CN115997503A - An unmanned ditching and fertilizing machine for facility vegetable production - Google Patents

Abstract

The invention discloses an unmanned ditching and fertilizing machine for facility vegetable production, which comprises a running chassis system, a ditching and fertilizing system, a hydraulic transmission system and a remote control system, wherein the ditching and fertilizing system is arranged on the running chassis system; the chassis system can drive forwards and backwards and turn left and right, and the rack at the upper part of the chassis system comprises a main frame and a rear end rack hinged to the tail end of the main frame; the hydraulic transmission system is used for providing hydraulic power for the running chassis system and the ditching and fertilizing system; the remote control system is used for remotely controlling the operation of the ditching and fertilizing machine; in the ditching and fertilizing system, a fertilizer box is used for providing fertilizer for a ditching and fertilizing device; the ditching fertilizer applicator is used for ditching planting ditches and applying fertilizer into the ditches; the earthing ditch stabilizer is used for pushing crushed soil into the ditches to cover fertilizer and stabilize the shape of the planting ditches; the ditching fertilizer applicator and the earthing ditch stabilizer are arranged on the rear end frame, and the front and rear positions correspond to each other. The invention adopts an unmanned control mode to finish ditching, fertilizing, earthing and ditch stabilizing operation for 4-6 rows at one time, thereby improving the operation quality and efficiency.

Description

An unmanned ditching and fertilizing machine for facility vegetable production

technical field

The invention relates to agricultural machinery, in particular to an unmanned ditching and fertilizing machine for facility vegetable production.

Background technique

The use of greenhouses for facility vegetable production can provide a suitable growth environment for vegetable crops, thereby achieving high-quality, high-yield cultivation. The development of facility vegetable industry is conducive to ensuring a balanced supply of vegetables throughout the year, promoting farmers' income increase and efficient use of agricultural resources.

In recent years, in order to achieve "water saving and fertilizer saving" production of protected vegetables, Jiangsu, Shandong and other places have mostly adopted the practice of planting protected vegetables in trenches. At the same time, the protected vegetable industry is a typical labor-intensive industry with a low level of mechanization, and due to Due to the lack of agricultural labor, the problem of "difficult and expensive labor" has become increasingly prominent, so it is urgent to develop an unmanned ditching and fertilizing machine to replace manual ditching and fertilization, so as to minimize manpower input and improve operational efficiency. ,cut costs.

After research, although the existing furrowing and fertilizing machines are various, they are all developed according to the respective agronomic needs of agricultural crops. The agronomic needs of fertilizing in the ditch and covering the ditch to stabilize the ditch".

In view of this, it is necessary to develop an unmanned ditching and fertilizing machine for facility vegetable production in combination with agricultural machinery and agronomy.

Contents of the invention

Purpose of the invention: the purpose of the invention is to propose a facility vegetable production unmanned ditching fertilizer applicator.

Technical solution: The present invention provides an unmanned ditching and fertilizing machine for facility vegetable production, including a driving chassis system, a ditching and fertilizing system, a hydraulic transmission system and a remote control system;

The driving chassis system can drive forward and backward and turn left and right. The upper part of the driving chassis system is equipped with a frame; the frame includes a main frame and a rear frame hinged at the tail end of the main frame. The folding hydraulic cylinder drives the rotation;

The hydraulic transmission system is used to provide the hydraulic power required for the driving chassis system and the ditching and fertilization system;

The remote control system is used to remotely control the ditching fertilizer applicator;

Trench fertilization systems include:

Fertilizer bins for supplying fine-grained fertilizers to open trench applicators;

furrowing applicators for creating and fertilizing planting furrows; and,

Soil-covering ditch stabilizer, used to push crushed soil into the ditch to cover the fertilizer and stabilize the shape of the planting ditch;

Both the ditching fertilizer applicator and the soil covering ditch stabilizing device are installed on the rear end frame, and the front and rear positions correspond to each other.

The invention can meet the agronomic requirements of "opening planting furrows, fertilizing in furrows, covering soil and stabilizing furrows" in the production of facility vegetables, can complete furrowing, fertilizing, covering soil, and stabilizing furrows at one time, and improves operation quality and efficiency. Remote control realizes ditching and fertilization operations, and only needs to add fertilizer to the fertilizer box outside the greenhouse, which reduces labor intensity and improves the working environment.

