A soil fertilizer quantitative fertilization control method, system, device and storage medium

Abstract

The application provides a soil fertilizer quantitative fertilization control method, system, device and storage medium, the content difference degree between different nutrients is determined through the nutrient content data, and then the adjustment margin of the nutrient proportion when the soil fertilizer is allocated is determined according to the content difference degree and the soil moisture information of the target soil; the disturbance factor when the fertilizer mixing machine mixes fertilizer is determined according to the vibration data and the frequency response characteristics; the steady state estimation of the fertilizer mixing process of the fertilizer mixing machine is carried out according to the disturbance factor and the adjustment margin, the anti-interference density of the soil fertilizer in the fertilizer mixing machine is obtained, and then the nutrient loss of the soil fertilizer in the steady state adjustment process is determined through the anti-interference density and the vibration data; the soil fertilizer in the quantitative fertilization process of the target soil is compensated based on the nutrient loss. By adopting the scheme of the application, the nutrient loss of the soil fertilizer in the quantitative fertilization process of the soil can be compensated in real time and self-adaptively, so as to realize the accurate balance of the quantitative fertilization of the soil.

Description

Technical Field

[0001] This application relates to the field of soil fertilization technology, and more specifically, to a method, system, equipment, and storage medium for quantitative control of soil fertilizer application. Background Technology

[0002] Soil fertilization is one of the important means to improve crop yield and quality. With population growth and increasing food demand, traditional fertilization methods can no longer meet the requirements of efficient agriculture. Therefore, precision fertilization technology has gradually become a research and application hotspot. The development of soil fertilization technology is the key to modern agriculture. The application of precision fertilization technology can effectively improve crop yield and quality, reduce resource waste and environmental pollution, and promote agriculture towards intelligent and sustainable development.

[0003] Quantitative fertilization control of soil and fertilizer mainly includes the following methods: farmers fertilize based on past fertilization experience and crop growth; fertilization is carried out by formulating unified fertilization formulas based on soil test results and crop nutrient requirements; soil and crop conditions are monitored in real time using soil nutrient sensors and crop growth monitoring sensors, and the amount of fertilizer is automatically adjusted; precision fertilization of farmland is carried out by using drones equipped with multispectral cameras and fertilization equipment. Although existing quantitative fertilization control methods have improved the accuracy and efficiency of fertilization to some extent, most methods cannot respond to changes in soil and fertilizer applicators in real time and have failed to achieve true dynamic regulation. By acquiring real-time data on the content of soil nutrients and having the fertilizer applicator dynamically compensate for nutrient losses in the soil fertilizer, the accuracy of the fertilization process can be ensured. Therefore, how to adaptively compensate for nutrient losses in the soil fertilizer during quantitative fertilization in real time to achieve precise balance in quantitative fertilization has become a challenge for the industry. Summary of the Invention

[0004] This application provides a method, system, equipment, and storage medium for controlling quantitative soil fertilization, which can adaptively compensate for nutrient loss in soil fertilizer during quantitative soil fertilization in real time, so as to achieve precise balance in quantitative soil fertilization.

[0005] In a first aspect, this application provides a method for quantitative fertilization control of soil fertilizers, comprising the following steps:

[0006] The soil nutrient content of the target soil before quantitative fertilization is detected, and nutrient content data are obtained.

[0007] The nutrient content data is used to determine the content difference between different nutrients, and then the adjustment margin of nutrient ratio when formulating soil fertilizer is determined by all the content differences and the soil moisture information of the target soil.

[0008] Vibration data during fertilizer mixing by the fertilizer applicator and frequency response characteristics of the fertilizer applicator's industrial control system are acquired, and the disturbance factor during fertilizer mixing by the fertilizer applicator is determined based on the vibration data and the frequency response characteristics.

[0009] The steady-state estimation of the fertilizer mixing process of the fertilizer applicator is performed based on the disturbance factor and the adjustment margin to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator. Then, the nutrient loss of the soil fertilizer during the steady-state adjustment process is determined by the disturbance-resistant density and the vibration data.

[0010] Based on the aforementioned nutrient loss, soil fertilizer loss is compensated during the quantitative fertilization process of the target soil.

[0011] In some embodiments, determining the degree of difference in content between different nutrients using the nutrient content data specifically includes:

[0012] Two nutrients are selected from the nutrient content data as the selected nutrient group;

[0013] Extract the content data corresponding to each nutrient in the selected nutrient group from the nutrient content data;

[0014] Determine the coefficient of dispersion between two nutrients in the selected nutrient group based on the content data;

[0015] The degree of difference in content between two nutrients in the selected nutrient group is determined based on the coefficient of dispersion.

[0016] Continue to determine the degree of difference in content among the remaining different nutrients in the nutrient content data.

[0017] In some embodiments, determining the nutrient ratio adjustment margin when formulating soil fertilizer based on all content variability and soil moisture information of the target soil specifically includes:

[0018] Obtain soil moisture information for the target soil;

[0019] The soil moisture information is used to determine the water requirement for soil fertilizer.

[0020] The compound ratio of soil fertilizer was determined by measuring all the differences in content.

[0021] The adjustment margin for the nutrient ratio when preparing soil fertilizer is determined by the water requirement and the compound ratio.

[0022] In some embodiments, determining the disturbance factor during fertilizer mixing by the fertilizer applicator based on the vibration data and the frequency response characteristics specifically includes:

[0023] The vibration data is used to determine the disturbance deviation during fertilizer mixing in the fertilizer applicator.

[0024] The logarithmic phase frequency characteristics of the fertilizer applicator during fertilizer mixing are determined based on the frequency response characteristics.

[0025] The vibration loss of the fertilizer applicator during fertilizer mixing is determined based on the logarithmic phase frequency characteristics and the frequency response characteristics.

[0026] The disturbance factor during fertilizer mixing by the fertilizer applicator is determined by the disturbance deviation and the vibration loss.

[0027] In some embodiments, the steady-state estimation of the fertilizer mixing process of the fertilizer applicator based on the disturbance factor and the adjustment margin, to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator, specifically includes:

[0028] The stable compound ratio of soil and fertilizer is determined based on the aforementioned adjustment margin;

[0029] The frequency band characteristics of the fertilizer applicator during stable feeding are determined by the stable composite ratio and the disturbance factor;

[0030] The phase margin of fertilizer mixing in the fertilizer applicator is determined based on the frequency band characteristics.

[0031] The fertilizer applicator is steadily adjusted using the phase margin to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator.

