CN111937551A - Variable rate fertilization method and device based on crop seedling condition information - Google Patents

Abstract

The embodiment of the invention provides a variable fertilization method and a device based on crop seedling information, wherein the fertilization method comprises the following steps: obtaining historical yield information and seedling condition information of crops in a preset area, and generating a fertilization bottom map for fertilizing the preset area; acquiring real-time growth information of crops in a current block corresponding to a preset area, and acquiring a fertilization prescription chart for topdressing the current block based on a fertilization base chart; based on a fertilization prescription chart, the operation position and the running speed of the fertilization device are combined to carry out real-time variable fertilization on the crops; when the fertilizer is applied, the soil fertility distribution in the field and the current growth situation of crops are comprehensively considered, so that the fine control of the fertilizing amount is performed according to the seedling information of different blocks in the field based on the total fertilizing amount distribution in the whole field, the purposes of more fertilizer application in weak seedlings and less fertilizer application in vigorous seedlings are realized, and the fertilizer efficiency is fully exerted under the condition of ensuring the uniform growth situation of the crops.

Description

Variable rate fertilization method and device based on crop seedling condition information

Technical Field

The invention relates to the technical field of agricultural topdressing, in particular to a variable fertilizing method and device based on crop seedling condition information.

Background

The crops have different requirements on nutrient elements in different growth periods, and corresponding additional fertilization operation needs to be carried out in different growth periods of the crops in order to meet the growth requirements of the crops. The traditional top dressing operation mainly adopts manual throwing, so that the time and labor are wasted, the efficiency is low, the field crops are often top dressed manually by experience, and the top dressing is not accurate. In recent years, with the increase in the level of agricultural mechanization, topdressing devices for applying fertilizer to crops have appeared. Although the operation efficiency is improved by the additional fertilization operation mode, the utilization rate of the fertilizer is not effectively improved.

For field crops, the soil fertility and the crop in different areas are different, so that the demand of the crops in different areas on the fertilizer is different. With the rapid increase of the population and the rapid decrease of the cultivated land area, the scientific and reasonable application of fertilizers to farmlands becomes a necessary measure for the sustainable development of modern agriculture and a problem to be solved urgently, so that the variable fertilization technology serving as an important component of modern precision agriculture becomes the key content of the research in the field of modern agricultural machinery equipment.

At present, the variable rate fertilization technology implemented on farmlands mainly focuses on the following two aspects, wherein on one hand, variable rate fertilization is carried out on the basis of a soil formula measured on line, but the fertilization mode has the problems of complex operation, great technical difficulty and the like, and the current growth condition of crops is not comprehensively considered to adjust the corresponding fertilization requirement, so that the popularization and application in a large range are not realized; on the other hand, the on-line adjustment of the fertilizing amount is realized based on the growth information of the crops, so that the goal of variable fertilization is achieved, and the fertilizing mode ignores the influence of factors such as corresponding environment information of a farmland and the historical yield of the crops on the variable fertilization.

Therefore, the existing variable fertilization modes implemented on the farmland have certain one-sidedness, and information related to variable fertilization is difficult to accurately and comprehensively obtain, so that real-time variable fertilization cannot be accurately carried out, and the corresponding fertilization effect cannot be achieved.

Disclosure of Invention

The embodiment of the invention provides a variable rate fertilization method and device based on crop seedling condition information, which are used for solving the problems that the existing variable rate fertilization mode for farmland has certain one-sidedness, and information related to variable rate fertilization is difficult to accurately and comprehensively obtain, so that real-time variable rate fertilization cannot be accurately carried out.

The embodiment of the invention provides a variable fertilizing method based on crop seedling information, which comprises the following steps: s1, obtaining historical yield information and seedling information of crops in a preset area, and generating a fertilization bottom map for fertilizing the preset area; s2, acquiring real-time growth information of crops in the current block corresponding to the preset area, and acquiring a fertilization prescription chart for topdressing the current block based on the fertilization base chart; and S3, performing real-time variable fertilization on the crops by combining the operation position and the driving speed of the fertilizing device based on the fertilization prescription chart.

According to the variable fertilizing method based on the crop seedling condition information, the step of performing real-time variable fertilizing on the crop in the step S3 further comprises the following steps: and calculating the fertilizing amount for fertilizing the crops in real time based on the fertilizing prescription chart and by combining the operation position and the running speed of the fertilizing device so as to control the fertilizer feeding speed of a fertilizer feeding mechanism, the opening of a fertilizer discharging control mechanism and the fertilizer spreading width of a fertilizer spreading mechanism corresponding to the fertilizing device.

