WO2022167010A2 - 一种变尺度变量追肥装置 - Google Patents

一种变尺度变量追肥装置 Download PDF

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Publication number
WO2022167010A2
WO2022167010A2 PCT/CN2022/085747 CN2022085747W WO2022167010A2 WO 2022167010 A2 WO2022167010 A2 WO 2022167010A2 CN 2022085747 W CN2022085747 W CN 2022085747W WO 2022167010 A2 WO2022167010 A2 WO 2022167010A2
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WIPO (PCT)
Prior art keywords
variable
fertilizer
fertilization
scale
fertilizer distributor
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PCT/CN2022/085747
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English (en)
French (fr)
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WO2022167010A3 (zh
Inventor
连政国
王欣
王家胜
郑效帅
王东伟
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青岛农业大学
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Application filed by 青岛农业大学 filed Critical 青岛农业大学
Publication of WO2022167010A2 publication Critical patent/WO2022167010A2/zh
Publication of WO2022167010A3 publication Critical patent/WO2022167010A3/zh
Priority to US18/534,740 priority Critical patent/US11985916B2/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A01C21/005—Following a specific plan, e.g. pattern
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/06—Fertiliser distributors with distributing slots, e.g. adjustable openings for dosing
    • A01C15/08—Fertiliser distributors with distributing slots, e.g. adjustable openings for dosing with pushers or stirrers in the slots
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/005—Undercarriages, tanks, hoppers, stirrers specially adapted for seeders or fertiliser distributors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/005—Undercarriages, tanks, hoppers, stirrers specially adapted for seeders or fertiliser distributors
    • A01C15/008—Aprons; Deflecting plates; Band-spreading attachments
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/12—Fertiliser distributors with movable parts of the receptacle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/12—Fertiliser distributors with movable parts of the receptacle
    • A01C15/124—Fertiliser distributors with movable parts of the receptacle with adjustable shutters or slits
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/16—Fertiliser distributors with means for pushing out the fertiliser, e.g. by a roller
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C19/00—Arrangements for driving working parts of fertilisers or seeders
    • A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Definitions

  • the invention belongs to the technical field of agricultural machinery, and in particular relates to a variable-scale variable topdressing device.
  • the fertilization of farmland crops is mostly quantitative and large-scale fertilizer spreaders, mainly centrifugal fertilizer spreaders and pneumatic fertilizer spreaders.
  • Existing fertilizer spreaders such as centrifugal spreaders and pneumatic spreaders, are mostly used for base fertilizer application, including disc spreaders, swing arm spreaders, knapsack pneumatic spreaders, and high clearance spreaders (matched to high ground clearance sprayers), etc.
  • the above fertilizer spreaders can quickly spread different types of fertilizers in a large area by direct action of mechanical devices or by using air pressure, with high operating efficiency, wide operating area and serious waste. , and pollutes the environment, it cannot be used for precise topdressing of crop seedlings.
  • Top dressing outside the root is generally for fruit trees and cannot be used for precise top dressing on the surface of crop seedlings. There is no report on the surface topdressing machine for farmland seedlings. At present, artificial topdressing is the main method, which has low efficiency, high labor intensity, consumes a lot of labor costs, and reduces crop planting benefits. Therefore, mechanical topdressing is an important part of mechanized crop management. . Therefore, there is an urgent need for a variable-scale variable topdressing device.
  • the fertilizer box can discharge fertilizer in a variable manner, and the variable-scale fertilizer distributor can change the scale according to the type and size of crops, so that the fertilizer can be evenly and accurately spread around the seedlings to avoid burning the seedlings.
  • the purpose of the present invention is to provide a variable scale and variable top dressing device to solve the above problems and achieve the purpose of evenly and accurately spreading the fertilizer around the seedlings to avoid burning the seedlings.
  • variable-scale variable topdressing device comprising:
  • the image recognition unit is arranged at the traveling end of the general rack;
  • variable fertilization part is arranged above the general rack, and the variable fertilization part is used to control the fertilization amount of various fertilizers;
  • Two groups of electric push rods are respectively vertically and fixedly connected on the opposite surfaces of the inner side of the general frame;
  • variable size fertilization part the variable size fertilization part is arranged at the outlet end of the variable size fertilization part, the height of the variable size fertilization part is adjusted by two sets of the electric push rods, the variable size fertilization part is connected with the variable fertilization part The outlet end of the part is set correspondingly, and the variable size fertilization part is used to adjust the fertilization range;
  • variable fertilization part, the variable size fertilization part and the two groups of the electric push rods are respectively electrically connected with the image recognition unit.
  • the variable fertilization part includes a fertilizer box, and a number of fertilizer cavities are arranged in the fertilizer box, and variable fertilizer discharge control boards are respectively vertically slidingly connected to the outlet ends of the several fertilizer chambers.
  • the bottom ends of the plates are respectively set corresponding to the fertilizer discharge ports of the fertilizer chambers, and the top of the fertilizer box is provided with a number of first driving units that respectively drive the variable fertilizer discharge control panels to rise and fall, and a number of the fertilizer discharge ports are provided.
  • the inlet ends of a plurality of fertilizer discharge pipes are communicated with each other, and the outlet ends of a plurality of the fertilizer discharge pipes are arranged correspondingly to the variable-size fertilization part, and a plurality of the first driving units are electrically connected with the image recognition unit.
