CN203860039U - Refined crop fertilization system - Google Patents
Refined crop fertilization system Download PDFInfo
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- CN203860039U CN203860039U CN201420189720.2U CN201420189720U CN203860039U CN 203860039 U CN203860039 U CN 203860039U CN 201420189720 U CN201420189720 U CN 201420189720U CN 203860039 U CN203860039 U CN 203860039U
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- 230000004720 fertilization Effects 0.000 title claims abstract description 44
- 239000007921 spray Substances 0.000 claims abstract description 49
- 239000003337 fertilizer Substances 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000005086 pumping Methods 0.000 claims abstract description 4
- 239000007788 liquid Substances 0.000 claims description 26
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000007670 refining Methods 0.000 claims 2
- 238000002360 preparation method Methods 0.000 claims 1
- 238000005507 spraying Methods 0.000 abstract description 23
- 230000033001 locomotion Effects 0.000 description 12
- 235000015097 nutrients Nutrition 0.000 description 11
- 239000002689 soil Substances 0.000 description 10
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 8
- 239000000575 pesticide Substances 0.000 description 6
- 238000001228 spectrum Methods 0.000 description 6
- 239000000126 substance Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000012806 monitoring device Methods 0.000 description 4
- 229910052757 nitrogen Inorganic materials 0.000 description 4
- 239000000618 nitrogen fertilizer Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003595 spectral effect Effects 0.000 description 4
- 238000012271 agricultural production Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- ZLMJMSJWJFRBEC-UHFFFAOYSA-N Potassium Chemical compound [K] ZLMJMSJWJFRBEC-UHFFFAOYSA-N 0.000 description 2
- 239000002585 base Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 235000015816 nutrient absorption Nutrition 0.000 description 2
- 239000002686 phosphate fertilizer Substances 0.000 description 2
- 239000011591 potassium Substances 0.000 description 2
- 229910052700 potassium Inorganic materials 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000256837 Apidae Species 0.000 description 1
- 208000027219 Deficiency disease Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000003513 alkali Substances 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000012851 eutrophication Methods 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000014075 nitrogen utilization Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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- 230000005855 radiation Effects 0.000 description 1
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- 239000002699 waste material Substances 0.000 description 1
Landscapes
- Fertilizing (AREA)
Abstract
The utility model discloses a refined crop fertilization system which comprises an omnibearing mobile platform as well as a fertilization device, a detection device and a control device all arranged on the omnibearing mobile platform, wherein the omnibearing mobile platform, the fertilization device and the detection device are controlled by the control device; the fertilization device comprises a fertilizer box, a drainpipe, a delivery pump, an driving device and a mechanical arm; one end of the drainage pipe is connected with the delivery pump, the other end of the drainage pipe is communicated with a spray lance, and multiple shower nozzles are arranged on the spray lance; the delivery pump is communicated with the bottom of the fertilizer box through a pipeline and used for pumping fertilizer to the drainpipe; the driving device is connected with the delivery pump and used for driving the delivery pump to operate; the spray lance is fixed on the mechanical arm; the detection device comprises a binocular camera fixed on the mechanical arm and a spectrograph. According to the utility model, the feature information of a crop can be comprehensively analyzed through the binocular camera and the spectrograph so as to realize refined fertilization; in addition, the structure is simple and the spraying is more flexible.
Description
Technical Field
The utility model relates to a fertilizer injection unit especially relates to a crop fertilization system becomes more meticulous.
Background
The chemical fertilizer is the chemical substance with the largest investment in agricultural production, and the expenditure accounts for about 50 percent of the production expenditure. The contribution rate of the chemical fertilizer to grains is about 40 percent, and more than 20 percent of population needs to be cultivated in land which accounts for 7 percent of the world in China, so the importance of the chemical fertilizer is self-evident.
