CN113348842B - An automatic variable fertilizer applicator for orchards based on multi-line lidar - Google Patents

Abstract

The invention discloses an orchard automatic variable rate fertilizer distributor based on a multi-line laser radar, which comprises: the device comprises a vehicle body, a fertilizing device, a driving device, a laser radar device and a main control device; the vehicle body comprises a compartment and a partition board horizontally arranged in the compartment; the laser radar device is arranged at the top of the carriage and is electrically connected with the main control device; the driving device is arranged at the bottom of the carriage; the fertilizing device is electrically connected with the main control device, is arranged on one side of the outer part of the carriage and is fixedly connected with the carriage through a fixing frame; the main control device is arranged on the top surface of the partition board. The invention can effectively solve the problems of uneven fertilization, excessive fertilization and low fertilizer utilization rate, and provides supplement for modern, intelligent and unmanned development of agriculture.

Description

An automatic variable fertilizer applicator for orchards based on multi-line lidar

technical field

The invention relates to the technical field of fruit tree fertilization, in particular to an orchard automatic variable fertilization machine based on multi-line laser radar.

Background technique

Lidar technology (Lidar) was first used in the field of aerial surveying and mapping in the 1970s. In the 1980s, with the maturity of electronic devices, it was gradually applied to Lidar imaging and accurate positioning of aerospace satellite recovery. Now, as the cost of components continues to decrease, performance With continuous improvement, it is generally used in civilian fields, intelligent robots, car assistance/autonomous driving, etc. Lidar is used as an optical detection method because of the high precision, directionality, monochromaticity, coherence and many other advantages of lasers. At present, most of the single-line lidars used in agriculture are used for ranging, and the measurement accuracy will deteriorate after more than 20m. At the same time, it is not effective for the complex terrain of farmland and the use of strong light or dark weather. To this end, we adopted a set of multi-line lidar devices, which can collect 3D geographic information around in real time, with centimeter-level accuracy, and can operate normally in strong light and dark conditions.

Fertilization is an indispensable step in the process of crop growth and development, and the distribution of soil nutrients in the same field is uneven. Most of the current fertilization processes have problems such as uneven fertilization and low utilization efficiency of chemical fertilizers, which are likely to cause soil environmental pollution and crop burning. Seedlings, planting costs increase and so on. Therefore, accurate and quantitative variable fertilization technology needs to be developed urgently. At the same time, the continuous increase of labor costs, unmanned and intelligent development trends are imperative.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic variable fertilizer applicator for orchards based on multi-line laser radar, so as to solve the problems existing in the above-mentioned prior art, and can effectively solve the problems of uneven fertilization, excessive fertilization, and low utilization rate of fertilizers, which is conducive to agricultural modernization. , intelligent and unmanned development to provide supplements.

For achieving the above object, the present invention provides the following scheme:

The present invention provides an automatic variable fertilizer applicator for orchards based on multi-line laser radar, comprising: a body, a fertilizing device, a driving device, a laser radar device and a main control device;

The vehicle body includes a compartment and a partition horizontally arranged in the compartment; the lidar device is arranged on the top of the compartment and is electrically connected with the main control device; the driving device is arranged at the bottom of the compartment ; the fertilization device is electrically connected with the main control device, the fertilization device is arranged on the outer side of the carriage, and is fixedly connected with the carriage through a fixing frame; the main control device is arranged on the top surface of the partition .

Preferably, the fertilization device includes a fertilizer tank; the fertilizer tank is divided into several cavities; a number of the cavities are respectively connected with a fertilizer injection pipe; the other end of the fertilizer injection pipe is connected with a liquid mixing tank, the injection The bottom end of the fertilizer pipe is fixedly connected and communicated with a first electromagnetic valve; the center of the inner cavity of the mixing tank is provided with a stirring shaft; is fixedly connected to the top surface of the liquid mixing tank; the side wall of the stirring shaft is fixedly connected with a spiral plate; the bottom surface of the liquid mixing tank is sequentially connected with a second solenoid valve and a liquid outlet through a pipeline; The second solenoid valve is electrically connected with the main control device.

Preferably, the main control device includes a main board, a chipset, a USB interface, a touch screen, a WIFI module, a power switch and a power module; the main board is fixedly installed on the top surface of the partition; the chipset, the USB interface , the touch screen and the WIFI module are respectively adapted to and electrically connected to the motherboard; the power module is electrically connected to the motherboard through a power switch; the first solenoid valve, the second solenoid valve, the The lidar device, the driving device, the USB interface, the touch screen and the WIFI module are respectively electrically connected to the main board; the touch screen is embedded on the top of the carriage; the power supply The module is fixedly installed on the bottom surface of the interior cavity of the vehicle.

