Fertilization rate detection method and system of rice side deep fertilizer applicator

Abstract

The invention provides a fertilization rate detection method of a rice side deep fertilizer applicator, which comprises the following steps: collecting farmland data, presetting a fertilization route and a target effect rate curve based on the farmland data, and driving the side deep fertilizer applicator into the farmland to carry out fertilization operation according to the preset fertilization route, the method comprises the following steps: acquiring fertilization data and driving data of a side deep fertilizer applicator in a fertilization operation process, enabling the fertilization data and the driving data to have a corresponding relation, and carrying out time sequence fusion on the fertilization data and the driving data to obtain fertilization characteristic data in a time sequence direction. According to the method, a fertilization route and a target effect rate curve are set, fertilization data and driving data during fertilization of the fertilizer applicator are obtained, a fertilization rate data curve is obtained after analysis, and the fertilization rate of the fertilizer applicator can be accurately judged by comparing the fertilization rate data curve of the fertilizer applicator under the preset fertilization route with the target effect rate curve.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural fertilization, and in particular to a fertilization rate detection method and system of a rice side deep fertilizer applicator. Background Art

[0002] Side deep fertilization is an important fertilization technology in modern agriculture, but it is not the basic way of fertilization. It combines the advantages of traditional fertilization and improves fertilizer utilization and crop yield.

[0003] For example, the publication number CN202311448816.6 discloses a method and system for controlling the fertilization rate of an agricultural side deep fertilizer spreader, which includes collecting images of crop roots, building an AI model, determining the required fertilizer type and the length of the main root of the crop; real-time monitoring of the soil moisture at the root of the crop and the travel speed of the fertilizer spreader; determining the fertilization rate according to the fertilizer type, the soil moisture at the root of the crop, and the travel speed of the fertilizer spreader; fertilizing the crops according to the fertilization rate; recording each fertilization time, fertilizer type, the length of the main root of the crop, and the soil moisture at the root of the crop; transmitting the fertilization rate to a remote monitoring center to monitor the operating status of the fertilizer spreader. The entire method can determine the type of fertilizer required for crops, adjust the fertilization rate, and realize personalized fertilization of crops, which is of great significance for increasing crop yields and protecting the soil ecological environment.

[0004] The patent only mentions how to adjust the fertilization rate. The soil of farmland is very different from that of roads. Although the fertilization speed can be maintained uniform, the actual fertilization rate will be greatly affected by vibration, which will seriously affect the uniformity of the fertilization process of the fertilizer spreader, and then affect the fertilization rate of the entire fertilization process of the fertilizer spreader. At present, there is no specific detection method for the fertilization rate of the fertilizer spreader, nor a reference for maintaining uniform fertilization of farmland for subsequent fertilizer supplementation. Summary of the invention

[0005] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a method and system for detecting the fertilization rate of a rice side deep fertilizer applicator to solve the problems raised in the above background technology.

[0006] (II) Technical solution To achieve the above objectives, the present invention is implemented through the following technical solutions: A method for detecting the fertilization rate of a rice side deep fertilizer applicator, comprising: Collect farmland data, pre-set fertilization routes and target effect rate curves based on the farmland data, and drive the side deep fertilizer spreader into the farmland to carry out fertilization operations according to the pre-set fertilization routes; Acquire fertilization data and driving data of the side deep fertilizer spreader during the fertilization operation process, wherein the fertilization data and the driving data have a corresponding relationship; Performing time series fusion on the fertilization data and the driving data to obtain fertilization feature data in a time series direction; A fertilization rate data curve is obtained based on the fertilization characteristic data including the time series direction, and the fertilization rate data curve is compared with the target effect rate curve to determine the fertilization effect of the fertilizer spreader.

[0007] As a preferred embodiment of this embodiment, the fertilization data includes the time change of the fertilizer remaining amount in the fertilizer tank of the fertilizer spreader and the fertilizer outflow speed of the fertilizer at the fertilizer outlet of the fertilizer spreader.

[0008] As a preference of this embodiment, the driving data includes a driving speed of the fertilizer spreader and a time-domain vibration waveform image of the fertilizer spreader when it is driving.