The current season utilization rate of nitrogen fertilizer in China is generally 30-35%, the current season utilization rate of potassium fertilizer is 35-50%, and the current season utilization rate of phosphate fertilizer is 10-20%, which is far lower than that of developed countries. Most of nitrogenous fertilizer is lost or changed into gas along with rainwater in the chemical fertilizer which is not utilized in the season; potassium fertilizer is absorbed or leached by soil; the phosphate fertilizer is mostly fixed. This not only causes direct economic loss, but also causes serious environmental problems such as soil erosion, soil productivity decrease, water eutrophication, etc. in some areas due to improper fertilization.
Most terrestrial plants rely on the roots to absorb nutrients, but the leaves of the plants can also absorb foreign substances. The nutrients in different forms and types are sprayed on the leaves of the crops, and the utilization effect of the nutrients absorbed by the leaves of the crops is the same as that of the nutrients applied to the roots. Foliar fertilization breaks the traditional way of soil root fertilization, and as a direct and efficient auxiliary measure for crop soil fertilization, it has the advantages of:
(1) fast absorption of nutrients and high fertility. The nutrient absorption rate of the crop leaves is far higher than that of the roots, and the crop nutrients can be supplemented in time.
(2) The pertinence is strong, and some special problems in agricultural production can be solved. Under the saline-alkali and drought environments, the nutrient absorption of roots is inhibited, and the leaf surface spraying effect is good. The nutrient elements which are lacked by the growth of the sprayed crops can correct or improve the nutrient deficiency disease of the crops in time, in particular to the trace elements.
(3) High nutrient utilization rate, less fertilizer consumption and less environmental pollution risk. The nutrients for foliar fertilization do not pass through the soil action, so that the losses of soil fixation, leaching and the like are avoided, and the nutrient utilization rate is improved. The nitrogen utilization rate of the general soil fertilization is only 25% -35% when in season, the foliar fertilization can absorb more than 70% within 24h, the fertilizer dosage is only 1/10-1/5 of the soil fertilization, and the application is proper, so that the soil fertilization of about 1/4 can be reduced, and the risk of soil and water source pollution caused by massive fertilization is reduced.
(4) The application method is simple, convenient and economic, is not influenced by the growth period of crops, and reduces the investment of agricultural production.
The common type engine-driven spraying machine applied to fertilizer and pesticide spraying at present is suitable for large-area operation, high in power, uniform in spraying dosage, poor in flexibility, incapable of achieving variable fertilization, capable of only replacing spray heads with different spraying amounts if dosage is changed, large in spraying area and incapable of achieving accurate fertilization.
Chinese patent publication No. CN2640617Y discloses an automatic target variable pesticide-applying motorized sprayer, which comprises an image monitoring device, a spraying device, an auxiliary signal device, a pesticide liquid supply device and a computer; wherein, the image monitoring device, the spraying device and the auxiliary signal device are respectively connected with the computer, and the liquid medicine supply device is connected with the spraying device; the image monitoring device, the auxiliary signal device and the computer are matched to work, so that the target can be automatically applied according to the existence or nonexistence of an application target; the spraying device is composed of more than one spraying unit, each spraying unit is composed of more than one spray rod, more than one spray head and switch with the same spray amount are arranged on the spray rods, the spray heads of the spray rods are different in spray amount, the spray rod switches are connected with a computer through pipelines, and the computer controls the on-off of the spray rods, so that different spray amount combinations can be realized, the spraying dosage can be automatically adjusted according to the characteristic change of a pesticide application target and the change of the unit walking speed, and the purpose of variable pesticide application is achieved.
The automatic motor-driven sprayer for applying pesticide to the target in a variable mode can be used for applying fertilizer, variable pesticide application and fertilizer application can be carried out although the sprayer can judge whether the target exists or not according to the image monitoring device and some characteristic information of the target, the information quantity provided by the image is extremely limited, the condition of elements required by crops cannot be analyzed, the position of the middle spray rod and the spray head of the utility model is fixed, and the sprayer can only be used for spraying to a limited area right in front of the sprayer, and if the whole plant of crops needs to be sprayed, the positions of the spray rod and the spray head need to be adjusted and fixed again.