  • the variable-size fertilizing part includes a fertilizer distributor connecting frame, the middle end of the fertilizer distributor connecting frame is vertically penetrated with a fertilizer distributor linkage rod, and a driving device is arranged above the fertilizer distributor connecting frame.
  • the fixed end of the electric push rod is fixedly connected to the inner side wall of the general frame, and the telescopic end of the electric push rod is fixedly connected to the top surfaces of both ends of the fertilizer distributor connecting frame.
  • the variable fertilizer dividing unit includes a plurality of variable-scale fertilizer divider umbrella flaps and a number of fertilizer divider support rods, and the tops of the variable-scale fertilizer divider umbrella flaps are hinged on the fertilizer divider at equal intervals in the circumferential direction.
  • one end of several described fertilizer spreader struts is hinged at the bottom end of the described fertilizer spreader linkage rod at equal intervals in the circumferential direction, and the other ends of several described fertilizer spreader struts are respectively hinged on some of the described fertilizer spreader struts.
  • the linkage rod of the fertilizer distributor is located between the umbrella flaps of several described variable-scale fertilizer distributors, and the top of the umbrella flaps of the variable-scale fertilizer distributor is respectively connected with some of the umbrella flaps of the variable-scale fertilizer distributor.
  • the outlet end of the manure discharge pipe is set correspondingly.
  • the second drive unit includes a motor frame, the bottom end of the motor frame is fixedly connected to the top surface of the fertilizer distributor connection frame, and the top end of the fertilizer distributor connection frame is fixedly connected with the fertilizer distributor
  • a stepper motor the rotary shaft of the stepper motor of the fertilizer distributor is connected with a first turntable, and a first connecting rod is hinged between the first turntable and the linkage rod of the fertilizer distributor, and the first The top end of the connecting rod is located at the edge of the first turntable, the bottom end of the first connecting rod is located at the top end of the linkage rod of the fertilizer distributor, and the stepper motor of the fertilizer distributor is electrically connected to the image recognition unit. sexual connection.
  • the first driving unit includes a motor bracket, the motor bracket is fixedly connected to the top outer side wall of the fertilizer box, the top surface of the motor bracket is fixedly connected with a fertilizer discharger stepping motor, the row
  • the rotary shaft key of the fertilizer stepper motor is connected with a second turntable, and a second connecting rod is hinged between the second turntable and the variable fertilizer discharge control board, and the top of the second connecting rod is located in the second connecting rod.
  • the bottom end of the second connecting rod is located at the top of the variable fertilizer discharge control board, and the stepper motor of the fertilizer discharger is electrically connected with the image recognition unit.
  • the size of the bottom end of the variable fertilizer discharge control plate is larger than the size of the fertilizer discharge port.
  • the inner bottom surface of the fertilizer cavity is inclined, and the fertilizer discharge port is located at the lower end of the fertilizer cavity.
  • the main function of the image recognition unit is to collect the information of the field crops in real time, analyze the growth status of the crops, the size of the crops and the types of the crops, select the corresponding fertilization amount information through the analysis results, and convert the fertilization amount information into
  • the start signal is sent to the two groups of electric push rods, variable fertilization section and variable size fertilization section
  • the main function of the variable fertilization section is to release the corresponding amount of fertilizer after receiving the start signal
  • the main functions of the two groups of electric push rods and the variable size fertilization section are The function is to control the lifting height of the variable-size fertilization part and the opening of the variable-size fertilization part after receiving the start signal, so as to precisely control the drop point of the fertilizer; controlling the distance between the fertilizer and the crops can effectively avoid the waste of fertilizer And problems such as burning seedlings, improve the top-dressing rate and quality of top-dressing of crops
  • the variable fertilization department improves the adaptability of the top-dressing device by controlling the output of various fertiliz
  • Fig. 1 is the axonometric view of the variable scale variable fertilizer discharge device of the present invention
  • Fig. 2 is another angle axonometric view of the variable scale variable fertilizer discharge device of the present invention.
  • Fig. 3 is the top view of the variable scale variable fertilizer discharge device of the present invention.
  • Fig. 4 is the schematic diagram of the variable scale fertilization section of the present invention.
  • variable-scale fertilization part of the present invention is a schematic diagram of the internal structure of the variable-scale fertilization part of the present invention.
  • Fig. 6 is the structure schematic diagram of variable fertilizer discharge part of the present invention.
  • Stepping motor of fertilizer distributor 2. Motor frame; 3. First turntable; 4. First connecting rod; 5. Connecting frame of fertilizer distributor; 6. Linking rod of fertilizer distributor; Fertilizer support rod; 8. Variable-scale fertilizer distributor umbrella flap; 9. Fertilizer box; 10. Camera; 11. Fertilizer discharge pipe; 12. Stepper motor for fertilizer discharger; 13. Motor bracket; 14. Fertilizer discharge port; 15. Second turntable; 16. Second connecting rod; 17. Variable fertilizer control panel; 18. Fixed frame; 19. Overall frame; 20. Electric push rod; 21. Telescopic end; 22. Wheel.