Further, a plurality of ditching fertilizers and a plurality of ditch stabilizing devices are installed side by side on the rear frame, the two are equal in number and correspond to each other. The technical scheme can complete the ditching, fertilization, soil covering and ditch stabilizing operations of multiple planting ditches at one time, thereby further improving the operation efficiency and reducing the labor cost.

Further, the inner cavity of the fertilizer box is divided into an organic fertilizer storage cavity and an inorganic fertilizer storage cavity by a partition, and the inner bottom of the fertilizer box is provided with a stirring blade and a discharge port, and there is a gap for installing the stirring blade between the lower end of the partition and the fertilizer box; The stirring blade is driven by the stirring hydraulic motor installed outside the bottom of the fertilizer tank to stir and mix the organic fertilizer and inorganic fertilizer; the mixed fertilizer is transported to the ditching fertilizer through the discharge port through the delivery pipe.

Further, the hydraulic transmission system includes a hydraulic pump, a hydraulic control circuit and a plurality of solenoid valves arranged in the hydraulic control circuit, through which the steering hydraulic cylinder, the driving hydraulic motor and the brake hydraulic caliper in the driving chassis system are controlled on and off, Realize driving, steering, and braking of the whole machine; control the stirring hydraulic motor in the ditching and fertilization system through the solenoid valve on and off to realize the rotation of the stirring blades; control the unfolding and folding hydraulic cylinder through the solenoid valve on and off to realize the unfolding and folding of the rear end frame.

Further, the remote control system includes an automatic control system and a wireless communication system, wherein the automatic control system includes a PLC controller, the wireless communication system includes a wireless gateway, and the client uses the wireless gateway to establish a remote communication connection with the PLC controller to realize ditching Remote control of the fertilizer spreader; two rear-end frame limit switches are installed on the main frame, which are respectively used for the upper and lower limit when the rear-end frame rotates; the ditching fertilizer spreader is also equipped with an ultrasonic sensor for detecting obstacles.

Further, the lower end of the ditching fertilizer applicator is provided with a shovel head, and the soil-squeezing curved surfaces on both sides of the shovel head extend forward to form a pointed shovel-shaped front part, and the pointed shovel-shaped front part is used for inserting and cutting soil when opening a planting ditch, The soil squeezing surface is used to squeeze the pushed up crushed soil to both sides;

A cavity is formed on the inner side of the soil extrusion surface on both sides, and the rear part of the cavity matches the shape of the planting ditch; the upper part of the cavity is provided with a feed port connected to it, and the feed port accepts the fertilizer provided by the fertilizer box. Fertilizer, the fertilizer is discharged to the bottom of the ditch through the cavity.

Further, the installation height of the ditch fertilizer applicator on the rear end frame can be adjusted.

Further, the soil-covering ditch stabilizing device includes an extrusion box, the section of which is adapted to the established planting ditch; a trapezoidal plate is fixed on the front of the extrusion box, and a transverse pusher is fixed on the trapezoidal plate. Soil board, the bulldozing board is used to flatten and compact the upper part of the narrow ridge between the planting ditch, and push a part of the crushed soil into the ditch to cover the fertilizer.

Further, the installation height of the bulldozing blade on the trapezoidal board can be adjusted.

Further, the installation height of the soil covering ditch stabilizer on the rear frame can be adjusted.

In the above technical scheme, the heights of the ditching fertilizer and the soil-covering ditch stabilizing device are adjustable, which can adapt to the different requirements of different vegetables for the depth of ditching and fertilization. It is easy to think that the distance between the ditching fertilizer applicator on the rear end frame can also be adjusted, and the distance between the soil covering and ditch stabilizing device on the rear end frame can be adjusted, so as to meet the needs of different vegetables. Different requirements for furrow fertilization spacing.

