Orchard ditching and fertilizing device and method
阅读说明：本技术 一种果园开沟施肥装置及方法 (Orchard ditching and fertilizing device and method ) 是由 王金星 刘雪梅 刘双喜 张宏建 江浩 徐春保 慕君林 权泽堃 于 2019-11-21 设计创作，主要内容包括：本申请公开了一种果园开沟施肥装置及方法,果园开沟施肥装置行进前端和后端分别设置有第一相机和第二相机,第一相机和所述第二相机的镜头朝向与所述果园开沟施肥装置的行进方向垂直,第一相机、第二相机、开沟装置和施肥装置分别与控制系统电连接,控制系统用于接收所述第一相机和所述第二相机采集的果树图像信息,并控制开沟装置和施肥装置的作业状态。当第一相机获取到果树树干信息时开始施肥作业,控制系统开始控制开沟装置开沟作业,同时控制施肥装置进行施肥作业。随着施肥作业的进行,当第二相机获取到当前施肥作业的果树树干信息时,控制系统控制开沟装置和施肥装置停止作业,进而实现了定点开沟施肥,提高了肥料的利用率。(The application discloses orchard ditching and fertilizing device and method, the front end and the rear end of the orchard ditching and fertilizing device are respectively provided with a first camera and a second camera, the direction of the lens of the first camera and the direction of the lens of the second camera are perpendicular to the advancing direction of the orchard ditching and fertilizing device, the first camera, the second camera, the ditching device and the fertilizing device are respectively electrically connected with a control system, and the control system is used for receiving fruit tree image information collected by the first camera and the second camera and controlling the operation states of the ditching device and the fertilizing device. When the first camera acquires information of the fruit tree trunk, the fertilizer application operation is started, the control system starts to control the ditching device to ditch, and meanwhile the fertilizer application device is controlled to perform the fertilizer application operation. Along with the implementation of the fertilization operation, when the second camera acquires the information of the current fruit tree trunk in the fertilization operation, the control system controls the ditching device and the fertilizing device to stop operating, so that fixed-point ditching and fertilizing are realized, and the utilization rate of the fertilizer is improved.)
1. The utility model provides an orchard ditching fertilizer injection unit which characterized in that includes: the fruit tree ditching and fertilizing device comprises a rack, wherein a ditching device, a fertilizing device and a control system are arranged on the rack, a first camera and a second camera are respectively arranged at the front end and the rear end of the orchard ditching and fertilizing device, the direction of the lens of the first camera and the direction of the lens of the second camera are perpendicular to the advancing direction of the orchard ditching and fertilizing device, the first camera, the second camera, the ditching device and the fertilizing device are respectively electrically connected with the control system, and the control system is used for receiving fruit tree image information collected by the first camera and the second camera and controlling the operation states of the ditching device and the fertilizing device.
2. The orchard ditching and fertilizing device as claimed in claim 1, wherein the ditching device comprises a transmission shaft, the transmission shaft is arranged on one side of the frame through a first support frame, a first end of the transmission shaft is fixedly connected with an output end of the hydraulic motor, a first transmission chain wheel is fixedly arranged at the other end of the transmission shaft, the first transmission chain wheel is close to the frame, a second transmission chain wheel is arranged at one end far away from the frame, and the first transmission chain wheel is in transmission connection with the second transmission chain wheel through a ditching chain.
3. The orchard ditching and fertilizing device as claimed in claim 2, wherein a spiral soil discharging device is fixedly arranged on the first driving chain wheel and used for discharging soil from the ditching chain in ditching transmission.
4. The orchard ditching and fertilizing device as claimed in claim 3, wherein the ditching chain comprises an annular transmission chain and a chain type ditching cutter, the annular transmission chain is in transmission connection with the first transmission chain wheel and the second transmission chain wheel respectively, and the chain type ditching cutter is fixedly arranged on the annular transmission chain.
5. The orchard ditching and fertilizing device as claimed in claim 4, wherein a plurality of chain type ditching knives are provided, and the chain type ditching knives are uniformly and fixedly arranged on the annular transmission chain.
6. The orchard ditching and fertilizing device of claim 2, wherein the fertilizing device comprises a fertilizer box, the fertilizer box is fixedly arranged on the frame, the bottom of the fertilizer box is provided with a switchable fertilizer application opening, the fertilizer application opening is communicated with one end of a fertilizer application pipe, and the other end of the fertilizer application pipe is arranged at the tail of the orchard ditching and fertilizing device.
7. The orchard ditching and fertilizing device of claim 6, wherein a fertilizer guide plate is further fixedly arranged on the first support frame, and the fertilizer guide plate is fixedly connected with the fertilizer application pipe.