[0032] In some embodiments, determining the nutrient loss of soil fertilizer during steady-state regulation using the disturbance rejection density and the vibration data specifically includes:

[0033] To obtain a stable compound ratio of soil fertilizer and its water requirement;

[0034] The estimated density of soil fertilizer is determined by the stable compound ratio and the water requirement;

[0035] By adjusting the fertilizer applicator using the anti-disturbance density and the vibration data, a stable amount of soil fertilizer falls from the fertilizer applicator.

[0036] The density of the soil and fertilizer mixture is determined based on the stable falling amount.

[0037] Nutrient loss of soil fertilizer during steady-state regulation is determined based on the density and the estimated density.

[0038] In some embodiments, the fertilizer applicator is a spreader fertilizer applicator.

[0039] Secondly, this application provides a soil fertilizer quantitative fertilization control system, comprising:

[0040] The acquisition module is used to detect the soil nutrient content before quantitative fertilization of the target soil, and then obtain nutrient content data;

[0041] The processing module is used to determine the content difference between different nutrients through the nutrient content data, and then determine the adjustment margin of nutrient ratio when formulating soil fertilizer based on all the content differences and the soil moisture information of the target soil.

[0042] The processing module is also used to acquire vibration data during the fertilizer mixing process of the fertilizer applicator and frequency response characteristics of the fertilizer applicator's industrial control system, and to determine the disturbance factor during fertilizer mixing based on the vibration data and the frequency response characteristics.

[0043] The processing module is further configured to determine the steady-state estimation of the fertilizer mixing process of the fertilizer applicator based on the disturbance factor and the adjustment margin, obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator, and then determine the nutrient loss of the soil fertilizer during the steady-state adjustment process through the disturbance-resistant density and the vibration data.

[0044] The execution module is used to compensate for soil fertilizer loss during the quantitative fertilization process of the target soil based on the nutrient loss.

[0045] Thirdly, this application provides a computer device, the computer device including a memory and a processor, the memory storing code, and the processor being configured to acquire the code and execute the above-described method for quantitative soil fertilizer application control.

[0046] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for quantitative soil fertilization control.

[0047] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects:

[0048] In this embodiment, the soil nutrient content of the target soil before quantitative fertilization is detected to obtain nutrient content data. The content difference between different nutrients is determined using this nutrient content data. Then, based on all the content differences and the soil moisture information of the target soil, the adjustment margin for the nutrient ratio when adjusting soil fertilizer is determined. This helps to determine the nutrient supply to the target soil, improve the effectiveness of fertilization, and reduce soil and water pollution caused by excessive fertilization. Vibration data during the fertilizer mixing process of the fertilizer applicator and the frequency response characteristics of the fertilizer applicator's industrial control system are acquired. The disturbance factor during fertilizer mixing is determined based on the vibration data and the frequency response characteristics. A steady-state estimation of the fertilizer mixing process of the fertilizer applicator is performed based on the disturbance factor and the adjustment margin to obtain the soil fertilizer resistance density in the fertilizer applicator. Then, the nutrient loss of the soil fertilizer during the steady-state adjustment process is determined using the disturbance resistance density and the vibration data. Based on the nutrient loss, soil fertilizer loss compensation is performed during the quantitative fertilization process of the target soil.

[0049] Therefore, this application compensates for soil fertilizer loss during the quantitative fertilization process of the target soil by addressing the aforementioned nutrient loss. First, it determines the density of the soil fertilizer in the fertilizer applicator during stable mixing. This anti-disturbance density identifies the disturbance factors during fertilizer mixing, which can be reduced by manually adjusting the opening of the fertilizer applicator's discharge port, thus avoiding nutrient loss in the soil fertilizer. Second, by determining the amount of nutrient loss in the soil fertilizer caused by mechanical vibration, temperature changes, and powder adhesion during the operation of the fertilizer applicator, the nutrient loss can be calculated, allowing for targeted compensation of soil fertilizer loss during the fertilizer mixing process. The fertilizer is replenished in real time to ensure that the soil fertilizer in the fertilizer applicator maintains a consistent density and avoids insufficient fertilization. Finally, by performing real-time cost analysis on the loss of soil fertilizer nutrients, it is possible to determine the nutrient loss in the soil fertilizer during the mixing and irrigation process. This facilitates real-time and quantitative compensation of soil fertilizer during fertilization, thereby achieving quantitative soil fertilizer application, avoiding secondary fertilization of the target soil, and reducing the operation cycle of soil fertilization. In summary, the solution of this application can perform real-time adaptive compensation for soil fertilizer nutrient loss during quantitative soil fertilization to achieve precise balance in quantitative soil fertilization. Attached Figure Description

[0050] Figure 1 This is an exemplary flowchart of a method for controlling quantitative fertilization of soil fertilizer according to some embodiments of this application;

[0051] Figure 2 This is a flowchart illustrating the process of determining the adjustment margin according to some embodiments of this application;

[0052] Figure 3 This is a schematic flowchart illustrating the determination of nutrient loss according to some embodiments of this application;

[0053] Figure 4 These are schematic diagrams of exemplary hardware and / or software of a soil fertilizer quantitative fertilization control system according to some embodiments of this application;

[0054] Figure 5 This is a schematic diagram of the structure of a computer device for applying a quantitative fertilization control method for soil fertilizer, according to some embodiments of this application. Detailed Implementation

[0055] The core of this application is to determine the content difference between different nutrients through nutrient content data, and then determine the adjustment margin of nutrient ratio when distributing soil fertilizer based on the content difference and soil moisture information of the target soil; determine the disturbance factor during fertilizer mixing by the fertilizer applicator based on vibration data and frequency response characteristics; perform steady-state estimation of the fertilizer mixing process of the fertilizer applicator based on the disturbance factor and adjustment margin to obtain the disturbance-resistant density of soil fertilizer in the fertilizer applicator, and then determine the nutrient loss of soil fertilizer during steady-state adjustment through disturbance-resistant density and vibration data; and compensate for soil fertilizer loss during the quantitative fertilization process of the target soil based on nutrient loss. The above scheme can perform real-time adaptive compensation for nutrient loss of soil fertilizer during quantitative soil fertilization to achieve precise balance of quantitative soil fertilization.

[0056] To better understand the above technical solutions, a detailed description of the solutions will be provided below in conjunction with the accompanying drawings and specific implementation methods. (Reference) Figure 1 The figure is an exemplary flowchart of a soil fertilizer quantitative application control method according to some embodiments of this application. The soil fertilizer quantitative application control method 100 mainly includes the following steps:

[0057] In step 101, the soil nutrient content of the target soil before quantitative fertilization is detected, and nutrient content data are obtained.