Beneficial effect: compared with the prior art, the present invention has the following significant advantages:

It can meet the agronomic requirements of "opening planting ditch, fertilizing in ditch, covering soil and stabilizing ditch" in the production of facility vegetables. It can realize unmanned operation, which improves the quality and efficiency of work.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings required in the embodiments of the present invention are briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of the present invention. For those skilled in the art, on the premise of not paying creative work, other drawings can also be obtained according to these drawings.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the structural representation of rack;

Fig. 4 is the structural representation of fertilizer box;

Figure 5 and Figure 6 are schematic structural views of the ditching fertilizer applicator from different angles of view;

Fig. 7 and Fig. 8 are the structure schematic diagrams of the ditch stabilizing device under different angles of view;

Fig. 9 is a schematic diagram of the hydraulic transmission system;

Fig. 10 is a control system wiring diagram;

Fig. 11 is a block diagram of the operation method of the ditching fertilizer applicator;

Fig. 12 is a schematic diagram of the wireless communication system;

Reference signs: 1, hydraulic oil tank; 2, storage battery; 3, diesel engine; 4, steering hydraulic cylinder; 5, DC generator; 6, hydraulic pump station; 7, electrical control cabinet; 8, wireless gateway; 9, hydraulic pressure Valve group; 901, one-way valve; 902, throttle valve; 903, first three-position four-way solenoid valve; 904, second three-position four-way solenoid valve; 905, two-position two-way solenoid valve; 906, third Three-position four-way solenoid valve; 907, two-position three-way solenoid valve; 10, transmission belt; 11, fertilizer box; 111, discharge port; 112, box body; 113, stirring blade; 114, clapboard; 12, frame ;121, main frame; 122, hinge; 123, rear end frame; 13, folding hydraulic cylinder; 14, driving hydraulic motor; 15, stirring hydraulic motor; 16, braking hydraulic calipers; 17, feeding pipe; 18 , soil covering ditch stabilizer; 181, bulldozer plate; 182, adjustment hole; 183, first installation hole; 184, squeeze box; 185, first column; 19, ditching fertilizer applicator; 191, feed inlet; , a cavity; 193, a second column; 194, a second mounting hole; 20, a PLC controller; 21, a communication base station; 22, an application server; 23, a user end.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

The embodiment of the present application provides an unmanned ditching and fertilizing machine for facility vegetable production, which is mainly composed of a driving chassis system, a ditching and fertilizing system, a hydraulic transmission system, an automatic control system, a wireless communication system and a power supply system, wherein The automatic control system and the wireless communication system constitute the remote control system.

The following is a detailed introduction to each system that constitutes the ditching fertilizer applicator.

Combining Figure 1 and Figure 2, the length × width × height of the ditching and fertilizing machine is 2760 × 1900 × 1765mm, compact and small, suitable for working in greenhouses.

In the driving chassis system, the driving hydraulic motor 14 is installed above the middle of the rear wheel shaft. When the driving hydraulic motor 14 rotates, it can drive the rear wheel shaft to rotate forward and backward through the differential on the rear wheel shaft, and drive the ditching fertilizer spreader to move forward or backward. .

The steering hydraulic cylinder 4 is installed behind the front wheel shaft, and the two output ends of the steering hydraulic cylinder 4 are respectively hinged with the left front wheel and the right front wheel. When the push rod of the steering hydraulic cylinder 4 moves to the left and right, it can drive the two front wheels. Turn left and right.

A brake hydraulic caliper 16 is installed inside each wheel, and when the brake hydraulic caliper 16 is clamped, the four wheels stop rotating; when the brake hydraulic caliper 16 is released, the four wheels can rotate.

With reference to Fig. 3, the chassis system includes a frame 12 located on its upper part, the frame 12 includes a main frame 121 and a rear frame 123, and the rear frame 123 is hinged to the main frame 121 through two hinges 122 to rotate up and down. tail end. The up and down rotation of the rear end frame 123 is driven by the unfolding and folding hydraulic cylinders 13 installed on the main frame 121 . Above-mentioned four wheels and two axles are installed on main frame 121 bottoms.

In this embodiment, both the main frame 121 and the rear frame 123 are welded by 50×50×5 mm square steel pipes. The maximum angle at which the rear end frame 123 is raised upwards is 40°.

The ditch fertilization system comprises a fertilizer box 11, a soil-covering ditch stabilizing device 18 and a ditching fertilizer applicator 19, wherein the fertilizer box 11 is installed on the rear part of the upper end of the main frame 121, and the ditch-covering ditch stabilizing device 18 and the ditching and fertilizing device 19 are installed on the rear end machine. Rack 123.

