Walking type intelligent side deep fertilization device and fertilization method for saline-alkali soil

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a walking type intelligent side deep fertilization device and method for saline-alkali soil. The fertilizing device comprises a handrail, a bottom plate, a manipulator assembly and a fertilizer cylinder, the handrail is arranged on one side of the bottom plate, the fertilizer cylinder is arranged on one side, close to the handrail, above the bottom plate, the manipulator assembly is arranged on the bottom plate, the lower end of the manipulator assembly penetrates through the bottom plate and extends into soil below, and the fertilizer cylinder is communicated with the manipulator assembly through a telescopic pipe; the mechanical arm assembly comprises a digging assembly which moves in the X-axis direction and the Y-axis direction. The digging assembly is provided with a camera, an X-ray fluorescence spectrophotometer and a moisture sensor, and the controller drives the horizontal moving assembly and the vertical moving assembly to move according to a picture shot by the camera, elements, detected by the X-ray fluorescence spectrophotometer, of plant leaves and a moisture content value detected by the moisture sensor; intelligent control over fertilization is achieved, and the fertilization efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a hand-held intelligent side deep fertilizing device for saline-alkali land and a fertilizing method. BACKGROUND

[0002] In agricultural production, in order to have a good harvest, farmers need to plough the soil when planting crops for sowing, and a ploughing machine is essential for completing this work. However, since different crops need different ploughing depths, although there are ploughing machines that can change the depth, they are all manually operated, with too much error and it is too difficult to reasonably control the ploughing depth according to the characteristics of the plants. At the same time, there is no accurate fertilizing while ploughing.

[0003] At present, the method of applying organic fertilizer is usually to use a ditching machine for ditching fertilization. However, the existing ditching machine is large in size, high in power, and correspondingly heavy in weight. After using the existing ditching machine for ditching, it will result in a large volume of soil breaking and high operation energy consumption. For areas with limited space or densely planted crops, the existing ditching machine is inconvenient to work and has low working efficiency.

[0004] When the existing large-scale ditching machine is used in saline-alkali land, it may damage the hardening layer of the saline-alkali land and affect crop yield. At the same time, although the existing hand-held hole drilling machine can also be used as a fertilizing machine, the existing hand-held hole drilling machine usually starts by pulling a rope, which is difficult to operate. Moreover, since the drill bit is exposed, there is a safety hazard.

[0005] Therefore, it is urgent to provide a hand-held intelligent side deep fertilizing device for saline-alkali land and a fertilizing method, which realizes intelligent control of fertilization and improves fertilization efficiency compared with the prior art. SUMMARY

[0006] In order to solve the technical problems existing in the prior art, the present application provides a hand-held intelligent side deep fertilizing device for saline-alkali land and a fertilizing method.

[0007] To achieve the above-mentioned purposes, the technical solutions adopted by the present application are as follows: The hand-held intelligent side deep fertilizing device for saline-alkali land comprises a handrail, a bottom plate, a mechanical hand assembly and a fertilizer barrel. The handrail is arranged on one side of the bottom plate. The fertilizer barrel is arranged above the bottom plate and close to one side of the handrail. The mechanical hand assembly is arranged on the bottom plate, and the lower end of the mechanical hand assembly extends into the soil below through the bottom plate. The fertilizer barrel and the mechanical hand assembly are communicated through an extension pipe. The mechanical arm assembly comprises a horizontal moving assembly, a vertical moving assembly and a digging assembly, the horizontal moving assembly is slidingly connected to the vertical moving assembly, the digging assembly is connected to the horizontal moving assembly, the vertical moving assembly is used to drive the digging assembly to move along the Z-axis direction, and the horizontal moving assembly is used to drive the digging assembly to move along the X-axis and Y-axis directions. The digging assembly is provided with a camera, an X-ray fluorescence spectrometer and a moisture sensor, and the camera, the X-ray fluorescence spectrometer and the moisture sensor are in electrical communication with a controller, and the controller drives the horizontal moving assembly and the vertical moving assembly to move according to the photos taken by the camera, the elements of the plant leaves detected by the X-ray fluorescence spectrometer and the water content value detected by the moisture sensor.