8. An orchard ditching and fertilizing device as claimed in claim 2, wherein a second support frame is fixedly arranged on the other side of the machine frame, the first camera and the second camera are fixedly arranged on the second support frame, and the distance between the first camera and the second camera is 1-1.5 m.
9. An orchard ditching and fertilizing device as claimed in any of claims 2-8, wherein the control system comprises an upper computer and a single chip microcomputer, the upper computer is fixedly arranged in a cab of the agricultural machine, the single chip microcomputer is fixedly arranged on the first support frame, the upper computer is respectively and electrically connected with the first camera, the second camera and the single chip microcomputer, and the single chip microcomputer is respectively and electrically connected with the hydraulic motor and the electromagnetic valve of the fertilizing device.
10. A method for ditching and fertilizing an orchard, which is characterized in that the ditching and fertilizing device for the orchard, which is used as claimed in any one of claims 1-9, is adopted, and the method comprises the following steps:
when mechanical equipment drives the orchard ditching and fertilizing device to operate in an orchard, when a first camera detects first fruit tree trunk information, the first fruit tree trunk information is transmitted to a control system, and the first fruit tree is a fruit tree needing fertilization at present;
the control system controls the operation of the ditching device and the fertilizing device, the ditching device ditches, and the fertilizing device conveys fertilizer into ditches;
when the second camera detects the information of the first fruit tree trunk, the information of the first fruit tree trunk is transmitted to the control system, and the control system controls the ditching device and the fertilizing device to stop working.
Technical Field
The application relates to the technical field of orchard fertilization, in particular to an orchard ditching and fertilizing device and method.
Background
China is a big agricultural country, and fruit trees are one of the main economic crops in China. Wherein, fertilization is an important work in the management of the fruit garden, reasonable fertilization, fixed-point quantitative fertilization improve the utilization rate of the fertilizer, and then the quality and the yield of the fruits can be remarkably improved.
In the traditional technology, most orchard ditching and fertilizing machines apply fertilizers in strip ditches, namely ditching and fertilizing from top to bottom along the row direction of fruit trees. Although the fertilizing method can realize the fertilizing of the fruit trees, the planting distance between adjacent fruit trees is not considered, so that unnecessary fertilizing is carried out on the land between adjacent fruit trees, unnecessary waste of fertilizer is further caused, and the utilization rate of the fertilizer is reduced.
Therefore, how to realize reasonable fixed-point fertilization in an orchard to improve the utilization rate of the fertilizer is a problem to be solved urgently in the field.
Disclosure of Invention
In order to solve the technical problems, the following technical scheme is provided:
in a first aspect, the embodiment of the application provides an orchard ditching and fertilizing device, which comprises a frame, wherein a ditching device, a fertilizing device and a control system are arranged on the frame, a first camera and a second camera are respectively arranged at the advancing front end and the rear end of the orchard ditching and fertilizing device, the orientation of a lens of the first camera and the orientation of a lens of the second camera are perpendicular to the advancing direction of the orchard ditching and fertilizing device, the first camera, the second camera, the ditching device and the fertilizing device are respectively electrically connected with the control system, and the control system is used for receiving fruit tree image information collected by the first camera and the second camera and controlling the operation state of the ditching device and the fertilizing device.
By adopting the implementation mode, the agricultural mechanical equipment drives the orchard ditching and fertilizing device to walk along the space between the fruit trees when the orchard conducts fertilizing operation. When the first camera acquires information of the fruit tree trunk, the control system starts to control the ditching device to ditch, and simultaneously controls the fertilizing device to fertilize. Along with the implementation of the fertilization operation, when the second camera acquires the information of the current fruit tree trunk in the fertilization operation, the control system controls the ditching device and the fertilizing device to stop operating, so that fixed-point ditching and fertilizing are realized, and the utilization rate of the fertilizer is improved.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the ditching device includes a transmission shaft, the transmission shaft is disposed on one side of the rack through a first support frame, a first end of the transmission shaft is fixedly connected to an output end of the hydraulic motor, a first transmission sprocket is fixedly disposed at the other end of the transmission shaft, the first transmission sprocket is close to the rack, a second transmission sprocket is disposed at an end far away from the rack, and the first transmission sprocket and the second transmission sprocket are connected through a ditching chain in a transmission manner.
