A kind of fertilization method and system

Abstract

Embodiments of the present invention provide a fertilization method and system, the method comprising: obtaining a fertilization method according to a preset combination mode of sensors, the installation angle of each sensor on a target agricultural machine, the width of the current top dressing row, the installation distance of the sensors, and the height of the target crop. The installation height of each sensor on the target agricultural machinery; Kalman filter processing is performed on the data collected by each sensor to obtain the optimal estimated distance and optimal predicted distance; move direction; obtain the offset distance according to the optimal estimated distance, optimal predicted distance, sensor installation angle, the first preset distance and the second preset distance; change the target agricultural machinery according to the offset direction and offset distance The current position so that the target crop is fertilized. The embodiment of the present invention utilizes different combination modes of ultrasonic sensors to scan the top-dressing rows of the target crops in real time, so as to realize the method for accurately aligning the top-dressing rows of the target crops.

Description

technical field [0001] The invention relates to the field of agricultural technology, in particular to a fertilization method and system. Background technique [0002] The planting area of ​​wheat is second only to rice and corn, and occupies a pivotal position in my country's grain production and planting. Wheat production has a direct impact on my country's food security and the increase of agricultural output value and farmers' income in wheat planting areas. In 2018, my country's wheat sown area was 24,266.19 thousand hectares, with a total output of 131.4405 million tons, an increase of 25.87% compared with the output in 2005, and the sown area accounted for 22% of the country's grain crops. As a determinant of grain production increase, chemical fertilizers promote the growth of crop yields. Statistics from the Food and Agriculture Organization of the United Nations (FAD) show that the maximum effect of chemical fertilizers on crop yields is about 40%-60%. [0003] A...

AI Technical Summary

Problems solved by technology

However, the cost of machine vision navigation is high, and in an unstructured complex environment, the visual sensor is easily affected by environmental noise signals and image information is missing due to lack of crops, resulting in real-time problems and poor system adaptability

[0005] At present, the application of satellite positioning and navigation has been popularized, but in places where the satellite positioning signal is weak or the map information is incomplete, such as remote farms, indoor positioning and navigation cannot be based on satellite positioning signals

The operation accuracy of satellite navigation is easily affected by external environmental factors, including geographical location, the degree of undulation of the operation ground, etc., low reliability, high implementation cost, complicated installation and debugging, etc.

[0006] Wheat is a densely planted crop. At present, wheat topdressing is mainly done manually, and mechanical fertilization only accounts for about 30% of the planting area of ​​major crops. The existing topdressing machinery is mainly used for spreading. Failure to irrigate in time after fertilizing will reduce the utilization rate of chemical fertilizers. However, when the opener of the topdressing machine enters the ground, it is easy to damage the roots and seedlings of wheat.

During the operation of the topdressing machine, due to the low alignment accuracy, the opener damages the wheat seedlings and roots, etc.

[0007] Damage to the roots of wheat seedlings can easily cause the roots of wheat seedlings to hang in the air, lack water and nutrients, lead to thin seedlings, yellow seedlings, dead seedlings, etc., resulting in a decrease in wheat production. In the long run, it will lead to soil compaction, land acidification, and environmental and water pollution.

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