[0008] Further, the digging assembly comprises a mechanical arm, an extension rod, a connecting rod, a furrow opener and a communication pipe, the mechanical arm is slidingly connected to the horizontal moving assembly, the extension rod is fixedly connected below the mechanical arm, the connecting rod is fixedly connected below the extension rod, the connecting rod is fixedly connected with the communication pipe on the side wall, the furrow opener is fixedly connected below the connecting rod, the furrow opener is in communication with the inside of the communication pipe, and the communication pipe is also in communication with the fertilizer cylinder through an extension pipe. The camera and the X-ray fluorescence spectrometer are arranged on the mechanical arm, and the moisture sensor is arranged in the lower end of the furrow opener.

[0009] Further, the extension rod comprises a first extension part, a second extension part, a spring and a pressure sensor, the second extension part extends into the first extension part, the upper end of the first extension part is fixedly connected with the mechanical arm, the end of the second extension part away from the first extension part is fixedly connected with the connecting rod, the spring is sleeved outside the second extension part, one end of the spring is fixedly connected with the inner bottom of the first extension part, and the other end of the spring is fixedly connected with the side wall of the second extension part, the end of the second extension part extending into the first extension part is fixedly connected with the pressure sensor, and the pressure sensor is in electrical communication with the controller.

[0010] Further, the furrow opener is provided with a piezoelectric ceramic on the side wall, the piezoelectric ceramic is in electrical communication with the controller, and the controller controls the vibration frequency of the piezoelectric ceramic according to the pressure value fed back by the pressure sensor.

[0011] Further, the vertical moving assembly comprises a first guide rail and a first motor, and the horizontal moving assembly comprises a second guide rail, a second motor, a third guide rail and a third motor; the second guide rail is slidably connected to the first guide rail, the first guide rail is provided with the first motor at the upper end, the first motor drives a screw rod penetrating through the second guide rail, so that the second guide rail moves up and down along the length direction of the first guide rail; the third guide rail is slidably connected to the second guide rail, the second guide rail is provided with the second motor at the side wall, the second motor drives a screw rod penetrating through the second guide rail, so that the third guide rail moves along the length direction of the second guide rail; the third guide rail is provided with the third motor at the side wall, the third motor drives a screw rod penetrating through the digging assembly, so that the digging assembly moves along the length direction of the third guide rail.

[0012] The hand-held intelligent side deep fertilization method for saline-alkali soil comprises the following steps: S1, when the manipulator is at an initial position, taking a picture by a camera to obtain an initial image, processing the initial image to obtain a moving distance of the manipulator from a plant to be fertilized, and controlling the second motor and the third motor to move the manipulator to the top of the plant to be fertilized according to the moving distance; S2, starting an X-ray fluorescence spectrometer to detect the element content of the leaf of the plant to be fertilized, and comparing the element content with the element distribution of the soil to obtain a depth range of the root system of the plant to be fertilized, the depth range being: the shallowest position-the deepest position; S3, controlling the first motor to drive the manipulator to move, so that the furrow opener moves back and forth at a constant speed between the shallowest position and the deepest position, obtaining a water content curve for each single movement, superimposing the water content curves of all single movements to obtain a superimposed water content curve, and setting the position corresponding to the lowest water content value in the superimposed water content curve as the root fertilization point of the plant; S4, controlling the first motor to drive the manipulator to move the furrow opener to the root fertilization point, and opening the discharge port of the fertilizer cylinder, so that the waste moves to the root fertilization point through the telescopic pipe, the communication pipe and the furrow opener in sequence, and the fertilization operation is completed.

