CN105340443B - A kind of orchard is to target fertilizer applicator and Variable Control method thereof - Google Patents

Abstract

An orchard target fertilization machine, comprising: a detection device arranged on a tractor for collecting target and speed information; a variable fertilization mechanism arranged at the rear end of the tractor; and speed information, control the variable fertilization mechanism to complete fertilizer discharge, the variable control method of the present invention includes: the controller calculates the root system diameter and the trunk center position according to the detected tree crown profile, controls the variable fertilization mechanism to fertilize within the root diameter range, and according to the root cross-sectional area The size and the pre-set average fertilization amount of each tree control the fertilizer discharge speed of the fertilization mechanism to realize variable fertilization; the present invention determines the range of the root system by detecting the crown of the fruit tree, and fertilizes within the range of the root system, while taking into account the amount of fertilizer applied at different root positions Different principles of variable fertilization can ensure the effect of fertilization while improving the utilization rate of fertilizer, and improve an effective method for efficient fertilization in orchards.

Description

An orchard target-target fertilizer applicator and its variable control method

technical field

The invention belongs to the technical field of agricultural machinery, in particular to an orchard target-to-target fertilization machine and a variable control method thereof.

Background technique

my country is a large agricultural production country, but due to the lagging development of related agricultural machinery, it is difficult for our country to enter the ranks of agricultural powers. Precision agriculture is based on finely and accurately adjusting various soil and crop management measures according to the specific conditions of each operating unit in the field, and maximizing the optimization of various agricultural inputs to obtain the highest yield and maximum economic benefits while protecting the agricultural ecological environment. , is an important guiding direction for the development of agricultural machinery in our country.

Fertilization is an effective measure to ensure crop growth and increase yield. Relevant data show that at present, my country's total fertilizer output ranks second in the world, and its total fertilizer application rate ranks first in the world. However, the traditional extensive fertilization method often causes a lot of waste of chemical fertilizers, imbalance of soil elements, and damage to the ecological environment of crops. At the same time, unbalanced fertilization not only fails to achieve the desired effect, but also affects crop growth, reduces fruit quality, and even directly damages the root system. , causing crop wilting. In this case, variable fertilization technology has become an effective solution to improve fertilization efficiency. Variable fertilization, also known as precision fertilization, is mainly based on the comprehensive analysis of multi-layer data such as soil physical and chemical properties, pests and weeds, and climate in the yield data domain that does not use spatial units. It is supported by growth models and crop nutrition expert systems. The theory and technology of variable prescription fertilization for the purpose of high quality and environmental protection.

At present, variable fertilization machinery has gradually developed in our country. The invention patent with the publication number 201010017129 proposes a rice intelligent variable fertilization machine and its variable fertilization method. This invention uses the information fusion technology of the hyperspectral remote sensing system and image acquisition system to detect the N, P, and K contents of rice, and fertilize according to the profit and loss of elements. The invention patent with the publication number 201410037916 proposes a target variable liquid fertilization device and fertilization method for orchards. The invention uses ultrasonic sensors to detect three-dimensional data of fruit trees, and controls the fertilization mechanism to quantitatively fertilize according to the data. However, the above invention ignores the characteristics of different fertilization amounts at different root positions of crops, and does not realize variable fertilization at different root positions of a single fruit tree.

Contents of the invention

In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide an orchard target fertilization machine and its variable control method, which can realize the difference in the amount of fertilization adjusted for different root positions of fruit trees, thereby further improving the fertilization effect of the orchard.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A target fertilizer applicator for orchards, comprising:

The detection device arranged on the tractor 1 is used to collect target and speed information;

A variable fertilization mechanism arranged at the rear end of the tractor 1;

And, the controller 13 installed on the tractor 1 controls the variable fertilization mechanism to complete fertilizer discharge according to the acquired target and speed information.

