Loess plateau slope water and soil conservation device and method

Abstract

The invention discloses a loess plateau slope water and soil conservation device and method, and belongs to the technical field of water and soil conservation and intelligent control crossing. The pile foundation type executing mechanism comprises a spiral ground pile fixed in a side slope soil body, a rotary base installed on the spiral ground pile to achieve horizontal rotation, a pitching swing arm hinged to the rotary base to achieve pitching motion and a spraying guide pipe fixed to the pitching swing arm. The integrated sensing probe comprises a probe rod body, a plurality of layers of moisture content sensors which are arranged in a layered manner along the length direction of the probe rod body, and a miniature rain gauge which is mounted at the top end of the probe rod body; and the central controller is in communication connection with the integrated sensing probe and the pile foundation type execution mechanism and is used for receiving sensing data and sending a control instruction, and the simulation precision of the model on a real physical process is improved.

Description

Technical Field

[0001] This invention relates to the intersection of soil and water conservation and intelligent control, specifically to a soil and water conservation device and method for slopes in the Loess Plateau. Background Technology

[0002] Traditional slope soil and water conservation methods mainly rely on passive engineering measures, such as masonry revetments or retaining walls. These methods cannot adapt to the dynamically changing local erosion risks during rainfall events, resulting in limited effectiveness of protective measures in dealing with sudden or locally distributed erosion.

[0003] The inadequacy of this passive protection stems primarily from its inability to acquire real-time environmental data and conduct dynamic interventions. Traditional monitoring methods are typically lagging, failing to identify risk areas before erosion occurs. Furthermore, human intervention is also delayed, making it impossible to accurately allocate resources and execute operations based on real-time data. This situation leads to soil and water conservation work relying mainly on engineering redundancy or post-event remediation, lacking specificity and timeliness.

[0004] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a device and method for soil and water conservation on the Loess Plateau slopes, so as to solve the problems mentioned in the background art.

[0006] The technical solution of the present invention includes: A pile-based actuator, comprising a helical pile fixed in the slope soil, a slewing base installed on the helical pile to achieve horizontal rotation, a pitching swing arm hinged to the slewing base to achieve pitching motion, and a jetting duct fixed on the pitching swing arm. An integrated sensing probe, comprising a probe rod, multiple layers of moisture content sensors arranged in layers along the length of the probe rod, and a miniature rain gauge mounted on the top of the probe rod. The system includes a central controller that is communicatively connected to both the integrated sensing probe and the pile-type actuator, and is used to receive sensing data and send control commands.

[0007] Preferably, a servo motor is installed inside the rotating base, and the servo motor drives the hollow rotating column through a transmission mechanism. The pitch arm is hinged to the top of the rotating column.

[0008] Preferably, the injection conduit is connected to the liquid supply system via a high-pressure resistant hose, which passes through a rotary joint located in the rotary base and extends upward through the hollow rotary column.

[0009] Preferably, the pitch movement of the pitch arm is controlled by an electric push rod, the base end of which is hinged to the rotary base, and its extended end is hinged to the pitch arm.

[0010] A method for soil and water conservation on slopes of the Loess Plateau, comprising: The central controller receives multi-depth soil moisture content data and instantaneous rainfall intensity data collected by the integrated sensing probe, and combines them with a preset digital elevation model to generate a global soil moisture field. When the central controller receives a predicted rainfall event, it simulates and calculates the simulated erosion force of each area of ​​the slope based on the overall soil moisture field and inputs the rainfall intensity and duration of the predicted rainfall event. The simulated erosion force is then compared with a preset erosion resistance threshold to determine erosion risk hotspots. The central controller calculates and generates intervention commands based on the spatial coordinates, risk level, area of ​​the erosion risk hotspot, and the current soil moisture content extracted from the overall soil moisture field, and controls the pile-based actuator to perform spraying on the erosion risk hotspot.

[0011] Preferably, the step of generating a global soil moisture field further includes: determining whether a crust has formed on the soil surface by comparing the instantaneous rainfall intensity with the rate of change of surface soil moisture content obtained by the multi-layer moisture content sensor, and calculating the dynamically changing effective infiltration coefficient accordingly to correct the generation process of the global soil moisture field.

[0012] Preferably, the erosion resistance threshold is determined by collecting loess samples from representative locations on the slope, conducting scouring tests in the laboratory, and establishing a functional relationship between water flow shear force and soil erosion rate.