[0013] Further, in step S3, the method for obtaining the superimposed water content curve is: for each single movement, set the sampling time, and obtain the water content value detected by the moisture sensor at each sampling time, and all the water content values collected in the single movement constitute a water content curve; each water content curve includes a plurality of sampling points, and the sampling points in each water content curve are correspondingly set, the water content values of each sampling point are subtracted from each other, the difference values within the error allowable range of each sampling point are screened out, the maximum water content value corresponding to the screened out difference value is taken as the final water content value of the sampling point, and the final water content values of all the sampling points constitute the superimposed water content curve.

[0014] Further, the error allowable range is: ; In the above formula, represents the error value of the moisture sensor, represents the average value of the maximum and minimum values of all the water content values of the i-th sampling point.

[0015] Further, in the process of controlling the movement of the mechanical hand by the first motor, the controller monitors the pressure value fed back by the pressure sensor in real time, sets the first pressure threshold value as , the second pressure threshold value as , the maximum extrusion force that can be borne between the first telescopic part and the second telescopic part as , and the pressure value fed back by the pressure sensor as P, , , compares P with , , , and controls the vibration frequency of the piezoelectric ceramic according to the following cases: (1) when , the controller does not work the piezoelectric ceramic; (2) when , the controller controls the piezoelectric ceramic to be powered on, and controls the vibration frequency of the piezoelectric ceramic to be the first frequency; (3) when , the controller controls the piezoelectric ceramic to be powered on, and controls the vibration frequency of the piezoelectric ceramic to be the second frequency; (4) when , the controller controls the first motor to stop working, and controls the piezoelectric ceramic to not work; The first frequency and the second frequency satisfy the following constraint condition: ; ; In the above formula, represents a maximum frequency, the maximum frequency being a maximum frequency at which the piezoelectric ceramic can vibrate; represents a first frequency, represents a second frequency.

[0016] Further, , , The constraint condition between them is as follows: ; ; In the above formula, represents the water content value corresponding to the root fertilization point of the plant in the superimposed water content curve, represents the maximum water content value in the superimposed water content curve.

[0017] Compared with the prior art, the beneficial effects of the present application are: The present application drives the second motor and the third motor to move by taking photos by the camera before the movement of the mechanical hand, obtaining the specific position of the plant requiring fertilization according to the photos, moving the mechanical hand to the position directly above the plant, and then obtaining the leaf element of the plant by the X-ray fluorescence spectrometer, so as to obtain the depth range where the root system of the plant is located, and drive the first motor to reciprocate in the depth range, so as to obtain the specific depth position where the root system of the plant is located, and then perform precise fertilization operation on the root system position of the plant. In the process of controlling the downward movement of the first motor, the real-time pressure value is detected by the pressure sensor and fed back to the controller, and the controller controls the vibration frequency of the piezoelectric ceramic according to the real-time pressure value, so as to ensure the normal work of the furrow opener. The present application can realize intelligent control of fertilization and improve the fertilization efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the front view of the device of the present application.

[0019] Figure 2 is the top view of the device of the present application.

[0020] BRIEF DESCRIPTION OF DRAWINGS: 1, handrail; 2, bottom plate; 21, moving groove; 3, first guide rail; 4, first motor; 5, second guide rail; 6, second motor; 7, third guide rail; 8, third motor; 9, mechanical hand; 10, telescopic rod; 101, first telescopic part; 102, second telescopic part; 103, spring; 104, pressure sensor; 11, connecting rod; 12, furrow opener; 13, communication pipe; 14, fertilizer cylinder; 141, discharge port. DETAILED DESCRIPTION