Described detection device comprises target detection device and speed detection device, and described target detection device is arranged on the tractor front end support 15, comprises several ultrasonic ranging sensors for detecting the crown radius of fruit trees and the infrared sensor for detecting the center position of fruit trees;

The speed detecting device is arranged on the depth gauge wheel 7 of the tractor 1 and includes several speed sensors for collecting the traveling speed of the tractor 1 .

The controller 13 includes an ARM, which is used to calculate the crown radius according to the ultrasonic ranging sensor signal, record the location of the trunk center, and calculate the corresponding fertilizer discharge motor speed at the location of the fertilizer discharger. The controller 13 is equipped with an LCD screen for the amount of fertilizer applied. The input, data display and system switch control, the controller also includes the control circuit of the detection device.

The variable rate fertilization mechanism includes two independently controlled fertilizer dispensers.

Each fertilizer discharger includes a fertilizer discharger housing 4 located below the fertilizer box 3, a cover plate 5 is arranged on one side of the fertilizer discharger housing 4, and a rectangular fertilizer inlet is arranged on the top of the fertilizer discharger housing 4, and the rectangular The fertilizer inlet is provided with a fertilizer discharge tray 2 with several fertilizer discharge ports 201. The fertilizer discharge tray 2 is fixed on the double bearing seat 11 arranged on the cover plate 5 through a stepped shaft. There are two fertilizer discharge device housings 4. Sprocket wheel 19 and the double-side ear chain 20 between two chain wheels 19, the double-side ear chain 20 is provided with some equally spaced fertilizer buckets 18, the stepping motor 12 is connected with the chain wheel 19 to drive its rotation, and then The fertilizer discharge bucket 18 is driven to rotate, and one end of the fertilizer discharge device housing 4 bottom has a fertilizer outlet communicated with the fertilizer guide pipe 9 .

The fertilizer discharge tray 2 is evenly distributed with several fertilizer discharge ports 201, along the direction of rotation, a corresponding protrusion 202 is arranged in front of each fertilizer discharge port 201, and the outer edge of the protrusion 202 corresponds to the fertilizer discharge bucket 18. The fertilizer discharge bucket 18 moves horizontally under the drive of the double-sided ear chain 20, and it is pushed when it contacts the protrusion 202. The fertilizer discharge bucket 18 is aligned with the fertilizer discharge port 201 behind the protrusion 202, and the fertilizer discharge bucket 18 is aligned with The fertilizer discharge port 201 continues to move forward. When the fertilizer discharge port 201 overlaps with the rectangular fertilizer discharge port 401 on the fertilizer discharger housing 4, the fertilizer falls into the fertilizer discharge hopper 18 through the overlap to realize fertilizer injection, and the fertilizer discharge hopper 18 moves forward. Fertilize continuously in the rectangular fertilizer outlet 401 on the entire fertilizer discharger housing 4 until it exits the rectangular fertilizer outlet 401, the fertilizer discharge bucket 18 continues to move forward, and the fertilizer discharge tray 2 is out of contact with the fertilizer discharge bucket 18. When the fertilizer discharge bucket 18 rotated to the lower end, the fertilizer in the fertilizer discharge bucket 18 fell into the fertilizer guide pipe 9 under the effect of gravity.

The present invention also provides a variable control method of the orchard target fertilizer applicator, comprising the following steps:

Step 1, in controller 14, input the average fertilization amount of every fruit tree;

Step 2, collecting fruit tree canopy radius and trunk center position, and the travel speed of tractor 1 through the detection device arranged on the tractor 1, and transmitting to the controller 14;

Step 3, the controller 14 calculates the highest fertilizer discharge speed at the center of the trunk according to the data collected by the detection device, the operating speed of the tractor and the calibrated fertilization amount of each tree;

Step 4, the controller 14 controls the variable fertilization mechanism to calculate the motor speed at the current position according to the location and controls the stepping motor 12 to complete the variable fertilization.