Referring to Fig. 4, the box body 112 of the fertilizer box 11 is a box-shaped structure with an open upper part, the upper part is square, the lower bottom is round, and the transition section between the upper part and the lower bottom is funnel-shaped, consisting of four spliced inclined plates . A vertical partition 114 is provided in the box body 112, and the partition plate 114 divides the inner cavity of the box body 112 into an organic fertilizer storage chamber and an inorganic fertilizer storage chamber. There is a gap between the lower end of the dividing plate 114 and the casing 112, so that the stirring blade 113 for stirring and mixing organic fertilizer and inorganic fertilizer can be installed at the bottom of the inside of the casing 112, and the stirring blade 113 covers the circular area at the bottom of the casing 112. The stirring blade 113 is driven by a stirring hydraulic motor 15 installed outside the bottom of the casing 112 . The stirring blade 113 is preferably blade-shaped, so as to cut and break the organic fertilizer and the inorganic fertilizer, so as to refine the fertilizer.

In addition, a discharge port 111 is opened in a circular area at the lower bottom of the box body 112 for providing fertilizer for fertilization to the ditch fertilizer applicator 19 . The quantity of discharge port 111 depends on the number of planting ditch that needs to be fertilized, and should be more and not less. For example, in this embodiment, the number of outlets 111 is six, which means that six ditch fertilizers 19 can be used to fertilize the six planting furrows at the same time. If only open at the same time, for example, four planting ditches, then the extra two unused discharge ports 111 can be sealed with lids.

In this embodiment, the box body 112 is made of welded steel plates with a thickness of 4 mm. The volume of the fertilizer box 11 is about 0.96 m ³ , and the fertilizer loading capacity is large, which can realize continuous fertilization for a long time, and the fertilizer can slide to the fertilizer box 11 under the action of gravity. The bottom is discharged from the discharge port 111. The volume ratio of the organic fertilizer storage chamber and the inorganic fertilizer storage chamber is about 2, and the organic fertilizer is, for example, chicken manure. The gap reserved between the lower end of the partition plate 114 and the box body 112 is about 30 mm.

During work, stirring blade 113 rotates, and chicken manure is smashed, and the chicken manure and chemical fertilizer below dividing plate 114 are stirred evenly, and mixed fertilizer is pushed to discharge port 111. When the stirring blade 113 does not rotate, the stirring blade 113 and the agglomerated chicken manure can block the discharge port 111, so that it is not easy to leak material.

5 and 6, the lower end of the ditching fertilizer applicator 19 is provided with a shovel head, and both sides of the shovel head are symmetrically provided with soil squeezing curved surfaces, and the soil squeezing curved surfaces on both sides extend forward to form a pointed shovel-shaped front. The pointed shovel-shaped front part is used for digging and cutting the soil when opening the planting ditch, and the soil-squeezing curved surface is used to squeeze the pushed up crushed soil to the sides. A cavity 192 is formed on the inner sides of the soil-extruded curved surfaces on both sides. The rear portion of the cavity 192 is trapezoidal, and the trapezoidal shape can determine the shape of the planting ditch. The upper part of the cavity 192 is provided with a feed port 191 communicated with it, and the feed port 191 is connected with the discharge port 111 of the fertilizer box 11 through the feed pipe 17. When forming the planting ditch, the fertilizer is discharged to the The bottom of the ditch, so as to realize the opening of planting ditch and fertilization in the ditch.

The aforementioned ditching fertilizer applicator 19 is installed on the rear end frame 123 . Specifically, a second column 193 is fixed on the shovel head at the lower end of the ditching fertilizer applicator 19, and a plurality of second mounting holes 194 are spaced apart along the length direction on the second column 193, and the second mounting hole 194 is used to place the Ditching fertilizer applicator 19 is screwed on the rear end frame 123. The installation height of the ditch fertilizer applicator 19 on the rear frame 123 can be adjusted by using different second installation holes 194 . The number of ditching fertilizer applicators 19 installed side by side on the rear end frame 123 depends on the situation, and one ditching fertilizer applicator 19 corresponds to one discharge port 111 .

In this embodiment, the entry angle of the shovel head is taken as α=30°, the length is taken as L ₃ =210mm; the width of the long side of the trapezoidal cavity 192 is taken as L ₁ =240mm, the width of the short side is taken as L ₂ =40mm, and the height is taken as H ₁ = 250mm.