[0058] In practice, the detection of soil nutrient content before quantitative fertilization of the target soil and the resulting nutrient content data can be achieved in the following way: Before quantitative fertilization of the target soil, a portable soil analyzer is used to detect the soil nutrient content at a specified depth within a preset sampling point in the target soil, and the set of all soil nutrient contents is used as the nutrient content data. The sampling frequency of the portable soil analyzer can be set between 10-15Hz, and the specified depth can be set according to the root length of the crops to be planted in the target soil, which can be between 2-20cm.

[0059] It should be noted that the preset sampling points in this application refer to sampling points that are evenly distributed in the target soil. The number of sampling points can be preset according to the total area of ​​the target soil. Soil nutrients refer to the content of nutrient elements in the soil. The nutrient elements include nitrogen, phosphorus, potassium, calcium, magnesium and other nutrient elements. By detecting the content of nutrient elements in the soil before fertilization, the actual nutrient status of the soil can be accurately understood, and a reasonable fertilization plan can be formulated to avoid soil nutrient imbalance and environmental pollution, and promote sustainable agricultural development.

[0060] In step 102, the content difference between different nutrients is determined by the nutrient content data, and then the adjustment margin of the nutrient ratio when formulating soil fertilizer is determined by all the content differences and the soil moisture information of the target soil.

[0061] In some embodiments, determining the degree of difference in content between different nutrients using the nutrient content data can be achieved through the following steps:

[0062] Two nutrients are selected from the nutrient content data as the selected nutrient group;

[0063] Extract the content data corresponding to each nutrient in the selected nutrient group from the nutrient content data;

[0064] Determine the coefficient of dispersion between two nutrients in the selected nutrient group based on the content data;

[0065] The degree of difference in content between two nutrients in the selected nutrient group is determined based on the coefficient of dispersion.

[0066] Continue to determine the degree of difference in content among the remaining different nutrients in the nutrient content data.

[0067] It should be noted that, in this application, selecting two nutrients from the nutrient content data as a selected nutrient group means selecting a group of nutrient elements that can represent soil nutrients as a selected nutrient group. The nutrient elements that can represent soil nutrients include nitrogen, phosphorus, and potassium. The group of nutrients represents a pairwise combination of nitrogen, phosphorus, and potassium, namely: nitrogen-phosphorus combination, nitrogen-potassium combination, and phosphorus-potassium combination.

[0068] In specific implementation, extracting the content data corresponding to each nutrient in the selected nutrient group from the nutrient content data can be achieved in the following way: using the pandas library in the prior art to read the nutrient content data, and putting the nutrient content data corresponding to different nutrients into a column of a data table to obtain a nutrient content data table, and then using the selected_data extraction function in the pandas library to extract the content data corresponding to each nutrient in the selected nutrient group from the nutrient content data table; determining the coefficient of variation between two nutrients in the selected nutrient group based on the content data can be achieved in the following way: calculating the mean and standard deviation of the content data corresponding to the two nutrients in the selected nutrient group respectively, and substituting the mean and standard deviation of the two nutrients in the selected nutrient group into the formula for calculating the coefficient of variation, and then using the mean of the calculation results as the coefficient of variation between the two nutrients in the selected nutrient group.

[0069] In addition, in a specific implementation, the content difference between two nutrients in the selected nutrient group can be determined based on the coefficient of variation by the following method: calculate the exponential function with the natural logarithm as the base of the coefficient of variation, and use the calculation result as the content difference between two nutrients in the selected nutrient group. The coefficient of variation reflects the degree of dispersion of the content data corresponding to the nutrient group. The exponential function with the natural logarithm as the base of the coefficient of variation can amplify a small coefficient of variation, making the change in the difference of the content data smoother.

[0070] It should be noted that the content difference degree in this application is an indicator that measures the difference in the content distribution of different nutrients in the target soil. The larger the content difference degree, the greater the difference in the content data of the corresponding nutrient; the smaller the content difference degree, the smaller the difference in the content data of the corresponding nutrient. The content difference degree can represent the dispersion of the corresponding nutrient in the soil. Based on the content difference degree, a more precise fertilization strategy can be formulated to avoid the problem of nutrient excess or deficiency.

[0071] In some embodiments, reference Figure 2 As shown in the figure, this is a schematic flowchart illustrating the determination of the adjustment margin in some embodiments of this application. In this embodiment, the determination of the nutrient ratio adjustment margin when blending soil fertilizer based on all content differences and soil moisture information of the target soil can be achieved through the following steps:

[0072] In step 1021, soil moisture information of the target soil is obtained;

[0073] In step 1022, the water requirement of soil fertilizer is determined based on the soil moisture information;

[0074] In step 1023, the compound ratio of soil fertilizer is determined by all the content differences;

[0075] In step 1024, the adjustment margin of nutrient ratio when preparing soil fertilizer is determined by the water requirement and the compound ratio.

[0076] In specific implementation, the soil moisture information of the target soil can be obtained in the following ways: The area, thickness, humidity, and surface temperature of the target soil can be obtained using existing UAV remote sensing technology, and all the obtained information can be used as the soil moisture information of the target soil. The water requirement of the soil fertilizer can be determined based on the soil moisture information in the following way: The water requirement refers to the water content required when mixing the soil fertilizer. When determining the water requirement, it is necessary to comprehensively consider soil moisture information such as soil humidity, surface temperature, and soil area. Crop water requirements can be checked based on scientific literature related to the crops grown on the target soil, and a prediction model can be established based on historical experience. The soil moisture information and the crop water requirement are then used as input information for the prediction model, and the water requirement of the soil fertilizer is output through the prediction model. The composite ratio of the soil fertilizer can be determined by considering all the content differences, which is the proportion of nitrogen, phosphorus, and potassium in the soil fertilizer. The proportion of the content differences of nitrogen, phosphorus, and potassium can be used as the composite ratio of the soil fertilizer.

[0077] In addition, in specific implementation, determining the adjustment margin of nutrient ratio when adjusting soil fertilizer based on the water requirement and the compound ratio can be achieved in the following way: Obtain historical crop growth data for the target soil, including water requirement, the nitrogen, phosphorus, and potassium content required by the crop, and crop yield after fertilization. Establish a regression analysis model based on the growth data, and then substitute the water requirement and the compound ratio into the regression analysis model. The regression analysis model outputs the adjustment margin of nutrient ratio when adjusting soil fertilizer. Establishing a regression analysis model based on the growth data can be achieved in the following way: First, preprocess the growth data, including data cleaning and data standardization; second, establish a neural network model, compile the neural network model using Python and optimization algorithms, and train the compiled model using the preprocessed growth data; finally, evaluate the trained model based on historical growth data to test its reliability.

