CN117441433A - Concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device and method for orchard - Google Patents
Concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device and method for orchard Download PDFInfo
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- 239000003337 fertilizer Substances 0.000 title claims abstract description 133
- 238000007599 discharging Methods 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000002420 orchard Substances 0.000 title claims abstract description 28
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000003801 milling Methods 0.000 claims abstract description 28
- 230000004720 fertilization Effects 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000003895 organic fertilizer Substances 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000001351 cycling effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 6
- 241000207199 Citrus Species 0.000 description 5
- 235000020971 citrus fruits Nutrition 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 230000009418 agronomic effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- QJZYHAIUNVAGQP-UHFFFAOYSA-N 3-nitrobicyclo[2.2.1]hept-5-ene-2,3-dicarboxylic acid Chemical compound C1C2C=CC1C(C(=O)O)C2(C(O)=O)[N+]([O-])=O QJZYHAIUNVAGQP-UHFFFAOYSA-N 0.000 description 1
- 241000894006 Bacteria Species 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
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- 235000016709 nutrition Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Fertilizing (AREA)
Abstract
The invention discloses a concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device and method for an orchard, and the device comprises a travelling mechanism and a ditching and fertilizing mechanism arranged on the travelling mechanism, wherein the ditching and fertilizing mechanism comprises a milling and throwing type double-disc ditching cutter head assembly, a diversion earthing plate assembly, a concentric double-shaft spiral precise fertilizer discharging mechanism, a laser radar, a fertilizer box and a traction frame, the concentric double-shaft spiral fertilizer discharging mechanism simplifies feeding and discharging spiral auger structures, and the purpose of improving fertilizer discharging precision for different fruit tree types and fertilizer types is achieved by controlling the fertilizing amount through the rotating speed of the discharging spiral auger.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device and method for an orchard.
Background
Along with the promotion of scientific fertilization work such as fertilizer reduction and synergy, fertilizer utilization rate improvement and the like in China, the promotion of fertilization precision and specialized development are urgently needed. The tree body has high nutrition consumption after sprouting, growth and fruiting of the fruit tree in one year. Different growth periods and different ages of trees have different nutrient requirements. In order to exert fertilizer efficiency in proper time, promote the processes of fruit sprouting, growth, fruiting and the like, reasonable fertilization is adopted, and the strengthening of accurate fertilization of fruit trees is a main measure of high quality and high yield in the growth process of forest fruits.
In the existing related research of mechanized fertilization of fruit trees, there are some patent documents related to precise variable fertilization devices and methods, such as: publication number CN107912116B, patent name: a variable fertilizing device based on CAN bus and a control method thereof, which adopts GPS positioning nodes to extract position coordinates, acquires current field information according to the position coordinates to carry out fertilization, but the fertilization mode error in the material is larger, the used fertilizer is an external sheave type fertilizer, and the fertilizer is only suitable for loose fertilizers with better fluidity, is easy to overhead and block and is not suitable for organic fertilizers, so even if the positioning problem is solved, the accurate fertilization cannot be achieved due to the fertilization mode. Publication number CN114175879a, patent name: an intelligent bilateral fertilizer application device for an orchard adopts a variable fertilizer application mode that a cavity-separated fertilizer box structure and auger blades are used for carrying out close-range multi-application and long-range few-application on fruit trees, but cannot carry out complete and accurate fertilizer application only according to the mode of controlling the fertilizer application amount according to the distance between the intelligent bilateral fertilizer application device and the fruit trees. Based on the problems, different types of fertilizers cannot be applied, and the requirements of accurate position and fertilization amount are not met. This is a disadvantage of the prior art.
Disclosure of Invention
The invention provides an orchard concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device and method capable of realizing precise fertilization according to different types of fertilizers and different ages of fruit trees.
In order to achieve the aim, the invention firstly provides a concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for an orchard, which comprises a travelling mechanism and a ditching and fertilizing mechanism arranged on the travelling mechanism, wherein the ditching and fertilizing mechanism comprises a milling and throwing type double-disc ditching cutter head assembly, a diversion earthing plate assembly, a concentric double-shaft spiral precise fertilizer discharging mechanism, a laser radar, a fertilizer box and a traction frame, the traction frame is suspended on the travelling mechanism, a global navigation satellite receiving module is arranged on the travelling mechanism, the fertilizer box is fixed on the traction frame through a supporting frame, and the concentric double-shaft spiral precise fertilizer discharging mechanism is arranged in the fertilizer box and used for variable fertilization.