SUMMERY OF THE UTILITY MODEL
The utility model provides a crop fertilization system that becomes more meticulous can be through the characteristic information of two mesh cameras and the comprehensive analysis crops of spectrum appearance to realize the fertilization that becomes more meticulous, and simple structure, the spraying is more nimble.
A refined crop fertilization system comprising: the device comprises an omnidirectional moving platform, and a fertilizing device, a detecting device and a control device which are arranged on the omnidirectional moving platform, wherein the omnidirectional moving platform, the fertilizing device and the detecting device are controlled by the control device;
the fertilizer injection unit include:
a fertilizer box;
one end of the liquid outlet pipe is connected with the delivery pump, the other end of the liquid outlet pipe is communicated with a spray rod, and the spray rod is provided with a plurality of spray heads;
the conveying pump is communicated with the bottom of the fertilizer box through a pipeline and is used for pumping fertilizer into the liquid outlet pipe;
the driving device is connected with the delivery pump and is used for driving the delivery pump to operate;
the spray rod is fixed on the mechanical arm;
the detection device comprises a binocular camera and a spectrometer which are fixed on the mechanical arm.
The binocular camera and the spectrometer can collect crop characteristic information, and the control device can receive the information of the detection device and process the information to prepare a fertilization prescription. The driving device drives the conveying pump to operate, the conveying pump pumps the fertilizer in the fertilizer box into the liquid outlet pipe, and therefore the fertilizer can be sprayed out through the spray rod and the spray head. The mechanical arm can drive the spray rod and the spray head to spray the fertilizer at a proper position. The movement of the driving device and the mechanical arm is controlled by the control device.
The refined crop fertilization system further comprises a positioning navigation device arranged on the omnibearing moving platform, and the control device receives positioning information of the positioning navigation device. The positioning navigation device can realize accurate positioning, path planning and navigation of the refined crop fertilization system, and improve the flexibility and accuracy of fertilization operation.
For the convenience of the operation of the working personnel, the refined crop fertilization system further comprises a seat arranged on the omnibearing movable platform, and the seat is adjacent to the control device.
Preferably, the robot arm includes:
a vertical guide rail fixed on the omnidirectional mobile platform;
the lifting seat is in sliding fit with the vertical guide rail;
the horizontal guide rail is fixed on the lifting seat and is arranged perpendicular to the vertical guide rail;
the moving seat is in sliding fit with the horizontal guide rail;
the hydraulic telescopic rod is fixed on the moving seat and is perpendicular to the horizontal guide rail and the vertical guide rail, and the binocular camera, the spectrometer and the spray rod are fixed on the hydraulic telescopic rod.
Foretell arm simple structure, and can make two mesh cameras, spectrum appearance and spray lance realize the motion of three dimension, the flexibility is high, has improved the accurate nature of fertilization operation.
For improving the spraying area, as preferred, the drain pipe include:
a liquid outlet main pipe with one end connected with the delivery pump;
and the liquid outlet of each liquid outlet branch pipe is provided with a spray rod.
Preferably, the liquid outlet main pipe is provided with a flow sensor and an electromagnetic valve. The flow sensor can control the fertilizer flow, so that a proper amount of fertilizer can be applied according to the target crop condition, and the waste of the fertilizer is avoided.
Preferably, all spray heads on the same spray bar are evenly distributed. Can improve the uniformity of spraying, thereby improving the quality of fertilization operation.
As a simple structure of the implementation mode, the driving device comprises an engine, a clutch and a gearbox which are connected in sequence, and the gearbox is connected with the delivery pump.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) compared with the prior art, the utility model discloses in, whole crop fertilization system that becomes more meticulous realizes removing through the all direction movement platform, and turning radius is 0, and the motion is nimble, all has fine adaptability to different operational environment such as greenhouse, pergola and even between the land and ridge.