Preferably, the drive device includes a drive shaft; two sides of the drive shaft are rotatably connected with drive wheels, a driven gear is fixed in the middle of the drive shaft, the driven gear penetrates the bottom surface of the carriage, and is meshed with a drive gear; The drive motor is connected with the driving gear; the drive motor is electrically connected with the main board; the other side of the bottom surface of the carriage is fixedly connected with a steering device.

Preferably, the steering device includes a steering mechanism; both sides of the steering mechanism are rotatably connected to the two driving wheels; the steering mechanism is drivingly connected to the steering motor; the steering motor is electrically connected to the main board .

Preferably, the driving motor and the steering motor are servo motors.

Preferably, the laser radar device adopts a laser radar with multiple laser channels, the range L of the laser radar device is 0.5m≤L≤200m, the recognition accuracy is ±3cm, and the pulsed ranging and 360-degree scanning method are used. Generate 3D images in real time.

Preferably, the lidar device communicates and interacts with the mainboard simultaneously in both wireless and wired ways.

Preferably, several anti-collision buffer pads are also fixedly connected to the middle of the side wall of the compartment.

Preferably, the axis of the spiral blade coincides with the axis of the stirring shaft.

The present invention discloses the following technical effects:

The fertilization function provided by the invention can perform precise fertilization according to the amount of fertilizer required by different positions of the orchard, and plan the fertilization path and fertilization point in combination with the soil nutrient distribution map, avoid excessive fertilization and uneven fertilization, and realize intelligent and precise variable fertilization. Improve fertilization efficiency, fertilizer utilization rate and save manpower and material resources; at the same time, for the poor civil satellite navigation accuracy and the complex outdoor orchard environment, multi-line laser radar is used to complete the positioning and the obstacle avoidance action of the fertilizer applicator during the travel process with the nutrient distribution map The fixed-point fertilization makes the fertilization process smoother and the fertilization effect is better; and the soil nutrient distribution map drawn by different sampling methods can be applied to different geographical environments, making the fertilization machine more adaptable.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

FIG. 1 is a schematic side view of the structure of the present invention.

Figure 2 is a schematic diagram of the front view of the liquid mixing tank.

FIG. 3 is a schematic side view of the structure of the steering device.

FIG. 4 is a schematic side view of the main control device.

Figure 5 is a flow chart of the fertilization process of the fertilizer applicator.

Among them, the main control device-1, the main board-1a, the chipset-1b, the USB interface-1c, the touch screen-1d, the WIFI module-1e, the first solenoid valve-2, the second solenoid valve-3, the stirring motor- 4. Lidar device-5, power switch-6, partition plate-7, anti-collision cushion-8, steering device-9, steering mechanism-91, steering motor-92, power module-10, drive motor-11, Liquid outlet-12, mixing tank-13, stirring shaft-14, fertilizer injection pipe-15, fertilizer tank-16, carriage-17, spiral blade-19, fixing frame-20.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

The present invention provides an automatic variable fertilizer applicator for orchards based on multi-line laser radar, comprising: a body, a fertilizer applicator, a driving device, a laser radar device 5 and a main control device 1;

The body includes a compartment 17 and a partition 7 horizontally arranged in the compartment 17; the lidar device 5 is arranged on the top of the compartment 17 and is electrically connected to the main control device 1; the driving device is arranged at the bottom of the compartment 17; the fertilization device and the main control device 1. Electrical connection, the fertilization device is arranged on the outer side of the carriage 17, and is fixedly connected to the carriage 17 through the fixing frame 20; the main control device 1 is arranged on the top surface of the partition 7.

In a further optimization scheme, the fertilization device includes a fertilizer tank 16; the fertilizer tank 16 is divided into several cavities; the several cavities are respectively connected with a fertilizer injection pipe 15; the other end of the fertilizer injection pipe 15 is connected with a liquid mixing tank 13, and the fertilizer injection pipe 15 The bottom end is fixedly connected and communicated with the first solenoid valve 2; the center of the inner cavity of the mixing tank 13 is provided with a stirring shaft 14; The top surface of the mixing tank 13; the side wall of the stirring shaft 14 is fixed with a spiral sheet 19; the bottom surface of the mixing tank 13 is sequentially connected with the second solenoid valve 3 and the liquid outlet 12 through the pipeline; the first solenoid valve 2 and the second solenoid valve 3 and The main control device 1 is electrically connected.