During work, the unfolding hydraulic cylinder 13 drives the rear end frame 123 to rotate downwards, and then the ditching fertilizer applicator 19 is in the working position (at this moment, the rear end frame 123 is flattened, as shown in Figure 1 ). When the ditching fertilizer applicator moves forward, the planting ditch can be opened, and the fertilizer can be discharged into the ditch bottom through the cavity 192 backwards. When the number of ditching and fertilizing applicators 19 installed on the rear end frame 123 is multiple, a plurality of side-by-side planting ditches can be opened, and the fertilization in the ditch of the multiple side-by-side planting ditches can be completed at the same time, so as to improve operation efficiency.

Referring to Fig. 7 and Fig. 8, the soil-covering ditch stabilizer 18 includes an extrusion box 184, the cross section of which is trapezoidal and suitable for the established planting ditch. The squeeze box 184 uses its bottom side to squeeze the bottom surface of the planting ditch, and utilizes its two sides to squeeze the two sides of the planting ditch to stabilize the shape of the ditch. The front portion of extrusion box 184 is fixed with a larger trapezoidal plate than extrusion box 184 section, and this trapezoidal plate is provided with adjusting hole 182, is connected with a horizontal bulldozing plate 181 by thread on the trapezoidal plate. The bulldozing board 181 is used to flatten and compact the top of the narrow ridges between the various planting ditches, and push a part of broken soil into the ditch to cover the fertilizer. The adjustment hole 182 adopts a vertical waist hole so that the installation height of the bulldozing blade 181 can be adjusted.

The aforementioned soil-covering ditch stabilizer 18 is installed on the rear end frame 123 . Specifically, a first column 185 is fixed on the extrusion box 184, and a plurality of first installation holes 183 are spaced along the length direction on the first column 185, and the soil-covering ditch stabilizer 18 is threadedly connected to the first installation hole 183. On the rear end frame 123. The installation height of the soil-covering ditch stabilizer 18 on the rear frame 123 can be adjusted by using different first installation holes 183 . It should be pointed out that the number of soil-covering ditch stabilizing devices 18 and ditching and fertilizing devices 19 is equal, and they correspond one by one, and the installation heights are compatible, that is, the covering soil ditch stabilizing devices 18 are used to stabilize the corresponding ditching and fertilizing devices 19 The planting ditch opened.

In this embodiment, the height of the bulldozing blade 181 is taken as L ₄ =100mm, and the height of the extrusion box 184 is taken as H ₂ =145mm.

The aforementioned hydraulic transmission system, automatic control system, wireless communication system and power supply system are described in detail below.

Among them, the automatic control system, as the name suggests, is used to control the action of each moving part on the ditching fertilizer applicator to realize corresponding functions (moving parts such as motors, solenoid valves, etc., see the following content), and realize the operation process of the ditching fertilizer applicator.

10 and 12, in the present embodiment, the automatic control system uses a PLC controller 20, and the specific model of the PLC controller 20 is Siemens S7-200 SMART CPU ST40.

Referring to Fig. 9, the hydraulic transmission system includes a hydraulic pump station 6, the oil circuit of the hydraulic pump station 6 is divided into five circuits after passing through the check valve 901, wherein the first circuit passes through the throttle valve 902 and the first three-position four-way solenoid The valve 903 is connected to the steering hydraulic cylinder 4, the second path is connected to the four brake hydraulic calipers 16 through the throttle valve 902 and the two-position three-way solenoid valve 907, and the third path is connected to the throttle valve 902 and the third three-position four-way solenoid valve 906 is connected to two folding hydraulic cylinders 13, the fourth road is connected to the driving hydraulic motor 14 through the throttle valve 902 and the second three-position four-way solenoid valve 904, and the fifth road is connected to the throttle valve 902 and the two-position two-way solenoid valve 905 Stirring hydraulic motor 15.

In conjunction with Figure 10, the electromagnet YA1 used to control the right steering of the whole machine on the first three-position four-way solenoid valve 903 is connected to the Q0.1 port of the PLC controller 20, and the electromagnet YA2 used to control the right steering of the whole machine is connected to Q0.2 port of the PLC controller 20 . The electromagnet YA3 used to control the forward movement of the whole machine on the second three-position four-way solenoid valve 904 is connected to the Q0.3 port of the PLC controller 20, and the electromagnet YA4 used to control the backward movement of the whole machine is connected to the PLC controller 20 Q0.4 port.

