Soil sensor and fertilization executing mechanism linkage adjusting method of intelligent grape deep fertilizer applicator

Abstract

The invention provides a soil sensor and fertilization execution mechanism linkage adjustment method of an intelligent grape deep fertilizer applicator, and relates to the technical field of fertilization execution mechanism linkage. Comprising the steps of performing weighted fusion based on obtained soil data to obtain soil comprehensive parameters, generating a fertilization amount instruction, a fertilization proportion instruction and a fertilization depth instruction through an adaptive optimization algorithm based on the obtained soil comprehensive parameters, and sending the obtained fertilization amount instruction, the fertilization proportion instruction and the fertilization depth instruction to a control module to be executed based on the obtained fertilization amount instruction, the obtained fertilization proportion instruction and the obtained fertilization depth instruction. Through a self-adaptive optimization algorithm, the technical scheme not only dynamically adjusts the fertilization amount, proportion and depth according to real-time soil data, but also can predict the soil change trend according to different environmental factors and perform optimization adjustment, and automatically supplements or reduces the fertilizer according to different soil requirements; therefore, the crops can obtain optimal nutrient supply in different growth stages, the fertilization effect is optimized, and the growth quality and yield of the crops are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of linkage of fertilization actuators, and in particular to a linkage adjustment method of a soil sensor and a fertilization actuator of an intelligent grape deep fertilization machine. Background Art

[0002] With the continuous development of agricultural technology, the application of precision agriculture has gradually received widespread attention and application. Fertilization, as one of the most important links in agricultural production, directly affects the growth and yield of crops. Traditional fertilization methods usually rely on manual judgment, and the settings of fertilizer amount, fertilizer ratio and fertilization depth are relatively rough, which is difficult to adjust in time according to the actual conditions of the soil. The intelligent fertilization technology in modern agriculture uses sensors, data processing and automatic control technology to obtain soil information in real time and accurately control the fertilization process, thereby improving fertilizer use efficiency, reducing environmental pollution, and achieving sustainable development.

[0003] However, the existing fertilization systems still have some technical defects. First, many existing systems can only preset the amount of fertilizer based on limited soil data, and cannot dynamically adjust according to the comprehensive changes of multiple soil parameters in real time. This makes it impossible to accurately adapt the setting of fertilizer amount and depth to the diversity of soil environment, which may lead to fertilizer waste or uneven crop absorption. Secondly, existing technologies usually lack a closed-loop feedback control mechanism for the fertilization process, and cannot provide real-time feedback and optimization after the fertilization process is completed, resulting in the fertilization process cannot be continuously improved according to the actual needs of crop growth. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and provide a linkage adjustment method for a soil sensor and a fertilization actuator of an intelligent grape deep fertilization machine, aiming to realize multi-dimensional collection and processing of soil data during the fertilization process, and to accurately adjust the amount of fertilizer, fertilization ratio and fertilization depth based on comprehensive soil parameters. More importantly, the technical solution adopts an adaptive optimization algorithm to form a complete closed-loop control through weighted fusion and trend prediction of soil data and fertilization data. After fertilization is executed, the fertilization data is recorded and trend prediction and optimization adjustment are performed, which effectively solves the problems of the inability to dynamically adjust and lack of closed-loop feedback in traditional fertilization technology, thereby ensuring the accuracy and continuous optimization of the fertilization process.

[0005] To achieve the above object, the present invention provides the following technical solutions: A linkage adjustment method for a soil sensor and a fertilization actuator of an intelligent grape deep fertilization machine includes the following steps: Step S100: Acquire soil data and perform preprocessing.

[0006] Step S200: equip the fertilizer spreader with a functional sensor, and pre-set the fertilizer amount, fertilizer ratio and fertilizer depth based on soil data through the functional sensor to obtain fertilizer amount data, fertilizer ratio data and fertilizer depth data.

[0007] Step S300: adjusting the actual fertilizer amount, actual fertilizer ratio and actual fertilizer depth based on the obtained fertilizer amount data and soil data to obtain actual fertilizer amount data, actual fertilizer ratio data and actual fertilizer depth data.

[0008] Step S400: weighted fusion is performed based on the obtained soil data to obtain comprehensive soil parameters; based on the obtained comprehensive soil parameters, a fertilizer amount instruction, a fertilizer ratio instruction and a fertilizer depth instruction are generated through an adaptive optimization algorithm; the obtained fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are sent to the control module for execution; at the end of the execution of the control module, the comprehensive soil parameters and the executed fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are recorded to form a data storage structure.

[0009] Step S500: Perform trend prediction based on the obtained data storage structure and soil data, perform optimization preset based on the obtained prediction value and fertilization trend report, and set fertilizer machine maintenance preset.

[0010] As a preferred solution of the present invention, the S100 specifically includes: Step S100.1, obtaining soil data.

[0011] Soil data include: soil moisture content, soil temperature, soil pH, soil salt concentration and soil compaction.

[0012] The soil moisture sensor measures the moisture content in the soil, the soil temperature sensor monitors the soil temperature, the soil pH sensor monitors the soil acidity and alkalinity, the conductivity sensor measures the soil salt concentration, and the soil hardness sensor measures the soil density.