  • variable-scale variable top dressing device comprising:
  • Image recognition unit the image recognition unit is arranged at the traveling end of the general rack 19;
  • variable fertilization part is arranged above the general rack 19, and the variable fertilization part is used to control the fertilization amount of various fertilizers;
  • Two groups of electric push rods 20, the two groups of electric push rods 20 are respectively vertically and fixedly connected to the inner opposite surfaces of the overall frame 19;
  • variable size fertilization part is arranged at the outlet of the variable size fertilization part, the height of the variable size fertilization part is adjusted by two sets of electric push rods 20, the variable size fertilization part is set corresponding to the outlet end of the variable size fertilization part, Used to adjust the fertilization range;
  • variable fertilization part, the variable size fertilization part and the two groups of electric push rods 20 are respectively electrically connected with the image recognition unit.
  • the main function of the image recognition unit is to collect the information of field crops in real time, analyze the growth status of the crops, the size of the crops and the types of the crops, select the corresponding fertilization amount information through the analysis results, and convert the fertilization amount information into a start signal to the two sets of electric pushers.
  • the variable fertilization department improves the adaptability of the top-dressing device by controlling the output of various fertilizers, that is, it can fertilize a variety of crops.
  • variable fertilization part includes a fertilizer box 9, and three groups of fertilizer cavities are arranged in the fertilizer box 9.
  • the outlet ends of the three groups of fertilizer cavities are respectively connected with variable fertilizer discharge control boards 17 and three groups of variable fertilizer discharge control boards 17.
  • the bottom ends of the three groups of fertilizer cavities are respectively set corresponding to the fertilizer discharge ports 14.
  • the top of the fertilizer box 9 is provided with three groups of first drive units that drive the three groups of variable fertilizer discharge control panels 17 to rise and fall respectively, and the three groups of fertilizer discharge ports 14 are communicated with each other.
  • There are three groups of inlet ends of the fertilization pipes 11 There are three groups of inlet ends of the fertilization pipes 11 , the outlet ends of the three groups of fertilizer pipes 11 are arranged corresponding to the variable-size fertilization part, and the three groups of first drive units are electrically connected with the image recognition unit.
  • variable-size fertilization part includes a fertilizer distributor connection frame 5, the middle end of the fertilizer distributor connection frame 5 is vertically penetrated with a fertilizer distributor linkage rod 6, and the top of the fertilizer distributor connection frame 5 is provided with a driving fertilizer distributor.
  • the second drive unit of the lift of the device linkage rod 6, the bottom end of the fertilizer distributor linkage rod 6 and the bottom surface of the fertilizer distributor connecting frame 5 are provided with a variable fertilizer distribution unit, and the second drive unit is connected by the fertilizer distributor.
  • the movable rod 6 adjusts the opening of the variable fertilizer distribution unit, the top of the variable fertilizer distribution unit is correspondingly arranged with the outlet ends of several fertilizer discharge pipes 11, and the second drive unit is electrically connected with the image recognition unit;
  • the fixed end of the electric push rod 20 is fixedly connected to the inner side wall of the main frame 19 , and the telescopic end of the electric push rod 20 is fixedly connected to the top surfaces of both ends of the fertilizer distributor connecting frame 5 .
  • the two sets of electric push rods 20 and the second drive unit receive the activation signal, the two sets of electric push rods 20 drive the fertilizer distributor connecting frame 5 to rise or fall to reciprocate, thereby controlling the height of fertilization;
  • the fertilizer linkage rod 6 is lifted and lowered to control the opening of the variable fertilizer unit, so as to meet the agronomic requirements of top-dressing crops;
  • the angle of the variable fertilizer unit relative to the vertical direction changes in the range of 48°-68°;
  • two groups of The installation position of the electric push rods 20 is 150cm from the ground, and the effective stroke of the telescopic ends of the two sets of electric push rods 20 is 150cm. This setting can more accurately control the distance between the drop point of the fertilizer and the crops, and achieve the purpose of efficient fertilization.
  • variable fertilizer division unit includes four sets of variable-scale fertilizer divider umbrella flaps 8 and four sets of fertilizer support rods 7, and the tops of the four sets of variable-scale fertilizer divider umbrella flaps 8 are hinged on the fertilizer divider at equal intervals in the circumferential direction.
  • the center of the bottom surface of the device connecting frame 5, one end of the four-group fertilizer device support rod 7 is hinged at the bottom end of the fertilizer distributor linkage rod 6 at equal intervals in the circumferential direction, and the other end of the four-group fertilizer device support rod 7 is hinged in the four groups correspondingly respectively.
  • variable-scale fertilizer distributor umbrella flap 8 On the inner side wall of the variable-scale fertilizer distributor umbrella flap 8, the fertilizer distributor linkage rod 6 is located between the four groups of variable-scale fertilizer distributor umbrella flaps 8, and the top of the four groups of variable-scale fertilizer distributor umbrella flaps 8 are respectively connected with the three groups.
  • the outlet end of the manure discharge pipe 11 is correspondingly arranged.
  • variable-scale fertilizer distributor umbrella flaps 8 are propped up by four groups of fertilizer device support rods 7, thereby realizing the purpose of adjusting the opening degree of the variable fertilizer distributor unit;
  • the diameter size of the bottom of the umbrella flap 8 of the variable-scale fertilizer distributor varies in the range of 9.5cm-13.5cm.