In this embodiment, the accurate fertilizer mechanism of concentric biax spiral includes servo motor, ejection of compact spiral auger and feed spiral auger, the fertilizer box includes hopper and the auger U type groove of setting below the hopper on upper portion, ejection of compact spiral auger and feed spiral auger are coaxial to be laid in auger U type inslot, and the feed end of feed spiral auger is connected with the import in auger U type groove, and the discharge end of ejection of compact spiral auger is connected with the exit linkage in auger U type groove, and the support of biax vertical bearing frame passes through the bearing frame to be fixed on the top surface at auger U type groove middle part, the rotation axis one end of ejection of compact spiral auger is installed on the left side of fertilizer box through the bearing, and the other end passes through the bearing and is installed on the opposite side of biax vertical bearing frame, and the other end passes through the bearing and installs on the right side of fertilizer box, ejection of compact spiral auger passes through servo motor drive rotation; the feeding screw auger is driven to rotate by a chain transmission mechanism, the chain transmission mechanism is connected with the output end of a power system of the travelling mechanism, and the power system of the travelling mechanism provides power for the rotation of the feeding screw auger.
In the embodiment, the clearance between the discharging spiral auger, the feeding spiral auger and the auger U-shaped groove is not more than 1mm.
In this embodiment, the spacing between the discharge auger blades is less than the spacing between the feed auger blades.
In the embodiment, the quantitative fertilization device further comprises a control system, wherein the laser radar, the global navigation satellite receiving module and the servo motor are connected with the control system, and the control system controls the rotating speed of the servo motor to realize quantitative fertilization.
The invention also comprises a concentric double-shaft spiral precise fertilizer discharging method for the orchard, which comprises the concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for the orchard, wherein the control system controls the rotation speed n of a discharge spiral auger by controlling the rotation speed of a servo motor on a concentric double-shaft spiral precise fertilizer discharging mechanism, so as to realize quantitative fertilizer discharging, and the walking mechanism adopts a tractor;
the method specifically comprises the following steps:
a. the method comprises the steps that (1) initial setting is carried out, and a global navigation satellite receiving module is installed on a tractor; the global navigation satellite receiving module is used for acquiring longitude and latitude coordinates of the tractor and calculating the forward speed v of the tractor through the longitude and latitude coordinates; the laser radar is arranged on one side of the tractor facing the fruit tree, and is used for acquiring the crown area A and the distance between the tractor and the fruit tree and feeding back the distance between the tractor and the fruit tree to the control system in real time;
the fruit tree type to be fertilized, the target fertilizing amount m of the fruit tree, the fertilizer type, the fertilizer volume weight rho, the diameter D of the discharging spiral auger, the pitch S of the discharging spiral auger and the filling coefficient phi of the discharging spiral auger are selected through the input end, meanwhile, the walking route of the tractor is set,
b. starting a tractor, a global navigation satellite receiving module and a laser radar, wherein the tractor is positioned through longitude and latitude coordinates and moves forward at a constant speed according to a set walking route, when a fruit tree enters a laser radar scanning range, the laser radar obtains the crown area A of the fruit tree, simultaneously takes the starting point and the finishing point of the crown on the maximum vertical section parallel to the walking route as starting coordinates and finishing coordinates, and transmits the starting coordinates and the finishing coordinates to a control system as control signals for controlling a discharging spiral auger to start rotating and stop rotating;
c. calculate the discharge spiral Long Zhuaisu n:
wherein, the conveying quantity Q of the spiral fertilizer discharging in unit time is as follows:
Q＝4.7×10 -2 ×ρφD 2 Sn (5)
wherein ρ is the volume weight of the organic fertilizer, unit: kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the D is the diameter of a discharging spiral auger, and the unit is: m; s is the pitch of a discharging spiral auger, and the unit is: m; n is the rotation speed of the discharging spiral auger, and the unit is: r/min, phi is the filling coefficient of the discharging spiral auger;
the relation between the advancing speed v of the tractor and the spiral fertilizer discharging and conveying amount m is as follows:
wherein, spiral fertilizer delivery quantity m, unit: kg; area a of crown profile, unit: m is m 2 The method comprises the steps of carrying out a first treatment on the surface of the Tractor forward speed v, unit: m/s;
bringing formula (1) into formula (2) to obtain:
d. transmitting the rotation speed n of the discharging spiral winch to a control system, and adjusting the rotation speed of a servo motor by the control system according to the rotation speed n of the discharging spiral winch;
e. and (c) cycling the steps b, c and d until the tractor finishes the set route.
In the above embodiment, association tables of different fruit tree types, different tree crown areas, different fertilizer types and specific fertilizer amounts are stored in the control system as fertilizer amount relation functions, in the step a, the target fertilizer amount m of the fruit tree is not required to be input, in the step b, the target fertilizer amount m of the fruit tree is obtained by utilizing the fruit tree crown area A, after the fruit tree crown area A is obtained by the laser radar, the fruit tree crown area A is transmitted to the control system, the control system calls the fertilizer amount relation functions, and the target fertilizer amount m of the fruit tree is obtained by the tree crown area A.