[0021] The technical solutions of the present application will be described clearly below in conjunction with the drawings. Obviously, the described embodiments are not all the embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present application. It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0022] As shown in Figure 1 , Figure 2 The present application provides a hand-held intelligent side and deep fertilizer application device for saline-alkali soil, which comprises a handrail 1, a bottom plate 2, a mechanical hand assembly, and a fertilizer cylinder 14. The handrail 1 is arranged on one side of the bottom plate 2, and the fertilizer cylinder 14 is also arranged on one side of the bottom plate 2. The fertilizer cylinder 14 is arranged close to the handrail 1. A discharge port 141 is arranged below the side wall of the fertilizer cylinder 14. The mechanical hand assembly is arranged on the bottom plate 2 and can extend into the soil below through the bottom plate 2. The discharge port 141 of the fertilizer cylinder 14 is in communication with the mechanical hand assembly through an extension pipe. The fertilizer in the fertilizer cylinder 14 is transported to the inside of the soil reached by the mechanical hand assembly through the extension pipe.

[0023] The mechanical hand assembly comprises a horizontal moving assembly, a vertical moving assembly, and a digging assembly. The horizontal moving assembly is slidingly connected to the vertical moving assembly, and the digging assembly is connected below the horizontal moving assembly. A moving groove 21 is arranged on the bottom plate 2. The digging assembly moves in the moving groove 21 under the action of the horizontal moving assembly and the vertical moving assembly. The bottom plate 2 also penetrates into the soil through the moving groove 21 to perform the digging operation. The digging assembly is in communication with the fertilizer cylinder 14 through the extension pipe. When the digging assembly reaches the required depth of penetration, the discharge port 141 of the fertilizer cylinder 14 is opened. The fertilizer in the fertilizer cylinder 14 is transported to the inside of the soil at the required depth of penetration through the extension pipe and the digging assembly to fertilize the plants at that place.

[0024] The vertical moving assembly comprises the first guide rail 3 and the first motor 4, and the horizontal moving assembly comprises the second guide rail 5, the second motor 6, the third guide rail 7 and the third motor 8; the second guide rail 5 is slidably connected to the first guide rail 3, the first motor 4 is arranged at the upper end of the first guide rail 3, the first motor 4 drives the screw rod arranged in the second guide rail 5, so that the second guide rail 5 moves up and down along the length direction of the first guide rail 3; the third guide rail 7 is slidably connected to the second guide rail 5, the second motor 6 is arranged on the side wall of the second guide rail 5, the second motor 6 drives the screw rod arranged in the second guide rail 5, so that the third guide rail 7 moves along the length direction of the second guide rail 5; the third motor 8 is arranged on the side wall of the third guide rail 7, the third motor 8 drives the screw rod arranged in the digging assembly, so that the digging assembly moves along the length direction of the third guide rail 7; the first guide rail 3 extends in the vertical direction, the second guide rail 5 and the third guide rail 7 extend in the horizontal direction, and the first guide rail 3, the second guide rail 5 and the third guide rail 7 are perpendicular to each other, so that the digging assembly can move in the X, Y and Z directions.

[0025] The digging assembly comprises the manipulator 9, the telescopic rod 10, the connecting rod 11, the furrow opener 12 and the communication pipe 13; the manipulator 9 is slidably connected to the third guide rail 7, the screw rod arranged in the third guide rail 7 penetrates the manipulator 9, the telescopic rod 10 is fixedly connected below the manipulator 9, the connecting rod 11 is fixedly connected below the telescopic rod 10, the communication pipe 13 is fixedly connected to the side wall of the connecting rod 11, the communication pipe 13 has a hollow structure with openings at the upper end and the lower end, the furrow opener 12 is fixedly connected below the connecting rod 11, the interior of the furrow opener 12 is communicated with the lower end of the communication pipe 13, and the upper end of the communication pipe 13 is communicated with the discharge port 141 of the fertilizer cylinder 14 through the telescopic pipe.