[0009] As a preferred embodiment of this invention, the corresponding relationship between the fertilization data and the driving data is as follows: Based on the fluctuation node S in the time domain vibration waveform image of the fertilizer spreader when it is traveling, based on the time t of the fluctuation node S Determine the time variation of fertilizer remaining amount M and fertilizer outflow rate u at time t S The data within the previous and next T periods are used as the corresponding data of the fluctuation node; Calculate the correlation coefficient between the corresponding data and the fluctuation range A , where A0 is the preset fluctuation amplitude of the node, M0 is the preset fertilizer surplus time change, and M1 is the time t S The average value of the change in fertilizer surplus time in the first T period, M2 is the time t S The average value of the time variation of the fertilizer surplus in the previous T periods, γ1 is the correlation coefficient between the time variation of the fertilizer surplus and the fluctuation range; , where A0 is the preset fluctuation amplitude of the node, u0 is the preset fertilizer outflow speed, and u1 is the time t S The average value of fertilizer outflow rate in the first T period, u2 is the time t S The average value of fertilizer outflow rate in the first T periods, γ1 is the correlation coefficient between fertilizer outflow rate and fluctuation amplitude.

[0010] As a preferred embodiment of this embodiment, the time series fusion of the fertilization data and the driving data includes: The fertilizer remaining amount time variation, the fertilizer outflow speed, the driving speed and the time domain vibration waveform image are unified through a network terminal to obtain fertilizer remaining amount time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information; Arrange the fertilizer remaining time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information in the time delay direction to obtain information data aligned in the time delay direction; By analyzing and calculating the delay fluctuations in the information data, multi-information fusion is performed on the information data after delay alignment in the delay direction to obtain the fertilization characteristic data in the time series direction.

[0011] As a preferred embodiment of this embodiment, the comparison of the fertilization rate data curve and the target effect rate curve to determine the fertilization effect of the fertilizer spreader specifically includes: The fertilization rate data curve and the target effect rate curve are fitted according to the time line to obtain a fitting curve and compare the fertilization time; Based on the deviation area in the fitting curve, determining the time period of the deviation area; Based on the time period and the driving speed of the fertilizer spreader during the time period, determine the fertilizer application point of the fertilizer spreader in the farmland and the fertilizer application range during the time period, and determine the proportion of the fertilizer application range in the farmland area; Determine the effect of current fertilization based on the proportion.

[0012] As a preferred embodiment of the present invention, a fertilization rate detection system for a rice side deep fertilizer applicator is used to implement the above-mentioned fertilization rate detection method for the rice side deep fertilizer applicator, comprising: A data acquisition module is used to acquire farmland data, fertilization data and driving data of the side deep fertilizer spreader during the fertilization operation process; The fertilization data includes the time variation of the fertilizer remaining amount in the fertilizer tank of the fertilizer spreader and the fertilizer outflow speed of the fertilizer spreader from the fertilizer spreader port, and the driving data includes the driving speed of the fertilizer spreader and the time domain vibration waveform image of the fertilizer spreader when driving; The data analysis module is used to pre-set the fertilizer route and target effect rate curve based on the farmland data, and is also used to analyze and calculate the corresponding relationship between the fertilization data and the driving data; a feature acquisition module, which performs time series fusion on the fertilization data and the driving data to obtain fertilization feature data in a time series direction, and obtains a fertilization rate data curve based on the fertilization feature data including the time series direction; The detection module is used to compare the fertilization rate data curve and the target effect rate curve to determine the fertilization effect of the fertilizer spreader.

[0013] As a preferred embodiment of this embodiment, the data analysis module analyzes and calculates the corresponding relationship between the fertilization data and the driving data, specifically including: Based on the fluctuation node S in the time domain vibration waveform image of the fertilizer spreader when it is traveling, based on the time t of the fluctuation node S Determine the time variation of fertilizer remaining amount M and fertilizer outflow rate u at time t SThe data within the previous and next T periods are used as the corresponding data of the fluctuation node; Calculate the correlation coefficient between the corresponding data and the fluctuation range A , where A0 is the preset fluctuation amplitude of the node, M0 is the preset fertilizer surplus time change, and M1 is the time t S The average value of the change in fertilizer surplus time in the first T period, M2 is the time t S The average value of the time variation of the fertilizer surplus in the previous T periods, γ1 is the correlation coefficient between the time variation of the fertilizer surplus and the fluctuation range; , where A0 is the preset fluctuation amplitude of the node, u0 is the preset fertilizer outflow speed, and u1 is the time t S The average value of fertilizer outflow rate in the first T period, u2 is the time t S The average value of fertilizer outflow rate in the first T periods, γ1 is the correlation coefficient between fertilizer outflow rate and fluctuation amplitude.