(2) The utility model discloses be equipped with location navigation head, can realize realizing the planning in route to the location of the crop fertilization system position that becomes more meticulous, two mesh cameras can realize the location to the crop and the collection of information.
(3) The utility model discloses be equipped with the spectrum appearance, can gather the nutrient element information of crop, combine the crop characteristic information that two mesh cameras obtained simultaneously, can be more reasonable according to the specific case pertinence formulation fertilization prescription of crop, the degree of becoming more meticulous is high, also more nimble.
(4) The utility model discloses set up the arm, shower nozzle, spray lance are fixed on the arm, and the arm can drive the shower nozzle and remove in different position, and is nimble, and control is convenient.
Drawings
Fig. 1 is the utility model discloses crop fertilization system's that becomes more meticulous structure schematic diagram.
Fig. 2 is a schematic structural diagram of the arm portion of the robot shown in fig. 1.
Wherein, 1, supporting table; 2. a universal wheel; 3. a fertilizer box; 4. a liquid outlet main pipe; 5. a liquid outlet branch pipe; 6. a delivery pump; 7. a mechanical arm; 8. a vertical guide rail; 9. a horizontal guide rail; 10. a lifting seat; 11. a movable seat; 12. a hydraulic telescopic rod; 13. a spray rod; 14. a spray head; 15. a flow sensor; 16. positioning a navigation device; 17. a control device; 18. an engine; 19. a gearbox; 20. a binocular camera; 21. a spectrometer.
Detailed Description
The present invention will be further explained with reference to the following specific examples.
As shown in fig. 1 and fig. 2, the utility model discloses crop fertilization system that refines includes: the all direction movement platform and locate last fertilizer injection unit, detection device, controlling means and the seat of all direction movement platform, wherein, all direction movement platform, fertilizer injection unit and detection device all link to each other with controlling means.
The all direction movement platform includes a supporting bench 1 and locates the universal wheel 2 of supporting bench 1 bottom. The supporting table 1 plays a supporting role and is used for bearing the fertilizing device, the detection device and the control device. The universal wheels 2 are four groups in total, the turning radius is 0, 360-degree in-situ rotation can be realized, and the adaptability of the whole system to narrow and non-rotary operation roads is improved.
The fertilizing device comprises a fertilizer box 3, a liquid outlet pipe, a delivery pump 6, a driving device and a mechanical arm 7.
The fertilizer box 3 is fixed on the supporting table 1 and is used for containing fertilizer.
Arm 7 is including fixing the vertical guide rail 8 on a supporting bench 1, and vertical guide rail 8 is equipped with rather than sliding fit's lift seat 10, is fixed with a horizontal guide rail 9 on the lift seat 10, and this horizontal guide rail 9 arranges perpendicularly with vertical guide rail 8, and horizontal guide rail 9 is equipped with one rather than sliding fit's removal seat 11, is fixed with a hydraulic telescoping rod 12 on removing the seat 11, and this hydraulic telescoping rod 12 is all perpendicular with horizontal guide rail 9, vertical guide rail 8. The movement of the lifting base 10 and the moving base 11 can be driven by a stepping motor. The mechanical arm can realize X, Y, Z movement with three degrees of freedom, and the movement is controlled by a control device.
The drain pipe includes that one end links to each other with the delivery pump goes out liquid house steward 4 and a plurality of play liquid branch pipes 5 that are linked together with this discharge house steward 4, and the liquid outlet of every play liquid branch pipe 5 all is equipped with spray lance 13. All the spray bars 13 are fixed at the end part of a hydraulic telescopic rod 12 of the mechanical arm and are arranged in parallel, and two adjacent spray bars are connected through a fixing piece. Each spray bar 13 is also provided with a number of spray heads 14.