  • the second drive unit comprises a motor frame 2, and the bottom end of the motor frame 2 is fixedly connected to the top surface of the fertilizer distributor connecting frame 5, and the top end of the fertilizer distributor connecting frame 5 is fixedly connected with the fertilizer distributor stepping.
  • Motor 1 the rotary shaft key of the fertilizer distributor stepping motor 1 is connected with the first turntable 3, and the first turntable 3 and the fertilizer distributor linkage rod 6 are hinged with the first connecting rod 4, the top of the first connecting rod 4 Located at the edge of the first turntable 3, the bottom end of the first connecting rod 4 is located at the top of the linkage rod 6 of the fertilizer distributor, and the stepper motor 1 of the fertilizer distributor is electrically connected with the image recognition unit.
  • the first drive unit includes a motor support 13, the motor support 13 is fixedly connected to the top outer side wall of the fertilizer box 9, and the top surface of the motor support 13 is fixedly connected with a fertilizer discharger stepping motor 12, and the fertilizer discharger steps
  • the rotation axis of the motor 12 is keyed to be connected with a second turntable 15, and a second connecting rod 16 is hinged between the second turntable 15 and the variable fertilizer discharge control board 17, and the top end of the second connecting rod 16 is located at the edge of the second turntable 15, The bottom end of the second connecting rod 16 is located at the top of the variable fertilizer discharge control board 17 , and the stepper motor 12 of the fertilizer discharger is electrically connected with the image recognition unit.
  • the size of the bottom end of the variable fertilizer discharge control plate 17 is larger than the size of the fertilizer discharge port 14 .
  • the inner bottom surface of the fertilizer cavity is inclined and the fertilizer discharge port 14 is located at the lower end of the fertilizer cavity.
  • the angle between the inner bottom surface of the fertilizer cavity and the horizontal plane is 30°, which is convenient for the fertilizer to move to the lower end.
  • a plurality of fixing frames 18 are vertically and fixedly connected to the inner side wall of the outlet end of the fertilizer box 9 , and the middle end of the variable fertilizer discharge control board 17 penetrates through the plurality of fixing frames 18 .
  • variable fertilizer discharge control panel 17 and the fertilizer discharge port 14 can be made more stable, so as to avoid gaps and affect the precision of fertilizer release.
  • wheels 22 are respectively connected to the bottom four corners of the overall frame 19 in rotation, and the four groups of wheels 22 are driven by electricity.
  • the bottom end of the electric push rod 20 is set as a telescopic end 21 , and the telescopic end 21 is fixedly connected to the top surface of the fertilizer distributor connecting frame 5 .
  • the image recognition unit includes a camera 10, the camera 10 is fixedly connected to the traveling section of the overall frame 19, the camera 10 is electrically connected with a computer control system, and the computer control system is respectively connected with the fertilizer distributor stepping motor 1, the fertilizer discharger.
  • the stepping motor 12 and the electric push rod 20 are electrically connected.
  • the computer control system can adopt the existing PC, and the method and process for image information analysis and processing are the prior art, which will not be described in detail here;
  • the feeder motor 1, the fertilizer discharger stepping motor 12 and the electric push rod 20 provide electrical energy.
  • the camera 10 collects the information of the field crops, and transmits the image information to the computer control system, and the computer control system will analyze the image, identify the growth status of the crop, the size of the crop, and the type of the crop, and obtain the crop through calculation.
  • the required amount of fertilizer according to the size of the crop, obtains a reasonable scale for top dressing of the crop, and converts the above data into the control of the stepper motor 1 of the fertilizer distributor and the stepper motor 12 of the fertilizer discharger.
  • the processor in the computer control system controls the division.
  • the fertilizer stepper motor 1 rotates at a suitable angle, drives the first turntable 3 to rotate, the first connecting rod 4 is raised or pulled down along with the rotation of the first turntable 3, and the first connecting rod 4 pulls the fertilizer distributor linkage rod 6 Move up and down in the center of the fertilizer distributor connection frame 5, change the rotary motion of the fertilizer distributor stepping motor 1 into a reciprocating linear motion, and the fertilizer distributor linkage rod 6 drives the four fertilizer distributor support rods 7 to rotate, and the four fertilizer distributors are rotated.
  • the device support rod 7 will raise or lower the variable-scale fertilizer distributor umbrella flap 8 installed on the fertilizer distributor connecting frame 5, thereby changing the overall size of the variable-size fertilizer application part, and the variable fertilizer distribution unit will be buckled in the crop. superior.
  • the processor can also control the stepper motor 12 of the fertilizer discharger to drive the variable fertilizer discharge controller 17 to move up and down through rotation, thereby changing the amount of fertilizer discharged.
  • the fertilizer enters the fertilizer discharge port 14 from the fertilizer tank 9 and passes through the fertilizer discharge pipe 11 Drop directly above the variable fertilizer unit, resulting in an even and precise distribution of fertilizer around the crop.