Control system and hydraulic motor electricity are connected, and when needs carry out the ditching operation, control system control hydraulic motor starts to drive the transmission shaft and rotates, and then makes first drive sprocket rotate and drive the motion of ditching chain, and under the assistance of second drive sprocket, ditching chain begins the operation of ditching.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, a spiral soil discharger is fixedly arranged on the first transmission chain wheel, and the spiral soil discharger is used for discharging soil which is driven by the ditching chain in a ditching manner. When the ditching chain carries out the ditching operation, the soil that the ditching was dug can reach spiral soil discharging device's position along with the ditching chain, and spiral soil discharging device can in time discharge soil.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the ditching chain includes an annular transmission chain and a chain type ditching cutter, the annular transmission chain is in transmission connection with the first transmission sprocket and the second transmission sprocket respectively, and the chain type ditching cutter is fixedly disposed on the annular transmission chain. The chain type ditching cutter and the transmission chain have a certain angle, so that ditching with a certain width is ensured, and fertilization is facilitated. On the other hand, the soil dug out by ditching can reach the position of the spiral soil discharging device along with the chain type ditching cutter, thereby ensuring that the soil can not be buried in the fertilizing ditch again.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, a plurality of the chain type ditching knives are arranged, and the plurality of the chain type ditching knives are uniformly and fixedly arranged on the endless transmission chain. The arrangement of the chain type ditching cutters ensures that the ditching operation is uninterrupted during the operation period and the continuity of the fertilizing operation.
Combine the first possible implementation of first aspect, in the fifth possible implementation of first aspect, fertilizer injection unit is including fertile case, fertile case is fixed to be set up in the frame, fertile bottom of the case portion is provided with fertile mouth under the switch, fertile mouth is linked together with the one end of fertilization pipe down, the other end setting of fertilization pipe is in orchard ditching fertilizer injection unit's afterbody. Fertile case is gone down fertilizer mouthful department and is set up an solenoid valve, and control system is connected with the solenoid valve electricity, and when needs carried out the fertilization operation, control system control solenoid valve is opened, and fertilizer flows into in the fertilization pipe, flows out from the afterbody of fertilization pipe and enters into the fertilization ditch. When the fertilizer is not needed to be applied, the control system controls the electromagnetic valve to be closed.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the first support frame is further fixedly provided with a fertilizer guide plate, and the fertilizer guide plate is fixedly connected with the fertilizer application pipe.
With reference to the first possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, a second support frame is fixedly disposed on the other side of the rack, the first camera and the second camera are fixedly disposed on the second support frame, and a distance between the first camera and the second camera is 1-1.5 meters. The optimal distance between the trunks of the fruit trees in the orchard is 4-5 meters, and the distance between the first camera and the second camera is 1-1.5 meters, so that the fertilizing amount of the fruit trees can be guaranteed by fixed-point fertilization, and fertilizer waste caused by fertilization in the region between the fruit trees can be avoided.
In combination with the first aspect or any one of the first to seventh possible implementation manners of the first aspect, in an eighth possible implementation manner of the first aspect, the control system includes an upper computer and a single chip microcomputer, the upper computer is fixedly arranged in a cab of the agricultural machine, the single chip microcomputer is fixedly arranged on the first support frame, the upper computer is electrically connected with the first camera, the second camera and the single chip microcomputer respectively, and the single chip microcomputer is electrically connected with the hydraulic motor and the electromagnetic valve of the fertilizing device respectively.
In a second aspect, an embodiment of the present application provides an orchard ditching and fertilizing method, where the orchard ditching and fertilizing apparatus described in the first aspect or any one of the possible implementation manners of the first aspect is adopted, the method includes: when mechanical equipment drives the orchard ditching and fertilizing device to operate in an orchard, when a first camera detects first fruit tree trunk information, the first fruit tree trunk information is transmitted to a control system, and the first fruit tree is a fruit tree needing fertilization at present; the control system controls the operation of the ditching device and the fertilizing device, the ditching device ditches, and the fertilizing device conveys fertilizer into ditches; when the second camera detects the information of the first fruit tree trunk, the information of the first fruit tree trunk is transmitted to the control system, and the control system controls the ditching device and the fertilizing device to stop working.
Drawings
Fig. 1 is a schematic structural diagram of an orchard ditching and fertilizing device provided by an embodiment of the application;
FIG. 2 is a side view of an orchard ditching and fertilizing device provided by the embodiment of the application;
fig. 3 is a schematic flow chart of an orchard ditching and fertilizing method provided by the embodiment of the application;
fig. 4 is a fruit tree ground partial image acquired by the camera according to the embodiment of the present application;
fig. 5 is a binary image obtained by single threshold segmentation of a ground partial image of a fruit tree according to an embodiment of the present application.
Fig. 6 is an image after median filtering and noise reduction of a binary image according to an embodiment of the present application;
in fig. 1 to 6, the symbols are represented as:
the device comprises a
Detailed Description
The present invention will be described with reference to the accompanying drawings and embodiments.