[0013] The soil moisture sensor, soil temperature sensor, soil pH sensor, conductivity sensor and soil hardness sensor are set to collect soil data once every 30 seconds.

[0014] Step S100.2: pre-processing based on the obtained soil data.

[0015] Preprocessing includes: removing abnormal data, filling missing values ​​and correcting measurement bias.

[0016] It should be noted that, since preprocessing is a technology well known to those skilled in the art, it will not be described in detail here.

[0017] As a preferred solution of the present invention, the S200 is specifically: Step S200.1, the fertilizer applicator includes a functional sensor for measuring soil nutrients, the functional sensor can obtain nitrogen, phosphorus and potassium nutrient concentration data of the working soil in real time, and automatically adjust the type and depth of fertilizer according to the nutrient concentration data; Among them, nutrient concentration data is used to calculate the required fertilizer ratio, and the fertilizer ratio and fertilization depth are automatically adjusted according to the calculation results of the functional sensor.

[0018] Step S200.1.1: Pre-set the amount of fertilizer based on soil data using a functional sensor to obtain fertilizer amount data.

[0019] When the humidity is low, increase the amount of fertilizer, according to soil data; when the humidity is high, reduce the amount of fertilizer, according to soil data; when the temperature is high, reduce the amount of fertilizer, according to soil data; when the temperature is low, increase the amount of fertilizer, according to soil data; when the pH value is low, increase the alkaline fertilizer, according to soil data; when the pH value is high, reduce the alkaline fertilizer.

[0020] When the humidity is low, the roots have a lower ability to absorb fertilizers when the soil is dry, and more fertilizers are needed to supplement it. When the humidity is high, the fertilizer dissolves faster in a high humidity environment, and excess fertilizer may be lost. When the temperature is high, when the soil temperature rises, the fertilizer dissolves faster, which can easily cause volatilization waste. When the temperature is low, the fertilizer dissolves slower in a low temperature environment, and the crops have poor absorption of the fertilizer. When the pH value is low, increase the use of alkaline fertilizers and adjust the soil pH to make it suitable for crop growth. When the pH value is high, reduce the use of alkaline fertilizers and increase the use of acidic fertilizers.

[0021] Step S200.1.2: Pre-set the fertilizer ratio based on soil data through the functional sensor to obtain the fertilizer ratio data.

[0022] When the soil nitrogen content is low, increase the proportion of nitrogen fertilizer; when the soil phosphorus content is low, increase the proportion of phosphorus fertilizer; when the soil potassium content is low, increase the proportion of potassium fertilizer.

[0023] Step S200.1.3: Pre-set the fertilization depth based on soil data using a functional sensor to obtain fertilization depth data.

[0024] When the humidity is high, the depth of fertilization is reduced, and when the humidity is low, the depth of fertilization is deepened. When the soil hardness is high, the depth of fertilization is deepened, and when the soil hardness is low, the depth of fertilization is reduced. When the temperature is high, the depth of fertilization is deepened, and when the temperature is low, the depth of fertilization is appropriately reduced.

[0025] As a preferred solution of the present invention, the S300 is specifically: Step S300.1: Adjust the actual fertilizer amount based on the obtained fertilizer amount data and soil data to obtain the actual fertilizer amount data.

[0026] Step S300.1.1: Adjust the actual fertilizer amount based on the obtained fertilizer ratio data and soil data to obtain actual fertilizer ratio data.

[0027] Step S300.1.2: Adjust the actual fertilization amount based on the obtained fertilization depth data and soil data to obtain actual fertilization depth data.

[0028] As a preferred solution of the present invention, based on the obtained soil comprehensive parameters, a fertilizer amount instruction, a fertilizer ratio instruction and a fertilizer depth instruction are generated by an adaptive optimization algorithm, and the obtained fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are sent to the control module for execution. When the control module is executed, the soil comprehensive parameters and the executed fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are recorded to form a data storage structure, specifically: Step S400.1: Perform weighted fusion based on the obtained soil data to obtain comprehensive soil parameters.

[0029] Step S400.2: Based on the obtained soil comprehensive parameters, a fertilizer application amount instruction is generated through an adaptive optimization algorithm to obtain a fertilizer application amount instruction.

[0030] Step S400.2.1: Based on the obtained soil comprehensive parameters, a fertilization ratio instruction is generated through an adaptive optimization algorithm to obtain a fertilization ratio instruction.

[0031] Step S400.2.2: Based on the obtained soil comprehensive parameters, a fertilization depth instruction is generated through an adaptive optimization algorithm to obtain a fertilization depth instruction.

[0032] Step S400.3: Execute based on the obtained fertilization amount instruction, fertilization ratio instruction and fertilization depth instruction.

[0033] The fertilization amount instruction, fertilization ratio instruction and fertilization depth instruction are sent to the fertilizer spreader control module through the wireless communication interface. After receiving the instruction, the fertilizer spreader control module adjusts the fertilizer distributor, fertilization tool and fertilization depth device to perform the fertilization operation.