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Fertilizing (AREA)

Abstract

本发明属于农业机械技术领域，尤其涉及一种变尺度变量追肥装置，包括总机架；图像识别单元设置在总机架的行进端；变量施肥部设置在总机架的上方，变量施肥部用来控制多种肥料的施肥量；两组电动推杆分别竖直固定连接在总机架内侧相对面上；变尺寸施肥部设置在变量施肥部的出端，变尺寸施肥部通过两组电动推杆调节高度，变尺寸施肥部与变量施肥部的出端对应设置，变尺寸施肥部用来调节施肥范围；变量施肥部、变尺寸施肥部和两组电动推杆分别与图像识别单元电性连接。本发明中的肥料箱可以变量排出肥料，变尺度分肥器可以根据作物的种类和大小进行尺度改变，使肥料均匀精确撒落至幼苗四周避免烧苗。

Description

一种变尺度变量追肥装置 技术领域
本发明属于农业机械技术领域，尤其涉及一种变尺度变量追肥装置。
背景技术
目前农田作物施肥大多是定量大幅度施肥机，主要是离心式撒肥机和气力式撒肥机，追肥机主要是果园追肥机，一般是开沟后定量深度施肥。现有的施肥装置，如离心式撒肥机和气力式撒肥机多用于底肥施放，包括圆盘式撒肥机、摆臂式撒肥机、背负式气力撒肥机、高地隙撒肥机(配套在高地隙喷药机)等，以上撒肥机通过机械装置直接作用或者利用气压可以将不同种类的肥料快速呈散射状大面积撒出，作业效率高，作业面积较广，浪费比较严重，而且污染环境，无法用于作物幼苗的地表精确追肥。根外追肥一般是对果树而言，无法用于作物幼苗的地表精确追肥。对于农田幼苗的地表追肥机机械还未见报道，目前以人工追肥为主，效率低、劳动强度大，消耗大量的人工成本，降低作物种植效益，故机械追肥是实现机械化作物管理的重要一环。因此，亟需一种变尺度变量追肥装置，肥料箱可以变量排出肥料，变尺度分肥器可以根据作物的种类和大小进行尺度改变，使肥料均匀精确撒落至幼苗四周避免烧苗。
发明内容
本发明的目的是提供一种变尺度变量追肥装置，以解决上述问题，达到肥料均匀精确撒落至幼苗四周避免烧苗的目的。
为实现上述目的，本发明提供了如下方案：一种变尺度变量追肥装置，包括
总机架；
图像识别单元，所述图像识别单元设置在所述总机架的行进端；
变量施肥部，所述变量施肥部设置在所述总机架的上方，所述变量施肥部用来控制多种肥料的施肥量；
两组电动推杆，两组所述电动推杆分别竖直固定连接在所述总机架内侧相对面上；
变尺寸施肥部，所述变尺寸施肥部设置在所述变量施肥部的出端，所述变尺寸施肥部通过两组所述电动推杆调节高度，所述变尺寸施肥部与所述变量施肥部的出端对应设置，所述变尺寸施肥部用来调节施肥范围；
所述变量施肥部、变尺寸施肥部和两组所述电动推杆分别与所述图像识别单元电性连接。
优选的，所述变量施肥部包括肥料箱，所述肥料箱内设置有若干肥料腔，若干所述肥料腔的出端分别竖直滑动连接有变量排肥控制板，若干所述变量排肥控制板的底端分别与若干所述肥料腔的排肥口对应设置，所述肥料箱的顶部设置有分别驱动若干所述变量排肥控制板升降的若干第一驱动单元，若干所述排肥口连通有若干排肥管的进端，若干所述排肥管的出端与所述变尺寸施肥部对应设置，若干所述第一驱动单元与所述图像识别单元电性连接。
优选的，所述变尺寸施肥部包括分肥器连接架，所述分肥器连接架的中端竖直贯穿有分肥器连动杆，所述分肥器连接架的上方设置有驱动所述分肥器连动杆升降的第二驱动单元，所述分肥器连动杆的底端与所述分肥器连接架的底面之间设置有可变分肥单元，所述第二驱动单元通过所述分肥器连动杆调节所述可变分肥单元开度，所述可变分肥单元的上方与若干所述排肥管的出端对应设置，所述第二驱动单元与所述图像识别单元电性连接；
所述电动推杆的固定端固定连接在总机架的内侧壁上，所述电动推杆的伸缩端固定连接在所述分肥器连接架两端的顶面。
优选的，所述可变分肥单元包括若干变尺度分肥器伞瓣与若干分肥器支杆，若干所述变尺度分肥器伞瓣的顶端周向等间距铰接在所述分肥器连接架底面中心，若干所述分肥器支杆的一端周向等间距铰接在所述分肥器连动杆底端，若干所述分肥器支杆的另一端分别对应铰接在若干所述变尺度分肥器伞瓣的内侧壁上，所述分肥器连动杆位于若干所述变尺度分肥器伞瓣之间，若干所述变尺度分肥器伞瓣的上方分别与若干所述排肥管的出端对应设置。
优选的，所述第二驱动单元包括电机机架，所述电机机架的底端固定连接在所述分肥器连接架的顶面，所述分肥器连接架的顶端固定连接有分肥器步进电机，所述分肥器步进电机的旋转轴键连接有第一转盘，所述第一转盘与所述分肥器连动杆之间铰接有第一连接杆，所述第一连接杆的顶端位于所述第一转盘的边部，所述第一连接杆的底 端位于所述分肥器连动杆的顶端，所述分肥器步进电机与所述图像识别单元电性连接。