[0013] Preferably, the step of calculating and generating intervention instructions further includes: selecting the spray liquid type as water or a solidifying agent according to the risk level of the erosion risk hotspot, and adjusting the baseline total amount of liquid sprayed according to the current soil moisture content.

[0014] Preferably, the step of controlling the pile-type actuator to perform injection further includes: converting the target coordinates in the intervention command into the rotation angle of the slewing base and the pitch angle of the pitching arm, and converting the total injection volume and rate in the intervention command into pumping parameters of the liquid supply system.

[0015] This invention provides an improved device and method for soil and water conservation on Loess Plateau slopes, which has the following improvements and advantages compared with the prior art: 1. The central controller uses multi-depth soil moisture content data collected by integrated sensor probes and a digital elevation model describing the slope topography. Through a water transport calculation program, it expands the discrete data into a continuous moisture content distribution map covering the entire slope, i.e., a global soil moisture field. This step solves the problem of discrete data spatial distribution in traditional methods and provides a global data foundation for subsequent risk prediction. In addition, this method can also determine whether soil crust has formed by comparing instantaneous rainfall intensity and the rate of change of surface soil moisture content, and correct the infiltration coefficient accordingly, thereby improving the model's simulation accuracy of real physical processes. 2. When a predicted rainfall event is received, the central controller, based on the overall soil moisture field, inputs the predicted rainfall intensity and duration, and simulates and calculates the simulated erosion force in each area of ​​the slope. This erosion force is compared with a preset erosion resistance threshold to determine erosion risk hotspots. This allows the system to identify in advance the weak areas most likely to experience soil erosion during future rainfall, enabling predictive risk management. The erosion resistance threshold is determined by establishing a functional relationship between water flow shear force and soil erosion rate through laboratory erosion tests. This ensures that the basis for risk assessment conforms to the soil physical characteristics of the specific slope. 3. Once an erosion risk hotspot is identified, the central controller calculates and generates an intervention command based on its spatial coordinates, risk level, area, and current soil moisture content. This command then controls the pile-based actuator to perform spraying operations on the risk hotspot, thereby effectively suppressing erosion before it occurs. The generation of the intervention command also includes selecting whether to spray clean water or a solidifying agent based on the risk level, and adjusting the total amount of liquid sprayed based on the current soil moisture content, making the intervention measures more adaptable and effective. Finally, the controller converts the target coordinates and spraying parameters in the intervention command into specific control signals for the actuator, ensuring that the intervention liquid can be accurately sprayed onto the designated risk area. Attached Figure Description

[0016] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of the device; Figure 2 This is a structural schematic diagram of a pile-based actuator; Figure 3 This is a schematic diagram of the process flow of the method of the present invention; In the diagram: 100, pile-based actuator; 110, helical pile; 120, slewing base; 130, pitch swing arm; 140, jet duct; 200, integrated sensing probe; 210, probe rod; 220, multi-layer moisture content sensor; 230, miniature rain gauge; 300, central controller. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0018] Example 1 Please see Figure 1-2 This invention provides a soil and water conservation device for slopes on the Loess Plateau, comprising: The pile-based actuator 100 includes a helical pile 110 fixed in the slope soil, a slewing base 120 installed on the helical pile 110 to achieve horizontal rotation, a pitch swing arm 130 hinged to the slewing base 120 to achieve pitch movement, and a jet duct 140 fixed on the pitch swing arm 130. The integrated sensing probe 200 includes a probe rod 210, a multi-layer moisture content sensor 220 arranged in layers along the length of the probe rod 210, and a miniature rain gauge 230 installed at the top of the probe rod 210. The central controller 300 is connected to the integrated sensing probe 200 and the pile-type actuator 100 for receiving sensing data and sending control commands.

[0019] Traditional slope protection is mostly a passive engineering approach, which is difficult to cope with the dynamic local erosion risks during rainfall events. The soil and water conservation device for the Loess Plateau slope in this embodiment provides an active protection method through the coordinated work of its components.

[0020] The pile-based actuator 100 is designed to perform physical intervention on specific areas of the slope. Here, the pile-based actuator 100 can be understood as a working unit with multi-dimensional precise pointing and liquid spraying capabilities. The integrated sensing probe 200 is designed to acquire local soil and rainfall environmental information of the slope. This probe can be understood as a data acquisition node that integrates multiple environmental sensing functions. For example, the integrated sensing probe 200 can be an integrated probe that integrates a TDR soil moisture sensor and a tipping bucket rain gauge. The central controller 300, for example, can be an industrial computer from the Siemens SIMATIC IPC series, which establishes a communication connection with the aforementioned two components.