The variable fertilizing method based on the crop seedling condition information further comprises the following steps: and S4, uploading the operation position and the driving speed of the fertilizing device and fertilizing parameters for variable fertilization to a cloud server in real time.

The embodiment of the invention also provides a fertilizing device of the variable fertilizing method based on the crop seedling information, which comprises the following steps: the crop growth information acquisition system is used for acquiring normalized vegetation index information of a crop canopy; a variable fertilizer spreading system; the control system is respectively in communication connection with the crop growth information acquisition system and the variable fertilizing system and is used for being in communication connection with the remote sensing information acquisition device; and the traveling system is provided with the crop growth information acquisition system, the variable fertilizing system and the control system.

The fertilizing apparatus according to an embodiment of the present invention, further comprising: the lifting adjusting mechanism is arranged on the traveling system; the sensor support is arranged on the lifting adjusting mechanism, and the crop growth information acquisition system is arranged on the sensor support.

According to a fertilizer apparatus of one embodiment of the present invention, the sensor mount includes: the fixed support is arranged on the lifting adjusting mechanism; the crop growth information acquisition system comprises a plurality of NDVI sensors arranged side by side and a telescopic driving mechanism, and the two ends of the telescopic driving mechanism are correspondingly connected with the fixed support and the overturning support.

The fertilizing apparatus according to an embodiment of the present invention, further comprising: the crop height acquisition device is installed on the sensor support and is in communication connection with the control system through the lifting adjusting mechanism respectively.

According to a fertilizing apparatus of an embodiment of the present invention, the variable fertilizing system comprises: a fertilizer box; the fertilizer feeding mechanism is connected with a discharge hole of the fertilizer box; the fertilizer discharging control mechanism is used for controlling the opening of the discharging hole; and the fertilizer spreading mechanism is connected with the fertilizer feeding mechanism.

According to the fertilizing device provided by one embodiment of the invention, the fertilizer conveying mechanism comprises a grid chain conveyor, and the conveying surface of the grid chain conveyor corresponds to the discharge hole of the fertilizer box; correspondingly, arrange fertile control mechanism and set up the fertilizer case orientation one side of grid chain conveyor's output, arrange fertile control mechanism and include striker plate and material stopping drive mechanism, the striker plate is connected material stopping drive mechanism, the one end of striker plate stretch to the discharge gate.

According to the fertilizing device provided by the embodiment of the invention, the fertilizer spreading mechanism comprises a rotary driving mechanism and a plurality of centrifugal fertilizer spreading discs, the rotary driving mechanism is connected with the centrifugal fertilizer spreading discs, and the rotary driving mechanism is in communication connection with the control system.

The fertilizing apparatus according to an embodiment of the present invention, further comprising: the batching device comprises a feed inlet and two batching ports, and the feed inlet is connected with the fertilizer feeding mechanism; correspondingly, the fertilizer spreading mechanism comprises two centrifugal fertilizer spreading disks, the two centrifugal fertilizer spreading disks are arranged along the direction perpendicular to the running direction of the running system and are connected with the rotary driving mechanism together, and the centrifugal fertilizer spreading disks correspond to the batching ports one to one.

According to the variable fertilizing method and device based on the crop seedling information, when variable fertilizing is carried out on field crops, the seedling information of the crops in the preset area is obtained through a remote sensing information acquisition device such as a satellite and an unmanned aerial vehicle, the seedling information of the crops and the historical yield information of the crops in the corresponding preset area can be subjected to fusion calculation, a fertilizing underlying diagram capable of reflecting the fertilizing amount required by the preset area is obtained, and therefore after the real-time growth information of the crops in the current block corresponding to the preset area is acquired, a fertilizing underlying diagram for topdressing the crops in the current block can be obtained based on the fertilizing underlying diagram, and further a control system can control the variable fertilizing system to carry out real-time variable fertilizing on the crops based on the fertilizing underlying diagram and in combination with the operation position and the driving speed of the fertilizing device.