[0078] It should be noted that the adjustment margin in this application refers to the range of soil fertilizer application amount that is dynamically adjusted based on changes in real-time soil moisture information during the soil fertilizer preparation process. The larger the adjustment margin, the larger the adjustable range of soil fertilizer application amount; the smaller the adjustment margin, the smaller the adjustable range of soil fertilizer application amount. Based on the adjustment margin, the distribution ratio of element content in the soil fertilizer can be adjusted in real time to ensure that the target soil receives the best nutrient supply, improve the effectiveness of fertilization, and help reduce resource waste and soil and water pollution caused by excessive fertilization.

[0079] In step 103, vibration data during the fertilizer mixing process of the fertilizer applicator and frequency response characteristics of the fertilizer applicator's industrial control system are acquired, and the disturbance factor during fertilizer mixing is determined based on the vibration data and the frequency response characteristics.

[0080] In specific implementation, vibration data during the fertilizer mixing process of the fertilizer applicator can be obtained in the following way: vibration data is recorded in real time by a vibration sensor installed on the fertilizer applicator. The vibration data refers to the frequency data generated by mechanical vibration during the fertilizer mixing process. The recording frequency of the vibration sensor can be set between 5-10Hz. The vibration data can be used to analyze the working status of the fertilizer applicator, identify excessive vibration, and thus optimize the fertilizer mixing process to ensure uniform mixing of fertilizer. It should be noted that the fertilizer applicator can be a broadcast fertilizer applicator. Obtaining vibration data during the operation of the fertilizer applicator is to analyze the loss of soil fertilizer nutrients caused by mechanical vibration during the fertilizer mixing and irrigation process, thereby facilitating targeted compensation of soil fertilizer during the fertilization process to address the loss.

[0081] It should be noted that, in this application, obtaining the frequency response characteristics of the fertilizer applicator control system refers to obtaining the logarithmic amplitude-frequency characteristic of the fertilizer applicator control system, and using the logarithmic amplitude-frequency characteristic as the frequency response characteristics of the fertilizer applicator control system. The frequency response characteristics are characteristics that describe the response amplitude of the fertilizer applicator control system at different frequencies, which can be obtained through experimental measurement and data analysis. The frequency response characteristic curve is plotted using Matplotlib, a technology in the prior art. The frequency response characteristic curve can be used to further analyze and optimize the fertilization process, ensuring the stability and efficiency of the fertilizer applicator under various working conditions.

[0082] In some embodiments, determining the disturbance factor during fertilizer mixing by the fertilizer applicator based on the vibration data and the frequency response characteristics can be achieved through the following steps:

[0083] The vibration data is used to determine the disturbance deviation during fertilizer mixing in the fertilizer applicator.

[0084] The logarithmic phase frequency characteristics of the fertilizer applicator during fertilizer mixing are determined based on the frequency response characteristics.

[0085] The vibration loss of the fertilizer applicator during fertilizer mixing is determined based on the logarithmic phase frequency characteristics and the frequency response characteristics.

[0086] The disturbance factor during fertilizer mixing by the fertilizer applicator is determined by the disturbance deviation and the vibration loss.

[0087] In specific implementation, determining the disturbance deviation of the fertilizer applicator during fertilizer mixing using the vibration data can be achieved in the following way: using a low-pass filter in the prior art to filter the vibration data to obtain noise-reduced vibration data, and using a fast Fourier transform in the prior art to convert the noise-reduced vibration data into a frequency domain graph, then calculating the difference between all adjacent peaks and valleys in the frequency domain graph, and thus taking the average of all differences as the disturbance deviation of the fertilizer applicator during fertilizer mixing. The disturbance deviation is an indicator that measures the degree of influence of the fertilizer applicator on the soil fertilizer application caused by mechanical vibration during fertilizer mixing. Determining the logarithmic phase frequency characteristics of the fertilizer applicator during fertilizer mixing based on the frequency response characteristics can be achieved in the following way: using a Fourier transform in the prior art to transform the frequency response characteristics to obtain the phase response data of the fertilizer applicator at different frequencies, and taking the logarithm of the obtained phase response data as the logarithmic phase frequency characteristics of the fertilizer applicator.

[0088] In addition, in specific implementation, determining the vibration loss of the fertilizer applicator during fertilizer mixing based on the logarithmic phase frequency characteristic and the frequency response characteristic can be achieved in the following way: The logarithmic phase frequency characteristic and the frequency response characteristic are plotted on a Bode plot using existing technology. In the Bode plot, the frequency response characteristic refers to the amplitude component, used to identify vibration frequency and amplitude changes; the logarithmic phase frequency characteristic refers to the phase component, used to analyze the trend of phase change with frequency; and the difference between all adjacent amplitudes during the fertilizer mixing process is calculated. The average of all differences is used as the amplitude attenuation, and the average of all phase differences during the fertilizer mixing process is used as the phase shift, thereby determining the vibration loss of the fertilizer applicator during fertilizer mixing. The product of amplitude attenuation and the cosine of the phase shift is used as the vibration loss during fertilizer mixing by the fertilizer applicator. The vibration loss refers to the efficiency reduction caused by vibration during the fertilizer mixing process. The vibration can reflect the influence of mechanical vibration on the uniformity of fertilizer mixing and is helpful for subsequent confirmation of soil fertilizer nutrient loss. The disturbance factor during fertilizer mixing by the fertilizer applicator can be determined by the following method: the disturbance deviation and the vibration loss are weighted and summed, and the calculation result is used as the disturbance factor during fertilizer mixing by the fertilizer applicator. The weights of the disturbance deviation and the vibration loss are determined according to the ratio of the disturbance deviation and the vibration loss.

[0089] It should be noted that the disturbance factor in this application is an indicator that measures the degree of mechanical vibration interference to soil fertilizer during the fertilizer mixing process of the fertilizer applicator. The larger the disturbance factor, the greater the impact of mechanical vibration on soil fertilizer during the fertilizer mixing process, and the greater the loss of nutrients in the soil fertilizer. The smaller the disturbance factor, the less the impact of mechanical vibration on soil fertilizer during the fertilizer mixing process, and the less the loss of nutrients in the soil fertilizer. The disturbance factor helps to optimize the fertilizer mixing process of the fertilizer applicator and reduce the adverse effects of mechanical vibration on the nutrients in the soil fertilizer.

[0090] In step 104, a steady-state estimation of the fertilizer mixing process of the fertilizer applicator is performed based on the disturbance factor and the adjustment margin to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator. Then, the nutrient loss of the soil fertilizer during the steady-state adjustment process is determined by the disturbance-resistant density and the vibration data.