优选的，所述第一驱动单元包括电机支架，所述电机支架固定连接在所述肥料箱的顶端外侧壁上，所述电机支架的顶面固定连接有排肥器步进电机，所述排肥器步进电机的旋转轴键连接有第二转盘，所述第二转盘与所述变量排肥控制板之间铰接有第二连接杆，所述第二连接杆的顶端位于所述第二转盘的边部，所述第二连接杆的底端位于所述变量排肥控制板的顶端，所述排肥器步进电机与所述图像识别单元电性连接。
优选的，所述变量排肥控制板底端的尺寸大于所述排肥口的尺寸。
优选的，所述肥料腔的内侧底面倾斜设置，所述排肥口位于所述肥料腔的低端。
本发明具有如下技术效果：图像识别单元的主要作用是实时采集田间作物的信息，分析作物的生长状况、作物大小和作物种类，通过分析结果选择对应的施肥量信息，并将施肥量信息转化为启动信号至两组电动推杆、变量施肥部和变尺寸施肥部；变量施肥部的主要作用是在收到启动信号后，释放对应量的肥料；两组电动推杆和变尺寸施肥部的主要作用是在收到启动信号后，控制变尺寸施肥部的升降高度，以及控制变尺寸施肥部的开度，从而精确控制肥料的落点；控制肥料与农作物之间的距离可以有效避免肥料的浪费以及烧苗等问题，提高了农作物追肥率和追肥质量；变量施肥部通过控制多种肥料的输出量 来提高追肥装置的适应性，即可以对多种农作物进行施肥；整体上提高了施肥效率，降低了人工劳动强度。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明变尺度变量排肥装置轴测图；
图2为本发明变尺度变量排肥装置另一角度轴测图；
图3为本发明变尺度变量排肥装置的俯视图；
图4为本发明变尺度施肥部的示意图；
图5为本发明变尺度施肥部分的内部结构示意图；
图6为本发明变量排肥部结构示意图；
其中，1、分肥器步进电机；2、电机机架；3、第一转盘；4、第一连接杆；5、分肥器连接架；6、分肥器连动杆；7、分肥器支杆；8、变尺度分肥器伞瓣；9、肥料箱；10、摄像机；11、排肥管；12、排肥器步进电机；13、电机支架；14、排肥口；15、第二转盘；16、第二连接杆；17、变量排肥控制板；18、固定架；19、总机架；20、电动推杆；21、伸缩端；22、车轮。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方 案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
参照图1-6所示，本发明提供了一种变尺度变量追肥装置，包括
总机架19；
图像识别单元，图像识别单元设置在总机架19的行进端；
变量施肥部，变量施肥部设置在总机架19的上方，变量施肥部用来控制多种肥料的施肥量；
两组电动推杆20，两组电动推杆20分别竖直固定连接在总机架19内侧相对面上；
变尺寸施肥部，变尺寸施肥部设置在变量施肥部的出端，变尺寸施肥部通过两组电动推杆20调节高度，变尺寸施肥部与变量施肥部的出端对应设置，变尺寸施肥部用来调节施肥范围；
变量施肥部、变尺寸施肥部和两组电动推杆20分别与图像识别单元电性连接。
图像识别单元的主要作用是实时采集田间作物的信息，分析作物的生长状况、作物大小和作物种类，通过分析结果选择对应的施肥量信息，并将施肥量信息转化为启动信号至两组电动推杆20、变量施肥部和变尺寸施肥部；变量施肥部的主要作用是在收到启动信号后， 释放对应量的肥料；两组电动推杆20和变尺寸施肥部的主要作用是在收到启动信号后，控制变尺寸施肥部的升降高度，以及控制变尺寸施肥部的开度，从而精确控制肥料的落点；控制肥料与农作物之间的距离可以有效避免肥料的浪费以及烧苗等问题，提高了农作物追肥率和追肥质量；变量施肥部通过控制多种肥料的输出量来提高追肥装置的适应性，即可以对多种农作物进行施肥。
进一步优化方案，变量施肥部包括肥料箱9，肥料箱9内设置有三组肥料腔，三组肥料腔的出端分别竖直滑动连接有变量排肥控制板17，三组变量排肥控制板17的底端分别与三组肥料腔的排肥口14对应设置，肥料箱9的顶部设置有分别驱动三组变量排肥控制板17升降的三组第一驱动单元，三组排肥口14连通有三组排肥管11的进端，三组排肥管11的出端与变尺寸施肥部对应设置，三组第一驱动单元与图像识别单元电性连接。
向三组肥料腔分别添加氮、磷、钾三种化肥；当三组第一驱动单元收到启动信号，驱动三组变量排肥控制板17并升降对应的高度，即控制排肥口14的打开与关闭，从而控制对应的化肥的释放量；三组变量排肥控制板17的有效行程为30mm。
进一步优化方案，变尺寸施肥部包括分肥器连接架5，分肥器连接架5的中端竖直贯穿有分肥器连动杆6，分肥器连接架5的上方设置有驱动分肥器连动杆6升降的第二驱动单元，分肥器连动杆6的底端与分肥器连接架5的底面之间设置有可变分肥单元，第二驱动单元通过分肥器连动杆6调节可变分肥单元开度，可变分肥单元的上方与 若干排肥管11的出端对应设置，第二驱动单元与图像识别单元电性连接；