For detecting the fertilizer flow, the liquid outlet main pipe 4 is provided with a flow sensor 15 and an electromagnetic valve (not shown in the figure), and the flow sensor can monitor the fertilizer flow.
The delivery pump 6 is communicated with the fertilizer box 3 through a pipeline and is used for pumping the fertilizer into a liquid outlet main pipe, and the delivery pump can be specifically a diaphragm pump.
The driving device is used for driving the delivery pump 6 to operate, and the driving device comprises an engine 18, a clutch (not shown in the figure) and a gearbox 19 which are connected in sequence, wherein the gearbox 19 is connected with the delivery pump 6.
The detection device comprises a binocular camera 20 and a spectrometer 21, the spectrometer can collect spectrum information of crops, the binocular camera can realize the determination of position information of the crops and the collection of clear images of the crops, the binocular camera 20 and the spectrometer 21 are fixed on the hydraulic telescopic rod 12 of the mechanical arm and are preferably fixed at the end of the hydraulic telescopic rod, the binocular camera 20 and the spectrometer 21 are further respectively connected with the control device, and the collected information can be conveyed to the control device.
Specifically, the binocular camera may be a Bumblebee binocular camera of PointGrey (lingoncloud) with model BBX3-13S2C-38/60, color, 1280 × 960 resolution, and high-speed 1394 port for data transmission. The depth information and the three-dimensional model of the scene can be obtained in real time by matching with PGR software.
Specifically, the spectrometer may be a Field Spec hand held spectrometer manufactured by ASD (ashida) in usa. The spectrometer is suitable for remote sensing monitoring, crop detection, mineral exploration and other applications, can be used for measuring radiation, reflection, transmission and the like, is simple to operate, has a wavelength range of 300-1075nm, adopts a 512-array-element array PDA (personal digital assistant) detector, and has high spectral resolution.
And a positioning navigation device 16 for realizing accurate positioning, path planning and navigation of the whole system, wherein the positioning navigation device is connected with the control device.
Specifically, the main board of the positioning navigation device may be a K508GNSS main board of shanghai southwestern satellite navigation technology, ltd. The BDS (Beidou navigation System) B1/B2/B3 tri-band, GPS L1/L2/L5 tri-band and GLONASS L1/L2 dual-band tri-system can be adopted for combined positioning, and single-system independent positioning and multi-system combined positioning are supported. The RTK resolving engine with the ultra-far distance can achieve decimeter-level precision in positioning under the condition of the ultra-far distance. And analyzing and processing the data by adopting matched board control software CRU and GNSS data processing software Compass Solution.
And the control device 17 is used for receiving signals of the detection device and the positioning navigation device, controlling the omnibearing mobile platform to move after processing, and sending an instruction to the fertilizing device to control the fertilizing device to fertilize. The structure of the control device can adopt the conventional technology, and is not the improvement of the present application, and in order to describe the operation process of the present system in detail, a common control device is listed for detailed description. For example, the control device comprises an upper PC (personal computer), a PLC and a singlechip. Wherein,
the PC can adopt a Microsoft Windows system, and a control program can be compiled by VC + +6.0 and is used for displaying and processing information acquired by the positioning navigation device; analyzing and processing images acquired by the binocular camera; detecting some life information of crops according to the collected spectral information; making a variable fertilization and spraying prescription; and control over the mechanical arm is achieved.
The spectrometer can be connected with a PC through a USB-RS232 interface. The binocular camera can be connected with the PC through the high-speed 1394 port, collected images can be transmitted to the PC at a high speed in real time to be processed, and control and data transmission of the binocular camera can be achieved through the high-speed 1394 port. The main board of the positioning navigation device can be connected with a PC through a 24-pin double-row male-to-USB interface.
The movement of the mechanical arm is controlled by a PLC (programmable logic controller), and the PLC receives control bytes sent by a PC (personal computer) through an RS232 data serial port line and uploads state information of each joint of the mechanical arm.