The calculation method in the step 3 is as follows: Among them, D is the calibrated fertilization amount of each tree, V _max is the maximum speed of the fertilizer discharge motor corresponding to the fertilizer discharger at the center of the trunk; _t0 is the time required for the fertilizer discharger to reach the center of the trunk from the edge of the crown, in When the tractor works at a constant speed Among them, R is the radius of the crown, v is the operating speed of the tractor, and the maximum speed of the fertilizer discharge motor at the center of the trunk is obtained

In said step 4, the rotational speed of the fertilizer discharge motor at position 1 from the edge of the crown to the central position of the trunk

The rotation speed of the fertilizer discharge motor at position l from the center of the trunk to another position at the edge of the canopy Wherein the current position l=vt, t is the time from when the ultrasonic sensor detects the edge of the canopy to the position l.

Compared with the prior art, the present invention detects the canopy profile and trunk center position of the fruit tree through the target detection device, and calculates the diameter of the root system of the fruit tree and the cross-sectional area of the root system at the location of the fertilization mechanism through the above information, and then controls it according to the driving speed of the tractor and the calibrated fertilization amount. The speed of fertilizer discharge can achieve the purpose of applying different amounts of fertilizer at different root positions and applying fertilizer on demand, further improving the utilization rate of chemical fertilizers and reducing environmental pollution caused by excessive chemical fertilizers.

Description of drawings

Fig. 1 is the structure diagram of the whole machine of the orchard variable-to-target fertilizer applicator of the present invention.

Fig. 2 is a block diagram of the hardware structure of the present invention.

Fig. 3 is a diagram of the human-computer interaction interface of the present invention.

Fig. 4 is a diagram of the variable fertilization mechanism of the present invention.

Fig. 5 is a schematic diagram of the structure of the fertilizer discharge tray of the present invention.

Fig. 6 is a schematic diagram of the variable control method of the present invention.

Fig. 7 is a block diagram of the steps of the variable control method of the present invention.

Meanings of reference signs in the figure:

1-tractor; 2-fertilizer tray; 3-fertilizer box; 4-fertilizer shell; 5-cover; 6-drawing frame; 7-deep limit wheel; 8-speed sensor; 10-Brush; 11-Double bearing seat; 12-Stepper motor; 13-Opening shovel; 14-Controller; 15-Ultrasonic sensor; 16-Bracket; 17-Infrared sensor; Sprocket; 20-side lug chain.

detailed description

The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

As shown in Fig. 1, the present invention provides a kind of orchard target variable fertilizer, comprising: a controller 14 arranged on the tractor 1 for data calculation, information input, information display and mechanism control; a controller 14 arranged on the tractor 1 The detection device is used to collect target and speed information; the variable fertilization structure arranged at the rear end of the tractor 1 is used to complete fertilizer discharge according to the instructions of the controller 14 .

Wherein, the detection device includes a target detection device and a speed detection device. The target detection device includes several ultrasonic ranging sensors 15 arranged on the support 15. The ultrasonic ranging sensors generate voltage signals by sending and receiving ultrasonic waves to detect the distance from the detector to the crown of the fruit tree, and the ultrasonic sensors have a large detection area and high accuracy. The infrared sensor 17 that is arranged on support 16 lower ends detects the center position of the fruit tree by sending and receiving infrared light to generate a level signal. The speed detection device is a speed sensor 8 arranged on the depth-gauge wheel 7. The speed sensor is based on the Hall effect, and collects the rotation speed of the wheel through the magnetic sensitive device on the wheel to obtain the running speed of the fertilizer discharge device.

As shown in Figure 2, the controller 13 adopts ARM, including a core board composed of S3C2440A chip, clock circuit, reset circuit, 64MB SDRAM and Flash Memory. The core board is connected to a 7-inch LCD for information input, information display and system operation etc.; and connect the speed sensor 8, the ultrasonic sensor 15 and the infrared sensor 17 through the TLP521 level conversion circuit; connect the stepper motor 12 through the motor drive circuit. Through the above hardware structure, the controller can collect information from the target detection device to calculate the crown radius and trunk center position of the fruit tree, and calculate the highest fertilizer discharge speed corresponding to the trunk center position according to the tractor driving speed and the calibrated average fertilization amount of each tree, so that Calculate the motor speed corresponding to the current position and control the stepping motor 12 to realize variable fertilization.