In the above embodiment, in the step b, the method for specifically obtaining the start coordinate and the end coordinate is as follows:
the method comprises the steps of setting the vertical direction of a fruit tree as a Z axis, setting the travelling path of a tractor as a Y axis, setting the direction of the tractor pointing to the fruit tree as an X axis, scanning by a laser radar to obtain point cloud data of a fruit tree crown, converting the point cloud data provided by the laser radar from polar coordinates to Cartesian coordinates, deleting abnormal values of the point cloud data through a screener, sampling cloud points, and cutting the point cloud data of the fruit tree crown along the Z axis according to a spacing h by a slicing method to form a point cloud slice area S parallel to the Y axis i (i=0, 1, …, n), compared to the point Yun Qiepian S i Is set to S max Then cut the point Yun Qiepian S with a horizontal spacing h max Forming a plurality of straight lines, and slicing the longest straight line and the point cloud S max The intersection point of the outer contours serves as a start coordinate and an end coordinate.
In the above embodiment, the forward speed v of the tractor is 0.22m/s to 0.41m/s.
In the above embodiment, in step d, the storage area of the control system records the area A of the crown profile, longitude and latitude coordinates, and the tractor speed v
The invention has the following beneficial effects:
1. according to the invention, longitude and latitude coordinates of a tractor are obtained through the global navigation satellite receiving module, then the discharging spiral auger Long Zhuaisu n is calculated according to the fruit tree type to be fertilized, the target fertilizing amount m of the fruit tree, the fertilizer type, the fertilizer volume weight rho, the diameter D of the discharging spiral auger, the pitch S of the discharging spiral auger and the filling coefficient phi of the discharging spiral auger, so that the fertilizing amount is controlled through the rotating speed of the discharging spiral auger, the aim of improving the fertilizing accuracy for different fruit tree types and fertilizer types is achieved, meanwhile, the starting or closing of the discharging spiral auger is controlled through the cooperation of the global navigation satellite receiving module and the laser radar, the fertilization is realized only in the crown range of the fruit tree, the fertilization is not carried out at intervals of the fruit tree, and the fertilizing accuracy and the fertilizer utilization rate are further improved.
2. Through the accurate fertilizer mechanism of concentric biax spiral, the power system linkage of feed screw auger and tractor realizes the purpose of fertilizer stirring and transport, and the rethread servo motor independent control's ejection of compact screw auger realizes the accurate control to the ejection of compact to be applicable to different periods, different fruit trees and apply different kinds of fertilizers and quantity.
3. The method can also utilize the laser radar to detect the size of the fruit tree crown, and then directly obtain the fertilizing amount of the corresponding fruit tree according to the area of the fruit tree crown, so that the fertilizing amount can be automatically matched according to different fruit trees, and then the rotating speed of the discharging spiral auger is controlled to achieve accurate fertilization.
In conclusion, the concentric double-shaft spiral fertilizer mechanism has a compact structure, simplifies the structure of the feeding and discharging spiral augers, is suitable for different kinds of fertilizers and the dosage applied to different fruit trees in different periods, can achieve variable fertilization according to the variable relation between the crown area of the fruit trees, the rotating speed of the discharging spiral rod and the advancing speed of the tractor, and ensures the precision of fertilizer discharge. The ditching, fertilizing and earthing operation can be completed at one time, the working efficiency is improved, the input control of the touch screen interaction module is simple, and the operation of a user is convenient.
Drawings
FIG. 1 is a perspective view of the ditching and fertilizing mechanism of the present invention.
Fig. 2 is a second perspective view of the ditching and fertilizing mechanism of the present invention.
FIG. 3 is a front view of the ditching and fertilizing mechanism of the present invention.
Fig. 4 is a left side view of fig. 3.
Fig. 5 is a schematic structural view of the concentric double-shaft spiral precise fertilizer mechanism of the present invention.
Fig. 6 is a top view of the concentric double-shaft spiral precision fertilizer mechanism of the present invention.
Fig. 7 is an elevation view of a milling and polishing disc of the present invention.
Fig. 8 is a left side view of the milling and polishing disc of the present invention.
Fig. 9 is a control flow chart of the present invention.
Fig. 10 is a construction state diagram of the present invention.
