discharging motor through the first driving circuit, and the control module is connected with the fan 533 through the second driving circuit.
When the control module acquires the fertilization information of the operation area, the target rotating speed of the fertilizer discharging motor can be determined according to the fertilization information, so that when the fertilizer applicator 50 reaches the operation area, the control module can drive the fertilizer discharging motor to rotate according to the target rotating speed through the first driving circuit, and the fertilizer discharging amount of the fertilizer applicator 50 can be controlled quantitatively.
Wherein, arrange fertile motor and dispose the encoder, the encoder passes through frequency acquisition circuit and control module and connects. So, control module can carry out PID control to the row fertilizer motor according to the rotational speed information of encoder feedback to make the row fertilizer motor rotate according to the target rotational speed.
Meanwhile, when the fertilizer discharging motor is started, the control module can also control the fan 533 to rotate through the second driving circuit, so that the fertilizer discharging smoothness of the fertilizer discharging pipe 534 is ensured based on the wind pressure provided by the fan 533.
As shown in fig. 20, the present embodiment further provides a method for controlling variable rate fertilization of a field variable rate fertilization device, including the steps of:
And 203, when the fertilizer applicator reaches the position of the target grid, acquiring conductivity information corresponding to the target grid from the message queue, determining the fertilizer application information of the target grid according to the conductivity information of the target grid, and controlling the fertilizer applicator to apply fertilizer to the target grid according to the fertilizer application information.
It should be noted that, in the process of the fertilizer applicator reaching the next grid from the current grid, as the fertilizer applicator is arranged at the rear end of the traction implement, the fertilizer discharge motor corresponding to the fertilizer applicator has a certain response lag, thereby affecting the control precision of the fertilizer application amount at the grid alternate position. To overcome this problem, a delay compensation algorithm is added to the fertilization control system. When the alternate position of the two adjacent grids of the fertilizer applicator reaches a preset distance (20 cm), the fertilizer discharging motor of the fertilizer applicator is regulated in advance according to the fertilizer application amount required by the next grid, and the fertilizer application control error caused by the lag response of the fertilizer discharging motor is reduced through the advanced regulation and control of the fertilizer discharging motor.
As shown in fig. 21, in the fertilization work, the present embodiment can perform meshing of the work area according to the work speed of the field variable rate fertilization device. For example, the present embodiment may divide the work area into 12 grids, the 12 grids are arranged in an array, and the width of each grid may be set to 2m. In the fertilization process, the traction machine generally walks linearly along the arrangement direction of each grid, so that the whole machine can sequentially fertilize the grids 5, 6, 7 and 8, can sequentially fertilize the grids 4, 3, 2 and 1, and can sequentially fertilize the grids 9, 10, 11 and 12.
Wherein, the grid needing fertilization is called as a target grid. For example, in the working situation shown in fig. 21, the fertilizer delivery device is located in grid 5 and is applying fertilizer to the area where grid 5 is located, and grid 5 is the target grid.
During the application of fertilizer to the work area, the distance traveled by the tractor implement relative to the target grid is greater than or equal toLIn time, the position of the fertilizer applicator to the target grid can be determined. Wherein the content of the first and second substances,Lthe distance between the conductivity detection device and the fertilizer applicator along the advancing direction of the traction machine.
As shown in fig. 21 and 22, since the conductivity detection device is disposed at the front side of the fertilizer applicator, in the fertilizing process, the conductivity detection device reaches the target grid first, and performs conductivity detection on the soil in the area where the target grid is located, and the fertilizer applicator reaches the target grid later, and performs fertilizer application on the area where the target grid is located. Therefore, in the process of the fertilization operation, after the position information of each grid is bound with the conductivity information and the fertilization information of each grid, the position information, the conductivity information and the fertilization information of each grid are stored in the form of a message queue.
Here, the embodiment may utilize the first-in first-out characteristic of the message queue, when it is determined that the fertilizer applicator reaches the position of the target grid, the control device invokes conductivity information of the target grid, obtains a target rotation speed of the fertilizer discharging motor by using the following formula, and issues the target rotation speed to the control module of the control device, and the control module performs PID control on the fertilizer discharging motor according to the rotation speed information fed back by the encoder, so that the fertilizer discharging motor rotates according to the target rotation speed, thereby realizing quantitative fertilizer application to the position of the target grid; and when the fertilizer applicator reaches the position of the next target grid, repeating the operation until the fertilizer application operation is finished on each grid.