[0014] As a preferred embodiment of this embodiment, the data analysis module performs time series fusion on the fertilization data and the driving data, including: The fertilizer remaining amount time variation, the fertilizer outflow speed, the driving speed and the time domain vibration waveform image are unified through a network terminal to obtain fertilizer remaining amount time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information; Arrange the fertilizer remaining time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information in the time delay direction to obtain information data aligned in the time delay direction; By analyzing and calculating the delay fluctuations in the information data, multi-information fusion is performed on the information data after delay alignment in the delay direction to obtain the fertilization characteristic data in the time series direction.

[0015] As a preferred embodiment of this embodiment, the detection module compares the fertilization rate data curve and the target effect rate curve to determine the fertilization effect of the fertilizer spreader, specifically including: The fertilization rate data curve and the target effect rate curve are fitted according to the time line to obtain a fitting curve and compare the fertilization time; Based on the deviation area in the fitting curve, determining the time period of the deviation area; Based on the time period and the driving speed of the fertilizer spreader during the time period, determine the fertilizer application point of the fertilizer spreader in the farmland and the fertilizer application range during the time period, and determine the proportion of the fertilizer application range in the farmland area; Determine the effect of current fertilization based on the proportion.

[0016] (III) Beneficial effects The present invention provides a method and system for detecting the fertilizer rate of a rice side deep fertilizer spreader, which has the following beneficial effects: by performing online detection on the fertilizer spreader, and based on the data of the farmland, setting the fertilization route and the target effect rate curve, and obtaining the fertilization data and driving data of the fertilizer spreader during fertilization, and obtaining the fertilization rate data curve after analysis, by comparing the fertilization rate data curve of the fertilizer spreader under the pre-set fertilization route with the target effect rate curve, the fertilization rate of the fertilizer spreader can be accurately determined; At the same time, based on the vibration amplitude generated during the fertilization process, the corresponding relationship between the vibration and the change in fertilizer remaining time and the fertilizer outflow speed is determined. Based on the preset fertilization time and fertilization rate, the influence of vibration on the fertilization rate can be determined. At the same time, based on the fertilization amount during the vibration time, it can be determined which areas of the farmland are unevenly fertilized, providing a reference for subsequent fertilization corrections. Based on the time series fusion of the fertilization data and the driving data in this embodiment, the real-time impact on the fertilization rate and the impact of the previous and next time periods during the fertilization process can be intuitively understood, providing effective data support for the subsequent inference of the fertilization rate and fertilization effect. By comparing the collected fertilization rate data curve with the target effect rate curve, based on the corresponding relationship between the acquired fertilization data and the driving data, the reason for the mismatch between the fertilization rate data curve and the target effect rate curve can be determined, so as to accurately determine the fertilization rate of the fertilizer spreader. At the same time, it provides data support for the improvement direction of the subsequent fertilizer spreader, and can be applied to the use process of the fertilizer spreader, providing a precise range for the uneven fertilization area of ​​the farmland, which is convenient for the subsequent search for the uniform operation area of ​​the farmland fertilizer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a method for detecting a fertilizer application rate of a rice side deep fertilizer applicator of the present invention; Figure 2 The present invention is a block diagram of a fertilization rate detection system of a rice side deep fertilizer applicator. DETAILED DESCRIPTION

[0018] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0019] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0020] like Figure 1 As shown, an embodiment of the present invention provides a method for detecting the fertilization rate of a rice side deep fertilizer applicator, comprising: Collect farmland data, pre-set fertilization routes and target effect rate curves based on the farmland data, and drive the side deep fertilizer spreader into the farmland to carry out fertilization operations according to the pre-set fertilization routes; Obtaining fertilization data and driving data of the side deep fertilizer spreader during the fertilization operation process, where the fertilization data and the driving data have a corresponding relationship; Perform time series fusion on fertilization data and driving data to obtain fertilization feature data in the time series direction; A fertilization rate data curve is obtained based on the fertilization characteristic data including the time series direction, and the fertilization rate data curve is compared with the target effect rate curve to determine the fertilization effect of the fertilizer spreader.