Further, the first solenoid valve 2 is arranged in the inner cavity of the liquid mixing tank 13 .

Further, the fertilizer injection pipe 15 is a rigid pipe, and the two ends are respectively fixed and connected with the fertilizer tank 16 and the liquid mixing tank 13 , so as to provide sufficient support for the fertilizer tank 16 .

In a further optimization scheme, the main control device 1 includes a main board 1a, a chipset 1b, a USB interface 1c, a touch screen 1d, a WIFI module 1e, a power switch 6 and a power supply module 10; the main board 1a is fixedly installed on the top surface of the partition 7; the chip The group 1b, the USB interface 1c, the touch screen 1d and the WIFI module 1e are respectively adapted to and electrically connected to the main board 1a; the power module 10 is electrically connected to the main board 1a through the power switch 6; the first solenoid valve 2, the second solenoid The valve 3, the lidar device 5, the driving device, the USB interface 1c, the touch screen 1d and the WIFI module 1e are respectively electrically connected to the main board 1a; the touch screen 1d is embedded in the top of the carriage 17; the power module 10 is fixedly installed in the carriage 17 Bottom of inner cavity.

Further, the power switch 6 is embedded in the side top of the carriage 17, which is convenient for personnel to operate.

Further, the nutrient distribution map data is imported through the USB interface 1c or remotely wirelessly transmitted through the WIFI module 1e, and the main control device 1 transmits the collected geographic location information to the remote host computer through the WIFI module 1e for real-time monitoring by the staff. Its function is to monitor the position and behavior of the fertilizer applicator; the touch screen 1d is a manual operation terminal, which is used as a backup operation mode after equipment maintenance and remote control means fail.

Further, the soil nutrient distribution map was sampled in advance, and SPSS19.0 software was used for statistical analysis of data, combined with the theory of spatial variation, using the geostatistical module of ArcGIS 10.0, and the inverse distance weighted interpolation method was used to establish and draw soil nutrient parameters. Spatial variation distribution map. The main control device 1 adopts an industrial integrated PC as the processor, the Win10 operating system supports touch operation, and the variable fertilization software is developed in c#, and the laser radar device 5, the first solenoid valve 2, the drive motor 11, The second solenoid valve 3, the stirring motor 4 and the steering motor 92 communicate through the serial port.

In a further optimization scheme, the drive device includes a drive shaft; the two sides of the drive shaft are rotatably connected with drive wheels, the middle of the drive shaft is fixed with a passive gear, the passive gear penetrates the bottom surface of the carriage 17, and is meshed with a drive gear; the drive gear is connected with a drive motor. 11; The driving motor 11 is electrically connected to the main board 1a;

In a further optimized solution, the steering device 9 includes a steering mechanism 91; both sides of the steering mechanism 91 are rotatably connected to two driving wheels; the steering mechanism 91 is drivingly connected to a steering motor 92; and the steering motor 92 is electrically connected to the main board 1a.

Further, the steering device 9 is a steering system of an existing vehicle, and is powered by a steering motor 92 .

In a further optimized solution, the drive motor 11 and the steering motor 92 are servo motors.

Further, the driving motor 11 and the steering motor 92 are high-precision DC servo motors, which are powered by the power supply module 10, and controlled by the main board 1a to accurately realize the predetermined movement of the carriage 17 and complete the predetermined task.

In a further optimization scheme, the laser radar device 5 adopts a laser radar with multiple laser channels. The range L of the laser radar device 5 is 0.5m≤L≤200m, and the recognition accuracy is ±3cm. It adopts pulsed ranging and 360-degree scanning. Generate 3D images in real time.

In a further optimization solution, the lidar device 5 communicates and interacts with the main board 1a simultaneously in both wireless and wired ways.

In a further optimized solution, a number of anti-collision buffer pads 8 are also fixed in the middle of the side wall of the carriage 17 .

In a further optimized solution, the axis of the helical blade 19 coincides with the axis of the stirring shaft 14 .