And in the fertilizing process, storing the position information, the conductivity information and the fertilizing information of each grid in real time, and generating a conductivity distribution map and a fertilizing amount distribution map in the whole operating field block by using data analysis software after the operation is finished. Meanwhile, the fertilizing device can evaluate the effect of subsequent variable fertilization according to the conductivity distribution map and the fertilizing amount distribution map in the whole operation field block, after the variable fertilization is finished for a preset time, the conductivity detection device is used for carrying out soil conductivity online detection on the field again, and the fertilizing effect of the last fertilization operation is evaluated according to the conductivity detection result.
The embodiment can adopt the following formula to obtain the target rotating speed of the fertilizer discharging motorN rpm ：
In the above formula:vthe unit is km/h, which is the operation speed;cthe number of fertilizer tubes of the fertilizer applicator is one;pthe unit of the fertilizing amount of the fertilizer mechanism is g/r when the fertilizer mechanism rotates for 1 circle every time;Lthe operation width of the field variable fertilizing device is m;
is the conductivity of the soil in the field operation area, and the unit is mu S/cm;f 1 is a conversion coefficient between the conductivity and the fertilizing amount.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A field variable rate fertilizer injection unit, its characterized in that includes: the device comprises a conductivity detection device, a speed measurement device, a traction machine tool, a control device and a fertilizer applicator;
the conductivity detection device is arranged at the front end of the traction machine tool, and the fertilizer applicator is arranged at the rear end of the traction machine tool; the conductivity detection device and the speed measurement device are respectively connected with the control device, and the control device is connected with the fertilizer applicator;
the conductivity detection device is used for detecting conductivity information of soil in a working area, and the speed measurement device is used for detecting speed information of the traction machine tool;
the control device determines fertilization information of the operation area according to the conductivity information, determines the operation position of the traction tool according to the speed information, and controls the fertilizer applicator to fertilize the operation area according to the fertilization information under the condition that the fertilizer applicator is determined to reach the operation area.
2. The field variable fertilizing apparatus as claimed in claim 1, wherein the conductivity detection means comprises a parallel four bar linkage, a cross beam and a disc electrode assembly;
the front end of the traction machine tool is connected with one end of the parallel four-bar linkage mechanism, the other end of the parallel four-bar linkage mechanism is connected with the cross beam, and the parallel four-bar linkage mechanism can drive the cross beam to ascend or descend; the disc electrode assembly is arranged on the lower side of the cross beam, and the parallel four-bar linkage mechanism and the disc electrode assembly are respectively connected with the control device.
3. The field variable rate fertilizing apparatus as claimed in claim 2, wherein the conductivity sensing means further comprises: an ultrasonic sensor;
the ultrasonic sensor is arranged on the cross beam and used for detecting the depth of the disc electrode in the disc electrode assembly, and the ultrasonic sensor is connected with the control device.
4. The field variable fertilizing apparatus as claimed in claim 2, wherein the disc electrode assembly comprises a plurality of electrode sensing units; the plurality of electrode detection units are arranged on the cross beam in pairs, and each electrode detection unit comprises a first fixed arm, a first floating arm, a pull rod, a buffer spring and a disc electrode;
a stopping part is arranged at the first end of the first fixed arm, and a linkage part is arranged at the first end of the first floating arm; the first end of the first fixed arm is rotationally connected with the first end of the first floating arm, the second end of the first fixed arm is connected with the cross beam, and the second end of the first floating arm is rotationally connected with the disc electrode; the pull rod penetrates through the buffer spring, one end of the pull rod is connected with one end of the buffer spring, the other end of the buffer spring abuts against the stopping part, and the other end of the pull rod penetrates through the stopping part and is movably connected with the linkage part.
5. The field variable rate fertilizing apparatus as claimed in claim 2, wherein the conductivity sensing means further comprises: a depth wheel assembly;
the depth wheel assembly comprises a second fixed arm, a second floating arm, a depth adjusting oil cylinder and a first depth wheel; the first end of the second fixed arm is connected with the cross beam, the second end of the second fixed arm is rotatably connected with the first end of the second floating arm, and the second end of the second floating arm is rotatably connected with the first depth wheel; one end of the depth adjusting oil cylinder is rotatably connected with the second fixed arm, and the other end of the depth adjusting oil cylinder is rotatably connected with the second floating arm; the depth adjusting oil cylinder is connected with the control device.