[0021] Specifically, by conducting online testing of the fertilizer spreader, and based on the farmland data, setting the fertilization route and target effect rate curve, and obtaining the fertilization data and driving data of the fertilizer spreader during fertilization, the fertilization rate data curve is obtained after analysis. By comparing the fertilization rate data curve of the fertilizer spreader under the pre-set fertilization route with the target effect rate curve, the fertilization rate of the fertilizer spreader can be accurately determined.

[0022] It should be noted that the preset target effect rate curve is a target fertilization effect based on farmland demand, and is a rate curve that calculates a certain period of time to achieve the fertilization effect in combination with the fertilization route, that is, the preset target effect rate curve is essentially an ideal curve.

[0023] Furthermore, the fertilization data includes the change in the amount of fertilizer remaining in the fertilizer tank of the fertilizer spreader over time and the fertilizer outflow speed from the fertilizer outlet of the fertilizer spreader.

[0024] Furthermore, the driving data includes the driving speed of the fertilizer spreader and a time-domain vibration waveform image of the fertilizer spreader when it is driving.

[0025] In this embodiment, detection units can be installed in the fertilizer tank and on the fertilizer outlet of the fertilizer machine to monitor the time change of the fertilizer remaining amount in the fertilizer tank of the fertilizer machine and the fertilizer outflow speed of the fertilizer outlet of the fertilizer machine. The travel speed of the fertilizer machine and the time domain vibration data of the fertilizer machine can also be monitored by installing a speed sensor and a vibration sensor on the fertilizer machine.

[0026] Furthermore, the corresponding relationship between fertilization data and driving data is as follows: Based on the fluctuation node S in the time domain vibration waveform image of the fertilizer spreader when it is traveling, based on the time t of the fluctuation node S Determine the time variation of fertilizer remaining amount M and fertilizer outflow rate u at time t S The data within the previous and next T periods are used as the corresponding data of the fluctuation node; Calculate the correlation coefficient between the corresponding data and the fluctuation range A , where A0 is the preset fluctuation amplitude of the node, M0 is the preset fertilizer surplus time change, and M1 is the time t S The average value of the change in fertilizer surplus time in the first T period, M2 is the time t S The average value of the time variation of the fertilizer surplus in the previous T periods, γ1 is the correlation coefficient between the time variation of the fertilizer surplus and the fluctuation range; , where A0 is the preset fluctuation amplitude of the node, u0 is the preset fertilizer outflow speed, and u1 is the time t S The average value of fertilizer outflow rate in the first T period, u2 is the time t S The average value of fertilizer outflow rate in the first T periods, γ1 is the correlation coefficient between fertilizer outflow rate and fluctuation amplitude.

[0027] It is understandable that when the fertilizer spreader is performing fertilization operations, the field may be uneven and the fertilizer spreader may vibrate, which may affect the outflow speed of the fertilizer during fertilization, thereby affecting the fertilization rate and effect.

[0028] Specifically, based on the vibration amplitude, fertilizer remaining time change, and fertilizer outflow speed data of the fertilizer spreader during fertilization, as well as the change of fertilizer remaining time change and fertilizer outflow speed in a cycle before and after the vibration node, the correlation between the vibration amplitude and the fertilizer remaining time change and fertilizer outflow speed data can be inferred using correlation. For example, after the fertilizer spreader vibrates once in the field, the fertilizer outflow speed will suddenly increase, then decrease, and then return to the set fertilization speed. During this changing cycle, the uniformity of fertilization will change significantly, thereby affecting the fertilization effect.

[0029] The method for corresponding fertilization data to driving data provided in this embodiment determines the corresponding relationship between vibration and the change in fertilizer remaining time and fertilizer outflow speed based on the vibration amplitude generated during the fertilization process. Based on the preset fertilization time and fertilization rate, the influence of vibration on the fertilization rate can be determined. At the same time, based on the fertilizer amount during the vibration time, it can be determined which areas of the farmland are unevenly fertilized, providing a reference for subsequent fertilization corrections.

[0030] Furthermore, the fertilization data and driving data are time-series fused, including: The fertilizer remaining amount time variation, fertilizer outflow speed, driving speed and time domain vibration waveform image are unified through the network terminal to obtain the fertilizer remaining amount time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information; Arrange the fertilizer remaining time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information in the time delay direction to obtain information data aligned in the time delay direction; By analyzing and calculating the delay fluctuations in the information data, multi-information fusion is performed on the information data after delay alignment in the delay direction to obtain the fertilization characteristic data in the time series direction.