[0034] When fertilization is finished, the soil comprehensive parameters and the executed fertilization amount instruction, fertilization ratio instruction and fertilization depth instruction are recorded and stored in the database to form a data storage structure.

[0035] The data storage structure includes: soil data table, fertilization operation record table, fertilization instruction table and execution feedback table.

[0036] As a preferred solution of the present invention, the S500 specifically includes: Step S500.1: Perform trend prediction based on the obtained data storage structure and soil data.

[0037] The future soil changes and fertilization requirements are predicted through regression analysis model, and the predicted values ​​are obtained as follows: ; Where: is the predicted value, i.e., the future soil data or fertilizer demand predicted by the time series model or regression model, is the intercept of the regression model, that is, when the independent variable When is zero, the constant part of the predicted value, is the regression coefficient, indicating the soil parameter The degree to which a change affects fertilizer requirements or soil conditions. The model parameters obtained through training reflect the impact of each unit change. X is the independent variable, which in this case is usually historical data.

[0038] Soil data is acquired every 30 seconds. Through the accumulation of soil data, the control module will generate a fertilization trend report every more than 1 hour.

[0039] The fertilization trend report includes: the changing trend of soil data, the adjustment trend of fertilization amount, the adjustment trend of fertilization ratio and the adjustment trend of fertilization depth.

[0040] Step S500.2: Optimize and preset based on the obtained predicted value and fertilization trend report.

[0041] The control module uses random forest to optimize fertilization presets, and optimizes actual fertilization amount data, actual fertilization ratio data, and actual fertilization depth data based on historical soil data.

[0042] During the fertilization process, the control module fine-tunes the fertilization instructions based on the latest soil data.

[0043] After each fertilization is completed, the latest soil data is obtained to evaluate the expected fertilization effect. If the fertilization effect does not meet expectations, the fertilization strategy is adjusted based on the latest soil data.

[0044] The expected effects include: expected soil moisture target, expected soil temperature target, expected soil pH value target, expected soil nitrogen, phosphorus and potassium concentration target, expected soil hardness target, expected fertilizer amount and fertilizer ratio target and expected fertilizer depth target.

[0045] Step S500.3, setting the fertilizer spreader maintenance preset.

[0046] When the fertilizer spreader has been running for 30 days, check the working status of the soil moisture sensor, soil temperature sensor, soil pH sensor, conductivity sensor and soil hardness sensor, clean the sensor surface, check the working life of the sensor, back up the database, and generate a monthly change trend table.

[0047] When the fertilizer spreader has been running for 90 days, check the electric drive device of the fertilizer actuator, check the hydraulic oil, oil pipe and sealing ring, check the wear state of the fertilizer cutter, if the cutter is severely worn, replace it, and clean the inside of the fertilizer distributor.

[0048] Compared with the prior art, the present invention has the following beneficial effects: 1. By collecting multiple soil parameters in real time, the amount of fertilizer, proportion and depth of fertilizer can be adjusted more accurately according to the actual soil conditions. Compared with traditional fertilization methods, this technology can effectively avoid uneven or excessive fertilization caused by inaccurate human judgment or insufficient soil information, thereby greatly improving the accuracy of fertilization and the utilization efficiency of fertilizers.

[0049] 2. Through the adaptive optimization algorithm, this technical solution not only dynamically adjusts the amount, proportion and depth of fertilizer application according to real-time soil data, but also predicts soil change trends according to different environmental factors, and makes optimization adjustments, automatically supplementing or reducing fertilizers according to different soil requirements, thereby ensuring that crops can get the best nutrient supply at different growth stages, optimizing the fertilization effect, and improving the growth quality and yield of crops.

[0050] 3. By introducing a closed-loop feedback mechanism for the fertilization process, after fertilization is executed, key data such as the amount of fertilizer, fertilization ratio and fertilization depth are recorded, and a data storage structure is generated in combination with soil parameters. These data will be used for subsequent trend prediction and optimization adjustments, forming a closed loop of continuous feedback and optimization, ensuring that any potential problems in the fertilization process can be corrected in a timely manner, avoiding data disconnection after a single fertilization, and improving the level of fertilization management and automation.

[0051] 4. By precisely controlling the amount and depth of fertilizer application, fertilizer waste caused by excessive or improper fertilization is avoided. Since fertilization is more precise and meets the actual needs of the soil, the dissolution and absorption of fertilizers are better, reducing the accumulation of harmful components in the soil and reducing the risk of water pollution and soil degradation caused by excessive use of fertilizers. At the same time, the adjustment ability can greatly reduce the environmental burden caused by uneven fertilization and achieve sustainable development in agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A flow chart of a method for linkage adjustment between a soil sensor and a fertilization actuator of an intelligent grape deep fertilization machine provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0054] See also Figure 1 , Figure 1 A flowchart of a method for linkage adjustment between a soil sensor and a fertilization actuator of an intelligent grape deep fertilization machine is provided for an embodiment of the present application.