As shown in Figure 3, on the 7 cun LCD of described controller 14, can show the detection state of infrared sensor, ultrasonic sensor so that the driver judges the system operating status; Fertilizer amount, in addition, the driver can set the average amount of fertilizer applied to each fruit tree according to the conditions of the orchard fruit trees, and can also start and stop the system through the LCD.

As shown in Figure 4, the variable rate fertilization mechanism includes two separately controlled fertilizer dispensers. Taking a fertilizer discharger on one side as an example, the fertilizer discharger includes a fertilizer discharger housing 4, a fertilizer discharge tray 2, a fertilizer discharge bucket 18, a chain with ears on both sides 20, two sprockets 19, a cover plate 5 and Connect the stepping motor 12 of the controller, and the controller can control the speed of the stepping motor 12.

As shown in Figure 5, the fertilizer discharger housing 4 is connected to the fertilizer tank 3 through bolts, the stepping motor 12 is fixed on the cover plate 5 of the fertilizer discharger, and the fertilizer discharge disc 2 is fixed on the double-sided cover plate 5 through a stepped shaft. On the bearing seat 11, the stepping motor 12 is connected with the sprocket 18, and the stepping motor 12 drives the sprocket 19 to rotate, and the double-sided lug chain 20 drives the fertilizer discharge bucket 18 to rotate, and the fertilizer discharge bucket 18 pushes the fertilizer discharge tray 2 to rotate, A plurality of fertilizer outlets 201 are evenly distributed on the fertilizer discharge tray 2 , and along the direction of rotation, a corresponding protrusion 202 is arranged in front of each fertilizer discharge outlet 201 , and the outer edge of the protrusion 202 corresponds to the fertilizer discharge bucket 18 . The fertilizer hopper 18 is conical, and can push the protrusion 202 to make the fertilizer disk 2 rotate around its center of rotation. The fertilizer hopper 18 moves horizontally under the drive of the chains 20 with ears on both sides. When it rotates to the upper side, the fertilizer hopper 18 contacts with the protrusion 202, thereby generating a push effect. When working, there is always one fertilizer hopper 18 contacts with the fertilizer discharge disk 2 and promotes the fertilizer discharge disk 2 to rotate.

Specifically, when the fertilizer discharge bucket 18 contacts and pushes with the protrusion 202, the fertilizer discharge bucket 18 is aligned with the fertilizer discharge port 201, and the fertilizer discharge bucket 18 and the fertilizer discharge port continue to move forward. When the fertilizer discharge port 201 on the fertilizer discharge tray 2 coincides with the rectangular fertilizer discharge port 401 on the fertilizer discharger housing 4, the fertilizer will fall into the fertilizer discharge hopper 18 through the overlap of the fertilizer discharge port and start to inject fertilizer. Move forward, continuously fill the rectangular fertilizer discharge port 401 on the entire fertilizer discharger housing 4 until exiting the rectangular fertilizer discharge port 401, the fertilizer discharge bucket 18 continues to move forward, the fertilizer discharge disc 2 rotates, and automatically withdraws from the engagement. Finally, it is out of contact with the fertilizer discharge bucket 18. When the fertilizer discharge bucket 18 rotates to the lower end, the fertilizer in the fertilizer discharge bucket 18 falls into the fertilizer guide pipe 9 under the action of gravity; 18 is in contact with the protrusion of the fertilizer discharge tray 2, and the fertilizer discharge tray 2 continues to rotate under the push of the fertilizer discharge hopper 18. The top of the fertilizer tray 2 is cleaned up. The fertilizer discharge hopper 18 of the present invention has a long contact time with the rectangular fertilizer discharge port 401 on the fertilizer discharger housing 4, and the fertilizer discharge hopper 18 is fully filled with fertilizer. The device 14 is independently controlled and works independently to realize bilateral fertilization of target variables.