The electromagnet YA5 used to control fertilizer agitation on the two-position two-way solenoid valve 905 is connected to the Q0.5 port of the PLC controller 20 . The electromagnet YA6 that is used to control the flattening of the rear end frame on the third three-position four-way solenoid valve 906 is connected to the Q0.6 port of the PLC controller 20, and the electromagnet YA7 that is used to control the lifting of the rear end frame is connected to Q0.7 port of the PLC controller 20 . The electromagnet YA8 used to control the braking of the whole machine on the two-position three-way solenoid valve 907 is connected to the Q1.0 port of the PLC controller 20 .

The above-mentioned one-way valve 901, throttle valve 902, first three-position four-way solenoid valve 903, second three-position four-way solenoid valve 904, two-position two-way solenoid valve 905, third three-position four-way solenoid valve 906 and The two-position three-way electromagnetic valve 907 constitutes the hydraulic valve group 9 , and the hydraulic valve group 9 is arranged on the upper end of the main frame 121 and is located at one side of the fertilizer tank 11 .

The power supply system includes a storage battery 2 and a DC generator 5 , which are arranged on the front part of the upper end of the main frame 121 . The above-mentioned hydraulic pump station 6 is also arranged on the front part of the upper end of the main frame 121 , and is mainly composed of a diesel engine 3 , a hydraulic pump and a hydraulic oil tank 1 . Diesel engine 3 is connected with dynamo 5 through transmission belt 10, drives dynamo 5 to generate electricity, and the electric part that sends out is used for the electrical equipment on ditching fertilization machine, and another part is stored in storage battery 2 for standby.

Referring to FIG. 10 , the relay KA1 for starting the diesel engine is connected to the Q0.0 port of the PLC controller 20 .

In order to realize the local operation of the ditching fertilizer applicator, several control buttons are provided. Specifically, in conjunction with FIG. 10 , the diesel generator start button SB1 is connected to the I0.0 port of the PLC controller 20, the forward button SB2 of the whole machine is connected to the I0.5 port of the PLC controller 20, and the backward button SB3 of the whole machine is connected to To the I0.6 port of the PLC controller 20, the left turn button SB4 of the whole machine is connected to the I0.7 port of the PLC controller 20, and the right turn button SB5 of the whole machine is connected to the I1.0 port of the PLC controller 20, and the whole mechanism The moving button SB6 is connected to the I1.1 port of the PLC controller 20, the fertilizer stirring button SB7 is connected to the I1.2 port of the PLC controller 20, and the rear-end rack lifting button SB8 is connected to the I1.3 port of the PLC controller 20 , the rear rack flattening button SB9 is connected to the I1.4 port of the PLC controller 20 , and the emergency stop button SB10 is connected to the I1.7 port of the PLC controller 20 .

In addition, MPBS ultrasonic sensors are also installed around the ditching fertilizer applicator, wherein the left front ultrasonic sensor S1 is connected to the I0.1 port of the PLC controller 20, and the right front ultrasonic sensor S2 is connected to the I0.2 port of the PLC controller 20 , the left rear ultrasonic sensor S3 is connected to the I0.3 port of the PLC controller 20 , and the right rear ultrasonic sensor S4 is connected to the I0.4 port of the PLC controller 20 .

Two rear-end frame limit switches are installed on the main frame 121, wherein, the rear-end frame raises the limit switch SQ1 and is connected to the I1.5 port of the PLC controller 20, and the rear-end frame flattens the limit switch SQ2 is connected to the I1.6 port of the PLC controller 20 .

An MCGS touch screen is also connected to the PLC controller 20 , and the operating parameters of the ditching and fertilizing machine can be set by using the MCGS touch screen, such as the speed and running track of the ditching and fertilizing machine.

The above-mentioned MCGS touch screen, PLC controller 20, relays and various control buttons are installed in the electrical control cabinet 7, and the electrical control cabinet 7 is arranged on the front part of the upper end of the main frame 121.

10 and 12, the wireless communication system includes a wireless gateway 8, the wireless gateway 8 adopts a gateway DTU, communicates with the PLC controller 20 through the RS485 line, and the user terminal 23 uses the 4G, 5G and other networks provided by the communication base station 21 of the operator. Communicate with the application server 22, and the application server 22 communicates with the gateway DTU through the operator's NB-IoT network, thereby realizing two-way wireless communication between the user end 23 and the PLC controller 20. The user terminal 23 can be, for example, a mobile phone, a tablet computer, etc., so that the ditching and fertilizing machine can be remotely controlled.