电动推杆20的固定端固定连接在总机架19的内侧壁上，电动推杆20的伸缩端固定连接在分肥器连接架5两端的顶面。
当两组电动推杆20与第二驱动单元收到启动信号，两组电动推杆20带动分肥器连接架5上升或下降做往复移动，从而控制施肥的高度；第二驱动单元通过驱动分肥器连动杆6升降来控制可变分肥单元开度，从而符合追肥农作物的农艺要求；其中可变分肥单元相对于竖直方向，角度变化在48°-68°范围内；两组电动推杆20的安装位置距离地面150cm，两组电动推杆20的伸缩端的有效行程为150cm，这样设置可以更加精确控制肥料的落点与农作物之间的距离，达到高效率施肥的目的。
进一步优化方案，可变分肥单元包括四组变尺度分肥器伞瓣8与四组分肥器支杆7，四组变尺度分肥器伞瓣8的顶端周向等间距铰接在分肥器连接架5底面中心，四组分肥器支杆7的一端周向等间距铰接在分肥器连动杆6底端，四组分肥器支杆7的另一端分别对应铰接在四组变尺度分肥器伞瓣8的内侧壁上，分肥器连动杆6位于四组变尺度分肥器伞瓣8之间，四组变尺度分肥器伞瓣8的上方分别与三组排肥管11的出端对应设置。
当分肥器连动杆6被第二驱动单元驱动升降，通过四组分肥器支杆7撑开四组变尺度分肥器伞瓣8，从而实现调节可变分肥单元开度的目的；变尺度分肥器伞瓣8底部的直径尺寸变化在9.5cm-13.5cm 范围内。
进一步优化方案，第二驱动单元包括电机机架2，电机机架2的底端固定连接在分肥器连接架5的顶面，分肥器连接架5的顶端固定连接有分肥器步进电机1，分肥器步进电机1的旋转轴键连接有第一转盘3，第一转盘3与分肥器连动杆6之间铰接有第一连接杆4，第一连接杆4的顶端位于第一转盘3的边部，第一连接杆4的底端位于分肥器连动杆6的顶端，分肥器步进电机1与图像识别单元电性连接。
进一步优化方案，第一驱动单元包括电机支架13，电机支架13固定连接在肥料箱9的顶端外侧壁上，电机支架13的顶面固定连接有排肥器步进电机12，排肥器步进电机12的旋转轴键连接有第二转盘15，第二转盘15与变量排肥控制板17之间铰接有第二连接杆16，第二连接杆16的顶端位于第二转盘15的边部，第二连接杆16的底端位于变量排肥控制板17的顶端，排肥器步进电机12与图像识别单元电性连接。
进一步优化方案，变量排肥控制板17底端的尺寸大于排肥口14的尺寸。
进一步优化方案，肥料腔的内侧底面倾斜设置，排肥口14位于肥料腔的低端。肥料腔的内侧底面与水平面夹角为30°，便于肥料向低端移动。
进一步优化方案，肥料箱9出端的内侧壁上竖直固定连接有若干固定架18，变量排肥控制板17的中端贯穿若干固定架18。
在固定架18的作用下，可以使变量排肥控制板17与排肥口14 的打开与关闭状态更加稳定，避免出现间隙，影响肥料释放的精度。
进一步优化方案，总机架19的底部四角分别转动连接有车轮22，四组车轮22通过电力驱动。
进一步优化方案，电动推杆20的底端设置为伸缩端21，伸缩端21固定连接在分肥器连接架5的顶面。
进一步优化方案，图像识别单元包括摄像机10，摄像机10固定连接在总机架19的行进段，摄像机10电性连接有计算机控制系统，计算机控制系统分别与分肥器步进电机1、排肥器步进电机12和电动推杆20电性连接。计算机控制系统可以采用现有的PC，对于图像信息分析、处理的方式和过程为现有技术，在此不作详细赘述；总机架19内设置有蓄电池，为PC、摄像机10、分肥器步进电机1、排肥器步进电机12和电动推杆20提供电能。
本实施例的工作过程如下：
在机器前进过程中，由摄像机10采集田间作物的信息，将图像信息传递给计算机控制系统，计算机控制系统会对图像进行分析，识别作物的生长状况，作物大小，作物种类，通过计算得到该作物所需要的肥量，根据作物大小，得到作物追肥的合理尺度，将以上数据转换成对分肥器步进电机1与排肥器步进电机12的控制，计算机控制系统中的处理器控制分肥器步进电机1转动合适的角度，带动第一转盘3转动，第一连接杆4随着第一转盘3的转动被抬高或者拉低，第一连接杆4牵引分肥器连动杆6在分肥器连接架5中心上下移动，将分肥器步进电机1的旋转运动变往复直线运动，分肥器连动杆6带动 四个分肥器支杆7转动，四个分肥器支杆7会将安装在分肥器连接架5上的变尺度分肥器伞瓣8抬高或者拉低，进而改变变尺寸施肥部整体尺度，可变分肥单元将会扣在作物之上。同样地，处理器还可以控制排肥器步进电机12，通过转动带动变量排肥控制器17上下移动，从而改变排肥量，肥料从肥料箱9进入排肥口14，经排肥管11落入可变分肥单元正上方，最终使肥料均匀且精确的落在作物的四周。
在本发明的描述中，需要理解的是，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