From the above, when the variable rate fertilization mode disclosed by the invention is used for fertilization, the soil fertility distribution in the field and the current growth situation of crops are comprehensively considered, so that the fertilization amount is finely controlled according to the seedling information of different blocks in the field based on the total fertilization amount distribution in the whole field, the 'weak seedling' fertilization with more fertilizer and the 'strong seedling' fertilization with less fertilizer are realized, and the fertilizer efficiency is fully exerted under the condition of ensuring the uniform growth situation of the crops.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a variable rate fertilization device based on crop seedling condition information according to an embodiment of the present invention;

FIG. 2 is a schematic top view of a fertilizing apparatus provided in the embodiment of the present invention for variable fertilizing of field crops;

fig. 3 is a schematic structural diagram of a variable fertilizing system provided by an embodiment of the invention;

FIG. 4 is a schematic view of an installation structure of a fertilizer discharge control mechanism provided in an embodiment of the present invention;

fig. 5 is a schematic flow chart of a fertilizing method of the variable fertilizing apparatus based on crop seedling information according to the embodiment of the present invention.

In the figure, 1, a crop growth information acquisition system; 2. a variable fertilizer spreading system; 21. a fertilizer box; 22. a fertilizer feeding mechanism; 23. a fertilizer discharge control mechanism; 231. a striker plate; 232. an adjusting handle; 233. a gear; 234. a rack; 235. a bearing seat; 24. a fertilizer spreading mechanism; 25. a dosing device; 3. a traveling system; 4. a lifting adjusting mechanism; 5. a sensor holder; 51. fixing a bracket; 52. turning over the bracket; 53. a telescopic driving mechanism; 6. a crop height acquisition device; 7. a guard rail.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present embodiment provides a variable rate fertilization device based on crop growth information, including: the crop growthinformation acquisition system 1 is used for acquiring normalized vegetation index information of crop canopies; a variablefertilizer spreading system 2; the control system is respectively in communication connection with the crop growthinformation acquisition system 1 and thevariable fertilizing system 2 and is used for being in communication connection with the remote sensing information acquisition device; thewalking system 3 is provided with a crop growthinformation acquisition system 1, a variablefertilizer spreading system 2 and a control system.

Specifically, the fertilizer injection unit shown in this embodiment, when carrying out variable rate fertilization to field crop, acquire the seedling information of the crop in the preset area through remote sensing information collection devices such as satellite, unmanned aerial vehicle, can fuse the seedling information of the crop and the corresponding historical yield information of the crop in the preset area and calculate, acquire the fertilization base map that can reflect the required fertilization amount of the preset area, thereby after gathering the real-time growth information of the crop in the corresponding current block in the preset area, can be based on the fertilization base map, obtain the fertilization prescription map of topdressing the crop in the current block, and then control system can be based on the fertilization prescription map, and combine fertilizer injection unit's operating position and speed, control variable rate fertilization system carries out real-time variable rate fertilization to the crop.

As can be seen from the above, in the variable rate fertilization manner shown in this embodiment, when fertilization is performed, the soil fertility distribution in the field and the current growth situation of crops are taken into consideration, so that the fine control of the fertilization amount is performed according to the seedling information of different blocks in the field based on the total fertilization amount distribution in the whole field, so that the "weak seedling" fertilization with more fertilizer and the "strong seedling" fertilization with less fertilizer are realized, and the fertilizer efficiency is fully exerted under the condition of ensuring the uniform growth of the crops, wherein the "weak seedling" represents the crops with relatively poor growth in the field, and the "strong seedling" represents the crops with relatively good growth in the field.

As shown in fig. 1, thetraveling system 3 shown in the present embodiment may be a tractor as is well known in the art. The crop growthinformation collecting system 1 shown in this embodiment may be a normalized vegetation index measuring instrument (NDVI sensor) known in the art, and the normalized vegetation index measuring instrument may be provided in plural and mounted on a sensor bracket shown in the following embodiments, and for the convenience of sensing detection and variable fertilization operation, the sensor bracket may be mounted on the head end of a tractor, and thevariable fertilization system 2 may be mounted on the tail end of the tractor.

Meanwhile, the control system shown in this embodiment may include an industrial personal computer known in the art, and the industrial personal computer may be respectively connected to the GPS positioning module and the speed detection module, and is in communication connection with the display module, for example: the liquid crystal display or the touch screen controller obtains the operation position of the fertilizer applying device in real time through the GPS positioning module, obtains the running speed of the fertilizer applying device in real time through the speed detection module, wherein the speed detection module can be an encoder or a proximity switch which is well known in the field, the rotation angular speed of a corresponding driving mechanism of the tractor can be obtained through the encoder, the running speed of the tractor can be obtained through conversion, the proximity switch can be installed at a hub part close to a walking wheel of the tractor, and the running speed of the tractor can be obtained through detecting the pulse quantity output by the proximity switch in unit time.