In Embodiment 1 of the present invention, a flow meter is also provided on the fertilizer injection pipe 15, the flow meter is electrically connected to the main board 1a, the flow meter is arranged in series with the first solenoid valve 2, and the fertilizer in the fertilizer tank 16 passes through the flow rate respectively. The meter and several first solenoid valves 2 flow to the liquid mixing tank 13, and the remaining amount of fertilizer in the fertilizer tank 16 can be monitored in real time according to the amount of fertilizer initially added and the amount of waste flowing through the flow meter.

In Embodiment 2 of the present invention, the present invention provides a small automatic variable fertilizer spreader based on lidar positioning, the implementation of which includes the following main steps:

Step 1: The staff injects fertilizer into the fertilizer tank 16, transmits the soil nutrient distribution map data, turns on the power switch 6 of the fertilizer applicator, waits for the self-check of the fertilizer applicator, and the functions of each part are activated.

Step 2: The lidar device 5 is started, the scanning is completed, and the geographic data is transmitted back to the main control device 1 and the upper computer. Combined with the soil nutrient distribution map, the travel route and the fertilization point are planned, and the fertilization amount is calculated.

Step 3: Drive to the fertilization point, complete the fertilization, and implement feedback of the remaining fertilizer amount in the fertilizer tank 16 to determine whether the next fertilization is satisfied. If it is satisfied, the next fertilization process will be carried out. Otherwise, the signal of insufficient fertilizer will be sent back to the upper computer to prompt the staff, and the fertilizer applicator will be driven back to the initial point to wait for fertilization.

In the third embodiment of the present invention, several pressure sensors are also embedded in the anti-collision cushion 8 at equal intervals, and the pressure sensors are electrically connected to the main board 1a. When the present invention is in operation, once it touches other people or objects , not only can use the cushioning characteristics of the anti-collision buffer pad 8 to reduce the damage to people or objects, but also timely identify the current situation through the pressure sensor embedded in the anti-collision buffer pad 8 and stop in time.

In Embodiment 4 of the present invention, the fertilizing device is hung behind the vehicle body and fixed by the fixing frame 20 , the driving device is built under the vehicle body, driven by a DC servo motor, and connected to the main control device 1 , and the main control device 1 sends out the drive The signal is sent to the driving device to drive the fertilizer applicator to the fertilizing point and complete the obstacle avoidance behavior; the lidar device 5 is placed on the top surface of the carriage 17 close to the side of the forward direction of the present invention, and is connected to the main control device 1 for detecting obstacles. After completing the positioning operation, the obtained position information is fed back to the main control device 1;

In the description of the present invention, it should be understood that the terms "portrait", "horizontal", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or It is implied that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

The above-mentioned embodiments are only to describe the preferred mode of the present invention, but not to limit the scope of the present invention. Without departing from the design spirit of the present invention, those of ordinary skill in the art can Variations and improvements should fall within the protection scope determined by the claims of the present invention.

Claims (8)

1. The utility model provides an orchard automatic variable rate fertilizer distributor based on multiline laser radar which characterized in that includes: the device comprises a vehicle body, a fertilizing device, a driving device, a laser radar device (5) and a main control device (1);