In the figure: 1. milling and polishing type double-disc ditching cutter head assembly; 11. milling and throwing the disc; 12. a reduction gearbox; 13. a first coupling; 2. a diversion earthing plate assembly; 3. a concentric double-shaft spiral accurate fertilizer mechanism; 31. a servo motor; 32. a planetary reducer; 33. a second coupling; 34. an L-shaped support plate; 35. a first deep groove ball bearing; 36. a transparent spiral cover plate; 37. discharging spiral auger; 38. double-shaft vertical bearing seat; 39. feeding a spiral auger; 310. a second deep groove ball bearing; 311. a bearing seat support plate; 312. a screw U-shaped groove; 4. a laser radar; 5. a fertilizer box; 51. a discharge hole of the fertilizer box; 52. a hopper; 6. a traction frame; 7. a total driving mechanism; 8. a chain transmission mechanism; 9. depth stop wheel.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
Example 1:
as shown in figures 1 to 8, the concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for the orchard comprises a travelling mechanism and a ditching and fertilizing mechanism arranged on the travelling mechanism, wherein the ditching and fertilizing mechanism comprises a milling and throwing type double-disc ditching cutter head assembly 1, a diversion earthing plate assembly 2, a concentric double-shaft spiral precise fertilizer discharging mechanism 3, a laser radar 4, a fertilizer box 5 and a traction frame 6, the traction frame 6 is hung on the travelling mechanism, a global navigation satellite receiving module is arranged on the travelling mechanism, the model of the laser radar 4 is Sick TIM561, the monitoring distance of the laser radar 4 is 0-8 m, the scanning range is 0-270 degrees, the model of the global navigation satellite receiving module is Ag Leader GPS6500,
in the embodiment, the walking mechanism is a tractor, the fertilizer box 5 is fixed on the traction frame 6 through a support frame, and the concentric double-shaft spiral precise fertilizer mechanism 3 is arranged in the fertilizer box 5 and used for variable fertilization;
the milling and throwing type double-disc ditching cutter head assembly 1 comprises two groups of milling and throwing discs 11 and a cutter head driving mechanism, wherein the two groups of milling and throwing discs 11 are arranged in a mirror symmetry mode and form an included angle of 85 degrees with a horizontal plane, ten ditching cutters are uniformly distributed on each group of milling and throwing discs 11 by taking a rotation shaft of the milling and throwing disc 11 as a center, adjacent ditching cutters on the milling and throwing discs 11 are respectively distributed on two sides of the milling and throwing disc 11 to form staggered arrangement, gaps are formed between the two groups of milling and throwing discs 11, the cross sections of ditches formed by the two groups of milling and throwing discs 11 are in an inverted isosceles trapezoid shape, in the embodiment, the upper ditching width of each ditch is 400mm, the lower ditching width is 250mm, the ditching depth is 400mm, the milling and throwing discs 11 are driven to rotate through the cutter head driving mechanism, the cutter head driving mechanism comprises a cutter head frame, a reduction box 12 and a first coupling 13, the cutter head frame is mounted on the traction frame 6, the rotation shaft of the milling and the output end of the reduction box 12 is connected with the input end of the reduction box 12 through the first coupling 13, and the input end of the total driving mechanism 7 is connected with the power system of the traction and the output end 7 of the total driving mechanism;
the diversion earthing plate assembly 22 is fixed on the fertilizer box 5, the diversion earthing plate assembly 22 is covered on the milling and throwing disc 11 and is placed, the diversion earthing plate assembly 22 comprises a diversion plate and an earthing plate, when the milling and throwing disc 11 throws soil to the diversion plate, the diversion plate diverts the thrown soil into ditches, the earthing plate is made of rubber material and is used for gathering and flattening the soil guided to the ditches, and diversion earthing operation is completed;
the laser radar 4 is arranged on the fertilizer box 5 and faces the outer side of the fruit tree, and crown area data are obtained through scanning of the laser radar 4;
the traction frame 6 is also provided with a depth limiting wheel 9, and the depth limiting wheel 9 can be set to be high according to the required ditching depth of a fertilized orchard, so that the ditching depth of the milling and throwing type double-disc ditching cutter head assembly 1 is limited.
The fertilizer box 5 comprises a hopper 52 at the upper part and an auger U-shaped groove 312 arranged below the hopper, an outlet of the hopper 52 is connected with an inlet of the auger U-shaped groove 312, a fertilizer box discharge port 51 is arranged at the bottom of the fertilizer box 5, an outlet of the auger U-shaped groove 312 is communicated with the fertilizer box discharge port 51, and the fertilizer box discharge port 51 is arranged between two groups of milling and throwing discs 11;
the concentric double-shaft spiral precise fertilizer mechanism 3 comprises a servo motor 31, a discharge spiral auger 37 and a feeding spiral auger 39, wherein the model number of the servo motor is SDGA-01C31BD in the embodiment, the discharge spiral auger 37 and the feeding spiral auger 39 are coaxially arranged in an auger U-shaped groove 312, the feeding end of the feeding spiral auger 39 is connected with the inlet of the auger U-shaped groove 312, the discharging end of the discharge spiral auger 37 is connected with the outlet of the auger U-shaped groove 312, a double-shaft vertical bearing seat 38 is fixed on the top surface of the middle part of the auger U-shaped groove 312 through a bearing seat supporting plate 311, one end of a rotating shaft of the discharge spiral auger 37 is arranged on the left side of a fertilizer box 5 through a first deep groove ball bearing, the other end of the rotating shaft of the feeding spiral auger 39 is arranged on the other side of the double-shaft vertical bearing seat 38 through a second deep groove ball bearing 310, the other end of the rotating shaft of the feeding spiral auger 39 is arranged on the right side of the fertilizer box 5, the output end of the servo motor 31 is connected with the input end of a speed reducer 32 through the second deep groove ball bearing seat 310, and the output end of the planetary speed reducer 32 is connected with the planetary speed reducer 32 through the second planetary speed reducer 32 on the planetary speed reducer L of the planetary speed reducer 2 through the second deep groove bearing seat 32; the rotating shaft of the feeding screw auger 39 is connected with the output end of the chain transmission mechanism 8, and the feeding screw auger 39 is driven to rotate by the chain transmission mechanism 8; the input end of the chain transmission mechanism 8 is connected with the output end of the total driving mechanism 7, the input end of the total driving mechanism 7 is connected with the output end of the power system of the tractor, and the power system of the tractor is used for providing power for the rotation of the feeding screw auger 39.