Preferably, this embodiment further includes: the lifting adjusting mechanism 4 is arranged on thetraveling system 3; sensor support 5, sensor support 5 install on lift adjustment mechanism 4, install crop growthinformation acquisition system 1 on sensor support 5.

Specifically, as shown in fig. 1, the lifting adjustment mechanism 4 shown in this embodiment is a parallel four-bar linkage mechanism, the head end of the tractor is connected with the sensor support 5 through the parallel four-bar linkage mechanism, and an electric push rod is arranged on the parallel four-bar linkage mechanism, so as to control the extending state of the parallel four-bar linkage mechanism along the vertical direction by controlling the extending state of the electric push rod, thereby controlling the change of the installation height of the sensor support 5. Wherein, parallel four-bar linkage can adopt novel carbon fiber material to make, so can ensure parallel four-bar linkage's portability and corrosion resistance, still have excellent load carrying capacity simultaneously.

Here, can install cropheight collection system 6 on sensor support 5, cropheight collection system 6 can specifically adopt ultrasonic sensor, the height of accessible ultrasonic sensor detection crop canopy, thereby based on current crop canopy height and NDVI sensor's sampling width, but the industrial computer real-time control parallel four-bar linkage corresponding electric putter's flexible volume, adjust with the detection height to the NDVI sensor, thereby be convenient for the NDVI sensor obtains abundanter crop optical information, so that the processing obtains more accurate crop growth data, provide support for the accurate fertilization in later stage.

As shown in fig. 1, in a further preferred embodiment, the sensor holder 5 comprises: a fixedbracket 51, wherein the fixedbracket 51 is arranged on the lifting adjusting mechanism 4;upset support 52, the one end ofupset support 52 is articulated mutually with the one end of fixed bolster 51, installs crop growthinformation acquisition system 1 on theupset support 52, and crop growthinformation acquisition system 1 includes a plurality of NDVI sensors of arranging side by side,flexible actuating mechanism 53, and the both ends offlexible actuating mechanism 53 correspond and connect fixed bolster 51 andupset support 52.

Specifically, the fixedbracket 51 shown in this embodiment is horizontally installed on the lifting adjusting mechanism 4, two overturningbrackets 52 may be specifically provided, one end of one of the overturningbrackets 52 is hinged to one end of the fixedbracket 51, one end of theother overturning bracket 52 is hinged to the other end of the fixedbracket 51, each overturningbracket 52 is configured with a correspondingtelescopic driving mechanism 53, thetelescopic driving mechanism 53 may also adopt an electric push rod, the fixed end of thetelescopic driving mechanism 53 is hinged to the fixedbracket 51, the telescopic end of thetelescopic driving mechanism 53 is hinged to the overturningbracket 52, and a plurality of NDVI sensors are arranged on each overturningbracket 52 side by side, wherein, an ultrasonic sensor may also be specifically installed on the overturningbracket 52.

As shown in fig. 2, this embodiment specifically illustrates a schematic view of a top view structure of a fertilizing apparatus for variable fertilizing of field crops, wherein a tree-shaped icon shown in fig. 2 represents a plurality of field crops, and the tree-shaped icons are drawn and arranged in an array. Therefore, when variable rate fertilization is carried out, the two overturning supports 52 and the fixedsupport 51 can be horizontally distributed on the same straight line, so that the fertilizing device can carry out information detection on crop canopies of field crops by corresponding sensors when operating in the field, and the two overturning supports 52 can also be vertically folded upwards relative to the fixedsupport 51, so that the fertilizing device can be conveniently put in a warehouse. Meanwhile, the NDVI sensor is in real-time acquisition from the height of the crop canopy based on the ultrasonic sensor, and the height of the lifting adjusting mechanism 4 can be adjusted according to the acquired height information, so that the height of the sensor support 5 can be adaptively adjusted, and the NDVI sensor is prevented from being damaged due to contact with the ground or crops caused by the fact that the ground is fluctuated or the heights of the crops are inconsistent.