[0026] The telescopic rod 10 comprises the first telescopic part 101, the second telescopic part 102, the spring 103 and the pressure sensor 104; the second telescopic part 102 extends into the first telescopic part 101, the end of the second telescopic part 102 extending into the first telescopic part 101 slides in the first telescopic part 101, the spring 103 is sleeved outside the second telescopic part 102, one end of the spring 103 is fixedly connected to the inner bottom of the first telescopic part 101, the other end of the spring 103 is fixedly connected to the side wall of the second telescopic part 102, and the end of the second telescopic part 102 extending into the first telescopic part 101 is fixedly connected with the pressure sensor 104; when the spring 103 is compressed, the pressure sensor 104 can be in contact with the inner bottom of the first telescopic part 101.

[0027] The manipulator 9 is provided with a camera and an X-ray fluorescence spectrometer near the side wall of the fertilizer cylinder 14, a water sensor is embedded in the lower end of the furrow opener 12, and a piezoelectric ceramic is arranged on the side wall of the furrow opener 12; the camera, the X-ray fluorescence spectrometer, the water sensor, the piezoelectric ceramic and the pressure sensor 104 are electrically communicated with the controller.

[0028] The controller controls the vibration frequency of the piezoelectric ceramic according to the pressure value detected by the pressure sensor 104, so that the furrow opener 12 normally works; the camera takes a photo before the mechanical arm 9 moves, and according to the photo, the specific position of the plant to be fertilized is obtained, the second motor 6 and the third motor 8 are controlled according to the specific position of the plant to be fertilized, the mechanical arm 9 is moved to the position, when moving to the position, the leaf element analysis of the plant to be fertilized is carried out by starting the X-ray fluorescence spectrometer, the element content of the plant is detected, so that the depth range where the root system is located is judged, the first motor 4 controls the mechanical arm 9 to move downward to the shallowest position of the depth range where the root system is located according to the depth range where the root system is located, and then according to the water value detected by the water sensor in real time, the controller dynamically analyzes the water value detected in real time, obtains the specific depth where the root system of the plant to be fertilized is located, and controls the mechanical arm 9 to move to the specific depth, the discharge opening 141 of the fertilizer cylinder 14 is opened, and the fertilization operation is carried out.

[0029] The application also provides a hand-held intelligent side and depth fertilization method for saline-alkali soil, comprising the following steps: S1, when the mechanical arm 9 is at the initial position, a photo is taken by the camera to obtain an initial image, the initial image includes the mechanical arm 9 and the plant to be fertilized, the initial image is processed to obtain the moving distance of the mechanical arm 9 from the plant to be fertilized, and the second motor 6 and the third motor 8 are controlled according to the moving distance, so that the mechanical arm 9 moves to the top of the plant to be fertilized.

[0030] S2, the X-ray fluorescence spectrometer is started to detect the element content of the leaf of the plant to be fertilized, and compare it with the element distribution of the soil, so as to obtain the depth range where the root system of the plant to be fertilized is located. - , wherein, represents the shallowest position, represents the deepest position, , all are negative values.

[0031] The method for obtaining the shallowest position and the deepest position is that all the elements contained in the leaf of the plant to be fertilized are compared with the element distribution of the soil, each element may exist only at a set depth, or may exist within a certain depth range, the shallowest position and the deepest position of all the elements are determined, the depth value corresponding to the shallowest position is set as the shallowest position where the root system of the plant to be fertilized is located, and the depth value corresponding to the deepest position is set as the deepest position where the root system of the plant to be fertilized is located.

[0032] The element distribution of the soil is determined by collecting and analyzing soil core samples of the soil, and the method of collection and analysis is the existing method, which will not be described here.

[0033] S3, control the first motor 4 to drive the manipulator 9 to move the furrow opener 12 to the shallowest position of the root system of the plant to be fertilized, drive the manipulator 9 to reciprocate within the depth range of the root system of the plant to be fertilized, and make the furrow opener 12 move at a uniform speed. For each single movement, a sampling time is set, and the water content value detected by the moisture sensor is obtained at each sampling time. The water content values collected in a single movement form a water content curve, each of which includes multiple sampling points. All the water content curves are overlapped, and the water content values of each sampling point are pairwise differenced. For each sampling point, there are multiple difference values. The difference values within the error tolerance range are screened out, and the maximum water content value corresponding to the screened difference value is taken as the final water content value of the sampling point, thereby obtaining the overlapped water content curve. The position of the sampling point with the minimum water content value in the overlapped water content curve is taken as the root fertilization point of the plant.