And the singlechip is used for controlling the opening and closing of an electromagnetic valve in the spraying system, integrating the signals of the flow sensor and realizing the control of the spraying amount. The singlechip can specifically adopt an AT89S52 singlechip. A P0.0 port and a P2.0 port of the AT89S52 singlechip are connected with the amplification isolation chip TLP250, and a VO port of the TLP250 is connected with the electromagnetic valve; the P1.0 port of the singlechip is connected with an A/D conversion chip PCF8591, and the A/D conversion chip PCF8591 is directly connected with the flow sensor; the P3.0-P3.1 port of the single chip microcomputer is connected with a serial port connection chip MAX232, the serial port chip MAX232 is connected with a serial port RS232, and the serial port RS232 is connected to a PC through a data line; the P1.6-P1.7 ports of the single chip microcomputer are respectively connected with 2 input keyboards, and the 2 input keyboards respectively start spraying and stop spraying; the P3.7 port of the single chip microcomputer is connected with a buzzer, the P2.5 port of the single chip microcomputer is connected with a light emitting diode, and when the flow rate exceeds a preset range, the buzzer sounds and the corresponding light emitting diode flashes. The single chip microcomputer module is powered by an external power supply.
A seat (not shown) is further arranged and fixed on the support table 1, and the seat is adjacent to the PC machine and is convenient for the operation of workers.
The utility model discloses crop fertilization system's that becomes more meticulous working process specifically as follows (takes nitrogenous fertilizer as an example):
inputting the established spectrum prediction model of the crop nitrogen content into a PC; and then, the PC machine acquires the position information of the mobile platform and the target crop through the navigation positioning device and the binocular camera, makes a path plan and controls the all-directional mobile platform to walk. After the omnibearing movable platform runs to a target position according to a planned path, the posture of the mechanical arm is turned and adjusted to enable the mechanical arm to be over against a target crop, the PC processes crop image information collected by the binocular camera to realize the positioning of the target crop, and accordingly, the mechanical arm is controlled to move, so that the binocular camera and the spectrum collection system fixed on the mechanical arm stay at proper collection positions, and a whole crop is enabled to be in an image collection range of the binocular camera. Then, the image of the crop right ahead is acquired in real time through a binocular camera and transmitted to a PC, and the PC acquires characteristic information of the crop, such as plant height and leaf area.
And the portable spectrometer works simultaneously when the image is collected, the spectral information of the crop is collected and transmitted to the PC, and the nitrogen content information of the crop can be obtained according to the nitrogen content spectral prediction model of the crop which is input into the PC.
The using amount of the nitrogen fertilizer can be determined by combining the plant height, the leaf area and the nitrogen content information of the crop. The PC transmits the application amount information obtained to the single chip microcomputer, the single chip microcomputer controls the opening of the electromagnetic valve in combination with the flow sensor signal to start fertilization, the flow sensor transmits the flow information to the single chip microcomputer, the preset fertilization amount value is reached until the fertilizer amount sprayed out by the spray head, and the single chip microcomputer controls the closing of the electromagnetic valve to stop fertilization. After the fertilization of the crop is finished, the fertilizer applicator drives to the next crop, and the next round of operation is continued, so that the variable rate fertilization operation is realized.
The above description is only exemplary of the preferred embodiments of the present invention, and should not be construed as limiting the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the present invention.
Claims (8)
1. A refined crop fertilization system comprising: the device comprises an omnidirectional moving platform, and a fertilizing device, a detecting device and a control device which are arranged on the omnidirectional moving platform, wherein the omnidirectional moving platform, the fertilizing device and the detecting device are controlled by the control device; it is characterized in that the preparation method is characterized in that,
the fertilizer injection unit include:
a fertilizer box;
one end of the liquid outlet pipe is connected with the delivery pump, the other end of the liquid outlet pipe is communicated with a spray rod, and the spray rod is provided with a plurality of spray heads;
the conveying pump is communicated with the bottom of the fertilizer box through a pipeline and is used for pumping fertilizer into the liquid outlet pipe;
the driving device is connected with the delivery pump and is used for driving the delivery pump to operate;
the spray rod is fixed on the mechanical arm;
the detection device comprises a binocular camera and a spectrometer which are fixed on the mechanical arm.