As shown in fig. 3, in one of the preferred embodiments, the variable fertilizingsystem 2 comprises: afertilizer can 21; thefertilizer feeding mechanism 22 is connected with the discharge hole of thefertilizer box 21; thefertilizer control mechanism 23 is used for controlling the opening of the discharge hole; thefertilizer spreading mechanism 24 and thefertilizer spreading mechanism 24 are connected with thefertilizer feeding mechanism 22.

Specifically, the variable fertilizer spreading system shown in this embodiment is installed at the tail end of a tractor, wherein thefertilizer box 21 is in a bucket shape, thefertilizer feeding mechanism 22 may be a grid chain conveyor known in the art, the grid chain conveyor includes two rotating rollers, an annularly arranged grid chain is installed outside the two rotating rollers, an end of one of the rotating rollers is connected with an output end of a first hydraulic motor through a chain transmission mechanism, the grid chain includes a plurality of grid chains, and the grid chains are arranged side by side to form a conveying surface of the grid chain conveyor, and the conveying surface of the grid chain conveyor corresponds to a discharge port of thefertilizer box 21, so that after the first hydraulic motor is started, the rotation of the first hydraulic motor drives the rotating rollers to rotate, and then the rotating rollers drive the grid chain to continuously convey fertilizer, because a plurality of small grid in a concave shape are arranged on the grid chain, during the fertilizer feeding process, the fertilizer can be uniformly distributed on each small grid chain, so that the uniformity of fertilizer conveying is greatly improved.

Meanwhile, the fertilizer dischargingcontrol mechanism 23 is arranged on one side of thefertilizer box 21 facing the output end of the grid chain conveyor, the fertilizer dischargingcontrol mechanism 23 comprises amaterial baffle 231 and a material stopping driving mechanism, the material baffle is connected with the material stopping driving mechanism, and one end of thematerial baffle 231 extends to the discharge hole.

As shown in fig. 4, the material blocking driving mechanism includes an adjustinghandle 232, agear 233 and arack 234, wherein the adjustinghandle 232 can be mounted on the outer side wall of thefertilizer box 21 through one ormore bearing seats 235, thegear 233 is mounted on the adjustinghandle 232 and coaxially arranged therewith, thegear 233 is meshed with therack 234, therack 234 is mounted on thematerial blocking plate 231, a guiding mechanism adapted to thematerial blocking plate 231 can be disposed on the outer side wall of thefertilizer box 21, the guiding mechanism can be a guiding groove known in the art, and a notch of the guiding groove faces the material outlet of thefertilizer box 21, so that when the adjustinghandle 232 is rotated, thematerial blocking plate 231 can be driven to move back and forth along a groove edge of the guiding groove, thereby controlling an opening degree of the material outlet of thefertilizer box 21.

In a further preferred embodiment, thefertilizer application mechanism 24 may be configured to include a rotary drive mechanism coupled to the centrifugal fertilizer application plate and a plurality of centrifugal fertilizer application plates, the rotary drive mechanism being communicatively coupled to the control system. The centrifugal fertilizer spreading disc comprises a disc body and a plurality of spreading impellers, the centrifugal fertilizer spreading disc is used for receiving fertilizer from thefertilizer feeding mechanism 22, the spreading impellers are uniformly distributed on the upper side end face of the disc body in a circumferential mode, the spreading impellers can be linear and are radially arranged on the disc body, and the cross sections of the spreading impellers can be Z-shaped or L-shaped, so that the fertilizer can be conveyed and guided along the distribution direction of the spreading impellers when being spread until the fertilizer is spread along the radial direction of the disc body.

Therefore, when fertilizer spreading operation is carried out, the centrifugal fertilizer spreading plate can rotate at a high speed under the drive of the rotary drive mechanism, when fertilizer is conveyed to the centrifugal fertilizer spreading plate from thefertilizer conveying mechanism 22, the centrifugal fertilizer spreading plate can drive the fertilizer to carry out radial fertilizer spreading under the action of centrifugal force during high-speed rotation, and the fertilizer spreading distance can be adjusted based on the control of the control system on the rotation speed of the rotary drive mechanism, so that the fertilizer spreading width of thefertilizer spreading mechanism 24 during operation can be adjusted.

In a further preferred embodiment, as shown in FIG. 3, adosage unit 25 may be provided, where thedosage unit 25 includes a feed inlet and two dosage ports, the feed inlet being connected to thefertilizer mechanism 22; correspondingly, thefertilizer spreading mechanism 24 comprises two centrifugal fertilizer spreading discs which are arranged along the running direction perpendicular to the running system and are connected with the rotary driving mechanism together, and the centrifugal fertilizer spreading discs correspond to the batching ports one by one.