[0055] In this embodiment, a method for linkage adjustment between a soil sensor and a fertilization actuator of an intelligent grape deep fertilization machine may include steps S100, S200, S300, S400, S500 and S600; Step S100: Acquire soil data and perform preprocessing.

[0056] Step S200: equip the fertilizer spreader with a functional sensor, and pre-set the fertilizer amount, fertilizer ratio and fertilizer depth based on soil data through the functional sensor to obtain fertilizer amount data, fertilizer ratio data and fertilizer depth data.

[0057] Step S300: adjusting the actual fertilizer amount, actual fertilizer ratio and actual fertilizer depth based on the obtained fertilizer amount data and soil data to obtain actual fertilizer amount data, actual fertilizer ratio data and actual fertilizer depth data.

[0058] Step S400: weighted fusion is performed based on the obtained soil data to obtain comprehensive soil parameters; based on the obtained comprehensive soil parameters, a fertilizer amount instruction, a fertilizer ratio instruction and a fertilizer depth instruction are generated through an adaptive optimization algorithm; the obtained fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are sent to the control module for execution; at the end of the execution of the control module, the comprehensive soil parameters and the executed fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are recorded to form a data storage structure.

[0059] Step S500: Perform trend prediction based on the obtained data storage structure and soil data, perform optimization preset based on the obtained prediction value and fertilization trend report, and set fertilizer machine maintenance preset.

[0060] In a specific implementation, the S100 specifically includes: Step S100.1, obtaining soil data.

[0061] Soil data include: soil moisture content, soil temperature, soil pH, soil salt concentration and soil compaction.

[0062] The soil moisture sensor measures the moisture content in the soil, the soil temperature sensor monitors the soil temperature, the soil pH sensor monitors the soil acidity and alkalinity, the conductivity sensor measures the soil salt concentration, and the soil hardness sensor measures the soil density.

[0063] The soil moisture sensor, soil temperature sensor, soil pH sensor, conductivity sensor and soil hardness sensor are set to collect soil data once every 30 seconds.

[0064] Step S100.2: pre-processing based on the obtained soil data.

[0065] Preprocessing includes: removing abnormal data, filling missing values ​​and correcting measurement bias.

[0066] It should be noted that, since preprocessing is a technology well known to those skilled in the art, it will not be described in detail here.

[0067] In a specific implementation manner, the S200 is specifically: Step S200.1, the fertilizer applicator includes a functional sensor for measuring soil nutrients, the functional sensor can obtain nitrogen, phosphorus and potassium nutrient concentration data of the working soil in real time, and automatically adjust the type and depth of fertilizer according to the nutrient concentration data; Among them, nutrient concentration data is used to calculate the required fertilizer ratio, and the fertilizer ratio and fertilization depth are automatically adjusted according to the calculation results of the functional sensor.

[0068] Step S200.1.1: Pre-set the amount of fertilizer based on soil data using a functional sensor to obtain fertilizer amount data.

[0069] When the humidity is low, increase the amount of fertilizer, according to soil data; when the humidity is high, reduce the amount of fertilizer, according to soil data; when the temperature is high, reduce the amount of fertilizer, according to soil data; when the temperature is low, increase the amount of fertilizer, according to soil data; when the pH value is low, increase the alkaline fertilizer, according to soil data; when the pH value is high, reduce the alkaline fertilizer.

[0070] When the humidity is low, the roots have a lower ability to absorb fertilizers when the soil is dry, and more fertilizers are needed to supplement it. When the humidity is high, the fertilizer dissolves faster in a high humidity environment, and excess fertilizer may be lost. When the temperature is high, when the soil temperature rises, the fertilizer dissolves faster, which can easily cause volatilization waste. When the temperature is low, the fertilizer dissolves slower in a low temperature environment, and the crops have poor absorption of the fertilizer. When the pH value is low, increase the use of alkaline fertilizers and adjust the soil pH to make it suitable for crop growth. When the pH value is high, reduce the use of alkaline fertilizers and increase the use of acidic fertilizers.

[0071] Step S200.1.2: Pre-set the fertilizer ratio based on soil data through the functional sensor to obtain the fertilizer ratio data.

[0072] When the soil nitrogen content is low, increase the proportion of nitrogen fertilizer; when the soil phosphorus content is low, increase the proportion of phosphorus fertilizer; when the soil potassium content is low, increase the proportion of potassium fertilizer.

[0073] Step S200.1.3: Pre-set the fertilization depth based on soil data using a functional sensor to obtain fertilization depth data.

[0074] When the humidity is high, the depth of fertilization is reduced, and when the humidity is low, the depth of fertilization is deepened. When the soil hardness is high, the depth of fertilization is deepened, and when the soil hardness is low, the depth of fertilization is reduced. When the temperature is high, the depth of fertilization is deepened, and when the temperature is low, the depth of fertilization is appropriately reduced.

[0075] In a specific implementation, the S300 is specifically: Step S300.1: Adjust the actual fertilizer application amount based on the obtained fertilizer application amount data and soil data to obtain the actual fertilizer application amount data, specifically: ; Where: is the adjusted fertilizer amount, As the basic fertilizer amount, is the humidity adjustment factor, is soil moisture, The optimal humidity value is is the temperature adjustment coefficient, is the soil temperature, is the optimal temperature value.