the vehicle body comprises a compartment (17) and a partition plate (7) horizontally arranged in the compartment (17); the laser radar device (5) is arranged at the top of the carriage (17) and is electrically connected with the main control device (1); the driving device is arranged at the bottom of the carriage (17); the fertilizing device is electrically connected with the main control device (1), is arranged on one side of the outer portion of the carriage (17), and is fixedly connected with the carriage (17) through a fixing frame (20); the main control device (1) is arranged on the top surface of the partition plate (7); the fertilizing device comprises a fertilizer tank (16); the fertilizer tank (16) is divided into a plurality of cavities; the cavities are respectively communicated with a fertilizer injection pipe (15); the other end of the fertilizer injection pipe (15) is communicated with a liquid mixing tank (13), and the bottom end of the fertilizer injection pipe (15) is fixedly connected and communicated with a first electromagnetic valve (2); a stirring shaft (14) is arranged in the center of the inner cavity of the liquid mixing tank (13); one end of the stirring shaft (14) penetrates through the top surface of the liquid mixing tank (13) and is connected with a stirring motor (4) in a transmission way; the stirring motor (4) is fixedly connected to the top surface of the liquid mixing tank (13); the side wall of the stirring shaft (14) is fixedly connected with a spiral sheet (19); the bottom surface of the liquid mixing tank (13) is sequentially communicated with a second electromagnetic valve (3) and a liquid outlet (12) through a pipeline; the first electromagnetic valve (2) and the second electromagnetic valve (3) are electrically connected with the main control device (1); the main control device (1) comprises a main board (1 a), a chipset (1 b), a USB interface (1 c), a touch screen (1 d), a WIFI module (1 e), a power switch (6) and a power module (10); the main board (1 a) is fixedly arranged on the top surface of the clapboard (7); the chipset (1 b), the USB interface (1 c), the touch screen (1 d) and the WIFI module (1 e) are respectively matched with and electrically connected with the mainboard (1 a); the power supply module (10) is electrically connected with the mainboard (1 a) through a power switch (6); the first electromagnetic valve (2), the second electromagnetic valve (3), the laser radar device (5), the driving device, the USB interface (1 c), the touch screen (1 d) and the WIFI module (1 e) are electrically connected with the mainboard (1 a) respectively; the touch screen (1 d) is embedded at the top of the carriage (17); the power supply module (10) is fixedly arranged on the bottom surface of the inner cavity of the carriage (17); nutrient distribution diagram data are imported through a USB interface (1 c) or remotely and wirelessly transmitted through a WIFI module (1 e); a flow meter is further arranged on the fertilizer injection pipe (15), the flow meter is electrically connected with the main board (1 a), the flow meter is connected with the first electromagnetic valves (2) in series, and fertilizer in the fertilizer tank (16) flows to the liquid mixing tank (13) through the flow meter and the first electromagnetic valves (2) respectively; the other side of the bottom surface of the carriage (17) is fixedly connected with a steering device (9);

the fertilization method of the orchard automatic variable rate fertilizer applicator based on the multi-line laser radar comprises the following main steps:

step 1: a worker injects fertilizer into the fertilizer tank (16), transmits soil nutrient distribution map data, turns on the power switch (6), waits for self-checking of the fertilizer applicator, and starts functions of all parts;

step 2: the laser radar device (5) is started to complete scanning, geographic data are transmitted back to the main control device (1) and the upper computer, a traveling route and a fertilizing point are planned by combining a soil nutrient distribution map, and a fertilizing amount is calculated;

and 3, step 3: the vehicle is driven to a fertilizing point to finish fertilizing, the amount of the residual fertilizer in the fertilizer tank (16) is fed back, and whether the next fertilizing is satisfied is judged; if the fertilizer is not enough, the signal indicating that the fertilizer is not enough is transmitted to the upper computer to prompt a worker, and the fertilizer applicator is driven to return to the initial point to wait for fertilizer addition;

the soil nutrient distribution map is sampled in advance, data statistics and analysis are carried out by SPSS19.0 software, and a soil nutrient parameter spatial variation distribution map is established and drawn by using an inverse distance weighted interpolation method by combining a spatial variation theory and utilizing a land statistics module of ArcGIS 10.0; what master control set (1) adopted is that industrial integrated PC is as the treater, and Win10 operating system supports the touch operation, and variable rate fertilization software adopts the c # development, with laser radar device (5), first solenoid valve (2), drive arrangement, second solenoid valve (3), agitator motor (4) with turn to device (9) through serial communication.

2. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: the drive device comprises a drive shaft; the two sides of the driving shaft are rotatably connected with driving wheels, the middle part of the driving shaft is fixedly connected with a driven gear, and the driven gear penetrates through the bottom surface of the carriage (17) and is meshed with a driving gear; the driving gear is in transmission connection with a driving motor (11); the driving motor (11) is electrically connected with the main board (1 a).

3. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 2 is characterized in that: the steering device (9) comprises a steering mechanism (91); two sides of the steering mechanism (91) are rotationally connected with the two driving wheels; the steering mechanism (91) is in transmission connection with a steering motor (92); the steering motor (92) is electrically connected with the main board (1 a).

4. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 3 is characterized in that: the driving motor (11) and the steering motor (92) are servo motors.

5. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: the laser radar device (5) adopts a laser radar with a plurality of laser channels, the range L of the laser radar device (5) is more than or equal to 0.5m and less than or equal to 200m, the identification precision is +/-3 cm, and a pulse type ranging and 360-degree scanning mode is adopted to generate a three-dimensional image in real time.

6. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: the laser radar device (5) is communicated and interacted with the main board (1 a) in a wireless mode and a wired mode.

7. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: and the middle part of the side wall of the carriage (17) is fixedly connected with a plurality of crash cushions (8).

8. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: the axis of the spiral piece (19) is coincident with the axis of the stirring shaft (14).

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