Here, the rotary driving mechanism shown in this embodiment includes a second hydraulic motor, a gear box and a worm gear transmission mechanism, the output end of the second hydraulic motor is connected with the input end of the gear box, the gear box is provided with two output ends, and each output end of the gear box is connected with the centrifugal fertilizer spreading discs through a corresponding worm gear transmission mechanism, so that the two centrifugal fertilizer spreading discs can rotate synchronously under the driving of the second hydraulic motor.

Meanwhile, in order to prevent an operator from approaching the centrifugal fertilizer spreading plate and causing personal injury during variable rate fertilization, aguard rail 7 may be provided at the rear side of the tractor, and theguard rail 7 may surround the outer side of thefertilizer spreading mechanism 24 and be provided close to the centrifugal fertilizer spreading plate.

Preferably, as shown in fig. 5, the present embodiment further provides a fertilizing method of the variable fertilizing apparatus based on crop growth information, including: s1, obtaining historical yield information and seedling information of crops in a preset area, and generating a fertilization bottom map for fertilizing the preset area; s2, acquiring real-time growth information of crops in the current block corresponding to a preset area, and acquiring a fertilization prescription chart for topdressing the current block based on the fertilization base chart; and S3, performing real-time variable fertilization by combining the operation position and the running speed of the fertilization device based on the fertilization prescription chart.

Specifically, the preset area shown in this embodiment is a certain field to be subjected to variable rate fertilization. When variable rate fertilization is carried out on the preset area, the yield distribution information of the crops in the preset area can be recorded by using a yield planning system in the harvest period of the crops, so as to obtain the historical yield information of the crops in the last year or more in the preset area. Meanwhile, in the crop seedling stage, remote sensing information acquisition devices such as the satellite and the unmanned aerial vehicle can acquire seedling condition information of crops in the preset area, and the seedling condition information is growth information of the crops in different growth periods. Therefore, the seedling condition information of the crops and the historical yield information of the crops in the corresponding preset area can be fused and calculated, and the fertilization bottom map capable of reflecting the fertilization amount required by the preset area is obtained.

When the crop fertilization operation is carried out, the NDVI sensor arranged on the front side of the tractor can be used for detecting the growth information of crops in the current block corresponding to the preset area in real time on line, the fertilization prescription diagram for topdressing the current block is obtained by combining the obtained fertilization base diagram, so that a variable fertilization model is established based on the fertilization prescription diagram, the fertilization amount required by the crops in the current block is obtained, the variable fertilization is carried out by the variable fertilization system arranged on the rear side of the tractor by combining the operation position and the running speed of the fertilization device, under the condition of ensuring the total fertilization amount of the whole preset area, the fine control of the fertilization amount is carried out according to the real-time seedling situation information of the crops in the current block corresponding to the preset area, the 'weak seedling' fertilization with more fertilization and 'strong seedling' fertilization with less fertilization, and the fertilizer efficiency is fully exerted under the condition of ensuring the uniform growth of the crops.

When the fertilization control is specifically carried out, the rotating speed of the first hydraulic motor can be adjusted based on the calculated fertilizing amount required by crops in the current block, the fertilizing speed of the fertilizer feeding mechanism corresponding to the fertilization device is controlled in real time, the control of the fertilizer feeding flow is realized, the opening degree of a proportional valve corresponding to the second hydraulic motor can be adjusted according to the detection range of the NDVI sensor, the rotating speed of a centrifugal fertilizer spreading disc is controlled, the fertilizer spreading width of the fertilizer spreading mechanism is controlled, the opening degree of the fertilizer discharging control mechanism can be adjusted by manually rotating an adjusting handle, the baffle plate is driven to move back and forth along the groove edge of the guide groove, and the control of the opening degree of a discharging port of the fertilizer box is realized.