6. The field variable fertilizing apparatus as claimed in any one of claims 2 to 5, wherein the control means comprises a control module, a constant current source circuit module and a signal processing module; the control module is connected with the constant current source circuit module, the constant current source circuit module is connected with one part of disc electrodes in the disc electrode assembly, the other part of disc electrodes in the disc electrode assembly is connected with the signal processing module, the signal processing module is connected with the control module, and the control module is connected with the fertilizer applicator.
7. The field variable rate fertilizer apparatus of claim 6, wherein said control apparatus further comprises a positioning module, a human-computer interaction module and a storage module; the positioning module, the human-computer interaction module and the storage module are respectively connected with the control module.
8. The field variable rate fertilizer apparatus of any one of claims 1 to 5, wherein said fertilizer applicator comprises a three-point suspension device, a support frame, a fertilizer delivery device and a fertilizing shovel; the three-point suspension device is connected with the rear end of the traction machine, the support frame is connected with the three-point suspension device, the fertilizer conveying device is arranged on the support frame, and the fertilizing shovel is arranged on the lower side of the support frame; the fertilizer conveying device is connected with the control device so as to convey fertilizer to the position where the fertilizing shovel is located under the control of the control device.
9. The field variable rate fertilizer application device of claim 8, wherein the fertilizer delivery device comprises a fertilizer can, a fertilizer mechanism, a fan, and a fertilizer pipe;
the fertilizer discharging mechanism is arranged at a fertilizer outlet of the fertilizer box and connected with the control device so as to discharge the fertilizer in the fertilizer box into the fertilizer discharging pipe under the control of the control device; the fan with the one end intercommunication of fertilizer injection pipe, the other end of fertilizer injection pipe extends to the position that the fertilization shovel is located.
10. A method for controlling variable rate fertilization of a field variable rate fertilization device as claimed in any one of claims 1 to 9, comprising:
acquiring conductivity information of soil in a working area and speed information of a traction machine;
dividing the operation area into a plurality of grids, determining the position information of the grid passed by the conductivity detection device according to the speed information, binding the position information and the conductivity information of each grid, and sequentially storing the position information and the conductivity information in a message queue form according to an operation sequence;
when the fertilizer applicator reaches the position of a target grid, acquiring conductivity information corresponding to the target grid from the message queue, determining fertilizer application information of the target grid according to the conductivity information of the target grid, and controlling the fertilizer applicator to apply fertilizer to the target grid according to the fertilizer application information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211076278.8A CN115191195A (en) | 2022-09-05 | 2022-09-05 | Variable rate fertilization device for field and variable rate fertilization control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211076278.8A CN115191195A (en) | 2022-09-05 | 2022-09-05 | Variable rate fertilization device for field and variable rate fertilization control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115191195A true CN115191195A (en) | 2022-10-18 |
Family
ID=83572569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211076278.8A Pending CN115191195A (en) | 2022-09-05 | 2022-09-05 | Variable rate fertilization device for field and variable rate fertilization control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115191195A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2334991C1 (en) * | 2007-04-12 | 2008-09-27 | Федеральное государственное образовательное учреждение высшего профессионального образования Кубанский государственный аграрный университет | Soil resistivity meter |
| CN105340443A (en) * | 2015-10-14 | 2016-02-24 | 西北农林科技大学 | Toward-target fertilizer applicator for orchard and variable control method thereof |
| CN106105441A (en) * | 2016-06-01 | 2016-11-16 | 石河子大学 | Combine pneumatic subsoiling land preparation fertilizer applicator |