[0031] Specifically, based on the time series fusion of fertilization data and driving data in this embodiment, the real-time impact on the fertilization rate and the impact of the previous and next time periods during the fertilization process can be intuitively understood, providing effective data support for the subsequent inference of the fertilization rate and fertilization effect.

[0032] Furthermore, comparing the fertilization rate data curve with the target effect rate curve, determining the fertilization effect of the fertilizer spreader specifically includes: The fertilization rate data curve and the target effect rate curve are fitted according to the time line to obtain a fitting curve and compare the fertilization time; Based on the deviation area in the fitting curve, determining the time period of the deviation area; Based on the time period and the driving speed of the fertilizer spreader in the time period, determine the fertilizer application point of the fertilizer spreader in the farmland and the fertilizer application range in the time period, and determine the proportion of the fertilizer application range in the farmland area; Determine the effect of current fertilization based on the proportion.

[0033] Specifically, by comparing the collected fertilization rate data curve with the target effect rate curve, based on the corresponding relationship between the acquired fertilization data and the driving data, the reason for the mismatch between the fertilization rate data curve and the target effect rate curve can be determined, so as to accurately determine the fertilization rate of the fertilizer spreader. At the same time, it provides data support for the improvement direction of the subsequent fertilizer spreader, and can be applied to the use process of the fertilizer spreader, providing an accurate range for the uneven fertilization area of ​​the farmland, which is convenient for the subsequent search for the uniform fertilizer operation area of ​​the farmland.

[0034] It should be noted that when the driving speed is affected by vibration and cannot be maintained at a constant speed, the distance traveled by the fertilizer spreader during the affected time period can be calculated through the collected speed and time change diagram.

[0035] It is understandable that, due to the special tire structure of the fertilizer spreader, the change in the travel speed caused by vibration is small.

[0036] This embodiment also provides a fertilization rate detection system for a rice side deep fertilizer applicator, which is used to implement the above-mentioned fertilization rate detection method for the rice side deep fertilizer applicator, including: A data acquisition module is used to acquire farmland data, fertilization data and driving data of the side deep fertilizer spreader during the fertilization operation process; Among them, the fertilization data includes the time variation of the fertilizer remaining amount in the fertilizer tank of the fertilizer spreader and the fertilizer outflow speed of the fertilizer spreader's fertilizer port, and the driving data includes the driving speed of the fertilizer spreader and the time domain vibration waveform image of the fertilizer spreader when driving; The data analysis module is used to pre-set the fertilizer route and target effect rate curve based on the farmland data, and is also used to analyze and calculate the corresponding relationship between the fertilization data and the driving data; The feature acquisition module performs time series fusion on the fertilization data and the driving data to obtain fertilization feature data in the time series direction, and obtains a fertilization rate data curve based on the fertilization feature data including the time series direction; The detection module is used to compare the fertilization rate data curve and the target effect rate curve to determine the fertilization effect of the fertilizer spreader.

[0037] Furthermore, the data analysis module analyzes and calculates the corresponding relationship between the fertilization data and the driving data, specifically including: Based on the fluctuation node S in the time domain vibration waveform image of the fertilizer spreader when it is traveling, based on the time t of the fluctuation node S Determine the time variation of fertilizer remaining amount M and fertilizer outflow rate u at time t S The data within the previous and next T periods are used as the corresponding data of the fluctuation node; Calculate the correlation coefficient between the corresponding data and the fluctuation range A , where A0 is the preset fluctuation amplitude of the node, M0 is the preset fertilizer surplus time change, and M1 is the time t S The average value of the change in fertilizer surplus time in the first T period, M2 is the time t S The average value of the time variation of the fertilizer surplus in the previous T periods, γ1 is the correlation coefficient between the time variation of the fertilizer surplus and the fluctuation range; , where A0 is the preset fluctuation amplitude of the node, u0 is the preset fertilizer outflow speed, and u1 is the time t SThe average value of fertilizer outflow rate in the first T period, u2 is the time t S The average value of fertilizer outflow rate in the first T periods, γ1 is the correlation coefficient between fertilizer outflow rate and fluctuation amplitude.