[0076] Step S300.1.1, adjusting the actual fertilizer amount based on the obtained fertilizer ratio data and soil data to obtain the actual fertilizer ratio data, specifically: ; Where: is the adjusted ammonia fertilizer ratio, As the basic fertilizer ratio, is the ammonia fertilizer adjustment coefficient, is the concentration of ammonia in the soil, is the ideal ammonia concentration.

[0077] Step S300.1.2: Adjust the actual fertilization amount based on the obtained fertilization depth data and soil data to obtain the actual fertilization depth data, specifically: ; Where: is the adjusted fertilization depth, is the fertilization depth after humidity adjustment, is the hardness adjustment coefficient, is the soil hardness, For optimum soil hardness, is the temperature adjustment factor, is the soil temperature, The optimum soil temperature.

[0078] In a specific implementation, based on the obtained soil comprehensive parameters, a fertilizer amount instruction, a fertilizer ratio instruction and a fertilizer depth instruction are generated by an adaptive optimization algorithm, and the obtained fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are sent to the control module for execution. When the control module is executed, the soil comprehensive parameters and the executed fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are recorded to form a data storage structure, specifically: Step S400.1: Perform weighted fusion based on the obtained soil data to obtain comprehensive soil parameters, specifically: ; Where: It is a comprehensive soil influencing factor, which is the comprehensive result of weighted calculation of all soil data parameters. It is used to indicate the quality of the overall soil conditions and determine the adjustment range of fertilizer application amount, fertilizer ratio and fertilizer application depth. is the weight coefficient of soil parameters, indicating the influence of each soil parameter on the overall soil condition. is the real-time value of the i-th soil data parameter, is the optimal soil parameter value, that is, the ideal soil condition required for crop growth, and n is the number of soil parameters, indicating the number of soil parameters that need to be integrated in practical applications.

[0079] Step S400.2: Based on the obtained soil comprehensive parameters, a fertilizer application instruction is generated through an adaptive optimization algorithm to obtain a fertilizer application instruction, specifically: ; Where: is the adjusted fertilizer application rate, i.e. the fertilizer application rate adjusted according to soil moisture and temperature. It is the basic fertilizer amount, that is, the basic amount of fertilizer that the fertilizer spreader should apply when there are no soil moisture and temperature adjustment factors. It is the humidity adjustment coefficient, which is the coefficient for adjusting the amount of fertilizer according to the deviation of soil humidity, indicating the influence of humidity on the amount of fertilizer. is the current soil moisture, the soil moisture value measured by the soil moisture sensor. It is the optimal humidity value, that is, the most suitable soil humidity for crop growth. is the temperature adjustment coefficient, which is the coefficient for adjusting the amount of fertilizer according to the deviation of soil temperature, indicating the degree of influence of temperature on the amount of fertilizer. is the current soil temperature, measured in real time by the soil temperature sensor. It is the optimum temperature value, that is, the soil temperature at which crop roots can best absorb fertilizer.

[0080] Step S400.2.1, based on the obtained soil comprehensive parameters, generate a fertilization ratio instruction through an adaptive optimization algorithm to obtain a fertilization ratio instruction, specifically: ; Where: It is the adjusted nitrogen fertilizer ratio, that is, the ammonia fertilizer application ratio adjusted according to the ammonia concentration in the soil. is the basic nitrogen fertilizer ratio, that is, the nitrogen fertilizer ratio recommended for application under standard soil conditions. is the nitrogen fertilizer adjustment coefficient, which indicates the influence of the change of nitrogen element concentration on the application amount of ammonia fertilizer and the sensitivity of adjusting the nitrogen fertilizer ratio. is the concentration of nitrogen in the soil, and the concentration of niobium in the soil measured by the soil sensor. It is the ideal nitrogen concentration, that is, the soil nitrogen concentration required by crops under optimal growth conditions.

[0081] Step S400.2.2: Based on the obtained soil comprehensive parameters, a fertilization depth instruction is generated through an adaptive optimization algorithm to obtain a fertilization depth instruction, specifically: ; Where: is the adjusted fertilization depth, i.e. the fertilization depth adjusted based on soil moisture, hardness and temperature. It is the fertilization depth after humidity adjustment. It is the fertilization depth that is initially adjusted according to soil moisture. is the hardness adjustment coefficient, which indicates the influence of soil hardness on the depth of fertilization. It is the soil hardness, which is the soil density measured in real time by the soil hardness sensor. is the optimal soil hardness, that is, the optimal soil hardness required for crop root growth. is the temperature adjustment coefficient, which indicates the influence of soil temperature on the depth of fertilization. is the current soil temperature, measured in real time by the soil temperature sensor. It is the optimal soil temperature, that is, the soil temperature that is suitable for fertilization and promotes root absorption.

[0082] Step S400.3: Execute based on the obtained fertilization amount instruction, fertilization ratio instruction and fertilization depth instruction.