[0091] In some embodiments, the steady-state estimation of the fertilizer mixing process in the fertilizer applicator based on the disturbance factor and the adjustment margin, to obtain the disturbance-resistant density of soil fertilizer in the fertilizer applicator, can be achieved by the following steps:

[0092] The stable compound ratio of soil and fertilizer is determined based on the aforementioned adjustment margin;

[0093] The frequency band characteristics of the fertilizer applicator during stable feeding are determined by the stable composite ratio and the disturbance factor;

[0094] The phase margin of fertilizer mixing in the fertilizer applicator is determined based on the frequency band characteristics.

[0095] The fertilizer applicator is steadily adjusted using the phase margin to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator.

[0096] In specific implementation, the stable compound ratio of soil and fertilizer can be determined according to the adjustment margin in the following way: the stable compound ratio refers to the optimal ratio of different nutrients. The regression analysis model in the above embodiment can be adjusted until the adjustment margin of the regression analysis model tends to be stable. The proportion of growth data in the regression analysis model is calculated, and the calculated result is used as the stable compound ratio. The stable compound ratio refers to the estimated compound ratio of soil and fertilizer. The stable compound ratio can represent the compound ratio of nutrients in soil and fertilizer under zero interference when mixing fertilizer.

[0097] In addition, in specific implementation, the frequency band characteristics for stable feeding of the fertilizer applicator, determined by the stable compound ratio and the disturbance factor, can be achieved in the following way: First, when the input of the control system is the stable compound ratio, the disturbance factor is analyzed using a Bode plot in the prior art to obtain a disturbance Bode plot, which includes the vibration frequency and phase change; second, the frequency band with the smallest phase change amplitude is taken as the optimal operating frequency band for controlling feeding stability, which is used to initially describe the stable operation of the fertilizer applicator; then, within the optimal operating frequency band, the stability of the phase response is further analyzed, for example, the phase margin of each frequency band can be determined, which is the stability index of the system at that frequency. The phase margin refers to the difference between the input and output phases of the system at a specific frequency, and determining the phase margin can ensure the stability of the system; finally, the frequency band with the largest phase margin in the optimal operating frequency band is taken as the frequency band characteristic for controlling feeding stability.

[0098] In specific implementation, determining the phase margin of fertilizer mixing by the fertilizer applicator based on the frequency band characteristics can be achieved in the following way: First, obtain the transfer function of the fertilizer applicator from the fertilizer applicator's industrial control system, and apply sinusoidal signals of different frequencies to the transfer function; second, measure the opening of the discharge port and the actual fertilizer flow rate; then, extract the open-loop gain and phase response of the fertilizer applicator's industrial control system from the frequency band characteristics through the transfer function, and use the hysteresis compensator in the prior art to compensate for the open-loop gain and phase response respectively, to obtain the compensated open-loop gain and compensated phase response; next, perform closed-loop analysis on the fertilizer applicator's industrial control system through the compensated open-loop gain and compensated phase response, that is: the closed-loop transfer function can be calculated using the following formula: closed-loop transfer function = transfer function + (compensated open-loop gain / compensated phase response); finally, extract the Bode plot of the closed-loop transfer function, and take the maximum difference between the two amplitudes in the Bode plot of the closed-loop transfer function as the phase margin of fertilizer mixing by the fertilizer applicator.

[0099] In addition, in specific implementation, the soil fertilizer density in the fertilizer applicator can be obtained by steady-state adjustment of the fertilizer applicator through the phase angle margin in the following way: the phase angle margin is an indicator of the stability of the discharge angle opening when the fertilizer applicator is mixing fertilizer. Therefore, when the discharge angle opening is stable at the phase angle margin when the fertilizer applicator is mixing fertilizer, the density of the soil fertilizer in the fertilizer applicator is measured, and the density of the soil fertilizer at this time is taken as the soil fertilizer density in the fertilizer applicator.

[0100] It should be noted that the disturbance resistance density in this application refers to the density of soil fertilizer in the fertilizer applicator during stable fertilizer mixing. Stable fertilizer mixing is determined based on the disturbance factor during fertilizer mixing. The disturbance resistance density reflects the degree of influence of the disturbance factor during fertilizer mixing on the loss of soil fertilizer nutrients during the mixing process. The smaller the disturbance resistance density, the greater the influence of the disturbance factor during fertilizer mixing on the loss of soil fertilizer nutrients during the mixing process. The larger the disturbance resistance density, the smaller the influence of the disturbance factor during fertilizer mixing on the loss of soil fertilizer nutrients during the mixing process. The influence of the disturbance factor on the mixing process can be reduced by manually adjusting the opening of the fertilizer applicator's discharge port, thereby avoiding the loss of nutrients in the soil fertilizer.

[0101] In some embodiments, reference Figure 3 As shown in the figure, this is a schematic flowchart illustrating the determination of nutrient loss in some embodiments of this application. In this embodiment, the determination of soil nutrient loss during steady-state adjustment using the disturbance rejection density and the vibration data can be achieved through the following steps:

[0102] In step 1041, the stable compound ratio of soil fertilizer and water requirement are obtained;

[0103] In step 1042, the estimated density of the soil fertilizer is determined by the stable compound ratio and the water requirement;

[0104] In step 1043, the fertilizer applicator is adjusted using the anti-disturbance density and the vibration data to obtain a stable amount of soil fertilizer falling from the fertilizer applicator.

[0105] In step 1044, the density of the soil and fertilizer mixture is determined based on the stable falling amount;

[0106] In step 1045, the nutrient loss of soil fertilizer during steady-state regulation is determined based on the density and the estimated density.

[0107] In specific implementation, determining the estimated density of the soil fertilizer based on the stable compound ratio and the water requirement can be achieved in the following way: Obtain the water requirement volume and mass of the soil fertilizer using the water requirement; use the ratio of the water requirement mass to the stable compound ratio as the estimated mass of the soil fertilizer; use the ratio of the water requirement volume to the stable compound ratio as the estimated volume of the soil fertilizer; and use the ratio of the estimated mass to the estimated volume as the estimated density of the soil fertilizer. The estimated density refers to the density value of the soil fertilizer before mixing with other fertilizers. The stability of the soil fertilizer falling in the fertilizer applicator can be achieved by adjusting the anti-disturbance density and the vibration data in the fertilizer applicator as follows: In the fertilizer applicator's industrial control system, the opening of the fertilizer mixing port of the fertilizer applicator is controlled by the anti-disturbance density and the vibration data to keep the opening of the fertilizer mixing port of the fertilizer applicator stable. When the opening tends to be stable, the mass of the soil fertilizer falling is obtained and this mass is taken as the stability of the soil fertilizer falling in the fertilizer applicator. The stability of the falling amount is the mass of the powdered soil fertilizer that actually falls before the fertilizer applicator mixes the fertilizer.