[0038] Furthermore, the data analysis module performs time series fusion of fertilization data and driving data, including: The fertilizer remaining amount time variation, fertilizer outflow speed, driving speed and time domain vibration waveform image are unified through the network terminal to obtain the fertilizer remaining amount time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information; Arrange the fertilizer remaining time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information in the time delay direction to obtain information data aligned in the time delay direction; By analyzing and calculating the delay fluctuations in the information data, multi-information fusion is performed on the information data after delay alignment in the delay direction to obtain the fertilization characteristic data in the time series direction.

[0039] As a preferred embodiment of the present invention, the detection module compares the fertilization rate data curve with the target effect rate curve, and determines the fertilization effect of the fertilizer spreader specifically including: The fertilization rate data curve and the target effect rate curve are fitted according to the time line to obtain a fitting curve and compare the fertilization time; Based on the deviation area in the fitting curve, determining the time period of the deviation area; Based on the time period and the driving speed of the fertilizer spreader in the time period, determine the fertilizer application point of the fertilizer spreader in the farmland and the fertilizer application range in the time period, and determine the proportion of the fertilizer application range in the farmland area; Determine the effect of current fertilization based on the proportion.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting the fertilizer application rate of a rice side deep fertilizer applicator, characterized in that: include: Collect farmland data, pre-set fertilization routes and target effect rate curves based on the farmland data, and drive the side deep fertilizer spreader into the farmland to carry out fertilization operations according to the pre-set fertilization routes; Acquire fertilization data and driving data of the side deep fertilizer spreader during the fertilization operation process, wherein the fertilization data and the driving data have a corresponding relationship; Performing time series fusion on the fertilization data and the driving data to obtain fertilization feature data in a time series direction; A fertilization rate data curve is obtained based on the fertilization characteristic data including the time series direction, and the fertilization rate data curve is compared with the target effect rate curve to determine the fertilization effect of the fertilizer spreader.

2. The method for detecting the fertilizer application rate of a rice side deep fertilizer applicator according to claim 1, characterized in that: The fertilization data includes the time variation of the fertilizer remaining amount in the fertilizer tank of the fertilizer spreader and the fertilizer outflow speed of the fertilizer spreader from the fertilizer outlet.

3. The method for detecting the fertilizer application rate of a rice side deep fertilizer applicator according to claim 2, characterized in that: The driving data includes the driving speed of the fertilizer spreader and a time-domain vibration waveform image of the fertilizer spreader when the fertilizer spreader is driving.

4. The method for detecting the fertilizer application rate of a rice side deep fertilizer applicator according to claim 3, characterized in that: The corresponding relationship between the fertilization data and the driving data is specifically as follows: Based on the fluctuation node S in the time domain vibration waveform image of the fertilizer spreader when it is traveling, based on the time t of the fluctuation node S Determine the time variation of fertilizer remaining amount M and fertilizer outflow rate u at time t S The data within the previous and next T periods are used as the corresponding data of the fluctuation node; Calculate the correlation coefficient between the corresponding data and the fluctuation range A , where A0 is the preset fluctuation amplitude of the node, M0 is the preset fertilizer surplus time change, and M1 is the time t S The average value of the change in fertilizer surplus time in the first T period, M2 is the time t S The average value of the time variation of the fertilizer surplus in the previous T periods, γ1 is the correlation coefficient between the time variation of the fertilizer surplus and the fluctuation range; , where A0 is the preset fluctuation amplitude of the node, u0 is the preset fertilizer outflow speed, and u1 is the time t S The average value of fertilizer outflow rate in the first T period, u2 is the time t S The average value of fertilizer outflow rate in the first T periods, γ1 is the correlation coefficient between fertilizer outflow rate and fluctuation amplitude.

5. The method for detecting the fertilizer application rate of a rice side deep fertilizer applicator according to claim 3, characterized in that: The performing time series fusion on the fertilization data and the driving data includes: The fertilizer remaining amount time variation, the fertilizer outflow speed, the driving speed and the time domain vibration waveform image are unified through a network terminal to obtain fertilizer remaining amount time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information; Arrange the fertilizer remaining time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information in the time delay direction to obtain information data aligned in the time delay direction; By analyzing and calculating the delay fluctuations in the information data, multi-information fusion is performed on the information data after delay alignment in the delay direction to obtain the fertilization characteristic data in the time series direction.