[0034] The error tolerance range is: .

[0035] In the above formula, represents the error value of the moisture sensor, represents the average value of the maximum and minimum values of all water content values of the i-th sampling point.

[0036] S4, control the first motor 4 to move the manipulator 9 to drive the furrow opener 12 to the root fertilization point of the plant, control the discharge port 141 of the fertilizer cylinder 14 to open, and make the fertilizer move through the telescopic pipe, the communication pipe 13, and the furrow opener 12 to the root fertilization point for fertilization operation.

[0037] During the process of controlling the first motor 4 to move the manipulator 9, the controller monitors the pressure value of the pressure sensor 104 in real time, sets a first pressure threshold and a second pressure threshold, the first pressure threshold is less than the second pressure threshold, and the second pressure threshold is less than the maximum extrusion force that can be borne between the first telescopic part 101 and the second telescopic part 102. The first pressure threshold is , the second pressure threshold is , the maximum extrusion force that can be borne between the first telescopic part and the second telescopic part is , and the pressure value fed back by the pressure sensor obtained by the controller in real time is P.

[0038] P and , , Comparisons are made, and the vibration frequency of the piezoelectric ceramic is controlled in the following cases: (1) when , the controller controls the piezoelectric ceramic to be inoperative, i.e., the piezoelectric ceramic does not vibrate.

[0039] (2) when , the controller controls the piezoelectric ceramic to be energized, and controls the vibration frequency of the piezoelectric ceramic to be the first frequency.

[0040] (3) when , the controller controls the piezoelectric ceramic to be energized, and controls the vibration frequency of the piezoelectric ceramic to be the second frequency.

[0041] (4) when , the controller controls the first motor to stop working, and stops controlling the movement of the robot hand, i.e., controls the piezoelectric ceramic to be inoperative.

[0042] The first frequency and the second frequency satisfy the following constraint conditions: .

[0043] .

[0044] In the above formulae, represents the maximum frequency, which is the maximum frequency at which the piezoelectric ceramic can vibrate; represents the first frequency, represents the second frequency.

[0045] , , The constraint conditions between them are as follows: .

[0046] .

[0047] In the above formulae, represents the water content value corresponding to the root system fertilization point of the plant in the overlapped water content curve graph, represents the maximum water content value in the overlapped water content curve graph.

[0048] The application drives the second motor 6 and the third motor 8 to move and moves the manipulator 9 to the position directly above the plant according to the specific position of the plant requiring fertilization obtained from the photographed picture, and then obtains the leaf element of the plant through the X-ray fluorescence spectrometer, so as to obtain the depth range where the root system of the plant is located, and then drives the first motor 4 to reciprocate in the depth range, so as to obtain the specific depth position where the root system of the plant is located, and then performs accurate fertilization operation on the root system position of the plant; in the process of controlling the first motor 4 to drive the movement of the manipulator, the real-time pressure value is detected through the pressure sensor 104 and fed back to the controller, and the controller controls the vibration frequency of the piezoelectric ceramic according to the real-time pressure value, so as to ensure the normal work of the furrow opener 12; the application can realize intelligent control of fertilization and improve the fertilization efficiency.

[0049] Finally, it should be noted that the above content is only used to illustrate the technical solutions of the application, and is not a limitation on the protection scope of the application. Simple modifications or equivalent replacements of the technical solutions of the application made by those skilled in the art do not deviate from the essence and scope of the technical solutions of the application.