The aforementioned wireless gateway 8 can be installed outside the electrical control cabinet 7 .

The operation method of the present invention will be introduced below in conjunction with FIG. 11 .

For machine travel control:

First press the start button to make the diesel engine work; when it is necessary to go straight, then press the forward (reverse) button of the whole machine to control the forward (reverse) rotation of the driving hydraulic motor.

If you want to turn, press and hold the left (right) steering button of the whole machine, and control the steering hydraulic cylinder push rod to move right (left).

If you want to brake, press and hold the brake button of the whole machine to control the hydraulic calipers to brake.

When the ultrasonic sensors around the whole machine detect obstacles, the whole machine will brake and wait for further manipulation.

Press the stop button to stop the diesel engine.

For the control of ditching and fertilization operations, it needs to be carried out under the working state of the diesel engine:

During operation, press the flattening button of the rear end frame first to control the extension of the hydraulic cylinder push rod; then press the fertilizer stirring button to control the stirring hydraulic motor to rotate.

When not working, first press the stirring button to control the stirring hydraulic motor to stop, and then press the back-end frame lifting button to control the push rod of the folding hydraulic cylinder to retract. Whether the flattening (lifting) of the rear-end rack is in place is controlled by the flattening (lifting) limit switch of the rear-end rack.

In the specific operation, first confirm whether the installation quantity and installation height of the ditch fertilizer and soil covering ditch stabilizer meet the agronomic requirements, and then confirm that the rear end frame is in a raised state and the stirring blade in the fertilizer box is in a non-rotating state. Then control the whole machine to drive to the door of the greenhouse.

Then, fill the fertilizer tank with chicken manure and chemical fertilizer respectively, and then control the whole machine to drive to the side in the greenhouse and to the longitudinal position of the greenhouse;

Afterwards, control the stirring blades to rotate, perform operations such as smashing chicken manure, mixing with chemical fertilizers, and discharging mixed fertilizers to the feeding pipe; at the same time, control the whole machine to go straight forward and flatten the rear end frame, and start ditching, Fertilization, soil covering, and ditch stabilization operations.

When the whole machine works to the other end close to the greenhouse, control the mixing blades to stop, lift the rear end frame, and turn the whole machine around; after completion, continue to control the whole machine to carry out ditching, fertilization, soil covering, and ditch stabilization operations; so Two back and forth, that is, to complete the ditching, fertilization, soil covering, and ditch stabilization operations of a greenhouse; finally, control the stirring blades to stop, the rear end frame to lift, and the whole machine to drive out of the greenhouse.

When obstacles and other situations are encountered during the operation, the brake of the whole machine can be controlled, and the operation can be continued after inspection and adjustment.

When entering the next greenhouse to work, first fill up the fertilizer tank, and then control the whole machine to work.

When the work is over, control the whole machine to drive back to the hangar and stop it, and then clean up the ditching and fertilizing machine.

Except that adding fertilizer into the fertilizer tank needs to be done manually, most of the other work can be realized by the operator through the buttons on the spot, or by the execution of the preset program, or by remote control by the operator. When the ditching and fertilization operation is realized through the user terminal or preset program control, workers only need to add fertilizer outside each greenhouse. Workers can stay away from the sweltering, fume and noisy working environment in the greenhouse.