It should be noted here that, in the process of regulating and controlling the first hydraulic motor and the second hydraulic motor, the real-time rotating speed information of the first hydraulic motor and the second hydraulic motor can be respectively fed back through the encoder to establish a PID closed-loop regulation and control system, so as to realize the accurate control of the rotating speeds of the first hydraulic motor and the second hydraulic motor, and further realize the accurate regulation and control of the fertilizing amount and the fertilizing operation width of the fertilizing device. Meanwhile, the fertilizing device shown in the embodiment also supports the function of remote internet of things, and in the fertilizing operation, the operation position, the driving speed and the fertilizing parameters for variable fertilization can be uploaded to the cloud server in real time, so that relevant personnel can access the cloud server through a computer, a mobile phone and other access terminals, and the remote monitoring of the whole operation process of the fertilizing device is realized.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A variable fertilization method based on crop seedling condition information is characterized by comprising the following steps:

s1, obtaining historical yield information and seedling information of crops in a preset area, and generating a fertilization bottom map for fertilizing the preset area;

s2, acquiring real-time growth information of crops in the current block corresponding to the preset area, and acquiring a fertilization prescription chart for topdressing the current block based on the fertilization base chart;

and S3, performing real-time variable fertilization on the crops by combining the operation position and the driving speed of the fertilizing device based on the fertilization prescription chart.

2. The variable fertilizing method based on crop seedling information as claimed in claim 1, wherein the step of variable fertilizing the crop in real time in S3 further comprises:

and calculating the fertilizing amount for fertilizing the crops in real time based on the fertilizing prescription chart and by combining the operation position and the running speed of the fertilizing device so as to control the fertilizer feeding speed of a fertilizer feeding mechanism, the opening of a fertilizer discharging control mechanism and the fertilizer spreading width of a fertilizer spreading mechanism corresponding to the fertilizing device.

3. The variable fertilizing method based on crop seedling condition information as claimed in claim 1, further comprising:

and S4, uploading the operation position and the driving speed of the fertilizing device and fertilizing parameters for variable fertilization to a cloud server in real time.

4. A fertilizing apparatus for a variable fertilizing method based on crop seedling information as claimed in any one of claims 1 to 3, characterized in that it comprises:

the crop growth information acquisition system is used for acquiring normalized vegetation index information of a crop canopy;

a variable fertilizer spreading system;

the control system is respectively in communication connection with the crop growth information acquisition system and the variable fertilizing system and is used for being in communication connection with the remote sensing information acquisition device;

and the traveling system is provided with the crop growth information acquisition system, the variable fertilizing system and the control system.

5. The fertilizer applicator of claim 4, further comprising:

the lifting adjusting mechanism is arranged on the traveling system;

the sensor support is arranged on the lifting adjusting mechanism, and the crop growth information acquisition system is arranged on the sensor support.

6. The fertilizer delivery device of claim 5, wherein the sensor mount comprises: the fixed support is arranged on the lifting adjusting mechanism;

the crop growth information acquisition system comprises a fixed support, a turnover support, a crop growth information acquisition system and a control system, wherein one end of the turnover support is hinged with one end of the fixed support, the crop growth information acquisition system is installed on the turnover support, and the crop growth information acquisition system comprises a plurality of NDVI sensors which are arranged side by side;

and the two ends of the telescopic driving mechanism are correspondingly connected with the fixed support and the overturning support.

7. The fertilizer applicator of claim 5, further comprising:

the crop height acquisition device is installed on the sensor support and is in communication connection with the control system through the lifting adjusting mechanism respectively.

8. Fertilizing apparatus as claimed in any of claims 4 to 7, characterized in that the variable fertilizing system comprises: a fertilizer box;

the fertilizer feeding mechanism is connected with a discharge hole of the fertilizer box;

the fertilizer discharging control mechanism is used for controlling the opening of the discharging hole;

and the fertilizer spreading mechanism is connected with the fertilizer feeding mechanism.

9. The fertilizing apparatus as claimed in claim 8, wherein the fertilizer feeding mechanism comprises a mesh chain conveyor, the conveying surface of the mesh chain conveyor corresponds to the discharge hole of the fertilizer box; accordingly, the number of the first and second electrodes,

the fertilizer discharging control mechanism is arranged on one side of the output end of the grid chain conveyor and faces towards the fertilizer box, the fertilizer discharging control mechanism comprises a material baffle plate and a material blocking driving mechanism, the material baffle plate is connected with the material blocking driving mechanism, and one end of the material baffle plate extends towards the discharge hole.

10. The fertilizer applicator of claim 8, wherein the fertilizer applicator comprises a plurality of centrifugal fertilizer plates and a rotary drive mechanism, the rotary drive mechanism being coupled to the centrifugal fertilizer plates, the rotary drive mechanism being communicatively coupled to the control system.

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