Further, the clearance between the discharging screw auger 37 and the feeding screw auger 39 and the auger U-shaped groove 312 is not more than 1mm; the interval between the blades of the discharging spiral auger 37 is smaller than the interval between the blades of the feeding spiral auger 39, a transparent spiral cover plate 36 is detachably arranged in the U-shaped groove above the discharging spiral auger 37, the transparent spiral cover plate 36 is made of transparent acrylic materials, the gap between the transparent spiral cover plate 36 and the discharging spiral auger 3-7 is not larger than 1mm, when the situation of fertilizer blockage occurs, the blockage situation can be directly observed through the transparent spiral cover plate 3-6, the transparent spiral cover plate 36 is opened, and the blockage is dredged;
the device also comprises a control system, wherein the laser radar 4, the global navigation satellite receiving module and the servo motor are connected with the control system, and the control system controls the rotating speed of the servo motor to realize quantitative fertilization; the control system adopts a controller with the model number of SIMATIC S7-1200.
Example 2:
as shown in fig. 9, the concentric double-shaft spiral precise fertilizer discharging method for the orchard comprises the concentric double-shaft spiral precise fertilizer discharging and ditching fertilizer applying device for the orchard in the embodiment 1, wherein the control system controls the rotation speed n of a discharge spiral auger by controlling the rotation speed of a servo motor on a concentric double-shaft spiral precise fertilizer discharging mechanism so as to realize quantitative fertilizer discharging;
the method specifically comprises the following steps:
a. the method comprises the steps that (1) initial setting is carried out, and a global navigation satellite receiving module is installed on a tractor; the global navigation satellite receiving module is used for acquiring longitude and latitude coordinates of the tractor and calculating the forward speed V of the tractor through the longitude and latitude coordinates; the laser radar is arranged on one side of the tractor facing the fruit tree, the laser radar is used for acquiring the crown area A and the distance between the tractor and the fruit tree, and feeding back the distance between the tractor and the fruit tree to the control system in real time (the distance fed back to the control system is used for monitoring the comparison of the walking route of the tractor and preventing the deviation of the walking route of the tractor), and meanwhile, the storage area of the control system records the crown section area A, longitude and latitude coordinates and the tractor speed V;
the fruit tree type to be fertilized, the fertilizer type, the fertilizer volume weight ρ, the diameter D of the discharging screw auger, the pitch S of the discharging screw auger and the filling coefficient phi of the discharging screw auger are selected through an input end (the input end in the embodiment refers to an input screen connected with a control system, of course, other input devices can be used) and the walking route of the tractor is set,
b. starting a tractor, a global navigation satellite receiving module and a laser radar, wherein the tractor is positioned through longitude and latitude coordinates and moves forward at a constant speed according to a set walking route, after a fruit tree enters a laser radar scanning range, the laser radar obtains a fruit tree crown area A, the fruit tree crown area A is utilized to obtain a target fertilization amount m of the fruit tree, meanwhile, the starting point and the end point of the crown on the maximum vertical section parallel to the walking route are used as starting coordinates and ending coordinates, and the starting coordinates and the ending coordinates are transmitted to a control system to be used as control signals for controlling a discharging spiral auger to start rotating and stop rotating;
the method for obtaining the starting coordinate and the ending coordinate specifically comprises the following steps:
the method comprises the steps of setting the vertical direction of a fruit tree as a Z axis, setting the travelling path of a tractor as a Y axis, setting the direction of the tractor pointing to the fruit tree as an X axis, scanning by a laser radar to obtain point cloud data of a fruit tree crown, converting the point cloud data provided by the laser radar from polar coordinates to Cartesian coordinates, deleting abnormal values of the point cloud data through a screener, sampling cloud points, and cutting the point cloud data of the fruit tree crown along the Z axis according to a spacing h by a slicing method to form a point cloud slice area S parallel to the Y axis i (i=0, 1, …, n), and the point cloud slice having the largest area is set as S compared with the size of the point cloud slice Si max Then cut the point Yun Qiepian S with a horizontal spacing h max Forming a plurality of straight lines, and slicing the longest straight line and the point cloud S max The intersection point of the outer contours serves as a start coordinate and an end coordinate.