The ditching and fertilizing machine proposed by the present invention is designed for the agronomic requirements of "opening planting ditch, fertilizing in ditch, covering soil and stabilizing ditch" in the production of facility vegetables. 6 lines, two back and forth can complete the operation requirements of an 8m wide greenhouse. Ditch fertilization depth 90-130mm, fertilizer finely mixed degree ≥ 90%, fertilization uniformity ≈ 90%, covering soil thickness ≥ 50mm, ditch bottom soil surface width ≈ 100mm, ditch bottom soil surface depth 30-70mm, ditch shape stability ≥ 95 %. The operating speed of ditching and fertilizing machine is ≥5Km/h, and the duration of continuous fertilization is ≥1 greenhouse. Ditch fertilization has good quality and high efficiency.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present invention. , should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. An unmanned ditching and fertilizing machine for facility vegetable production, characterized in that it comprises a driving chassis system, a ditching and fertilizing system, a hydraulic transmission system and a remote control system; The driving chassis system can drive forward and backward and turn left and right. The upper part of the driving chassis system is equipped with a frame; the frame includes a main frame and a rear frame hinged at the tail end of the main frame. The folding hydraulic cylinder drives the rotation; The hydraulic transmission system is used to provide the hydraulic power required for the driving chassis system and the ditching and fertilization system; The remote control system is used to remotely control the ditching fertilizer applicator; Trench fertilization systems include: Fertilizer bins for supplying fine-grained fertilizers to open trench applicators; furrowing applicators for creating and fertilizing planting furrows; and, Soil-covering ditch stabilizer, used to push crushed soil into the ditch to cover the fertilizer and stabilize the shape of the planting ditch; Both the ditching fertilizer applicator and the soil covering ditch stabilizing device are installed on the rear end frame, and the front and rear positions correspond to each other. 2. The ditching and fertilizing machine according to claim 1, characterized in that, a plurality of ditching and fertilizing devices and a plurality of ditch-covering and ditch stabilizing devices are installed side by side on the rear end frame, the two are equal in number and correspond to each other. 3. The ditching fertilizer applicator according to claim 1, wherein the cavity of the fertilizer box is divided into an organic fertilizer storage cavity and an inorganic fertilizer storage cavity by a partition, and the inside bottom of the fertilizer box is provided with a stirring blade and a discharge port, There is a gap between the lower end of the partition and the fertilizer box for installing the stirring blade; the stirring blade is driven by the stirring hydraulic motor installed outside the bottom of the fertilizer box to stir and mix the organic fertilizer and the inorganic fertilizer; the mixed fertilizer passes through the discharge port The feed pipe is transported to the ditch fertilizer applicator. 4. The ditching fertilizer applicator according to claim 3, wherein the hydraulic transmission system includes a hydraulic pump, a hydraulic control circuit and a plurality of solenoid valves arranged in the hydraulic control circuit, and the driving chassis system is controlled by the solenoid valve on and off. The steering hydraulic cylinder, driving hydraulic motor and brake hydraulic calipers in the steering wheel can realize driving, steering and braking of the whole machine; the stirring hydraulic motor in the ditching and fertilization system is controlled by the solenoid valve on and off to realize the rotation of the stirring blades; Break control unfolding hydraulic cylinder to realize the unfolding and folding of the rear end frame. 5. The ditching fertilizer applicator according to claim 4, wherein the remote control system comprises an automatic control system and a wireless communication system, wherein the automatic control system comprises a PLC controller, the wireless communication system comprises a wireless gateway, and the user terminal utilizes a wireless The gateway establishes a remote communication connection with the PLC controller to realize the remote control of the ditching and fertilizing machine; two rear-end frame limit switches are installed on the main frame, which are used for the upper and lower limits when the rear-end frame rotates; There are also ultrasonic sensors on the trenching fertilizer applicator to detect obstacles. 6. The ditching fertilizer applicator according to claim 1, characterized in that, the lower end of the ditching and fertilizing applicator is provided with a shovel head, and the soil-squeezing curved surfaces on both sides of the shovel head extend forward to form a pointed shovel-shaped front part, and the pointed shovel The shaped front part is used for digging and cutting the soil when opening the planting ditch, and the soil squeezing surface is used to squeeze the pushed up crushed soil to both sides; A cavity is formed on the inner side of the soil extrusion surface on both sides, and the rear part of the cavity matches the shape of the planting ditch; the upper part of the cavity is provided with a feed port connected to it, and the feed port accepts the fertilizer provided by the fertilizer box. Fertilizer, the fertilizer is discharged to the bottom of the ditch through the cavity. 7. The ditching fertilizer applicator according to claim 6, characterized in that the installation height of the ditching fertilizer applicator on the rear end frame is adjustable. 8. The trenching and fertilizing machine according to claim 1, characterized in that, the soil-covering ditch stabilizing device comprises an extrusion box, the section of which is adapted to the planting ditch provided; A trapezoidal plate is fixed, and a horizontal bulldozing plate is fixed on the trapezoidal plate. The bulldozing plate is used for flattening and compacting the upper part of the narrow ridge between the planting ditch, and pushing a part of crushed soil into the ditch to cover the fertilizer. 9. The ditching fertilizer applicator according to claim 8, characterized in that the installation height of the bulldozing blade on the trapezoidal board is adjustable. 10. The ditching and fertilizing machine according to claim 8, characterized in that, the installation height of the ditch stabilizing device on the rear end frame can be adjusted.

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