[0021] The integrated sensing probe 200 transmits the collected discrete data points to the central controller 300, which processes this data to understand the overall condition of the slope. Upon identifying a potential risk, the central controller 300 sends precise action commands to the pile-based actuator 100. This structural combination enables the entire device to predict and respond based on real-time data, changing the previous protection mode that relied on redundant engineering or delayed manual intervention. This allows soil and water conservation work to be carried out with more precise resource allocation and operational execution according to actual needs.

[0022] The rotating base 120 is equipped with a servo motor, which drives the hollow rotating column through a transmission mechanism. The pitch arm 130 is hinged to the top of the rotating column.

[0023] The function of the slewing base 120 is to provide the pitch arm 130 with horizontal freedom of movement. A servo motor, such as a Panasonic MINASA6 series servo motor, is installed inside the slewing base 120, and the hollow rotating column is driven by a transmission mechanism with self-locking capability, such as a worm gear reducer. The servo motor can receive digital pulse signals from the central controller 300 and convert them into precise angular rotation. The hollow rotating column structure not only provides a channel for the subsequent laying of liquid pipelines, but also provides a stable installation and support platform for the pitch arm 130. Through the cooperation of the servo motor and the transmission mechanism, the slewing base 120 achieves precise horizontal control of the spray direction, which is the basis for realizing fixed-point intervention at any location on the slope.

[0024] The jet conduit 140 is connected to the liquid supply system via a high-pressure resistant hose, which passes through a rotary joint located in the rotary base 120 and extends upward through the hollow rotary column.

[0025] The injection conduit 140 needs a connection method that can stably deliver liquid under its large-scale three-dimensional motion; in this embodiment, the connection relationship between the injection conduit 140 and the liquid supply system is mainly to ensure the continuity and sealing of the fluid passage under any posture of the actuator.

[0026] This connection is achieved through a high-pressure resistant hose. To accommodate the horizontal rotation of the slewing base 120 and the pitching motion of the pitching arm 130, the hose's routing path has been specially designed. The hose is introduced from the bottom of the slewing base 120, first connecting to a rotary joint. This joint allows the pipeline to remain sealed while rotating with the slewing column, and the hose extends upwards through the hollow slewing column. This design prevents the hose from tangling, breaking, or interfering during the actuator's movement, ensuring reliable fluid supply. Alternatively, another method can be used, such as connecting multiple rigid pipe sections through a rotatable hinge joint to form a pipeline structure similar to a robotic arm, which also achieves reliable fluid delivery during movement.

[0027] The pitch movement of the pitch arm 130 is controlled by an electric push rod. The base end of the electric push rod is hinged to the slewing base 120, and its extended end is hinged to the pitch arm 130.

[0028] The function of the pitch control arm 130 is to provide the injection duct 140 with vertical freedom of movement. The pitch movement of the pitch control arm 130 is controlled by an electric actuator, such as a Thomson Electrak series electric actuator. The base end of the electric actuator is hinged to the side of the rotating column, and its extension end is hinged to the short side of the L-shaped pitch control arm 130. When the central controller 300 issues a pitch angle command, the command is converted into the extension length of the electric actuator. The extension or retraction of the electric actuator will push the pitch control arm 130 to pitch around its hinge point at the top of the rotating column. This method of driving with an electric actuator makes the control of the pitch angle digital and precise. Combined with the horizontal rotation of the slewing base 120, it constitutes the two-dimensional pointing capability of the injection duct 140 in space, enabling it to cover any target point within a specified range on the slope.

[0029] Example 2 Please see Figure 3 A method for soil and water conservation on slopes of the Loess Plateau, comprising: The central controller 300 receives multi-depth soil moisture content data and instantaneous rainfall intensity data collected by the integrated sensor probe 200, and combines them with a preset digital elevation model to generate a global soil moisture field. When the central controller 300 receives a predicted rainfall event, it simulates and calculates the simulated erosion force of each area of ​​the slope based on the overall soil moisture field and inputs the rainfall intensity and duration of the predicted rainfall event. The simulated erosion force is then compared with the preset erosion resistance threshold to determine erosion risk hotspots. The central controller 300 calculates and generates intervention commands based on the spatial coordinates, risk level, area of ​​erosion risk hotspots and the current soil moisture content extracted from the overall soil moisture field, and controls the pile-based actuator 100 to perform spraying on the erosion risk hotspots.

[0030] This soil and water conservation method aims to organically combine the sensing and action capabilities of the device to form a complete proactive intervention process.

[0031] The purpose of the central controller 300 in generating a global soil moisture field is to address the problem of spatially discrete distribution of sensor probe data. The controller uses multi-depth soil moisture data collected by all probes as the initial boundary conditions of the physical model, and combines it with a digital elevation model describing the slope topography to run a water transport calculation program. The purpose of this water transport calculation program is to expand discrete, point-like soil moisture data into a continuous moisture content distribution map covering the entire slope, i.e., a global soil moisture field, through physical model calculations when direct measurement is not possible. Logically, the model receives multi-depth soil moisture content data from an integrated sensing probe 200 as initial boundary conditions. The digital elevation model provides the geometry and topographic information of the entire slope, such as slope and aspect, as spatial constraints and inputs for the calculation program. The physical model inside the program, such as a numerical solver based on the Richards equations, takes the above data as input and simulates the movement and redistribution of water in unsaturated porous media through iterative calculations. The model as a whole characterizes the physical laws of water infiltration, transport, and redistribution in the slope soil under the drive of gravity, capillary action, and matrix potential. It combines discrete measurement data with continuous topographic information, thereby realizing the dynamic simulation and prediction of the soil moisture state of the entire slope. This program expands discrete, point-like soil moisture data into a continuous moisture content distribution map covering the entire slope through iterative calculations, i.e., a global soil moisture field. This moisture transport calculation program can be non-restrictively based on physical models describing water movement in unsaturated porous media, such as the Richards equations, and solves the entire space defined by the digital elevation model using numerical methods, such as the finite difference method or the finite element method, to obtain the moisture content of each grid cell at different time points. This dynamically updated soil moisture field provides a global data foundation for subsequent risk prediction.

[0032] The purpose of the central controller 300 in identifying erosion risk hotspots is to identify vulnerable areas most likely to experience soil erosion during future rainfall. When the connected meteorological system forecasts heavy rainfall events, the controller uses the previously generated global soil moisture field as input, along with the predicted rainfall intensity and duration, to simulate the infiltration, runoff generation, and confluence processes of rainwater on the slope. During the simulation, the scouring force exerted by runoff on the slope soil is continuously calculated and compared with a preset erosion resistance threshold. This simulated scouring force, i.e., the shear force exerted by water flow on the slope soil, is calculated primarily based on the simulated hydrodynamic parameters. The inputs to this process are the current soil moisture content data from the global soil moisture field and the slope topography data provided by the digital elevation model, as well as the rainfall intensity and duration of the predicted rainfall events. Logical steps: Step 1: Based on soil moisture content and rainfall intensity, the system uses a modified infiltration model, taking into account the influence of soil crusting, to simulate and calculate the infiltration amount of rainwater on the slope and the surface runoff. Step 2: The system combines runoff data with a digital elevation model to simulate the flow direction and convergence process of runoff on the slope, and calculates the real-time runoff depth and velocity of each grid cell on the slope based on the law of conservation of mass and the momentum equation. Step 3: The system calculates the slope of each grid cell based on the elevation data in the digital elevation model; Step 4: Substitute the parameters calculated in Step 2 and Step 3 into the simplified physical model or a more complex fluid dynamics model to calculate the simulated scouring force in each region, where is the specific weight of water and is a constant.

[0033] The final output of this process is a simulated scour force distribution map covering the entire slope. This map will then be used to compare with a preset erosion resistance threshold to identify erosion risk hotspots. For example, estimations can be made using simplified physical models, such as: ; in, Represents the shear force of water flow; This represents the specific gravity of water and is a constant. This represents the simulated surface runoff depth for the area. This represents the slope of the area calculated based on a digital elevation model. Through this calculation, the complex erosion process can be quantified into specific physical indicators. When the simulated erosion force in a certain area exceeds a threshold, that area is identified as an erosion risk hotspot. The erosion resistance threshold is a quantitative safety critical indicator used to characterize the ability of slope soil to remain stable under different water flow shear forces. It is the key logical basis for the system to determine erosion risk. This threshold is determined by collecting loess samples from the slope and establishing a functional relationship between water flow shear force and soil erosion rate in laboratory scour tests. This threshold represents the critical water flow shear force value that makes the soil erosion rate begin to increase significantly. During system operation, when the simulated scour force of each area of ​​the slope calculated by the central controller 300 exceeds the preset erosion resistance threshold, the area will be logically determined by the system as an erosion risk hotspot, thereby triggering the generation of subsequent intervention commands and spraying operations. The purpose of the central controller 300 in calculating, generating, and executing intervention instructions is to transform the predicted risks into specific mitigation actions. The controller locks the spatial coordinates of the erosion risk hotspot and, by integrating information such as its risk level, area size, and real-time soil moisture content, calculates the type and amount of intervention to be performed through decision-making logic, thus forming an intervention instruction. This instruction is then sent to the pile-based actuator 100 closest to the hotspot, which performs precise spraying operations on the risk area, thereby effectively suppressing erosion before it occurs.

[0034] The steps for generating a global soil moisture field further include: determining whether a crust has formed on the soil surface by comparing the instantaneous rainfall intensity and the rate of change of surface soil moisture content obtained by the multi-layer moisture content sensor 220, and calculating the dynamically changing effective infiltration coefficient accordingly to correct the generation process of the global soil moisture field.

[0035] The addition of soil crust determination in the generation of the global soil moisture field aims to improve the model's accuracy in simulating real physical processes. In the Loess Plateau, heavy rainfall can disrupt surface soil particles and clog pores, forming a crust with significantly different physical properties from the underlying soil. This drastically reduces rainwater infiltration. To address this issue, the central controller 300 compares the instantaneous rainfall intensity monitored by the micro-rain gauge 230 with the rate of change in surface soil moisture content reported by the top probe of the multi-layer moisture content sensor 220. When rainfall intensity is high but the surface moisture content increases slowly, the program determines that crust formation has occurred. Based on the degree of difference between the two, the program calculates the dynamically changing effective infiltration coefficient and uses this process-varying coefficient, rather than a fixed constant, for subsequent water transport calculations. This correction makes the generated global soil moisture field more closely reflect reality, ensuring the accuracy of subsequent erosion risk prediction.

[0036] The erosion resistance threshold is determined by collecting loess samples from representative locations on the slope, conducting scouring tests in the laboratory, and establishing a functional relationship between water flow shear force and soil erosion rate.

[0037] The calibration process for erosion resistance thresholds aims to ensure that risk assessment is based on the specific soil physical characteristics of the slope. General erosion resistance thresholds cannot accurately reflect the erosion resistance of specific loess soils. Therefore, before deploying the system, loess samples are collected from different typical locations on the slope. In the laboratory, these samples are placed in a water tank, and water flows at different velocities and depths are applied to simulate runoff erosion of varying intensities. The shear force exerted by the water flow on the samples and the rate of mass loss, i.e., the soil erosion rate, are precisely measured during the experiment. By analyzing multiple sets of experimental data, a functional relationship between water flow shear force and soil erosion rate can be established. From this functional relationship, a critical shear force can be determined. When the water flow shear force exceeds this value, significant soil erosion begins, and this critical value is used as the erosion resistance threshold for the soil at that location. This calibration method based on physical experiments provides an objective and highly targeted quantitative standard for determining erosion risk hotspots.

[0038] The steps for calculating and generating intervention instructions further include: selecting the type of spray liquid as water or a solidifying agent based on the risk level of the erosion risk hotspot, and adjusting the baseline total amount of liquid sprayed based on the current soil moisture content.

[0039] The detailed calculation steps for generating intervention instructions are designed to make intervention measures more adaptable and effective. The central controller 300 selects the type of liquid to be sprayed based on the risk level of erosion hotspots. For example, for areas deemed to be nearing saturation but not yet generating significant runoff, the risk level is low, and the controller will select to spray clean water. This preventative humidification can pre-wet the surface soil, utilizing the soil's capillary action to promote the infiltration of subsequent rainwater, thereby delaying the formation of surface runoff. For extremely high-risk areas deemed to have erosion forces far exceeding the threshold, the controller will select to spray environmentally friendly soil stabilizers to rapidly enhance the soil's resistance to erosion. After determining the liquid type, the controller will also adjust a baseline spray volume calculated based on area, using the current soil moisture content of the area extracted from the overall soil moisture field. For example, when spraying stabilizers, the appropriate reaction moisture content range in the stabilizer's instructions will be referenced to appropriately increase or decrease the spray volume to achieve a better stabilization effect.

[0040] The steps of controlling the pile-based actuator 100 to perform the injection further include: converting the target coordinates in the intervention command into the rotation angle of the slewing base 120 and the pitch angle of the pitch swing arm 130, and converting the total injection volume and rate in the intervention command into the pumping parameters of the liquid supply system.

[0041] The step of controlling the pile-based actuator 100 to perform the injection is a crucial link in realizing the transformation from decision-making to physical action. The intervention command generated by the central controller 300 contains the spatial coordinate information of the target point. The kinematic calculation program inside the controller will combine this coordinate information with the installation position of the actuator itself to accurately convert it into the target rotation angle driving the servo motor of the rotary base 120 and the target extension length driving the electric push rod of the pitch arm 130. At the same time, the liquid injection volume and injection rate information contained in the command are converted into control parameters for the frequency converter frequency and running time of the plunger pump in the liquid supply system. Through this conversion, the abstract intervention decision is decomposed into a series of specific and quantifiable control signals that can be directly executed by the underlying hardware, ensuring that the pile-based actuator 100 can accurately inject the appropriate amount of intervention liquid into the designated risk area.

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

[0043] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A soil and water conservation device for slopes on the Loess Plateau, characterized in that, include: The pile-based actuator (100) includes a helical pile (110) fixed in the slope soil, a slewing base (120) installed on the helical pile (110) to achieve horizontal rotation, a pitch swing arm (130) hinged to the slewing base (120) to achieve pitch movement, and a jetting duct (140) fixed on the pitch swing arm (130). An integrated sensing probe (200) includes a probe rod (210), a multi-layer moisture content sensor (220) arranged in layers along the length of the probe rod (210), and a miniature rain gauge (230) installed at the top of the probe rod (210). The central controller (300) is connected to the integrated sensing probe (200) and the pile-type actuator (100) for receiving sensing data and sending control commands.

2. The soil and water conservation device for slopes on the Loess Plateau according to claim 1, characterized in that, The rotating base (120) is equipped with a servo motor, which drives the hollow rotating column through a transmission mechanism. The pitch arm (130) is hinged to the top of the rotating column.

3. The soil and water conservation device for slopes on the Loess Plateau according to claim 2, characterized in that, The jet conduit (140) is connected to the liquid supply system via a high-pressure resistant hose, which passes through the hollow rotating column via a rotary joint located in the rotating base (120).

4. The soil and water conservation device for slopes on the Loess Plateau according to claim 1, characterized in that, The pitch movement of the pitch arm (130) is controlled by an electric push rod, the base end of which is hinged to the rotary base (120), and its extended end is hinged to the pitch arm (130).

5. A method for soil and water conservation on Loess Plateau slopes, which is applied to the soil and water conservation device for Loess Plateau slopes as described in any one of claims 1 to 4, characterized in that, include: The central controller (300) receives multi-depth soil moisture content data and instantaneous rainfall intensity data collected by the integrated sensing probe (200), and combines them with a preset digital elevation model to generate a global soil moisture field; When the central controller (300) receives a predicted rainfall event, it simulates and calculates the simulated erosion force of each area of ​​the slope based on the overall soil moisture field and inputs the rainfall intensity and duration of the predicted rainfall event. The simulated erosion force is then compared with a preset anti-erosion threshold to determine erosion risk hotspots. The central controller (300) calculates and generates an intervention command based on the spatial coordinates, risk level, area of ​​the erosion risk hotspot and the current soil moisture content extracted from the global soil moisture field, and controls the pile-based actuator (100) to perform spraying on the erosion risk hotspot.

6. A method for soil and water conservation on slopes of the Loess Plateau according to claim 5, characterized in that, The step of generating the global soil moisture field further includes: by comparing the instantaneous rainfall intensity and the rate of change of surface soil moisture content obtained by the multilayer moisture content sensor (220), determining whether a crust has formed on the soil surface, and calculating the dynamically changing effective infiltration coefficient accordingly, so as to correct the generation process of the global soil moisture field.

7. A method for soil and water conservation on slopes of the Loess Plateau according to claim 5, characterized in that, The erosion resistance threshold is determined by collecting loess samples from representative locations on the slope, conducting scouring tests in the laboratory, and establishing a functional relationship between water flow shear force and soil erosion rate.

8. A method for soil and water conservation on slopes of the Loess Plateau according to claim 5, characterized in that, The step of calculating and generating intervention instructions further includes: selecting the type of spray liquid as water or a solidifying agent according to the risk level of the erosion risk hotspot, and adjusting the baseline total amount of liquid sprayed according to the current soil moisture content.

9. A method for soil and water conservation on slopes of the Loess Plateau according to claim 5, characterized in that, The step of controlling the pile-type actuator (100) to perform injection further includes: converting the target coordinates in the intervention command into the rotation angle of the slewing base (120) and the pitch angle of the pitch swing arm (130), and converting the total injection volume and rate in the intervention command into pumping parameters of the liquid supply system.

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