Claims

1. A hand-held intelligent side deep fertilization device for saline-alkali land, characterized in that: The robot comprises a handrail, a base plate, a manipulator assembly, and a fertilizer barrel, wherein the handrail is arranged on one side of the base plate, the fertilizer barrel is arranged on a side above the base plate close to the handrail, the manipulator assembly is arranged on the base plate, the lower end of the manipulator assembly passes through the base plate and extends into the soil below, and the fertilizer barrel is connected to the manipulator assembly via a telescopic tube; The manipulator assembly includes a horizontal moving assembly, a vertical moving assembly and a digging assembly, wherein the horizontal moving assembly is slidably connected to the vertical moving assembly, and the digging assembly is connected to the horizontal moving assembly. The vertical moving assembly is used to drive the digging assembly to move along the Z axis, and the horizontal moving assembly is used to drive the digging assembly to move along the X axis and the Y axis. The digging assembly is provided with a camera, an X-ray fluorescence spectrometer and a moisture sensor. The camera, the X-ray fluorescence spectrometer and the moisture sensor are all electrically connected to a controller. The controller drives the horizontal moving assembly and the vertical moving assembly to move based on the photos taken by the camera, the elements of the plant leaves detected by the X-ray fluorescence spectrometer, and the moisture content value detected by the moisture sensor.

2. The hand-held intelligent side deep fertilization device for saline-alkali land according to claim 1 is characterized in that: The digging assembly includes a manipulator, a telescopic rod, a connecting rod, a furrow opener, and a connecting pipe. The manipulator is slidably connected to the horizontal moving assembly. The manipulator is fixedly connected to the telescopic rod below. The connecting rod is fixedly connected to the connecting rod below. The connecting rod sidewall is fixedly connected to the connecting pipe. The furrow opener is fixedly connected to the interior of the connecting pipe. The connecting pipe is also connected to the fertilizer cylinder via a telescopic pipe. The camera and the X-ray fluorescence spectrometer are arranged on the manipulator, and the moisture sensor is embedded in the lower end of the furrow opener.

3. The hand-held intelligent side deep fertilization device for saline-alkali land according to claim 2 is characterized in that: The telescopic rod includes a first telescopic part, a second telescopic part, a spring and a pressure sensor. The second telescopic part extends into the first telescopic part, the upper end of the first telescopic part is fixedly connected to the manipulator, the end of the second telescopic part away from the first telescopic part is fixedly connected to the connecting rod, a spring is sleeved on the outside of the second telescopic part, one end of the spring is fixedly connected to the inner bottom of the first telescopic part, and the other end is fixedly connected to the side wall of the second telescopic part, the end of the second telescopic part extending into the first telescopic part is fixedly connected to the pressure sensor, and the pressure sensor is electrically connected to the controller.

4. The hand-held intelligent side deep fertilization device for saline-alkali land according to claim 3 is characterized in that: A piezoelectric ceramic is provided on the side wall of the trench opener, and the piezoelectric ceramic is electrically connected to the controller. The controller controls the vibration frequency of the piezoelectric ceramic according to the pressure value fed back by the pressure sensor.

5. The hand-held intelligent side deep fertilization device for saline-alkali land according to claim 1 is characterized in that: The vertical movement assembly includes a first guide rail and a first motor, and the horizontal movement assembly includes a second guide rail, a second motor, a third guide rail and a third motor; the second guide rail is slidably connected to the first guide rail, and the first motor is provided at the upper end of the first guide rail. The first motor drives a screw rod passing through the second guide rail, thereby causing the second guide rail to move up and down along the length direction of the first guide rail; the third guide rail is slidably connected to the second guide rail, and the second motor is provided on the side wall of the second guide rail. The second motor drives a screw rod passing through the second guide rail, thereby causing the third guide rail to move along the length direction of the second guide rail; the third motor is provided on the side wall of the third guide rail, and the third motor drives a screw rod passing through the digging assembly to cause the digging assembly to move along the length direction of the third guide rail.