6. The method for detecting the fertilizer application rate of a rice side deep fertilizer applicator according to claim 1, characterized in that: The comparison of the fertilization rate data curve and the target effect rate curve to determine the fertilization effect of the fertilizer spreader specifically includes: The fertilization rate data curve and the target effect rate curve are fitted according to the time line to obtain a fitting curve and compare the fertilization time; Based on the deviation area in the fitting curve, determining the time period of the deviation area; Based on the time period and the driving speed of the fertilizer spreader during the time period, determine the fertilizer application point of the fertilizer spreader in the farmland and the fertilizer application range during the time period, and determine the proportion of the fertilizer application range in the farmland area; Determine the effect of current fertilization based on the proportion.

7. A fertilizer application rate detection system for a rice side deep fertilizer applicator, used to implement the fertilizer application rate detection method for a rice side deep fertilizer applicator according to any one of claims 1 to 6, characterized in that: include: A data acquisition module is used to acquire farmland data, fertilization data and driving data of the side deep fertilizer spreader during the fertilization operation process; The fertilization data includes the time variation of the fertilizer remaining amount in the fertilizer tank of the fertilizer spreader and the fertilizer outflow speed of the fertilizer spreader from the fertilizer spreader port, and the driving data includes the driving speed of the fertilizer spreader and the time domain vibration waveform image of the fertilizer spreader when driving; The data analysis module is used to pre-set the fertilizer route and target effect rate curve based on the farmland data, and is also used to analyze and calculate the corresponding relationship between the fertilization data and the driving data; a feature acquisition module, which performs time series fusion on the fertilization data and the driving data to obtain fertilization feature data in a time series direction, and obtains a fertilization rate data curve based on the fertilization feature data including the time series direction; The detection module is used to compare the fertilization rate data curve and the target effect rate curve to determine the fertilization effect of the fertilizer spreader.

8. The fertilization rate detection system of a rice side deep fertilizer applicator according to claim 7, characterized in that: The data analysis module analyzes and calculates the corresponding relationship between the fertilization data and the driving data, specifically including: Based on the fluctuation node S in the time domain vibration waveform image of the fertilizer spreader when it is traveling, based on the time t of the fluctuation node S Determine the time variation of fertilizer remaining amount M and fertilizer outflow rate u at time t S The data within the previous and next T periods are used as the corresponding data of the fluctuation node; Calculate the correlation coefficient between the corresponding data and the fluctuation range A , where A0 is the preset fluctuation amplitude of the node, M0 is the preset fertilizer surplus time change, and M1 is the time t S The average value of the change in fertilizer surplus time in the first T period, M2 is the time t S The average value of the time variation of the fertilizer surplus in the previous T periods, γ1 is the correlation coefficient between the time variation of the fertilizer surplus and the fluctuation range; , where A0 is the preset fluctuation amplitude of the node, u0 is the preset fertilizer outflow speed, and u1 is the time t S The average value of fertilizer outflow rate in the first T period, u2 is the time t S The average value of fertilizer outflow rate in the first T periods, γ1 is the correlation coefficient between fertilizer outflow rate and fluctuation amplitude.

9. The fertilization rate detection system of a rice side deep fertilizer applicator according to claim 7, characterized in that: The data analysis module performs time series fusion on the fertilization data and the driving data, including: The fertilizer remaining amount time variation, the fertilizer outflow speed, the driving speed and the time domain vibration waveform image are unified through a network terminal to obtain fertilizer remaining amount time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information; Arrange the fertilizer remaining time variation information, fertilizer outflow speed information, driving speed information and time domain vibration waveform information in the time delay direction to obtain information data aligned in the time delay direction; By analyzing and calculating the delay fluctuations in the information data, multi-information fusion is performed on the information data after delay alignment in the delay direction to obtain the fertilization characteristic data in the time series direction.

10. The fertilization rate detection system of a rice side deep fertilizer applicator according to claim 7, characterized in that: The detection module compares the fertilization rate data curve with the target effect rate curve to determine the fertilization effect of the fertilizer spreader, specifically including: The fertilization rate data curve and the target effect rate curve are fitted according to the time line to obtain a fitting curve and compare the fertilization time; Based on the deviation area in the fitting curve, determining the time period of the deviation area; Based on the time period and the driving speed of the fertilizer spreader during the time period, determine the fertilizer application point of the fertilizer spreader in the farmland and the fertilizer application range during the time period, and determine the proportion of the fertilizer application range in the farmland area; Determine the effect of current fertilization based on the proportion.

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