[0108] In addition, in specific implementation, the density of the soil fertilizer after mixing can be determined based on the stable falling amount in the following way: The entire stable falling amount is pushed into the fertilizer applicator for mixing. After uniform mixing, the pressure and height of the soil fertilizer in the fertilizer applicator are obtained, and the density of the soil fertilizer is calculated using the pressure and height. The calculated result is then used as the density of the soil fertilizer after mixing. The nutrient loss of the soil fertilizer during steady-state adjustment can be determined based on the density and the estimated density in the following way: First, the difference between the estimated density and the actual density is used as the density difference. Second, the density difference and the pressure of the soil fertilizer in the fertilizer applicator are substituted into the liquid pressure calculation formula to obtain the height difference of the soil fertilizer. Then, the bottom area of ​​the container in the fertilizer applicator during mixing is obtained, and the product of the bottom area and the height difference is used as the volume difference of the soil fertilizer. Finally, the product of the volume difference and the estimated density is used as the nutrient loss of the soil fertilizer during steady-state adjustment.

[0109] It should be noted that the nutrient loss in this application refers to the loss of nutrients in the soil fertilizer during the mixing process. The nutrient loss is caused by mechanical vibration, temperature changes, and the adhesion of the powder itself during the powdered application and mixing process. By addressing the nutrient loss, powdered fertilizer can be added in a targeted manner during the mixing process, thereby improving the reliability of subsequent quantitative fertilization of the target soil, ensuring that the soil fertilizer maintains a consistent density during subsequent irrigation, avoiding insufficient fertilization, and improving crop growth.

[0110] In step 105, soil fertilizer loss is compensated based on the nutrient loss during the quantitative fertilization process of the target soil.

[0111] In some embodiments, compensating for soil fertilizer loss during the quantitative fertilization process of the target soil based on the nutrient loss can be achieved through the following steps:

[0112] Determine the liquid level at each fertilizer nozzle in the fertilizer machine;

[0113] The deposition and loss of nutrients in the soil fertilizer at each fertilizer discharge nozzle are determined by all the sensing liquid levels;

[0114] The cost of quantitative irrigation of soil fertilizer is obtained by fitting the cost of all deposition losses and the aforementioned nutrient losses to the process.

[0115] The loss margin during soil fertilizer replenishment in the process of quantitative fertilization of the target soil is determined based on the quantitative irrigation cost.

[0116] The nutrient compensation amount of soil fertilizer is determined by the quantitative irrigation cost and the loss margin.

[0117] Nutrients are supplemented into the soil fertilizer during the quantitative fertilization process of the target soil based on the nutrient compensation amount.

[0118] It should be noted that, in this application, determining the sensing liquid level at each fertilizer spray nozzle in the fertilizer applicator refers to directly detecting the corresponding liquid level at each fertilizer spray nozzle through the liquid level sensor installed at each fertilizer spray nozzle, and using the detected liquid level as the sensing liquid level at the corresponding fertilizer spray nozzle. It should also be noted that the sensing liquid level refers to the liquid level of the soil fertilizer at each fertilizer spray nozzle during the irrigation process. After the soil fertilizer is mixed, it needs to be irrigated for subsequent fertilization. However, due to the inconsistent distance between the driver of the fertilizer applicator and each fertilizer spray nozzle, and the slight deviation in the height of each fertilizer spray nozzle, the liquid level of the soil fertilizer at each fertilizer spray nozzle is different during the irrigation process, resulting in different amounts of soil fertilizer accumulated at the fertilizer spray nozzle.

[0119] In some embodiments, determining the nutrient deposition loss in the soil fertilizer at each fertilizer discharge nozzle based on all sensed liquid levels can be achieved using the following steps:

[0120] Obtain soil fertilizer density data at each fertilizer spray nozzle;

[0121] The density deviation at each fertilizer spray nozzle is determined using the density data.

[0122] Determine the liquid level deviation at each fertilizer discharge nozzle based on all the sensor liquid levels;

[0123] The deposition loss of nutrients in the soil fertilizer at each fertilizer discharge nozzle was determined based on all liquid level deviations and all density deviations.

[0124] In specific implementation, the density data of soil fertilizer at each fertilizer spray nozzle can be obtained in the following way: the density of soil fertilizer during the operation of the fertilizer applicator is collected in real time by density sensors at each fertilizer spray nozzle, and all densities are used as the density data of soil fertilizer at each fertilizer spray nozzle. The acquisition frequency of the density sensor is set between 0.1-0.2Hz, which is beneficial for detecting the deposition of nutrients in the soil fertilizer. The deposition is caused by insufficient fertilizer mixing and uneven irrigation pressure. The density deviation at each fertilizer spray nozzle can be determined by the following method: the average density of the density data is calculated, and the difference between the density at each fertilizer spray nozzle and the average density is used as the density deviation at the corresponding fertilizer spray nozzle.

[0125] In addition, in specific implementation, determining the liquid level deviation at each fertilizer discharge nozzle based on all the sensed liquid levels can be achieved in the following way: calculate the average value of all sensed liquid levels and take this average value as the average liquid level, and then take the difference between the sensed liquid level at each fertilizer discharge nozzle and the average liquid level as the liquid level deviation at the corresponding fertilizer discharge nozzle; determining the nutrient deposition loss in the soil fertilizer at each fertilizer discharge nozzle based on all liquid level deviations and all density deviations can be achieved in the following way: obtain a uniform cross-sectional area of ​​the fertilizer discharge nozzle, and take the product of the liquid level deviation of each fertilizer discharge nozzle and the cross-sectional area as the nutrient volume deviation in the soil fertilizer at the corresponding fertilizer discharge nozzle, and then take the density deviation and the corresponding volume deviation at each fertilizer discharge nozzle as the deposition loss at the corresponding fertilizer discharge nozzle.

[0126] It should be noted that the deposition loss in this application refers to the loss of nutrients in the soil fertilizer during the irrigation process due to deposition at various fertilizer nozzles. The deposition loss is related to the mixing, irrigation, and mechanical operation of the soil fertilizer. By addressing the deposition loss, powdered fertilizer can be added in a targeted manner during the soil fertilizer irrigation process, thereby improving the accuracy of subsequent quantitative fertilization of the target soil and ensuring that the soil fertilizer maintains a consistent density during irrigation, so as to achieve precision agriculture, improve crop growth, and reduce the risk of environmental pollution.

[0127] In some embodiments, the cost of quantitative irrigation of soil fertilizer is obtained by fitting the process with all deposition losses and the nutrient losses, which can be achieved through the following steps:

[0128] To obtain irrigation data during the quantitative application of soil fertilizer;

[0129] Data analysis is performed on the irrigation data to obtain the cost function of the quantitative irrigation of soil fertilizer.