c. Calculate the discharge spiral Long Zhuaisu n:
wherein, the conveying quantity Q of the spiral fertilizer discharging in unit time is as follows:
Q＝4.7×10 -2 ×ρφD 2 Sn (9)
wherein, p is the volume weight of the organic fertilizer, and the unit is: kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the D is the diameter of a discharging spiral auger, and the unit is: m; s is the pitch of a discharging spiral auger, and the unit is: m; n is the rotation speed of the discharging spiral auger, and the unit is: r/min, phi is the filling coefficient of the discharging spiral auger;
the relation between the advancing speed V of the tractor and the spiral fertilizer discharging and conveying amount m is as follows:
wherein, spiral fertilizer delivery quantity m, unit: kg; area a of crown profile, unit: m is m 2 The method comprises the steps of carrying out a first treatment on the surface of the Tractor forward speed V, unit: m/s;
bringing formula (1) into formula (2) to obtain:
d. transmitting the rotation speed n of the discharging spiral winch to a control system, and adjusting a servo motor by the control system according to the rotation speed n of the discharging spiral winch;
e. and (c) cycling the steps b, c and d until the tractor finishes the set route.
Further, association tables of different fruit tree types, different tree crown areas, different fertilizer types and specific fertilizer amounts are stored in the control system as fertilizer amount relation functions, and in the embodiment, the association tables are as follows:
in the step b, after the laser radar obtains the crown area A of the fruit tree, the crown area A of the fruit tree is transmitted to a control system, the control system calls a fertilization amount relation function, and the target fertilization amount m of the fruit tree is obtained through the crown area A. Thus, the target fertilization amount of different fruit trees can be automatically obtained according to the crown area.
In this embodiment, the forward speed V of the tractor is 0.22m/s to 0.41m/s.
Example 3:
the present embodiment is different from embodiment 2 in that in step a, the target fertilizing amount m of the fruit tree can also be directly input through the input end.
Example 4:
according to example 3, in the case of citrus trees grown for 15 years in southwest, the orchard is clay soil, the citrus planting row spacing is about 6m, the plant spacing is about 3m, and the citrus tree height is generally 2-2.5 m. Base fertilizer agronomic requirements for 15-year-old citrus orchard application: each plant of base fertilizer is about 2Kg, the ditching depth is 40cm, the fertilizing mode is strip ditch fertilization, and the fertilizer is applied to the drip line of the crown of the fruit tree.
The device is hung on a tractor, and organic fertilizer produced by the Jiabo biotechnology limited company is added into a fertilizer box, wherein the effective living bacteria are 20.2 hundred million/g, the organic matters are 260.0% (the actual organic matter content is 285%), the easily-oxidizable organic matters are more than 20.0%, the total humic acid is more than 25.0%, and the pH value is: 6.5-8.0, the moisture is less than or equal to 15.0 percent, and the tractor is pulled to lead the ditching and fertilizing device to the entrance of the orchard working channel, and the tractor stops advancing. According to the fertilization agronomic requirements, the fertilization depth is 40cm, the depth limiting wheel 12 is adjusted to be dry-adjusted to the depth of ditching when the milling and throwing type double-disc ditching cutter head assembly 1 can be lowered, and the position of the depth limiting wheel 12 is locked. The gear of the tractor is changed to the crawling gear, a power output shaft of the tractor is started to drive the milling and throwing disc 11 to rotate, when the milling and throwing disc 11 rotates stably, the milling and throwing disc 11 is pressed into the ground through a hanging hydraulic rod of the tractor, and the tractor is flamed out after the fertilizing agronomically required ditching depth is reached.
At the moment, the concentric double-shaft spiral precise fertilizer mechanism is regulated, the global navigation satellite system receiver is arranged on the tractor, the laser radar is arranged on the side of the tractor facing the fruit tree, and the test block is used for testing whether the laser radar works or not.
According to about 2Kg of base fertilizer applied to each plant of citrus, changing to a discharge screw auger 37 with a screw pitch meeting agronomic requirements, inputting a target fertilization amount m of 2Kg, a diameter D of the auger of 120mm and a fertilizer volume weight p of 147.034Kg/m through an input system 3 The screw pitch S is 40mm, the filling coefficient phi is 0.33, and the walking route of the tractor is set.