2. The system for fertilizing refined crops as claimed in claim 1, further comprising a positioning navigation device disposed on the omni-directional mobile platform, wherein the control device receives the positioning information of the positioning navigation device.
3. The system for fertilizing a refined crop as claimed in claim 1, further comprising a seat on the omni-directional mobile platform, the seat being adjacent to the control device.
4. The system for refining crop fertilizer of claim 1, wherein said robotic arm comprises:
a vertical guide rail fixed on the omnidirectional mobile platform;
the lifting seat is in sliding fit with the vertical guide rail;
the horizontal guide rail is fixed on the lifting seat and is arranged perpendicular to the vertical guide rail;
the moving seat is in sliding fit with the horizontal guide rail;
the hydraulic telescopic rod is fixed on the moving seat and is perpendicular to the horizontal guide rail and the vertical guide rail, and the binocular camera, the spectrometer and the spray rod are fixed on the hydraulic telescopic rod.
5. The system for refining crop fertilizer of claim 1, wherein said outlet pipe comprises:
a liquid outlet main pipe with one end connected with the delivery pump;
and the liquid outlet of each liquid outlet branch pipe is provided with a spray rod.
6. The system for fertilizing refined crops as claimed in claim 5, wherein the liquid outlet main is provided with a flow sensor and an electromagnetic valve.
7. The refined crop fertilization system of claim 5 wherein all spray heads on the same spray bar are evenly distributed.
8. The system for fertilizing refined crops as claimed in claim 1, wherein the driving means comprises an engine, a clutch and a gearbox connected in series, the gearbox being connected to the delivery pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420189720.2U CN203860039U (en) | 2014-04-18 | 2014-04-18 | Refined crop fertilization system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420189720.2U CN203860039U (en) | 2014-04-18 | 2014-04-18 | Refined crop fertilization system |
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| CN203860039U true CN203860039U (en) | 2014-10-08 |
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| CN201420189720.2U Expired - Lifetime CN203860039U (en) | 2014-04-18 | 2014-04-18 | Refined crop fertilization system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103959973A (en) * | 2014-04-18 | 2014-08-06 | 浙江大学 | Refined crop fertilization system and nitrogenous fertilizer fertilization method |
| CN106577607A (en) * | 2016-11-16 | 2017-04-26 | 杨显清 | Height-adjustable seedling spraying device |
| CN114097389A (en) * | 2021-11-22 | 2022-03-01 | 昆明理工大学 | Device for preventing and treating sweetsop root rot |
| CN116210419A (en) * | 2022-12-30 | 2023-06-06 | 广东若铂智能机器人有限公司 | Automatic fertilization equipment based on machine vision |
-
2014
- 2014-04-18 CN CN201420189720.2U patent/CN203860039U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103959973A (en) * | 2014-04-18 | 2014-08-06 | 浙江大学 | Refined crop fertilization system and nitrogenous fertilizer fertilization method |
| CN103959973B (en) * | 2014-04-18 | 2016-08-24 | 浙江大学 | One becomes more meticulous crop fertilization system and nitrogen fertilizing method |
| CN106577607A (en) * | 2016-11-16 | 2017-04-26 | 杨显清 | Height-adjustable seedling spraying device |
| CN114097389A (en) * | 2021-11-22 | 2022-03-01 | 昆明理工大学 | Device for preventing and treating sweetsop root rot |
| CN116210419A (en) * | 2022-12-30 | 2023-06-06 | 广东若铂智能机器人有限公司 | Automatic fertilization equipment based on machine vision |
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