As shown in Figures 6 and 7, Figure 6 is a top view of the root system. A kind of variable control method that adopts the target variable fertilizer applicator of the present invention comprises the following steps:

Step 1, in controller 14, input the average fertilization amount of every fruit tree;

Step 2, collecting fruit tree canopy radius and trunk center position, and the travel speed of tractor 1 through the detection device arranged on the tractor 1, and transmitting to the controller 14;

Step 3, the controller 14 calculates the highest fertilizer discharge speed at the center of the trunk according to the data collected by the detection device, the operating speed of the tractor and the calibrated fertilization amount of each tree;

Step 4, the controller 14 controls the variable fertilization mechanism to calculate the motor speed at the current position according to the location and controls the stepping motor 12 to complete the variable fertilization.

According to the principle that the distribution characteristics of the root system are close to the outline of the crown, that is, the amount of fertilizer required for the edge of the crown is small, and the speed of fertilizer discharge is the slowest at this time, and the amount of fertilizer required for the center of the trunk is the fastest. Change linearly from edge to center for variable fertilization.

The radius of the canopy is obtained from the signal of the ultrasonic ranging sensor. When the ultrasonic sensor detects the edge of the canopy, start timing and record the distance l ₁ between the detector and the canopy at that time. When the infrared sensor detects the trunk, record the distance between the detector and the canopy at this time. distance l ₂ , then the difference between l ₂ and l ₁ is the canopy radius, from which the highest fertilizer discharge speed corresponding to the center of the trunk can be calculated when the calibrated fertilization amount, tractor operating speed and canopy radius are constant. Furthermore, according to the distance between the detector and the fertilizer discharge mechanism, the rotation speed of the fertilizer discharge motor corresponding to the position of the fertilizer discharge device is calculated.

The calculation formula is as follows: in the process from the edge of the crown to the center of the trunk, Among them, D is the calibrated fertilization amount of each tree, V _max is the maximum speed of the fertilizer discharge motor corresponding to the fertilizer discharger at the center of the trunk; _t0 is the time required for the fertilizer discharger to reach the center of the trunk from the edge of the crown, in When the tractor works at a constant speed Among them, R is the radius of the crown, v is the operating speed of the tractor, and the maximum speed of the fertilizer discharge motor at the center of the trunk is obtained

Then the rotation speed of the fertilizer discharge motor at position l from the edge of the crown to the center of the trunk

The rotation speed of the fertilizer discharge motor at position l from the center of the trunk to another position at the edge of the canopy Wherein the current position l=vt, t is the time from when the ultrasonic sensor detects the edge of the canopy to the position l.

Claims (7)

1. orchard is to a target fertilizer applicator, including:

It is arranged at the detection device on tractor (1), is used for gathering target and velocity information；

It is arranged at the variable fertilization mechanism of tractor (1) rear end；

And, the controller (13) being arranged on tractor (1), controller (13) is according to acquisition Target and velocity information, control variables fertilizing mechanism completes fertilizer；

It is characterized in that, described controller (13) includes ARM, for according to ultrasonic distance-measuring sensor It is corresponding that signal calculates tree crown radius, record position, trunk center and calculating fertilizer apparatus position Fertilizer motor speed, controller (13) carries one piece of liquid crystal display and shows for the input of dose, data And system switching controls, described controller also includes the control circuit of described detection device.

The most according to claim 1, orchard is to target fertilizer applicator, it is characterised in that described detection device bag Including target detection device and speed detection device, described target detection device is arranged at tractor front end support (15) on, including some ultrasonic distance-measuring sensors for detecting top fruit sprayer radius with for detecting The infrared sensor of trunk center；

Described speed detection device is arranged on the gauge wheel (7) of tractor (1), including some speed Sensor, is used for gathering the travel speed of tractor (1).

The most according to claim 1, orchard is to target fertilizer applicator, it is characterised in that described variable-rate fertilization Structure includes two independent fertilizer apparatus controlled.