[0130] Cost analysis of the quantitative irrigation of soil fertilizer is performed using the cost function, all deposition losses, and the nutrient losses to obtain the cost of quantitative irrigation.

[0131] In specific implementation, the irrigation data during the quantitative irrigation of soil fertilizer can be obtained in the following way: the irrigation data includes the flow rate and flow rate during the soil fertilizer irrigation process, which can be directly obtained through the industrial control system of the fertilizer applicator; the cost function of the quantitative irrigation of soil fertilizer can be obtained by analyzing the irrigation data, which can be achieved in the following way: the irrigation data is used as initialization data, and a fitting model is initialized by the initialization data. The cost function of the quantitative irrigation of soil fertilizer is output by the fitting model. The cost function is a function determined by analyzing the irrigation data during the quantitative irrigation of soil fertilizer. The cost function is used to analyze the loss of nutrients in the soil fertilizer during quantitative irrigation. The irrigation data helps to comprehensively measure the real-time flow rate and flow rate of soil fertilizer in the irrigation pipe, thereby improving the reliability of the output function.

[0132] It should be noted that the fitting model is a pre-trained model used to fit the nutrient loss in the soil fertilizer during the quantitative irrigation process. The pre-training process of the fitting model includes the acquisition and normalization of irrigation data, as well as the training and evaluation of the model. As a preferred embodiment, a decision tree algorithm can be used to train the model, which is beneficial to improve the confidence of the predicted fitting results output by the fitting model. In other embodiments, other existing algorithms can also be used for training, which is not limited here.

[0133] In specific implementation, the cost analysis of the quantitative irrigation of soil fertilizer is performed through the cost function, all deposition losses and the nutrient losses. The quantitative irrigation cost can be obtained in the following way: calculate the sum of all deposition losses, obtain the total deposition loss, and substitute the total deposition loss and the nutrient loss into the cost function for solution, so as to use the solution as the quantitative irrigation cost.

[0134] It should be noted that the quantitative infusion cost in this application refers to the loss of nutrients in the soil fertilizer during the process of mixing and infusing the soil fertilizer using a fertilizer applicator. Specifically, the loss of nutrients in the soil fertilizer during mixing refers to the nutrient loss mentioned above, while the loss of nutrients in the soil fertilizer during infusion refers to all deposition losses. By comprehensively considering the loss of nutrients in the soil fertilizer during mixing and infusion, it is beneficial to quantitatively compensate for the soil fertilizer during fertilization, thereby achieving quantitative soil fertilizer application, avoiding secondary fertilization of the target soil, and reducing the operation cycle of soil fertilization.

[0135] In specific implementation, determining the loss margin of soil fertilizer replenishment during quantitative fertilization of the target soil based on the quantitative irrigation cost can be achieved in the following way: obtaining the total mass of soil fertilizer before mixing, calculating the ratio of the quantitative irrigation cost to the total mass, and using this ratio as the loss margin when replenishing soil fertilizer during quantitative fertilization of the target soil; determining the nutrient compensation amount of soil fertilizer through the quantitative irrigation cost and the loss margin can be achieved in the following way: calculating the product of the quantitative irrigation cost and the loss margin, and using the sum of this product and the quantitative irrigation cost as the nutrient compensation amount during quantitative fertilization of the target soil; replenishing soil fertilizer during quantitative fertilization of the target soil based on the nutrient compensation amount can be achieved in the following way: adding nutrients equal to the nutrient compensation amount during quantitative fertilization of the target soil, thereby achieving the replenishment of soil fertilizer, improving the quantitative accuracy of quantitative fertilization of the target soil, and avoiding the need for secondary topdressing due to insufficient nutrients.

[0136] It should be noted that, in this application, the loss margin refers to the degree of nutrient loss in the soil fertilizer when supplementing soil fertilizer during the quantitative fertilization process of the target soil. The loss margin can be estimated by the amount of excess nutrient loss in the soil fertilizer when supplementing soil fertilizer through the quantitative irrigation cost. The nutrient compensation amount can be determined by the quantitative irrigation cost and the loss margin. Supplementing soil fertilizer with the nutrient compensation amount during the quantitative fertilization process of the target soil can reduce the secondary loss of nutrients in the soil fertilizer during nutrient supplementation.

[0137] On the other hand, in some embodiments, this application provides a soil fertilizer quantitative fertilization control system, referencing Figure 4 The figure is a schematic diagram of exemplary hardware and / or software of a soil fertilizer quantitative fertilization control system according to some embodiments of this application. The soil fertilizer quantitative fertilization control system 400 includes: an acquisition module 401, a processing module 402, and an execution module 403, which are described below:

[0138] The acquisition module 401 in this application is mainly used to detect the soil nutrient content before quantitative fertilization of the target soil, and then obtain nutrient content data.

[0139] The processing module 402 determines the content difference between different nutrients through the nutrient content data, and then determines the adjustment margin of nutrient ratio when blending soil fertilizer based on all the content differences and the soil moisture information of the target soil.

[0140] In this application, the processing module 402 is also used to acquire vibration data during the fertilizer mixing process of the fertilizer applicator and frequency response characteristics of the fertilizer applicator's industrial control system, and to determine the disturbance factor during fertilizer mixing based on the vibration data and the frequency response characteristics.

[0141] In this application, the processing module 402 is also used to perform steady-state estimation of the fertilizer mixing process of the fertilizer applicator based on the disturbance factor and the adjustment margin, to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator, and then to determine the nutrient loss of the soil fertilizer during the steady-state adjustment process through the disturbance-resistant density and the vibration data.

[0142] The execution module 403 in this application is mainly used to compensate for soil fertilizer loss during the quantitative fertilization process of the target soil based on the nutrient loss.

[0143] In addition, this application also provides a computer device, the computer device including a memory and a processor, the memory storing code, and the processor being configured to acquire the code and execute the above-described method for quantitative soil fertilizer application control.

[0144] In some embodiments, reference Figure 5 The figure is a schematic diagram of the structure of a computer device applying a quantitative fertilization control method for soil fertilizer according to some embodiments of this application. The quantitative fertilization control method for soil fertilizer in the above embodiments can... Figure 5 The computer device shown is used to implement this, and the computer device 500 includes at least one processor 501, a communication bus 502, a memory 503, and at least one communication interface 504.

[0145] Processor 501 can be a general-purpose central processing unit (CPU) or an application-specific integrated circuit (ASIC).

[0146] The communication bus 502 can be used to transmit information between the aforementioned components.

[0147] Memory 503 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disks or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory 503 may exist independently and be connected to processor 501 via communication bus 502. Memory 503 may also be integrated with processor 501.