Machine vision is one of the core technologies of artificial intelligence, and the core of the technology is to replace human eyes and human brains with machines to observe and judge. With the continuous application and development of the machine vision technology in agricultural machinery, the intelligent level of the agricultural machinery is obviously improved, the productivity is greatly liberated, and positive contribution is made to the mechanized and intelligent development of agriculture in China. However, machine vision techniques have had little or no application to orchard fertilizing machinery. The application provides an orchard ditching fertilizer injection unit introduces orchard fertilizing machine technical field with machine vision technique, and fixed point ration fertilization based on machine vision can effectually solve present orchard ditching fertilizing machine and the problem that exists in the experience fertilization.
Fig. 1 is a schematic structural diagram of an orchard ditching and fertilizing device provided by an embodiment of the application, fig. 2 is a side view of the orchard ditching and fertilizing device provided by the embodiment of the application, referring to fig. 1 and 2, the orchard ditching and fertilizing device comprises: the fruit tree ditching and fertilizing device comprises a
Specifically, the ditching device comprises a
Control system is connected with hydraulic motor 6 electricity, and when needs carried out the ditching operation, control system control hydraulic motor 6 starts to drive
In the embodiment of the present application, the hydraulic system for controlling the hydraulic motor 6 includes an oil tank, a filter, a hydraulic pump, a throttle valve, an electromagnetic proportional directional valve, and a hydraulic cylinder. The oil tank is connected with the filter through a hydraulic oil path. The filter is connected with the hydraulic pump through a hydraulic oil path. One end of the hydraulic pump absorbs oil from the oil tank through a hydraulic oil circuit to provide power. The other end of the hydraulic pump is respectively connected with the throttle valve through a hydraulic oil path. The electromagnetic proportional directional valve is connected with the throttle valve through a hydraulic oil path. The extension end of a push rod of the hydraulic cylinder can be hinged on the first support frame 5, the electromagnetic proportional reversing valve acts, the hydraulic cylinder stretches, the ditching depth is changed, and the proper ditching depth is achieved.
Referring to fig. 2, a spiral
The ditching chain comprises an
The chain
Fertilizer injection unit is including
The first support frame 5 is further fixedly provided with a
A
In the embodiment of the application, control system includes host computer and
Known from the above embodiments, the embodiment provides an orchard ditching and fertilizing device, and when the
Corresponding to the orchard ditching and fertilizing device provided by the embodiment, the application also provides an embodiment of an orchard ditching and fertilizing method. Referring to fig. 3, the method includes:
s101, when mechanical equipment drives the orchard ditching and fertilizing device to operate in an orchard, when a first camera detects information of a first fruit tree trunk, the information of the first fruit tree trunk is transmitted to a control system, and the first fruit tree is a fruit tree which needs to be fertilized currently.
Before operation, the focal lengths of the first camera and the second camera are adjusted, so that the image information of the overground part of the fruit tree can be completely acquired, and the image information is uploaded to the industrial all-in-one machine. Fig. 4 shows the fruit tree ground partial image collected by the camera.
When the first camera collects the overground part images of the fruit trees, the overground part images are transmitted to the upper computer. The upper computer performs single threshold segmentation on the acquired fruit tree RGB color image in a yellow channel in a CMYK color space to obtain a binary image containing a trunk, as shown in FIG. 5. Then, the processed binary image is subjected to median filtering to remove the influence of salt and pepper noise on the target trunk image, and the processed image is shown in fig. 6. And (4) segmenting the trunk from the preprocessed fruit tree image. And extracting the characteristics of the obtained trunk image, and transmitting the extracted characteristic parameters to the single chip microcomputer.
And S102, the control system controls the operation of the ditching device and the fertilizing device, the ditching device ditches, and the fertilizing device conveys fertilizer into ditches.
Then the ditching and fertilizer-discharging control program in the single chip microcomputer starts to operate, the output end of the control system outputs a control signal to control the hydraulic motor to rotate, the ditching cutter rotates, the soil discharging device rotates to start ditching operation, meanwhile, the single chip microcomputer controls the electromagnetic valve to open, the fertilizer outlet is opened, soil is discharged out of the ditch, and fertilizer falls into the ditch. In the embodiment of the application, the ditching depth can be changed by stretching and retracting the hydraulic cylinder in the hydraulic system, so that the proper ditching depth is reached.
S103, when the second camera detects the information of the first fruit tree trunk, the information of the first fruit tree trunk is transmitted to the control system, and the control system controls the ditching device and the fertilizing device to stop working.
When the second camera collects the parts of images on the ground of the fruit trees, the image information is transmitted to the upper computer, the upper computer processes the images and transmits the characteristic information to the single chip microcomputer, the single chip microcomputer controls the hydraulic motor to stop rotating, the ditching cutter to stop rotating, the soil discharging device to stop rotating, the electromagnetic valve is closed, the fertilizer outlet is closed, and the fertilizer application is stopped.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is only described in detail with reference to the preferred embodiments instead, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and the scope of the claims of the present application should also be covered.
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