[0083] The fertilization amount instruction, fertilization ratio instruction and fertilization depth instruction are sent to the fertilizer spreader control module through the wireless communication interface. After receiving the instruction, the fertilizer spreader control module adjusts the fertilizer distributor, fertilization tool and fertilization depth device to perform the fertilization operation.

[0084] When fertilization is finished, the soil comprehensive parameters and the executed fertilization amount instruction, fertilization ratio instruction and fertilization depth instruction are recorded and stored in the database to form a data storage structure.

[0085] The data storage structure includes: soil data table, fertilization operation record table, fertilization instruction table and execution feedback table.

[0086] In a specific implementation, the S500 specifically includes: Step S500.1: Perform trend prediction based on the obtained data storage structure and soil data.

[0087] The future soil changes and fertilization requirements are predicted through regression analysis model, and the predicted values ​​are obtained as follows: ; Where: is the predicted value, i.e., the future soil data or fertilizer demand predicted by the time series model or regression model, is the intercept of the regression model, that is, when the independent variable When is zero, the constant part of the predicted value, is the regression coefficient, indicating the soil parameter The degree to which a change affects fertilizer requirements or soil conditions. The model parameters obtained through training reflect the impact of each unit change. X is the independent variable, which in this case is usually historical data.

[0088] Soil data is acquired every 30 seconds. Through the accumulation of soil data, the control module will generate a fertilization trend report every more than 1 hour.

[0089] The fertilization trend report includes: the changing trend of soil data, the adjustment trend of fertilization amount, the adjustment trend of fertilization ratio and the adjustment trend of fertilization depth.

[0090] Step S500.2: Optimize and preset based on the obtained predicted value and fertilization trend report.

[0091] The control module uses random forest to optimize fertilization presets, and optimizes actual fertilization amount data, actual fertilization ratio data, and actual fertilization depth data based on historical soil data.

[0092] During the fertilization process, the control module fine-tunes the fertilization instructions based on the latest soil data obtained.

[0093] After each fertilization is completed, the latest soil data is obtained to evaluate the expected fertilization effect. If the fertilization effect does not meet expectations, the fertilization strategy is adjusted based on the latest soil data.

[0094] The expected effects include: expected soil moisture target, expected soil temperature target, expected soil pH value target, expected soil nitrogen, phosphorus and potassium concentration target, expected soil hardness target, expected fertilizer amount and fertilizer ratio target and expected fertilizer depth target.

[0095] The expected target for soil moisture is 60%-80%, the expected target for soil temperature is 15℃-25℃, the expected target for soil pH is 6.0-7.5, the expected target for soil nitrogen, phosphorus and potassium concentrations is that nitrogen needs to be maintained at 30-50mg / kg, phosphorus needs to be maintained at 20-40mg / kg, and potassium needs to be maintained at 150-200mg / kg, the expected target for soil hardness is 1.0-1.5MPa, the expected target for fertilizer amount and fertilizer ratio is 50-80kg of nitrogen fertilizer per mu, and the expected target for fertilization depth is that when the soil moisture is high, the fertilization depth is shallow, and when the soil hardness is high, the fertilization depth is deep.

[0096] Step S500.3, setting the fertilizer spreader maintenance preset.

[0097] When the fertilizer spreader has been running for 30 days, check the working status of the soil moisture sensor, soil temperature sensor, soil pH sensor, conductivity sensor and soil hardness sensor, clean the sensor surface, check the working life of the sensor, back up the database, and generate a monthly change trend table.

[0098] When the fertilizer spreader has been running for 90 days, check the electric drive device of the fertilizer actuator, check the hydraulic oil, oil pipe and sealing ring, check the wear state of the fertilizer cutter, if the cutter is severely worn, replace it, and clean the inside of the fertilizer distributor.

[0099] In the above content, in actual application, first, soil data is collected through a variety of soil sensors. The soil moisture sensor measures the water content in the soil, the soil temperature sensor monitors the soil temperature, the soil pH sensor measures the soil acidity, the conductivity sensor measures the soil salt concentration, and the soil hardness sensor measures the soil density. Each sensor collects data every 30 seconds. After all data enter the data processing module, they are preprocessed, including removing abnormal data, filling missing values, and correcting measurement deviations, etc., to ensure the accuracy and consistency of soil data, and provide a reliable basis for the subsequent adjustment of fertilizer application amount, fertilizer ratio and fertilizer depth.

[0100] After acquiring and processing the soil data, the functional sensors on the fertilizer spreader are used in combination with the soil data to preset the amount of fertilizer, the proportion of fertilizer and the depth of fertilizer application. For example, the degree of dryness and wetness of the soil is judged based on the soil moisture value: when the soil moisture is low, the amount of fertilizer is increased, and when the moisture is high, the amount of fertilizer is reduced. Similarly, the proportion of fertilizer application and the depth of fertilizer application are adjusted according to the soil temperature and pH value. These preset values ​​will be further optimized and executed in the control module.