[0148] The memory 503 stores program code for executing the scheme of this application, and its execution is controlled by the processor 501. The processor 501 executes the program code stored in the memory 503. The program code may include one or more software modules. In the above embodiments, the soil fertilizer quantitative application control method can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0149] Communication interface 504 uses any transceiver-like device to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0150] In a specific implementation, as one example, a computer device may include multiple processors, each of which may be a single-core (single CPU) processor or a multi-core (multi CPU) processor. Here, a processor may refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0151] The aforementioned computer device can be a general-purpose computer device or a special-purpose computer device. In specific implementations, the computer device can be a desktop computer, a portable computer, a network server, a handheld digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. This application does not limit the type of computer device.

[0152] In addition, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for quantitative soil fertilizer application control.

[0153] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0154] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for quantitative control of soil fertilizer application, characterized in that, Includes the following steps: The soil nutrient content of the target soil before quantitative fertilization is detected, and nutrient content data are obtained. The nutrient content data is used to determine the content difference between different nutrients, and then the adjustment margin of nutrient ratio when formulating soil fertilizer is determined by all the content differences and the soil moisture information of the target soil. Vibration data during fertilizer mixing by the fertilizer applicator and frequency response characteristics of the fertilizer applicator's industrial control system are acquired, and the disturbance factor during fertilizer mixing by the fertilizer applicator is determined based on the vibration data and the frequency response characteristics. The steady-state estimation of the fertilizer mixing process of the fertilizer applicator is performed based on the disturbance factor and the adjustment margin to obtain the soil fertilizer resistance density in the fertilizer applicator. The resistance density is used to reflect the degree of influence of the disturbance factor on the loss of soil fertilizer nutrients during the fertilizer mixing process. Then, the nutrient loss of soil fertilizer during the steady-state adjustment process is determined by the resistance density and the vibration data. Based on the aforementioned nutrient loss, soil fertilizer loss compensation is performed during the quantitative fertilization process of the target soil; Specifically, the steady-state estimation of the fertilizer mixing process in the fertilizer applicator based on the disturbance factor and the adjustment margin, to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator, includes: The stable compound ratio of soil fertilizer is determined based on the adjustment margin. The stable compound ratio represents the compound ratio of nutrients in soil fertilizer under zero-interference conditions when mixing fertilizer. The specific calculation method is to adjust the regression analysis model established by growth data until the adjustment margin of the regression analysis model tends to be stable, calculate the proportion of growth data in the regression analysis model, and use the calculated result as the stable compound ratio. The frequency band characteristics of the fertilizer applicator during stable feeding are determined by the stable composite ratio and the disturbance factor; The phase margin of fertilizer mixing in the fertilizer applicator is determined based on the frequency band characteristics. The fertilizer applicator is steadily adjusted using the phase margin to obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator.

2. The method as described in claim 1, characterized in that, Determining the degree of difference in content between different nutrients using the nutrient content data specifically includes: Two nutrients are selected from the nutrient content data as the selected nutrient group; Extract the content data corresponding to each nutrient in the selected nutrient group from the nutrient content data; Determine the coefficient of dispersion between two nutrients in the selected nutrient group based on the content data; The degree of difference in content between two nutrients in the selected nutrient group is determined based on the coefficient of dispersion. Continue to determine the degree of difference in content among the remaining different nutrients in the nutrient content data.

3. The method as described in claim 1, characterized in that, The adjustment margin for nutrient ratios when formulating soil fertilizers is determined based on all content differences and soil moisture information of the target soil. Specifically, this includes: Obtain soil moisture information for the target soil; The soil moisture information is used to determine the water requirement for soil fertilizer. The compound ratio of soil fertilizer was determined by measuring all the differences in content. The adjustment margin for the nutrient ratio when preparing soil fertilizer is determined by the water requirement and the compound ratio.

4. The method as described in claim 1, characterized in that, Determining the disturbance factor during fertilizer mixing using a fertilizer applicator based on the vibration data and frequency response characteristics specifically includes: The vibration data is used to determine the disturbance deviation during fertilizer mixing in the fertilizer applicator. The logarithmic phase frequency characteristics of the fertilizer applicator during fertilizer mixing are determined based on the frequency response characteristics. The vibration loss of the fertilizer applicator during fertilizer mixing is determined based on the logarithmic phase frequency characteristics and the frequency response characteristics. The disturbance factor during fertilizer mixing by the fertilizer applicator is determined by the disturbance deviation and the vibration loss.

5. The method as described in claim 1, characterized in that, The determination of soil nutrient loss during steady-state regulation using the disturbance rejection density and vibration data specifically includes: To obtain a stable compound ratio of soil fertilizer and its water requirement; The estimated density of soil fertilizer is determined by the stable compound ratio and the water requirement; By adjusting the fertilizer applicator using the anti-disturbance density and the vibration data, a stable amount of soil fertilizer falls from the fertilizer applicator. The density of the soil and fertilizer mixture is determined based on the stable falling amount. Nutrient loss of soil fertilizer during steady-state regulation is determined based on the density of the soil and fertilizer mixture after mixing and the estimated density.

6. The method as described in claim 1, characterized in that, The fertilizer applicator is a spreader fertilizer applicator.

7. A soil fertilizer quantitative application control system, which uses the method described in any one of claims 1 to 6 for soil fertilizer quantitative application control, characterized in that, The system includes: The acquisition module is used to detect the soil nutrient content before quantitative fertilization of the target soil, and then obtain nutrient content data; The processing module is used to determine the content difference between different nutrients through the nutrient content data, and then determine the adjustment margin of nutrient ratio when formulating soil fertilizer based on all the content differences and the soil moisture information of the target soil. The processing module is also used to acquire vibration data during the fertilizer mixing process of the fertilizer applicator and frequency response characteristics of the fertilizer applicator's industrial control system, and to determine the disturbance factor during fertilizer mixing based on the vibration data and the frequency response characteristics. The processing module is further configured to determine the steady-state estimation of the fertilizer mixing process of the fertilizer applicator based on the disturbance factor and the adjustment margin, and obtain the disturbance-resistant density of the soil fertilizer in the fertilizer applicator. The disturbance-resistant density is used to reflect the degree of influence of the disturbance factor on the loss of soil fertilizer nutrients during the fertilizer mixing process, and then the nutrient loss of soil fertilizer during the steady-state adjustment process is determined by the disturbance-resistant density and the vibration data. The execution module is used to compensate for soil fertilizer loss during the quantitative fertilization process of the target soil based on the nutrient loss.

8. A computer device comprising a memory and a processor, the memory storing code, characterized in that, The processor is configured to acquire the code and execute the soil fertilizer quantitative fertilization control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the soil fertilizer quantitative fertilization control method as described in any one of claims 1 to 6.

Images