The most according to claim 3, orchard is to target fertilizer applicator, it is characterised in that each described fertilizer apparatus Including the fertilizer apparatus housing (4) being positioned at below fertilizer box (3), there is cover plate the side of fertilizer apparatus housing (4) (5), the top of fertilizer apparatus housing (4) has rectangle to enter Fei Kou, if rectangle enter Fei Kouchu be provided with The fertilizer disk (2) of dry defertilizing opening (201), fertilizer disk (2) is fixed on by multidiameter and is arranged on cover plate (5), on Double bearing support (11), fertilizer apparatus housing (4) has two sprocket wheels (19) and is positioned at two Double-sided tape ear chain (20) between individual sprocket wheel (19), between double-sided tape ear chain (20) being provided with etc. Away from some fertilizer-discharging hoppers (18), stepper motor (12) is connected drive with sprocket wheel (19), and it rotates, and then Drive fertilizer-discharging hopper (18) rotation, one end of fertilizer apparatus housing (4) bottom to have to connect with fertilizer guiding tube (9) Fertilizer outlet.

The most according to claim 4, orchard is to target fertilizer applicator, it is characterised in that described fertilizer disk (2) Upper uniform by some defertilizing openings (201), in rotational direction, the front of each defertilizing opening (201) is arranged Having a corresponding projection (202), the outer edge of protruding (202) is corresponding with fertilizer-discharging hopper (18), row Fertile bucket (18) moves horizontally under the drive of double-sided tape ear chain (20), when contacting with protruding (202) Promoting it, fertilizer-discharging hopper (18) aligns with the defertilizing opening (201) at this projection (202) rear, Fertilizer-discharging hopper (18) persistently travels forward with defertilizing opening (201), defertilizing opening (201) and fertilizer apparatus housing (4), when the rectangle defertilizing opening (401) on overlaps, it is real that fertilizer falls into fertilizer-discharging hopper (18) by overlapping position Now noting fertilizer, fertilizer-discharging hopper (18) travels forward, the rectangle defertilizing opening (401) on whole fertilizer apparatus housing (4) The most constantly filling fertilizer until exiting rectangle defertilizing opening (401), fertilizer-discharging hopper (18) moves forward, fertilizer Dish (2) disengages with fertilizer-discharging hopper (18), when fertilizer-discharging hopper (18) turns to lower end, and fertilizer-discharging hopper (18) Interior fertilizer falls under gravity into fertilizer guiding tube (9).

6. the Variable Control method to target fertilizer applicator of the orchard described in claim 1, comprises the following steps:

Step 1, averagely every applying fruit trees with fertilizer amount of input in controller (14)；

Step 2, gathers top fruit sprayer radius and trunk by the detection device being arranged on tractor (1) Center, and the travel speed of tractor (1), and it is transferred to described controller (14)；

Step 3, described controller (14) according to detection device gather data, tractor work speed with And the highest fertilizer rotating speed of each tree calculation of fertilization amount trunk center demarcated；

Step 4, described controller (14) control variables fertilizing mechanism calculates present bit according to position The motor speed put also controls stepper motor (12) and completes variable fertilization；

It is characterized in that, described step 3 Computational Methods is as follows:Wherein, D is every Tree demarcation dose, V_maxFor the highest turn of the fertilizer motor that fertilizer apparatus is corresponding when trunk center Speed；t₀It is that fertilizer apparatus arrives the time required for trunk center from tree crown edge, at tractor work In the case of constant airspeedWherein R is tree crown radius, and v is tractor work speed, draws fertilizer Motor is at the maximum speed of trunk center

Variable Control method the most according to claim 6, it is characterised in that in described step 4, from Tree crown edge is to the trunk center fertilizer motor rotating speed in l positionFrom tree Dry center starts to another tree crown marginal position fertilizer motor rotating speed in l positionWherein present position l=vt, t is to detect from ultrasonic sensor The time to l position is started to tree crown edge.