[0101] After pre-setting the amount of fertilizer, the proportion and the depth of fertilizer application, the actual amount of fertilizer application, the proportion and the depth of fertilizer application are dynamically adjusted according to the soil data collected in real time. For example, the amount of fertilizer application is adjusted according to the soil moisture. If the moisture is too low, the amount of fertilizer application is increased to make up for the dry soil's ability to absorb fertilizer. When the temperature is too high, the amount of fertilizer application is reduced to avoid waste of fertilizer due to volatilization at high temperature. In addition, the proportion of fertilizer application is adjusted according to the soil pH value: when the pH value is low, the amount of alkaline fertilizer used is increased; when the pH value is high, the amount of alkaline fertilizer used is reduced and the amount of acidic fertilizer used is increased.

[0102] The adaptive optimization algorithm in the fertilizer spreader combines soil data and fertilization data, and generates optimized instructions for fertilizer amount, fertilizer ratio and fertilization depth by weighted fusion of various soil parameters. These instructions are then transmitted to the control module, and the control module performs specific fertilization operations according to the instructions. After the fertilization operation is completed, the specific data of each fertilization is recorded, including fertilizer amount, fertilizer ratio, fertilization depth and comprehensive soil parameters. These data will be stored and used as the basis for optimizing future fertilization strategies to ensure continuous optimization in subsequent crop growth cycles.

[0103] After fertilization is completed, trend prediction is carried out based on the soil data after fertilization, and a fertilization optimization report is generated based on the historical fertilization data and soil environmental change trends. Based on these data, the fertilizer amount, fertilization ratio and fertilization depth are optimized again to formulate a fertilization plan that is more suitable for crop growth needs. Through this closed-loop feedback mechanism, the fertilization process can be continuously optimized, thereby avoiding fertilizer waste and environmental pollution, and improving the efficiency and accuracy of fertilization.

[0104] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A linkage adjustment method for a soil sensor and a fertilization actuator of an intelligent grape deep fertilization machine, characterized in that: The steps include: S100, obtaining soil data and performing preprocessing; S200, configuring a functional sensor on the fertilizer spreader, and presetting the fertilizer amount, fertilizer ratio and fertilizer depth based on soil data through the functional sensor to obtain fertilizer amount data, fertilizer ratio data and fertilizer depth data; S300, adjusting the actual fertilizer amount, the actual fertilizer ratio and the actual fertilizer depth based on the obtained fertilizer amount data and soil data, and obtaining the actual fertilizer amount data, the actual fertilizer ratio data and the actual fertilizer depth data; S400, performing weighted fusion based on the obtained soil data to obtain comprehensive soil parameters; Based on the obtained comprehensive soil parameters, an adaptive optimization algorithm is used to generate a fertilizer amount instruction, a fertilizer ratio instruction, and a fertilizer depth instruction; Based on the obtained fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction, the obtained fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are sent to the control module for execution. When the control module finishes executing, the soil comprehensive parameters and the executed fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction are recorded to form a data storage structure; S500, performing trend prediction based on the obtained data storage structure and soil data, performing optimization preset based on the obtained prediction value and fertilization trend report, and setting fertilizer machine maintenance preset.

2. The method for adjusting the linkage between the soil sensor and the fertilization actuator of the intelligent grape deep fertilizer spreader as claimed in claim 1 is characterized in that: The S100 specifically includes: S100.

1. Obtain soil data; Soil data include: soil water content, soil temperature, soil pH, soil salt concentration and soil compaction; The soil moisture sensor measures the moisture content in the soil, the soil temperature sensor monitors the soil temperature, the soil pH sensor monitors the soil acidity and alkalinity, the conductivity sensor measures the soil salt concentration, and the soil hardness sensor measures the soil density; S100.2, preprocessing based on the obtained soil data; Preprocessing includes: removing abnormal data, filling missing values ​​and correcting measurement bias.

3. The method for adjusting the linkage between the soil sensor and the fertilization actuator of the intelligent grape deep fertilizer spreader as claimed in claim 1, characterized in that: The S200 is specifically: S200.

1. The fertilizer applicator includes a functional sensor for measuring soil nutrients, and the functional sensor can obtain nitrogen, phosphorus and potassium nutrient concentration data of the working soil in real time, and automatically adjust the type and depth of fertilizer according to the nutrient concentration data; Among them, nutrient concentration data is used to calculate the required fertilizer ratio, and the fertilizer ratio and fertilization depth are automatically adjusted according to the calculation results of the functional sensor; S200.1.

1. Use functional sensors to pre-calculate fertilizer amounts based on soil data to obtain fertilizer amount data; When humidity is low, increase fertilizer application, based on soil data; When humidity is high, reduce fertilizer application, based on soil data; When the temperature is high, reduce the amount of fertilizer, according to soil data; When the temperature is low, increase the amount of fertilizer, according to soil data; When the pH is low, add alkaline fertilizer, according to soil data; When the pH is high, reduce the alkaline fertilizer; S200.1.