6. A hand-held intelligent side deep fertilization method for saline-alkali land, characterized in that: The method of using the hand-held intelligent side deep fertilization device for saline-alkali land according to any one of claims 1 to 5 comprises the following steps: S1. When the manipulator is at an initial position, a camera is used to capture an initial image, the initial image is processed to obtain a movement distance of the manipulator from the plant to be fertilized, and according to the movement distance, the second motor and the third motor are controlled to move the manipulator to the top of the plant to be fertilized; S2. Start the X-ray fluorescence spectrometer to detect the element content of the leaves of the plants to be fertilized, and compare it with the element distribution of the soil to obtain the depth range of the roots of the plants to be fertilized, where the depth range is: shallowest position - deepest position; S3. Controlling the first motor to drive the manipulator to move the furrow opener so that it performs a uniform reciprocating motion between the shallowest position and the deepest position. For each single-pass motion, a moisture content curve is obtained. The moisture content curves of all the single-pass motions are overlapped to obtain an overlapped moisture content curve. The position corresponding to the lowest moisture content value in the overlapped moisture content curve is set as the root fertilization point of the plant. S4. Control the first motor to drive the furrow opener to the root fertilization point through the manipulator, control the discharge port of the fertilizer barrel to open, and make the waste move to the root fertilization point through the telescopic tube, the connecting tube, and the furrow opener in sequence to complete the fertilization operation.

7. The hand-held intelligent side deep fertilization method for saline-alkali land according to claim 6, characterized in that: In step S3, the method for obtaining the overlapped moisture content curve graph is as follows: for each one-way movement, the sampling time is set, the moisture content value detected by the moisture sensor is obtained once at each sampling time, and all the moisture content values ​​collected in the one-way movement are used to form a moisture content curve graph; each moisture content curve graph includes multiple sampling points, and the sampling points in each moisture content curve graph are set accordingly. The moisture content values ​​of each sampling point are subtracted from each other, and the differences within the allowable error range of each sampling point are screened out. The maximum moisture content value corresponding to the screened differences is used as the final moisture content value of the sampling point, and the overlapped moisture content curve graph is formed based on the final moisture content values ​​of all sampling points.

8. The hand-held intelligent side deep fertilization method for saline-alkali land according to claim 7, characterized in that: The allowable error range is: ; In the above formula, Indicates the error value of the moisture sensor, It represents the average value of the moisture content at the i-th sampling point after removing the maximum and minimum values ​​from all the moisture content values.

9. The hand-held intelligent side deep fertilization method for saline-alkali land according to claim 6, characterized in that: When the first motor controls the movement of the manipulator, the controller monitors the pressure value fed back by the pressure sensor in real time and sets the first pressure threshold to The second pressure threshold is The maximum extrusion pressure that can be borne between the first telescopic part and the second telescopic part is , the pressure value fed back by the pressure sensor is P, , , P and 、 、 For comparison, the vibration frequency of piezoelectric ceramics is controlled in the following situations: (1) When When , the controller piezoelectric ceramic does not work; (2) When When the piezoelectric ceramic is powered on, the controller controls the piezoelectric ceramic to have a vibration frequency of the first frequency; (3) When When the piezoelectric ceramic is powered on, the controller controls the piezoelectric ceramic to have a vibration frequency of the second frequency; (4) When When , the controller controls the first motor to stop working and controls the piezoelectric ceramic to stop working; The first and second frequencies satisfy the following constraints: ； ； In the above formula, Indicates the maximum frequency, which is the maximum frequency at which the piezoelectric ceramic can vibrate; represents the first frequency, Indicates the second frequency.

10. The hand-held intelligent side deep fertilization method for saline-alkali land according to claim 9, characterized in that: 、 、 The constraints between them are as follows: ； ； In the above formula, Indicates the water content value corresponding to the root fertilization point of the plant in the overlapping water content curve diagram. Indicates the maximum moisture content value in the overlapped moisture content curve.

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