When the milling and throwing disc 11 rotates stably, the tractor is started to advance, and the advancing speed V of the tractor is generally set to be 0.22-0.41 m/s to meet the ditching and fertilizing operation quality of an orchard. Calculating the area A of the crown section through the point cloud data obtained by the laser radar, determining the starting coordinate and the ending coordinate of the starting of the discharging spiral auger 37, calculating the required rotating speed n of the discharging spiral auger 37 to be 141.8 r/min-193.61 r/min according to the formulas (1) - (4) in the embodiment 2, controlling the servo motor to drive the discharging spiral auger 37 to rotate to discharge fertilizer by the control system after the global navigation satellite system receiver monitors that the tractor reaches the starting coordinate, and implementing the adjustment rotating speed n of the discharging spiral auger 37 according to the advancing speed V of the tractor, so as to ensure the discharging accuracy, and stopping the rotation of the servo motor 31 after the global navigation satellite system receiver monitors that the tractor reaches the ending coordinate.
The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, but rather utilizing equivalent structural changes made in the present invention description and drawings or directly/indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. The utility model provides a concentric biax spiral precision fertilizer discharging, ditching and fertilizing device in orchard, its characterized in that: the automatic fertilizing machine comprises a travelling mechanism and a ditching and fertilizing mechanism arranged on the travelling mechanism, wherein the ditching and fertilizing mechanism comprises a milling and throwing type double-disc ditching cutter head assembly (1), a diversion earthing plate assembly (2), a concentric double-shaft spiral precise fertilizer mechanism (3), a laser radar (4), a fertilizer box (5) and a traction frame (6), the traction frame (6) is suspended on the travelling mechanism, a global navigation satellite receiving module is arranged on the travelling mechanism, the fertilizer box (5) is fixed on the traction frame (6) through a supporting frame, and the concentric double-shaft spiral precise fertilizer mechanism (3) is arranged in the fertilizer box (5) and used for variable fertilization.
2. The concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for an orchard according to claim 1, wherein: the concentric double-shaft spiral precise fertilizer mechanism (3) comprises a servo motor (31), a discharge spiral auger (37) and a feeding spiral auger (39), the fertilizer box (5) comprises a hopper (52) at the upper part and an auger U-shaped groove (312) arranged below the hopper, the discharge spiral auger (37) and the feeding spiral auger (39) are coaxially arranged in the auger U-shaped groove (312), the feeding end of the feeding spiral auger (39) is connected with the inlet of the auger U-shaped groove (312), the discharge end of the discharge spiral auger (37) is connected with the outlet of the auger U-shaped groove (312), a double-shaft vertical bearing seat (38) is supported and fixed on the top surface of the middle part of the auger U-shaped groove (312) through a bearing seat, one end of a rotating shaft of the discharge spiral auger (37) is arranged on the left side of the fertilizer box (5) through a bearing, the other end of the rotating shaft of the feeding spiral auger (39) is arranged on one side of the double-shaft bearing seat (38) through a bearing, the other end of the rotating shaft vertical spiral auger (39) is arranged on the right side of the fertilizer box (31) through the bearing seat, and the spiral vertical auger (37) is driven by the servo motor (31); the feeding screw auger (39) is driven to rotate through a chain transmission mechanism (8), the chain transmission mechanism (8) is connected with the output end of a power system of the travelling mechanism, and the power system of the travelling mechanism provides power for the rotation of the feeding screw auger (39).
3. The concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for an orchard according to claim 2, wherein: the clearance between the discharging spiral auger (37) and the feeding spiral auger (39) and the U-shaped groove (312) of the auger is not more than 1mm.
4. The concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for an orchard according to claim 2, wherein: the interval between the blades of the discharging screw auger (37) is smaller than the interval between the blades of the feeding screw auger (39).
5. The concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for an orchard according to any one of claims 2 to 4, wherein: the quantitative fertilization device also comprises a control system, wherein the laser radar (4), the global navigation satellite receiving module and the servo motor (31) are connected with the control system, and the control system controls the rotating speed of the servo motor (31) to realize quantitative fertilization.