以上所述的实施例仅是对本发明的优选方式进行描述，并非对本发明的范围进行限定，在不脱离本发明设计精神的前提下，本领域普通技术人员对本发明的技术方案做出的各种变形和改进，均应落入本发明权利要求书确定的保护范围内。

Claims (8)

  1. 一种变尺度变量追肥装置，其特征在于：包括
    总机架(19)；
    图像识别单元，所述图像识别单元设置在所述总机架(19)的行进端；
    变量施肥部，所述变量施肥部设置在所述总机架(19)的上方，所述变量施肥部用来控制多种肥料的施肥量；
    两组电动推杆(20)，两组所述电动推杆(20)分别竖直固定连接在所述总机架(19)内侧相对面上；
    变尺寸施肥部，所述变尺寸施肥部设置在所述变量施肥部的出端，所述变尺寸施肥部通过两组所述电动推杆(20)调节高度，所述变尺寸施肥部与所述变量施肥部的出端对应设置，所述变尺寸施肥部用来调节施肥范围；
    所述变量施肥部、变尺寸施肥部和两组所述电动推杆(20)分别与所述图像识别单元电性连接。
  2. 根据权利要求1所述的变尺度变量追肥装置，其特征在于：所述变量施肥部包括肥料箱(9)，所述肥料箱(9)内设置有若干肥料腔，若干所述肥料腔的出端分别竖直滑动连接有变量排肥控制板(17)，若干所述变量排肥控制板(17)的底端分别与若干所述肥料腔的排肥口(14)对应设置，所述肥料箱(9)的顶部设置有分别驱动若干所述变量排肥控制板(17)升降的若干第一驱动单元，若干所述排肥口(14)连通有若干排肥管(11)的进端，若干所述排肥管(11)的出 端与所述变尺寸施肥部对应设置，若干所述第一驱动单元与所述图像识别单元电性连接。
  3. 根据权利要求2所述的变尺度变量追肥装置，其特征在于：所述变尺寸施肥部包括分肥器连接架(5)，所述分肥器连接架(5)的中端竖直贯穿有分肥器连动杆(6)，所述分肥器连接架(5)的上方设置有驱动所述分肥器连动杆(6)升降的第二驱动单元，所述分肥器连动杆(6)的底端与所述分肥器连接架(5)的底面之间设置有可变分肥单元，所述第二驱动单元通过所述分肥器连动杆(6)调节所述可变分肥单元开度，所述可变分肥单元的上方与若干所述排肥管(11)的出端对应设置，所述第二驱动单元与所述图像识别单元电性连接；
    所述电动推杆(20)的固定端固定连接在总机架(19)的内侧壁上，所述电动推杆(20)的伸缩端固定连接在所述分肥器连接架(5)两端的顶面。
  4. 根据权利要求3所述的变尺度变量追肥装置，其特征在于：所述可变分肥单元包括若干变尺度分肥器伞瓣(8)与若干分肥器支杆(7)，若干所述变尺度分肥器伞瓣(8)的顶端周向等间距铰接在所述分肥器连接架(5)底面中心，若干所述分肥器支杆(7)的一端周向等间距铰接在所述分肥器连动杆(6)底端，若干所述分肥器支杆(7)的另一端分别对应铰接在若干所述变尺度分肥器伞瓣(8)的内侧壁上，所述分肥器连动杆(6)位于若干所述变尺度分肥器伞瓣(8) 之间，若干所述变尺度分肥器伞瓣(8)的上方分别与若干所述排肥管(11)的出端对应设置。
  5. 根据权利要求3所述的变尺度变量追肥装置，其特征在于：所述第二驱动单元包括电机机架(2)，所述电机机架(2)的底端固定连接在所述分肥器连接架(5)的顶面，所述分肥器连接架(5)的顶端固定连接有分肥器步进电机(1)，所述分肥器步进电机(1)的旋转轴键连接有第一转盘(3)，所述第一转盘(3)与所述分肥器连动杆(6)之间铰接有第一连接杆(4)，所述第一连接杆(4)的顶端位于所述第一转盘(3)的边部，所述第一连接杆(4)的底端位于所述分肥器连动杆(6)的顶端，所述分肥器步进电机(1)与所述图像识别单元电性连接。
  6. 根据权利要求2所述的变尺度变量追肥装置，其特征在于：所述第一驱动单元包括电机支架(13)，所述电机支架(13)固定连接在所述肥料箱(9)的顶端外侧壁上，所述电机支架(13)的顶面固定连接有排肥器步进电机(12)，所述排肥器步进电机(12)的旋转轴键连接有第二转盘(15)，所述第二转盘(15)与所述变量排肥控制板(17)之间铰接有第二连接杆(16)，所述第二连接杆(16)的顶端位于所述第二转盘(15)的边部，所述第二连接杆(16)的底端位于所述变量排肥控制板(17)的顶端，所述排肥器步进电机(12)与所述图像识别单元电性连接。
  7. 根据权利要求2所述的变尺度变量追肥装置，其特征在于：所述变量排肥控制板(17)底端的尺寸大于所述排肥口(14)的尺寸。
  8. 根据权利要求2所述的变尺度变量追肥装置，其特征在于：所述肥料腔的内侧底面倾斜设置，所述排肥口(14)位于所述肥料腔的低端。
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