| CN109089499A (en) * | 2018-08-01 | 2018-12-28 | 北京农业智能装备技术研究中心 | A kind of organic fertilizer variable application device and its method based on conductivity detection |
| CN109618627A (en) * | 2018-12-28 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of fertilizer applicator |
| CN110320941A (en) * | 2019-07-12 | 2019-10-11 | 中国农业大学 | Pressure automatic control system under planter based on soil compactibility monitoring |
| CN209879322U (en) * | 2019-07-12 | 2019-12-31 | 中国农业大学 | Automatic control system for downward pressure of seeding monomer based on soil firmness monitoring and seeding machine |
| US20210059098A1 (en) * | 2019-08-29 | 2021-03-04 | Cnh Industrial America Llc | System and method for monitoring shank float |
-
2022
- 2022-09-05 CN CN202211076278.8A patent/CN115191195A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2334991C1 (en) * | 2007-04-12 | 2008-09-27 | Федеральное государственное образовательное учреждение высшего профессионального образования Кубанский государственный аграрный университет | Soil resistivity meter |
| CN105340443A (en) * | 2015-10-14 | 2016-02-24 | 西北农林科技大学 | Toward-target fertilizer applicator for orchard and variable control method thereof |
| CN106105441A (en) * | 2016-06-01 | 2016-11-16 | 石河子大学 | Combine pneumatic subsoiling land preparation fertilizer applicator |
| CN109089499A (en) * | 2018-08-01 | 2018-12-28 | 北京农业智能装备技术研究中心 | A kind of organic fertilizer variable application device and its method based on conductivity detection |
| CN109618627A (en) * | 2018-12-28 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of fertilizer applicator |
| CN110320941A (en) * | 2019-07-12 | 2019-10-11 | 中国农业大学 | Pressure automatic control system under planter based on soil compactibility monitoring |
| CN209879322U (en) * | 2019-07-12 | 2019-12-31 | 中国农业大学 | Automatic control system for downward pressure of seeding monomer based on soil firmness monitoring and seeding machine |
| US20210059098A1 (en) * | 2019-08-29 | 2021-03-04 | Cnh Industrial America Llc | System and method for monitoring shank float |
Non-Patent Citations (1)
| Title |
|---|
| 梁栋等: "车载式大田土壤电导率在线检测系统设计与试验", 农业机械学报, vol. 53, no. 6, 30 June 2022 (2022-06-30), pages 274 - 285 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN200950113Y (en) | Infiltrometer for producing infiltration | |
| CN101773016B (en) | Intelligent variable rate fertilizer for rice and variable rate fertilization method thereof | |
| CN111837548A (en) | Accurate layering fertilizing and seeding all-in-one | |
| US20100287898A1 (en) | Ground speed implement height control adjustment rate on agricultural vehicles | |
| CN1726750A (en) | Virtual GPS accurate agricultural variable subsoil application system | |
| WO2022174561A1 (en) | Variable sowing and fertilizing method, system, and device | |
| CN111937551A (en) | Variable rate fertilization method and device based on crop seedling condition information | |
| CN205755418U (en) | A kind of high-clearance fertilizer applicator | |
| CN1920583A (en) | Multi-purpose vehicle mounted soil specific conductivity real-time tester | |
| CN102096378A (en) | Automatic variable rape seeding control system | |
| CN107593048A (en) | A kind of plant essence amount interval spot application system and method | |
| CN107182385A (en) | A kind of intelligence essence amount corn seeding monomer | |
| CN111373908A (en) | Control system and method for realizing precision seeding and fertilizing by using Beidou navigation satellite system | |
| CN107926218A (en) | A kind of automatically controlled essence amount corn cave-applied fertilizer machine | |
| CN110320941A (en) | Pressure automatic control system under planter based on soil compactibility monitoring | |
| CN103766048A (en) | Radar measurement and control precision seeder | |
| Qi et al. | Design and experiment of a subsoiling variable rate fertilization machine | |
| CN115191195A (en) | Variable rate fertilization device for field and variable rate fertilization control method | |
| CN114902860A (en) | Harvester output monitoring system and harvester | |
| CN212116163U (en) | Control system for realizing precise seeding and fertilizing by using Beidou navigation | |
| CN207354848U (en) | A kind of intelligence essence amount corn seeding monomer | |
| CN117016144A (en) | Multi-degree-of-freedom orchard citrus automatic soil digging, fertilizing and backfilling device | |
| CN212876676U (en) | Variable rate fertilizer injection unit based on crop seedling condition information | |
| CN212278838U (en) | Accurate layering fertilizing and seeding all-in-one | |
| CN202857269U (en) | Radar measurement and control precision seeder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |