Biogas slurry fertilizer decision-making method, hole irrigation device and method

Abstract

The present invention relates to a biogas slurry fertilizer allocation decision-making method, a hole irrigation device and method. The biogas slurry fertilizer allocation decision-making method obtains environmental data and determines whether crops are severely water-deficient. When there is severe water shortage, the minimum volume of biogas slurry is determined in combination with the environmental data and soil water balance. When there is no severe water shortage, the nutrient content of the biogas slurry is compared with the actual nutrient demand of the crop corresponding to the nutrient. When the content of any nutrient is large, the excess is screened step by step, and all nutrients are supplemented to determine the ratio of biogas slurry, fertilizer and clean water. The priority of irrigation crop demand is comprehensively considered, and biogas slurry utilization can be optimized and the ratio can be accurately allocated according to crop demand. The hole irrigation device and method construct a fertilizer allocation model based on the biogas slurry fertilizer allocation decision-making method, and then generate a fertilizer allocation decision to control the injection of fertilizer by a biogas slurry irrigation device, and generate a hole irrigation decision to coordinate the operation of a hole opening device, a biogas slurry irrigation device and a soil compacting device. The method is suitable for hole irrigation and can integrate soil drilling, biogas slurry injection and soil covering functions to ensure that biogas slurry is returned to the field for fertilization in a safe, efficient and stable manner.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural biogas slurry irrigation, and particularly relates to a decision-making method for biogas slurry fertilization, a hole irrigation device and a method thereof. Background Art

[0002] Biogas slurry is prepared by a series of steps such as anaerobic treatment and filtration of livestock and poultry breeding wastes including animal feces, urine, pathogens, dead organisms and flushing water generated by large-scale livestock and poultry breeding. It is rich in nutrients. Returning biogas slurry to the field has advantages such as increasing crop yield, improving crop quality, preventing and controlling epidemic diseases and pests, and improving the soil microbial environment, and has received wide attention. Hole irrigation is a water-saving irrigation method that uses a mobile water conveyance tool to irrigate the soil at the roots of crops one by one. It is more suitable for use in orchards in mountainous and hilly areas with short-term water sources, poor irrigation conditions or less rainfall. The irrigation includes direct seeding or transplanted crops such as corn, cotton, and tomatoes. Therefore, applying biogas slurry to hole irrigation is of great significance for improving the utilization rate of livestock and poultry breeding wastes, economy and the yield and quality of crops in disadvantaged environmental areas.

[0003] The existing biogas slurry hole irrigation devices and methods are relatively blank. Although, for example, Patent CN116267161A discloses a biogas slurry water and fertilizer hole irrigation robot and an irrigation method, which uses a humidity sensor to detect the soil humidity in the hole in real time to judge whether the biogas slurry irrigation amount meets the standard. Its main defects are that, on the one hand, in the farmland ecological cycle system, biogas slurry ratio irrigation can be regarded as inputting organic fertilizer components and water into the soil. The relationships between the factors affecting the amount of water and fertilizer required by crops are closely related and not in a completely independent state from each other. If the priority of irrigation crop requirements and influencing factors are not comprehensively considered, it is easy to cause the biogas slurry to not be fully utilized or even unreasonably irrigated, and it is impossible to ensure that the implementation of the decision-making plan can achieve the crop production goal; on the other hand, the biogas slurry ratio hole irrigation for agriculture is different from general clear water hole irrigation. Biogas slurry not only contains a large amount of water, but also contains rich available nutrient elements that can be directly utilized by crops. In the existing fertilization decision-making methods based on the nutrient components of biogas slurry, although there is a method for calculating the fertilization amount according to the expected nutrient demand of crops by users and the soil nutrient content in the area where the crops are planted, there are many types of biogas slurry nutrients. The existing biogas slurry fertilization decision-making methods rely on adding fertilizer when the nutrient content of biogas slurry itself is less than the demand. Especially when the biogas slurry nutrients exceed the demand, it is impossible to make the nutrient elements reach the required and accurate level and ensure that the biogas slurry participates in the ratio the most, which limits the efficient utilization of biogas slurry hole irrigation.

[0004] Secondly, the existing automatic hole irrigation devices mainly include a power system, a hole opening device, and a liquid storage irrigation system. The hole irrigation method is that the whole device is driven by the power system to run to the irrigation area. After the hole opening device drills or digs holes, the liquid storage irrigation system controls the quantitative injection of the loaded water and fertilizer into the hole. However, it fails to open holes in combination with the crop variety and growth cycle and lacks the function of covering soil, resulting in a decline in the automation efficiency and hole irrigation effect. The low integration degree of the power system leads to a large volume and high cost of the device, affecting its practical application. Summary of the Invention

[0005] The present invention aims to solve at least one of the above technical problems to a certain extent. The present invention provides a decision-making method for biogas slurry fertilization, a hole irrigation device and a method. The fertilization can optimize the utilization of biogas slurry and accurately proportion according to the crop requirements, is suitable for hole irrigation, and can integrate functions of soil drilling, biogas slurry injection, and soil covering to ensure the safe, efficient, and stable return of biogas slurry to the field for fertilization.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0007] A decision-making method for biogas slurry fertilization, the method comprising:

[0008] Obtaining environmental data and determining whether the crop is severely short of water;

[0009] If severely short of water, determining the minimum volume of biogas slurry by combining the environmental data with the soil water balance;

[0010] If not severely short of water, obtaining and comparing the nutrient contents in the biogas slurry and the actual nutrient requirements of the corresponding crop:

[0011] If the nutrient contents in all the biogas slurry are less than or equal to the actual nutrient requirements of the corresponding crop, adding the corresponding fertilizer elements to the biogas slurry until all the nutrients are supplemented;

[0012] If the content of any nutrient in the biogas slurry is greater than the actual nutrient requirement of the corresponding crop, screening the volume of the biogas slurry step by step according to the priority that the more the excess of the nutrient content in the biogas slurry relative to the actual nutrient requirement of the corresponding crop, until the nutrient contents in all the biogas slurry are less than or equal to the actual nutrient requirements of the corresponding crop, and determining the ratio of the biogas slurry, fertilizer elements, and clear water according to supplementing all the nutrients.

[0013] Further, the method for determining whether the crop is severely short of water includes: the environmental data includes the crop transpiration ratio, and it is determined whether the crop is severely short of water according to the negative correlation between the crop transpiration ratio and the crop water shortage situation; measuring the crop data and environmental data after irrigation, and dynamically adjusting the determination conditions for whether the crop is severely short of water.

[0014] Further, the environmental data includes the crop planting area, the available soil water content, the crop evapotranspiration, the deep percolation, and the precipitation;

[0015] Obtain the water content rate in the biogas slurry, then the minimum volume V of the biogas slurry 沼min = S·(Q + ET + D) / w. In the above formula, S represents the crop planting area, h; Q represents the available soil water content, mm; ET represents the crop evapotranspiration, mm; D represents the deep percolation amount, mm; w represents the water content rate in the biogas slurry.

[0016] Furthermore, obtain the biogas slurry volume V 沼 , the concentration c of each nutrient in the biogas slurry x , the demand U of each nutrient for the crop x , the actual absorption conversion rate R of each nutrient for the crop x ;

[0017] Calculate the difference Δu x = U x - c x ·V 沼 ·R x for the content of each nutrient; x ;

[0018] If Δu x ≥ 0 for all nutrients, then use V 沼 as the fertilization volume, and add the corresponding fertilizers to the biogas slurry according to Δu x to supplement all nutrients;

[0019] If Δu x < 0 for any nutrient, then according to all Δu x < 0, take the concentration c of the nutrient in the biogas slurry, the demand U of the crop nutrient, and the actual absorption conversion rate R of the crop nutrient to calculate the reference volume V' of the biogas slurry with V' x | max = U / (c·R); 沼 ; 沼 ;

[0020] Calculate the difference Δu' x = U x - c x ·V' 沼 ·R x for the content of each nutrient; x ;

[0021] If Δu' x < 0 for any nutrient, then according to all Δu x < 0, take the secondary |Δu x | max to update V' 沼 and Δu' x , and start a new round of calculation. Otherwise, determine V' 沼 , c, U, R and Δu' x ;

[0022] Obtain the concentration c' of each nutrient in the supplementary fertilizer solution x , and calculate and determine the volume V of each supplementary fertilizer solution according to , and the volume V of supplementary clear water 补x . Using V' 清 , V 沼 , and V 补x for fertilizer preparation 清 .

[0023] A biogas slurry hole irrigation device includes a hole opening device, a biogas slurry irrigation device, a soil pressing device, a power system and a control system. The power system is used to drive the hole opening device, the biogas slurry irrigation device and the soil pressing device to move and supply power. The control system constructs a fertilizer preparation model based on the biogas slurry fertilizer preparation decision method described in any one of the above, inputs environmental data, crop data, the content of each nutrient in the biogas slurry and the actual demand of the crop for the corresponding nutrient, and generates a fertilizer preparation decision based on this to control the biogas slurry irrigation device to inject fertilizer, and generates a hole irrigation decision to coordinate the operation of the hole opening device, the biogas slurry irrigation device and the soil pressing device.

[0024] Further, the hole opening device includes a robotic arm and an earth drill that can rotate, and the robotic arm is used to drive the earth drill to lift and lower.

[0025] Further, the biogas slurry irrigation device includes a connected biogas slurry tank and an output pipe. A stirring device and a liquid level sensor are provided in the biogas slurry tank, and a filtering device, a biogas slurry pump and an electromagnetic flow valve are provided on the output pipe.

[0026] Further, the output pipe includes a hose close to the ground.

[0027] Further, the soil pressing device includes a driving mechanism and a soil pressing wheel, and the driving mechanism is used to drive the soil pressing wheel to lift and lower.

[0028] Further, the power system includes a movable vehicle frame and a power supply system. The power supply system is connected to the control system and integrated on the movable vehicle frame. The power supply system includes an integrated battery pack. A liquid cooling heat dissipation plate is provided on the integrated battery pack and the control system. The control system includes a human-computer interaction module, a communication module, a positioning module, a processing module and a control module;

[0029] The human-computer interaction module is used to input the actual demand of the crop for the corresponding nutrient and command information, and output the fertilizer preparation decision and the hole irrigation decision;

[0030] The communication module is used to obtain crop data, environmental data and the content of each nutrient in the biogas slurry, and feedback the hole irrigation data of the control system;

[0031] The positioning module is used to obtain positioning information;

[0032] The processing module is used to construct a fertilization model, generate a fertilization decision by combining the environmental data of the communication module, the nutrient contents in the biogas slurry, and the actual nutrient requirements of the crops corresponding to the human-computer interaction module, and generate a hole irrigation decision based on the fertilization decision, the instruction information of the human-computer interaction module, and the crop data of the communication module, and then feedback it to the human-computer interaction module, the communication module, and the control module;

[0033] The control module is used to generate a control instruction based on the fertilization decision, the hole irrigation decision, and the positioning information of the positioning module, and control the operation of the hole opening device, the biogas slurry irrigation device, the soil pressing device, and the movable vehicle frame.

[0034] A biogas slurry hole irrigation method, based on the above-mentioned biogas slurry hole irrigation device, the method includes:

[0035] The control system acquires and generates a fertilization decision according to the environmental data, the nutrient contents in the biogas slurry, and the actual nutrient requirements of the crops corresponding to the crops, and controls the biogas slurry irrigation device to inject fertilizer;

[0036] The control system acquires and generates a hole irrigation decision according to the fertilization decision, the crop data, and the environmental data;

[0037] According to the hole irrigation decision, control the biogas slurry hole irrigation device to walk to the hole irrigation position in turn. After each arrival, control the hole opening device to open holes. After opening the holes, control the biogas slurry irrigation device to irrigate the biogas slurry in the holes, and then control the soil pressing device to cover the soil.

[0038] Further, the crop data includes the crop cycle, the average root depth of the crops, and the planting interval information, the environmental data includes the planting area boundary information, and the hole irrigation decision includes:

[0039] Judge the hole opening depth according to the crop data: If the crop is a seed, the hole opening depth is 2*d cm, where d represents the diameter of the seed at sowing, in cm; if the crop is in the growth period, the hole opening depth is 0.98*A cm, where A represents the current average root depth of the crop, in cm;

[0040] Obtain the positioning information, and combine the planting interval information and the planting area boundary information to plan the walking path and the hole irrigation position.

[0041] Further, the biogas slurry hole irrigation device is connected to the terminal server, and the terminal server is used to obtain the hole irrigation data of the biogas slurry hole irrigation device, and dynamically adjust the fertilization model by combining the crop data and the environmental data after irrigation.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] (1) The biogas slurry fertilization decision-making method comprehensively considers the priority of the irrigation crop requirements, and makes decisions from two aspects of water volume and nutrients:

[0044] Under severe water shortage conditions, the close connection between various influencing factors is fully considered, and the minimum volume of biogas slurry is used to replace clean water for water-saving irrigation, so that the crop areas in arid planting environments can preferentially meet the water requirements of crops.

[0045] Under non-severe water shortage conditions, with the biogas slurry optimization algorithm, the biogas slurry volume optimization algorithm is screened step by step with overage as the priority, and the actual absorption and transformation of nutrients are fully considered. When the nutrients reach the required and accurate level, the biogas slurry participates in the ratio the most, realizing the optimization of the ratio of clean water, biogas slurry, and nutrients, so that the crop areas with characteristics such as large precipitation and high soil moisture content can preferentially meet the nutrient requirements of crops.

[0046] In summary, the problem that the biogas slurry fails to be efficiently and safely returned to the field due to the lack of comprehensive consideration of the priority of crop requirements, influencing factors, and nutrient surplus in the existing situation is solved. It can optimize the utilization of biogas slurry according to crop requirements and accurately proportion it, and is applicable to hole irrigation.

[0047] (2) Based on the decision-making of biogas slurry fertilization for hole irrigation, by inputting environmental data, crop data, the nutrient content in biogas slurry, and the actual nutrient demand of the corresponding crops, the hole irrigation decision-making coordinates the operation of the hole-opening device, biogas slurry irrigation device, and soil-pressing device, integrating functions such as soil drilling, biogas slurry injection, and soil covering, solving the problem that the biogas slurry fails to be efficiently and stably returned to the field due to the single function of the existing hole irrigation device, and realizing the automatic and efficient hole irrigation work of biogas slurry.

[0048] (3) The movable vehicle frame of the power system of the biogas slurry hole irrigation device highly integrates the power system and the control system, reduces the volume of the vehicle body, and enhances heat dissipation with a liquid-cooled heat dissipation plate to work stably. Information is obtained through the human-computer interaction and communication module, and combined with positioning information, planting interval information, and planting area boundary information, the walking path and hole irrigation position are planned, solving the application limitations caused by the low integration degree of the existing hole irrigation device. The device and method can also connect to the terminal server through the communication module to dynamically adjust the fertilization model and further improve the decision-making mechanism to ensure the safe, efficient, and stable return of biogas slurry to the field for fertilization. Description of the Drawings

[0049] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0050] Figure 1 is the flowchart of Embodiment 1 of the present invention;

[0051] Figure 2 is the abstract diagram of the construction parameters of Embodiment 1 of the present invention;

[0052] Figure 3 is the flowchart of determining the minimum volume of biogas slurry in Embodiment 1 of the present invention;

[0053] Figure 4 It is the overall structure diagram of Embodiment 2 of the present invention;

[0054] Figure 5 It is a schematic diagram of the internal structure of the biogas slurry tank in Embodiment 2 of the present invention;

[0055] Figure 6 It is a schematic diagram of the internal structure of the movable vehicle frame in Embodiment 2 of the present invention;

[0056] Figure 7 It is a schematic diagram of the control structure in Embodiment 2 of the present invention;

[0057] Figure 8 It is a flowchart of Embodiment 3 of the present invention.

[0058] Markings in the figure: 1 - soil-opening drill, 2 - robotic arm, 201 - first arm section, 202 - second arm section, 203 - third arm section, 204 - first joint, 205 - second joint, 206 - third joint, 3 - electromagnetic flow valve, 4 - liquid injection port;

[0059] 5 - biogas slurry tank, 501 - upper liquid level sensor, 502 - lower liquid level sensor, 503 - activated carbon filter, 504 - quartz sand filter, 505 - biogas slurry pump, 506 - stirring blade;

[0060] 6 - antenna, 7 - soil compaction wheel, 8 - wheel, 9 - fixing ring, 10 - hose, 11 - rigid PE pipe, 12 - hole irrigation funnel, 13 - vehicle body, 131 - battery bottom plate, 132 - liquid cooling heat dissipation plate, 133 - integrated battery pack, 134 - battery cover plate, 14 - pressure sensor. Detailed implementation manners

[0061] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0062] Embodiment 1:

[0063] As Figure 1 shown, it is a preferred embodiment of the biogas slurry fertilization decision-making method described in the present invention. The biogas slurry fertilization decision-making method includes:

[0064] Step S1, obtaining environmental data and determining whether the crop is severely short of water. Further:

[0065] The environmental data includes the crop transpiration ratio, and it is determined whether the crop is severely short of water according to the negative correlation between the crop transpiration ratio and the crop water shortage situation:

[0066] Transpiration ratio TR1 = crop transpiration / soil surface evaporation. The normal transpiration coefficient of most crops is between 100 and 500. The lower this value, the more serious the water shortage of the crop. A transpiration coefficient threshold TR2 can be set. When the transpiration coefficient is lower than the transpiration coefficient threshold, it indicates severe water shortage, otherwise it is not severely short of water; measure the crop data and environmental data after irrigation, and dynamically adjust the determination condition of whether the crop is severely short of water, that is, the transpiration coefficient threshold.

[0067] Step S2: If it is severely short of water, determine the minimum volume of biogas slurry based on the environmental data combined with the soil water balance. Further: Since the relationship function between the biogas slurry consumption volume and the decision-making influencing factors satisfies V = f(X), where V is the final consumption volume of biogas slurry; X is the influencing factor affecting the biogas slurry ratio decision-making, X = (x1, x2,..., x n ), where x1, x2,..., x n are decision-making parameters. Therefore, by comprehensively studying the influence degree of various factors on the biogas slurry ratio irrigation decision-making, parameter abstraction is carried out for different influencing factors. As Figure 2 shown, by comprehensively considering various factors, the parameters for constructing the biogas slurry decision model are determined, including at the crop level: crop variety, crop area, crop cycle, and crop plant height; at the soil level: soil texture, soil water retention capacity, and deep infiltration amount; at the biogas slurry level: water content in the biogas slurry.

[0068] As Figure 3 shown, according to the principle of soil water balance, the crop soil water balance equation is:

[0069] Q t = Q0 + I + H + Q c - I c - ET - R - D (1)

[0070] In the above formula (1), Q t represents the current soil water content, in mm; Q0 represents the initial soil water content, in mm; I represents the irrigation water volume, in mm; H represents the precipitation, in mm; Q c represents the groundwater recharge, in mm; I c represents the crop interception, in mm; ET represents the crop evapotranspiration, in mm; R represents the runoff, in mm; D represents the deep percolation, in mm.

[0071] The available soil water content refers to the amount of water in the soil that can be absorbed and utilized by the crop, which is the soil water content between the field capacity and the wilting coefficient. It depends on the soil texture and the climate conditions in the irrigation area. The difference between Q t and Q0 is between the field capacity and the soil wilting coefficient, and can be approximately regarded as the available soil water. Using Q to represent the available soil water content, then combined with formula (1), Q can be expressed in the following form: Q = Q t - Q0 = I + H + Qc -I c - ET - R - D.

[0072] Then the irrigation water volume I = crop water requirement + process loss water volume - environmental supply water volume;

[0073] The calculation is as follows: I = Q + I c + ET + R + D - H - Q c (2)

[0074] Since the supporting planting area S is constant, the minimum amount of water V contained in the biogas slurry consumed in the irrigation area min is calculated in the following form:

[0075] V min = S · I. Let the water requirement volume be V0, that is, combined with formula (2), the inequality is satisfied:

[0076] V0 ≥ S · (Q + I c + ET + R + D - H - Q c ) (3)

[0077] Also, since the precipitation H satisfies the formula: H ≥ I c + R - Q c (4)

[0078] Considering that a certain proportion margin needs to be reserved during the proportioning process, then in the actual biogas slurry proportioning process, by combining formula (3) and formula (4), the inequality is satisfied: V0 ≥ S · (Q + ET + D).

[0079] Therefore, by obtaining the water content rate of the biogas slurry and the crop planting area, the minimum volume of the biogas slurry V 沼min = S · (Q + ET + D) / w. In the above formula, S represents the crop planting area, h; Q represents the available soil water content, mm; ET represents the crop evapotranspiration, mm; D represents the deep percolation, mm; w represents the water content rate of the biogas slurry; determine V 沼min , and irrigate according to V 沼min .

[0080] This step takes the crop water requirement as the priority, fully considers the close connection between various influencing factors, combines the analysis of the influence mechanism of different influencing factors such as crops, climate, and soil on the biogas slurry proportioning decision-making process, makes a mathematical abstraction of the key influencing factors affecting the decision-making process, constructs a biogas slurry proportioning decision-making mechanism, and in the crop area with a relatively arid planting environment, biogas slurry can be used to replace clear water for irrigation to preferentially meet the crop's water demand.

[0081] Step S3: If there is no severe water shortage, obtain and compare the nutrient contents in the biogas slurry and the actual nutrient requirements of the corresponding crops. If all the nutrient contents in the biogas slurry are less than or equal to the actual nutrient requirements of the corresponding crops, add the corresponding fertilizers to the biogas slurry until all nutrients are supplemented; if any nutrient content in the biogas slurry is greater than the actual nutrient requirement of the corresponding crop, prioritize according to the excess of the nutrient content in the biogas slurry over the actual nutrient requirement of the corresponding crop, and gradually screen the volume of the biogas slurry until all nutrient contents in the biogas slurry are less than or equal to the actual nutrient requirements of the corresponding crops. Determine the ratio of the biogas slurry, fertilizers, and clean water according to the supplementation of all nutrients. In crop areas with characteristics such as heavy precipitation and high soil moisture content, biogas slurry can be used for irrigation to prioritize meeting the nutritional needs of the crops.

[0082] This step prioritizes the nutrient requirements of irrigated crops. In crop areas with characteristics such as heavy precipitation and high soil moisture content, it can prioritize meeting the nutritional needs of the crops. It does not rely on adding fertilizers when the nutrient content in the biogas slurry itself is less than the demand. It can optimize the algorithm for gradually screening the volume of the biogas slurry by using the excess as the priority, fully considering the actual absorption and conversion of nutrients, so that when the nutrients reach the required and accurate level, the biogas slurry participates in the ratio the most and the fertilizer supplement is the least, realizing the decision-making on the dosage ratio of important components such as clean water, biogas slurry, standard N, P, and K fertilizers participating in the biogas slurry ratio, and ensuring the efficient utilization of biogas slurry hole irrigation.

[0083] Further, step S3 includes: obtaining the biogas slurry volume V 沼 , L; obtaining the concentration c x of each nutrient in the biogas slurry, g / L; obtaining the demand U x of each nutrient of the crop, g; the actual absorption and conversion rate R x of each nutrient of the crop, %; x represents the x-th nutrient among all nutrients, such as nitrogen, phosphorus, potassium, etc.

[0084] To compare the nutrient contents in the biogas slurry and the actual nutrient requirements of the corresponding crops, calculate the difference Δu x of each nutrient content according to Δu x = U x - c 沼 · V x · R x .

[0085] ① If Δu x of all nutrients ≥ 0, the biogas slurry does not need to be diluted, and only supplementary fertilizer agents need to be added. Therefore, taking V 沼 as the fertilization volume, obtain the concentration c' x of each nutrient in the supplementary fertilizer solution, g / L; calculate the corresponding nutrient according to V 补x = Δu x / c' x , and in the biogas slurry, according to V 补xAdd the corresponding fertilizer element to supplement all nutrients. If all Δu x = 0, it means that the biogas slurry does not need to be formulated. When the nutrient content in the biogas slurry is less than or equal to the actual nutrient demand of the crop, the fertilizer can be formulated by adding the corresponding fertilizer element to the biogas slurry to supplement all nutrients.

[0086] ② If any nutrient Δu x < 0, then according to all Δu x < 0, |Δu x | max in the biogas slurry, the nutrient concentration c of the crop, the nutrient demand U of the crop, and the actual nutrient absorption conversion rate R of the crop are used to calculate the reference volume V' of the biogas slurry according to V' 沼 = U / (c·R); 沼 ;

[0087] Calculate the difference Δu' of each nutrient content according to Δu' x = U x - c x ·V' 沼 ·R x ; x ;

[0088] If the Δu' of any nutrient x < 0, then according to all Δu x < 0, the secondary |Δu x | max is used to update V' 沼 and Δu' x , and a new round of calculation is started. Otherwise, V' 沼 , c, U, R, and Δu' x are determined;

[0089] Obtain the nutrient concentration c' of each nutrient in the supplementary fertilizer solution x , g / L; Calculate and determine the volume V of the supplementary fertilizer solution and the volume V of the supplementary clear water according to . When the nutrient content in the biogas slurry is greater than the actual nutrient demand of the crop, the biogas slurry volume is screened step by step with the priority that the more the excess of the nutrient content in the biogas slurry relative to the actual nutrient demand of the crop, until the nutrient content in the biogas slurry is less than or equal to the actual nutrient demand of the crop, and the fertilizer is formulated with V' 补x , V 清 and V 沼 , V 补x and V 清 .

[0090] In summary, the above biogas slurry fertilization decision-making method comprehensively considers the priority of irrigation crop requirements, makes decisions from both the aspects of water volume and nutrients, and comprehensively considers the water and fertilizer requirements of crops, the fertilizer effect of biogas slurry, and comprehensive external factors, etc. In the case of severe water shortage, the minimum volume of biogas slurry is used to replace clear water for water-saving irrigation. In the case of non-severe water shortage, the biogas slurry optimization algorithm is used to increase the biogas slurry reference ratio and accurately meet the actual nutrient requirements of corresponding crops, so as to achieve the precise ratio of clear water, biogas slurry, and nutrients, meet various farmland irrigation requirements, solve the problem that the biogas slurry cannot be efficiently and safely returned to the field due to the failure to comprehensively consider the priority of crop requirements, influencing factors, and nutrient surplus, and can also dynamically adjust the determination conditions of whether the crop is severely short of water by measuring the crop data and environmental data after irrigation to optimize the decision-making mechanism, further ensuring that the implementation of the decision-making plan can achieve the crop production goal.

[0091] Embodiment 2:

[0092] As Figure 4 shown, it is a preferred embodiment of a biogas slurry hole irrigation device according to the present invention. The biogas slurry hole irrigation device includes a hole opening device, a biogas slurry irrigation device, a soil pressing device, a power system, and a control system. The power system is used to drive the hole opening device, the biogas slurry irrigation device, and the soil pressing device to walk and supply power. The control system constructs a fertilization model based on the biogas slurry fertilization decision-making method described in Embodiment 1, inputs environmental data, crop data, the nutrient content in the biogas slurry, and the actual nutrient demand of the corresponding crop, and generates a fertilization decision based on this to control the biogas slurry irrigation device to inject fertilizer, and generates a hole irrigation decision to coordinate the operation of the hole opening device, the biogas slurry irrigation device, and the soil pressing device.

[0093] Furthermore, the hole opening device includes a robotic arm 2 and an earth drill 1 that can rotate. The earth drill 1 can be driven by a motor to rotate the drill body for hole drilling operation. The robotic arm 2 is used to drive the earth drill 1 to lift and lower. The robotic arm 2 includes a first arm section 201, a second arm section 202, and a third arm section 203. There is a first joint 204 between one end of the first arm section 201 and the movable vehicle frame of the power system, a second joint 205 between the other end of the first arm section 201 and one end of the second arm section 202, and a third joint 206 between the other end of the second arm section 202 and the third arm section 203. By detecting the angles of each joint with an inclination sensor, there is In the above formula, x represents the horizontal position of the end of the robotic arm 2, y represents the horizontal and vertical position of the end of the robotic arm 2, L1 represents the length of the first arm section 201, L2 represents the length of the second arm section 202, L3 represents the length of the third arm section 203, θ1 represents the angle of the first joint 204, θ2 represents the angle of the second joint 205, and θ3 represents the angle of the third joint 206. In this way, the robotic arm 2 can achieve two-dimensional adjustment. After determining the hole digging position, the robotic arm 2 controls the earth drill 1 to rotate and penetrate into the ground for soil excavation.

[0094] Further, as Figure 5 shown, the biogas slurry irrigation device includes a connected biogas slurry tank 5 and an output pipe. The biogas slurry tank 5 is provided with a liquid injection port 4. A stirring device and a liquid level sensor are arranged in the biogas slurry tank 5. The stirring device is a stirring blade 506 driven by a motor, which ensures the uniform composition of the biogas slurry in the biogas slurry tank 5. The liquid level sensor includes an upper liquid level sensor 501 and a lower liquid level sensor 502. The upper liquid level sensor 501 is used to feedback to stop fertilization injection and avoid overflow after the biogas slurry level reaches the position. The lower liquid level sensor 502 is used to feedback to start fertilization injection and avoid dry irrigation after the biogas slurry level reaches the position. A filtering device, a biogas slurry pump 505 and an electromagnetic flow valve 3 are arranged on the output pipe. A sensor is arranged on the electromagnetic flow valve 3. The flow rate Q in the output pipe is Q = A * V, where A is the cross-sectional area of the biogas slurry passing through the electromagnetic flow valve 3, and V is the flow velocity of the biogas slurry. The control system continuously adjusts the opening of the electromagnetic flow valve 3 through the PID control algorithm and feedback control to ensure that the actual flow rate is consistent with the set flow rate. At the same time, the pressure sensor 14 assists in monitoring the flow rate in the output pipe.

[0095] Further, the output pipe includes a hose 10 close to the ground. The front end of the output pipe is a rigid PE pipe 11 extending into the biogas slurry tank 5, which has anti-corrosion performance. The rigid PE pipe 11 passes through the movable vehicle frame of the power system and is connected to one end of the hose 10 with a fixing ring 9. The other end of the hose 10 is installed with a hole irrigation funnel 12. During hole irrigation, the hole irrigation funnel 12 can be located directly above the soil hole. The wall thickness of the rigid PE pipe 11 is calculated by the formula Sm = pD / [2(T + C) / S + p], where Sm is the minimum wall thickness of the outer diameter pipe, p is the design pressure, D is the outer diameter of the pipe, T is the internal pipe pressure, C is the corrosion allowance, and S is the cross-sectional area at the outlet of the biogas slurry tank 5. The hose 10 can be used for accurate hole irrigation close to the ground, and it can avoid damage when encountering obstacles during walking compared with an integrated rigid pipe.

[0096] Further, the filtering device includes a quartz sand filter 504 and an activated carbon filter 503, which can filter impurities in the biogas slurry to prevent the output pipe from being blocked. After the biogas slurry in the biogas slurry tank 5 passes through the filtering device, it is pumped out by the biogas slurry pump 505 and injected into the drilled holes along the rigid PE pipe 11, the hose 10 and the hole irrigation funnel 12 under the control of the electromagnetic flow valve 3 for hole irrigation.

[0097] Further, the soil compaction device includes a driving mechanism and a soil compaction wheel 7. The driving mechanism is used to drive the soil compaction wheel 7 to lift and lower. The driving mechanism can adopt a linear module. The bracket of the soil compaction wheel 7 is connected to the slider of the linear module, or a rotatable connecting rod driven by a motor. The bracket of the soil compaction wheel 7 is connected to the connecting rod and fixed at the lower part of the tail end of the movable vehicle frame to realize the vertical up and down movement of the soil compaction wheel 7. When the biogas slurry hole irrigation is completed and the device continues to move forward, when the soil compaction wheel 7 is located above the soil hole, the soil compaction wheel 7 drops, which can recompact the soil.

[0098] Furthermore, the power system includes a movable vehicle frame and a power supply system. The movable vehicle frame includes a vehicle body 13 and wheels 8 driven by a motor to move by itself. The power supply system is connected to the control system and integrated on the vehicle body 13 of the movable vehicle frame. As Figure 6 shown, the power supply system includes an integrated battery pack 133. Liquid cooling radiating plates 132 are provided on the integrated battery pack 133 and the control system. The liquid cooling radiating plates 132 are located above and below the integrated battery pack 133 and the control system, playing a role in enhancing heat dissipation during operation to ensure stable operation. A battery cover plate 134 is provided at the top of the upper liquid cooling radiating plate 132, and a battery bottom plate 131 that cooperates with the battery cover plate 134 is provided at the bottom of the lower liquid cooling radiator. The vehicle body 13 and the power supply system are highly integrated, reducing the volume of the vehicle body 13.

[0099] Furthermore, as Figure 7 shown, the vehicle body 13 plate surface is composed of a three-layer structure including a vehicle body top plate, a middle-layer main structure module, and a vehicle body bottom plate arranged in sequence from top to bottom. The vehicle body top plate also serves as the battery cover plate 134. The middle-layer main structure module includes a power supply system and a control system. The vehicle body bottom plate also serves as the battery bottom plate 131. The control system includes a human-machine interaction module and highly integrated communication module, positioning module, processing module, and control module;

[0100] The human-machine interaction module includes a human-machine interaction panel, which is used to input the actual nutrient requirements of crops and command information, and display and output fertilization decision-making and hole irrigation decision-making. The command information may include setting stirring speed, traveling speed, opening and closing commands, etc.;

[0101] The communication module includes an antenna 6 connected to a gateway. Crop data, environmental data, and the nutrient content in biogas slurry are measured by detection devices such as a detection workstation, and are transmitted to the device through the gateway and the communication module, providing reference information for the fertilization decision-making, the position and depth of the excavation holes of the device. The communication module interacts with the terminal server through the antenna 6, and is used to feedback the hole irrigation data of the control system to the terminal server, so that the terminal server can monitor and adjust the device.

[0102] The positioning module is used to obtain positioning information;

[0103] The processing module is used to construct a fertilization model, generate a fertilization decision in cooperation with the environmental data of the communication module, the nutrient content in biogas slurry, and the actual nutrient requirements of crops corresponding to the human-machine interaction module, generate a hole irrigation decision based on the fertilization decision, the command information of the human-machine interaction module, and the crop data of the communication module, and feedback it to the human-machine interaction module, communication module, and control module;

[0104] The control module includes a vehicle controller, a motor driver, a charging controller, a high-voltage distribution box, a high-low voltage power converter, and a power management controller, which are used to generate control instructions based on the fertilization decision, the hole irrigation decision, and the positioning information of the positioning module, charge the power system through the charging controller according to the control instructions, control the power distribution of the power system to the hole-opening device, the biogas slurry irrigation device, the soil-pressing device, and the movable vehicle frame through the high-voltage distribution box, the high-low voltage power converter, and the power management controller, and control the coordinated operation of the hole-opening device, the biogas slurry irrigation device, the soil-pressing device, and the movable vehicle frame through the vehicle controller and the motor driver.

[0105] Embodiment 3:

[0106] As Figure 8 shown, it is a preferred embodiment of the biogas slurry hole irrigation method described in the present invention. The biogas slurry hole irrigation method is based on a biogas slurry hole irrigation device as described in Embodiment 2, and the method includes:

[0107] Step F1: The control system acquires and generates a fertilization decision based on environmental data, the nutrient content in the biogas slurry, and the actual nutrient demand of the crop to control the fertilizer injection of the biogas slurry irrigation device:

[0108] F101: Input the environmental data and the nutrient content in the biogas slurry into the processing module through the antenna 6, and input the actual nutrient demand of the crop into the processing module through the human-computer interaction module.

[0109] F102: The fertilization model of the processing module constructs a fertilization model according to Embodiment 1. The fertilization model combines steps F101 and F102, generates a fertilization decision according to the steps S1-S3, outputs it to the human-computer interaction module to display the fertilization decision, uploads the fertilization decision to the terminal server through the communication module, and generates a control instruction through the control module.

[0110] F103: Insert the biogas slurry source pipeline into the biogas slurry tank 5 through the liquid injection port 4, control the water pump on the biogas slurry source pipeline to work according to the control instruction of the fertilization decision, inject biogas slurry, fertilizer, or clean water into the biogas slurry tank 5 to obtain the irrigated biogas slurry. When the liquid level of the injected biogas slurry has reached the upper liquid level sensor 501 and the biogas slurry tank 5 has not overflowed, but the total injected volume is still less than the irrigation demand, feedback to the control system to send a signal, indicating that the stored biogas slurry volume in the tank is insufficient to complete the current planned hole irrigation task, and secondary or more liquid addition is required during the work process. This can ensure that the injection volume of the biogas slurry reaches the predetermined standard and remind the operator to reasonably plan the irrigation process, thereby improving the irrigation effect.

[0111] Step F2: The control system acquires and generates a hole irrigation decision based on the fertilization decision, crop data, and environmental data:

[0112] F201: Transmit crop data including crop cycle, average root depth of the crop, and planting interval information, and environmental data including planting area boundary information to the processing module via antenna 6. Obtain positioning information through the positioning module and transmit it to the processing module.

[0113] F202: Determine the hole - opening depth based on the crop data: Before drilling the hole, the soil - opening drill 1 should be at least 10 cm above the body of the movable vehicle frame. If the crop is a seed, the hole - opening depth is 2*d cm, where d represents the diameter of the seed during sowing, in cm; if the crop is in the growth period, the hole - opening depth is 0.98*A cm, where A represents the current average root depth of the crop, in cm.

[0114] F203: Combine the positioning information, planting interval information, and planting area boundary information to plan the walking path and the position of hole irrigation. If the crop is a seed, the hole - irrigation position is above the planting position; if the crop is in the growth period, the hole - irrigation position is beside the planting position. Generate a hole - irrigation decision by combining the fertilization decision and command information. Determine the amount of biogas slurry for each hole according to the total amount of biogas slurry obtained from the fertilization decision / the number of hole - irrigation positions, and output it to the control module.

[0115] Step F3: Control the biogas slurry hole - irrigation device to walk to the hole - irrigation position in sequence according to the hole - irrigation decision. After each arrival, control the hole - opening device to open the hole. After opening the hole, control the biogas slurry irrigation device to irrigate biogas slurry in the hole, and then control the soil - covering device to cover the soil:

[0116] F301: Determine the starting position from the positioning information. The control module controls the movable vehicle frame to walk along the walking path, move forward and make the soil - opening drill 1 reach the preset hole - irrigation position.

[0117] F302: The control module controls the robotic arm 2 to drive the soil - opening drill 1 to descend. The soil - opening drill 1 rotates during the descent, reaches the hole - opening depth in step F202, excavates the soil, and then the robotic arm 2 drives the soil - opening drill 1 to rise until it leaves the ground to obtain a hole.

[0118] F303: The control module controls the movable vehicle frame to continue moving forward and stop when the hole - irrigation funnel 12 is directly above the hole. The biogas slurry pump 505 pumps biogas slurry out of the biogas slurry tank 5, after being filtered by the quartz sand filter 504 and the activated carbon filter 503, the electromagnetic flow valve 3 controls the amount of biogas slurry for hole irrigation, and it is transported to the hole - irrigation funnel 12 through the output pipe, and biogas slurry is injected into the hole. The stirring device works continuously during the hole - irrigation process.

[0119] F304: After the irrigation process ends, the solenoid valve closes. While the device continues to move forward slowly, the driving mechanism controls the soil - compacting wheel 7 to drop, and recompacts the soil dispersed by the soil - opening drill 1. At this time, the soil scattered around due to the excavation of the hole above the seed or beside the crop is covered and recompacted.

[0120] F305: The control module controls the movable frame to move along the walking path to the next hole irrigation position, repeats steps F303 - 304 to complete hole digging, irrigation, and soil covering work until all hole irrigation positions are traversed, and the current irrigation plan ends.

[0121] Step F4: The biogas slurry hole irrigation device is connected to the terminal server through the antenna 6. The terminal server obtains the hole irrigation data of the biogas slurry hole irrigation device, combines the post - irrigation crop data including crop growth and the environmental data including soil conditions, and dynamically adjusts the fertilization model, including dynamically adjusting the determination conditions for judging whether the crop is in a serious water - shortage situation, and further improves the decision - making mechanism.

[0122] The above biogas slurry hole irrigation method constructs a fertilization model based on the biogas slurry fertilization decision - making method. Based on the biogas slurry hole irrigation device, by inputting environmental data, crop data, the nutrient content in the biogas slurry, and the actual nutrient demand of the crop, fully considering the types of planted crops, the growth cycle, the planting area range, and the crop planting interval information, it generates a fertilization decision to control the fertilizer injection of the biogas slurry irrigation device, realizes the precise ratio of clear water, biogas slurry, and nutrient components, generates a hole irrigation decision to coordinate the operation of the hole - opening device, the biogas slurry irrigation device, and the soil - pressing device, integrates the functions of soil drilling, biogas slurry injection, and soil covering, and automatically conducts irrigation work to ensure the safe and stable return of biogas slurry to the field for fertilization.

[0123] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "length", "angle", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "multiple" and "several" is two or more, unless otherwise clearly and specifically defined.

[0124] In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0125] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiments or changes made without departing from the technical spirit of the present invention should be included within the protection scope of the present invention.

Claims

1. A biogas slurry fertilizer decision-making method, characterized in that: The method includes: Obtaining environmental data and determining whether the crops are severely short of water; If severely short of water, determining the minimum volume of biogas slurry based on the environmental data and the soil water balance; If not severely short of water, obtaining and comparing the nutrient contents in the biogas slurry and the actual nutrient requirements of the corresponding crops: If the contents of all nutrients in the biogas slurry are less than or equal to the actual nutrient requirements of the corresponding crops, adding the corresponding fertilizers to the biogas slurry to supplement all nutrients; If the content of any nutrient in the biogas slurry is greater than the actual nutrient requirement of the corresponding crop, screening the volume of the biogas slurry step by step according to the priority that the more excessive the nutrient content in the biogas slurry is compared with the actual nutrient requirement of the corresponding crop, until the contents of all nutrients in the biogas slurry are less than or equal to the actual nutrient requirements of the corresponding crops, and determining the ratio of the biogas slurry, fertilizers and clear water according to supplementing all nutrients.

2. The decision-making method for biogas slurry fertilization according to claim 1, wherein The method for determining whether the crops are severely short of water includes: the environmental data includes the crop transpiration ratio, and determining whether the crops are severely short of water according to the negative correlation between the crop transpiration ratio and the water shortage situation of the crops; measuring the post-irrigation crop data and environmental data, and dynamically adjusting the determination conditions for whether the crops are severely short of water.

3. A biogas slurry fertilizer decision-making method according to claim 1, characterized in that: The environmental data includes the crop planting area, the available soil water content, the crop evapotranspiration amount, and the deep percolation amount; Obtain the water content rate in the biogas slurry, then the minimum volume V of the biogas slurry 沼min = S·(Q + ET + D) / w. In the above formula, S represents the crop planting area, h; Q represents the effective soil water content, mm; ET represents the crop evapotranspiration, mm; D represents the deep percolation amount, mm; w represents the water content rate in the biogas slurry.

4. The decision-making method for biogas slurry-based fertilizer formulation according to claim 1, wherein Obtain the volume V of biogas slurry 沼 , the concentration c of each nutrient in the biogas slurry x , the demand U of each nutrient for the crop x , the actual absorption conversion rate R of each nutrient of the crop x ; According to Δu x = U x - c x ·V 沼 ·R x Calculate the difference in nutrient content Δu x ; If Δu of all nutrients x ≥ 0, then using V 沼 as the fertilization volume, add corresponding fertilizers to the biogas slurry according to Δu x to supplement all nutrients; If any nutrient Δu x <0, then for all Δu x <0, according to the nutrient concentration c in the biogas slurry, the nutrient demand U of the crop, and the actual absorption conversion rate R of the crop nutrient, calculate the reference volume V' of the biogas slurry with V' x | max = U / (c·R); 沼 Calculate the reference volume V′ of the biogas slurry 沼 ; According to Δu' x = U x - c x ·V' 沼 ·R x Calculate the difference in nutrient content Δu' x ; If Δu' of any nutrient x < 0, then among all Δu x < 0, the secondary |Δu x | max Update V′ 沼 and Δu' x , and start a new round of calculation. Otherwise, determine V′ 沼 , c, U, R, and Δu' x ; Obtain the concentration c' of each nutrient in the supplementary fertilizer solution x , and calculate and determine the volume V of each supplementary fertilizer solution according to , and the volume V of supplementary clear water 补x . Use V′ 清 , V 沼 , and V 补x to prepare the fertilizer 清 .

5. A biogas slurry hole irrigation device, characterized in that, It includes a hole-opening device, a biogas slurry irrigation device, a soil-pressing device, a power system and a control system. The power system is used to drive the hole-opening device, the biogas slurry irrigation device and the soil-pressing device to move and supply power. The control system constructs a fertilizer-matching model based on the biogas slurry fertilizer-matching decision method according to any one of claims 1 to 4, inputs the environmental data, crop data, the nutrient contents in the biogas slurry and the actual nutrient requirements of the corresponding crops, and generates a fertilizer-matching decision based on this to control the biogas slurry irrigation device to inject fertilizers, and generates a hole irrigation decision to coordinate the operation of the hole-opening device, the biogas slurry irrigation device and the soil-pressing device.

6. The biogas slurry hole irrigation device according to claim 5, characterized in that, The hole-opening device includes a robotic arm (2) and an earth-boring drill (1) that can rotate. The robotic arm (2) is used to drive the earth-boring drill (1) to lift and lower. The biogas slurry irrigation device includes a connected biogas slurry tank (5) and an output pipe. A stirring device and a liquid level sensor are provided in the biogas slurry tank (5). A filtering device, a biogas slurry pump (505) and an electromagnetic flow valve (3) are provided on the output pipe. The soil-pressing device includes a driving mechanism and a soil-pressing wheel (7). The driving mechanism is used to drive the soil-pressing wheel (7) to lift and lower.

7. The biogas slurry hole irrigation device according to claim 5, characterized in that, The power system includes a movable vehicle frame and a power supply system. The power supply system is connected to the control system and integrated on the movable vehicle frame. The power supply system includes an integrated battery pack (133). A liquid cooling heat dissipation plate (132) is provided on the integrated battery pack (133) and the control system. The control system includes a human-computer interaction module, a communication module, a positioning module, a processing module and a control module; The human-computer interaction module is used to input the actual nutrient requirements of the corresponding crops and command information, and output a fertilizer-matching decision and a hole irrigation decision; The communication module is used to obtain crop data, environmental data and the nutrient contents in the biogas slurry, and feedback the hole irrigation data of the control system; The positioning module is used to obtain positioning information; The processing module is used to construct a fertilization model, generate a fertilization decision in cooperation with the environmental data of the communication module, the nutrient content in the biogas slurry, and the actual nutrient demand of the crop corresponding to the human-computer interaction module, and generate a hole irrigation decision based on the fertilization decision, the instruction information of the human-computer interaction module, and the crop data of the communication module, and feedback it to the human-computer interaction module, the communication module, and the control module; The control module is used to generate a control instruction based on the fertilization decision, the hole irrigation decision, and the positioning information of the positioning module, and control the operation of the hole opening device, the biogas slurry irrigation device, the soil pressing device, and the movable vehicle frame.

8. A method for hole irrigation of biogas slurry, characterized in that, A method for a biogas slurry hole irrigation device according to claim 5, comprising: The control system acquires and generates a fertilization decision based on the environmental data, the nutrient content in the biogas slurry, and the actual nutrient demand of the crop corresponding to the crop, and controls the biogas slurry irrigation device to inject fertilizer; The control system acquires and generates a hole irrigation decision based on the fertilization decision, the crop data, and the environmental data; According to the hole irrigation decision, control the biogas slurry hole irrigation device to walk to the hole irrigation position in sequence. After each arrival, control the hole opening device to open a hole. After opening the hole, control the biogas slurry irrigation device to irrigate the biogas slurry in the hole, and then control the soil pressing device to cover the soil.

9. A method for subsurface irrigation of biogas slurry according to claim 8, characterized in that The crop data includes the crop cycle, the average root depth of the crop, and the planting interval information. The environmental data includes the planting area boundary information. The hole irrigation decision includes: Judge the hole opening depth according to the crop data: If the crop is a seed, the hole opening depth is 2*d cm, where d represents the diameter of the seed at the time of sowing, in cm; if the crop is in the growth period, the hole opening depth is 0.98*A cm, where A represents the current average root depth of the crop, in cm; Obtain the positioning information, combine the planting interval information and the planting area boundary information, and plan the walking path and the hole irrigation position.

10. A method for hole irrigation of biogas slurry according to claim 8, characterized in that, The biogas slurry hole irrigation device is connected to the terminal server. The terminal server is used to obtain the hole irrigation data of the biogas slurry hole irrigation device, and dynamically adjust the fertilization model in combination with the crop data and environmental data after irrigation.

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