2. Pre-calculate the fertilizer ratio based on soil data through the functional sensor to obtain the fertilizer ratio data; When the soil nitrogen content is low, increase the proportion of nitrogen fertilizer; when the soil phosphorus content is low, increase the proportion of phosphorus fertilizer; when the soil potassium content is low, increase the proportion of potassium fertilizer; S200.1.3, pre-calculate the fertilization depth based on soil data through functional sensors to obtain fertilization depth data; When humidity is high, the depth of fertilization is reduced; When humidity is low, fertilize deeper; When the soil hardness is high, the depth of fertilization should be deepened; When the soil hardness is low, the fertilization depth is reduced; When the temperature is high, the depth of fertilization is deepened; When the temperature is low, the depth of fertilization should be reduced appropriately.

4. The method for adjusting the linkage between the soil sensor and the fertilization actuator of the intelligent grape deep fertilizer spreader as claimed in claim 1 is characterized in that: The S300 is specifically: S300.

1. Adjusting the actual fertilizer application amount based on the obtained fertilizer application amount data and soil data to obtain actual fertilizer application amount data; S300.1.

1. Adjust the actual fertilizer application amount based on the obtained fertilizer application ratio data and soil data to obtain actual fertilizer application ratio data; S300.1.

2. Adjust the actual fertilizer application amount based on the obtained fertilizer application depth data and soil data to obtain actual fertilizer application depth data.

5. The method for adjusting the linkage between the soil sensor and the fertilization actuator of the intelligent grape deep fertilizer spreader as claimed in claim 1, characterized in that: The S400 is specifically: S400.

1. Perform weighted fusion based on the obtained soil data to obtain comprehensive soil parameters; S400.

2. Based on the obtained soil comprehensive parameters, a fertilizer application amount instruction is generated by an adaptive optimization algorithm to obtain a fertilizer application amount instruction; S400.2.

1. Based on the obtained soil comprehensive parameters, a fertilization ratio instruction is generated by an adaptive optimization algorithm to obtain a fertilization ratio instruction; S400.2.2, based on the obtained soil comprehensive parameters, generate a fertilization depth instruction through an adaptive optimization algorithm to obtain a fertilization depth instruction; S400.3, executing based on the obtained fertilizer amount instruction, fertilizer ratio instruction and fertilizer depth instruction; The fertilizer amount instruction, the fertilizer ratio instruction and the fertilizer depth instruction are sent to the fertilizer spreader control module through the wireless communication interface. After receiving the instruction, the fertilizer spreader control module adjusts the fertilizer distributor, the fertilizer cutter and the fertilizer depth device to perform the fertilization operation; At the end of fertilization, the soil comprehensive parameters and the executed fertilization amount instruction, fertilization ratio instruction and fertilization depth instruction are recorded and stored in the database to form a data storage structure; The data storage structure includes: soil data table, fertilization operation record table, fertilization instruction table and execution feedback table.

6. The method for adjusting the linkage between the soil sensor and the fertilization actuator of the intelligent grape deep fertilizer spreader as claimed in claim 1, characterized in that: The S500 specifically includes: S500.

1. performing trend prediction based on the obtained data storage structure and soil data; The future soil changes and fertilization requirements are predicted through regression analysis model, and the predicted values ​​are obtained as follows: ； Where: is the predicted value, i.e., the future soil data or fertilizer demand predicted by the time series model or regression model, is the intercept of the regression model, that is, when the independent variable When is zero, the constant part of the predicted value, is the regression coefficient, indicating the soil parameter The degree to which the change affects fertilizer requirements or soil conditions. The model parameters obtained through training reflect the impact of each unit change. X is the independent variable, which in this case is usually historical data; Soil data is acquired once every 0 seconds. Through the accumulation of soil data, the control module will generate a fertilization trend report every 0 hours. Fertilization trend report includes: soil data change trend, fertilizer amount adjustment trend, fertilizer ratio adjustment trend and fertilizer depth adjustment trend; S500.

2. Optimize presets based on the obtained predicted values ​​and fertilization trend reports; The control module uses random forest to optimize the fertilization preset, and optimizes the actual fertilization amount data, actual fertilization ratio data and actual fertilization depth data based on historical soil data; During the fertilization process, the control module fine-tunes the fertilization instructions based on the latest acquired soil data; After each fertilization is completed, the latest soil data is obtained to evaluate the expected fertilization effect. If the fertilization effect does not meet expectations, the fertilization strategy is adjusted based on the latest soil data; The expected results include: soil moisture target, soil temperature target, soil pH value target, soil nitrogen, phosphorus and potassium concentration target, soil hardness target, fertilizer amount and fertilizer ratio target and fertilizer depth target; S500.3, set fertilizer spreader maintenance preset; When the fertilizer spreader runs for more than 0 days, check the working status of the soil moisture sensor, soil temperature sensor, soil pH sensor, conductivity sensor and soil hardness sensor, clean the sensor surface, check the working life of the sensor, back up the database, and generate a monthly change trend table; When the fertilizer spreader runs for more than 0 days, check the electric drive device of the fertilizer actuator, check the hydraulic oil, oil pipe and sealing ring, check the wear state of the fertilizer tool, if the tool is severely worn, replace it, and clean the inside of the fertilizer distributor.

Images