6. The concentric double-shaft spiral precise fertilizer discharging method for the orchard comprises the concentric double-shaft spiral precise fertilizer discharging, ditching and fertilizing device for the orchard, and is characterized in that: the control system controls the rotating speed n of the discharging spiral auger by controlling the rotating speed of a servo motor on the concentric double-shaft spiral precise fertilizer discharging mechanism, so as to realize quantitative fertilizer discharging, and the walking mechanism adopts a tractor;
the method specifically comprises the following steps:
a. the method comprises the steps that (1) initial setting is carried out, and a global navigation satellite receiving module is installed on a tractor; the global navigation satellite receiving module is used for acquiring longitude and latitude coordinates of the tractor and calculating the forward speed V of the tractor through the longitude and latitude coordinates; the laser radar is arranged on one side of the tractor facing the fruit tree, and is used for acquiring the crown area A and the distance between the tractor and the fruit tree and feeding back the distance between the tractor and the fruit tree to the control system in real time;
the fruit tree type to be fertilized, the target fertilizing amount m of the fruit tree, the fertilizer type, the fertilizer volume weight rho, the diameter D of the discharging spiral auger, the pitch S of the discharging spiral auger and the filling coefficient phi of the discharging spiral auger are selected through the input end, the walking route of the tractor is set at the same time,
b. starting a tractor, a global navigation satellite receiving module and a laser radar, wherein the tractor is positioned through longitude and latitude coordinates and moves forward at a constant speed according to a set walking route, when a fruit tree enters a laser radar scanning range, the laser radar obtains the crown area A of the fruit tree, simultaneously takes the starting point and the end point of the crown on the maximum vertical section parallel to the walking route as starting coordinates and ending coordinates, and transmits the starting coordinates and the ending coordinates to a control system as control signals for controlling a discharging spiral auger to start rotating and stop rotating;
c. calculate the discharge spiral Long Zhuaisu n:
wherein, the conveying quantity Q of the spiral fertilizer discharging in unit time is as follows:
Q＝4.7×10 -2 ×ρφD 2 Sn (1)
wherein ρ is the volume weight of the organic fertilizer, unit: kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the D is the diameter of a discharging spiral auger, and the unit is: m; s is the pitch of a discharging spiral auger, and the unit is: m; n is the rotation speed of the discharging spiral auger, and the unit is: r/min, phi is the filling coefficient of the discharging spiral auger;
the relation between the advancing speed v of the tractor and the spiral fertilizer discharging and conveying amount m is as follows:
wherein, spiral fertilizer delivery quantity m, unit: kg; area a of crown profile, unit: m is m 2 The method comprises the steps of carrying out a first treatment on the surface of the Tractor forward speed v, unit: m/s;
bringing formula (1) into formula (2) to obtain:
d. transmitting the rotation speed n of the discharging spiral winch to a control system, and adjusting the rotation speed of a servo motor by the control system according to the rotation speed n of the discharging spiral winch;
e. and (c) cycling the steps b, c and d until the tractor finishes the set route.
7. The concentric double-shaft spiral precise fertilizer discharging method for the orchard according to claim 6, wherein the method is characterized in that: and (3) storing correlation tables of different fruit tree types, different tree crown areas and different fertilizer types with specific fertilizing amounts as fertilizing amount relation functions in a control system, wherein in the step a, the target fertilizing amount m of the fruit tree is not required to be input, in the step b, the target fertilizing amount m of the fruit tree is obtained by utilizing the tree crown area A of the fruit tree, after the tree crown area A of the fruit tree is obtained by a laser radar, the tree crown area A of the fruit tree is transmitted to the control system, and the control system calls the fertilizing amount relation functions, so that the target fertilizing amount m of the fruit tree is obtained by the tree crown area A.
8. The concentric double-shaft spiral precise fertilizer discharging method for the orchard according to claim 6, wherein the method is characterized in that: in step b, the method for obtaining the start coordinate and the end coordinate specifically is as follows:
the method comprises the steps of setting the vertical direction of a fruit tree as a Z axis, setting the travelling path of a tractor as a Y axis, setting the direction of the tractor pointing to the fruit tree as an X axis, scanning by a laser radar to obtain point cloud data of a fruit tree crown, converting the point cloud data provided by the laser radar from polar coordinates to Cartesian coordinates, deleting abnormal values of the point cloud data through a screener, sampling cloud points, and cutting the point cloud data of the fruit tree crown along the Z axis according to a spacing h by a slicing method to form a point cloud slice area S parallel to the Y axis i (i=0, 1, …, n), and the point cloud slice having the largest area is set as S compared with the size of the point cloud slice Si max Then cut the point Yun Qiepian S with a horizontal spacing h max Forming a plurality of straight lines, and slicing the longest straight line and the point cloud S max The intersection point of the outer contours serves as a start coordinate and an end coordinate.
9. The concentric double-shaft spiral precise fertilizer discharging method for the orchard according to claim 6, wherein the method is characterized in that: the advancing speed v of the tractor is 0.22 m/s-0.41 m/s.
10. The concentric double-shaft spiral precise fertilizer discharging method for the orchard according to claim 6, wherein the method is characterized in that: in step d, the storage area of the control system records the area A of the crown profile, longitude and latitude coordinates and the tractor speed v.
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| CN117716823A (en) * | 2024-02-04 | 2024-03-19 | 北京市农林科学院智能装备技术研究中心 | Orchard ditching and fertilizing machine and ditching and fertilizing control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117716823A (en) * | 2024-02-04 | 2024-03-19 | 北京市农林科学院智能装备技术研究中心 | Orchard ditching and fertilizing machine and ditching and fertilizing control method thereof |
| CN117716823B (en) * | 2024-02-04 | 2024-05-10 | 北京市农林科学院智能装备技术研究中心 | Orchard ditching and fertilizing machine and ditching and fertilizing control method thereof |
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