Anti-damage shiny-leaved yellowhorn seedling cultivation device and control method thereof

Abstract

The invention relates to an anti-damage shiny-leaved yellowhorn nursery stock cultivation device and a control method thereof, and belongs to the technical field of intelligent agriculture, agricultural engineering and nondestructive testing, and the anti-damage shiny-leaved yellowhorn nursery stock cultivation device comprises a cultivation container which is used for containing a nursery stock to be tested and a cultivation medium; the micro-tension execution module is arranged right above the cultivation container; a multi-physical quantity sensing module; a central control and analysis module; wherein the micro-tension execution module is fixed on the cultivation container through a frame structure, and a core transmission axis is vertically aligned with a stem of the nursery stock; the multi-physical-quantity sensing module comprises a mechanical sensor connected in a transmission chain of the micro-tension execution module and a soil sensor used for being deployed in the culture medium, high-frequency repeated detection on the same nursery stock becomes possible, and a technical basis is provided for dynamic tracking of root development.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent agriculture, agricultural engineering and non-destructive testing, in particular to a damaged-preventing Xanthoceras sorbifolia Bunge seedling cultivation device and a control method thereof. BACKGROUND

[0002] In the evaluation of seedling root health, traditional methods mainly rely on two approaches: one is indirect evaluation by observing the growth conditions of the aboveground part of the plant, and the other is direct inspection of the roots by destructive methods such as pulling seedlings; these methods have the problems of limited coverage, inability to quantify in real time, and possible damage to the sample, making it difficult to fully and timely reflect the true health status of the seedling roots. This situation makes it difficult for managers to quickly identify and diagnose root problems during precision seedling and mass production, affecting the timeliness and effectiveness of production quality monitoring; in addition, traditional methods lack the ability to quantitatively analyze key indicators such as root anchoring force, and cannot provide scientific data support for precision cultivation decisions. The above situation and deficiencies are mainly due to the limitations of evaluation methods and technology; the method of observing the aboveground part has significant lag and subjectivity, and when the aboveground part shows problems, the root condition may have already deteriorated; while the destructive detection method is direct, but at the expense of the seedling itself, and cannot be applied to dynamic quality monitoring in the production process. When the root health problem occurs, managers cannot quickly obtain accurate information through online, non-destructive, quantitative means, delaying the best opportunity to adjust cultivation strategies and effective intervention.

[0003] The above information disclosed in the background section is only for the purpose of enhancing the understanding of the background of the present disclosure, and therefore it can include information that does not constitute the prior art known to those of ordinary skill in the art. SUMMARY

[0004] The purpose of the present application is to provide a damaged-preventing Xanthoceras sorbifolia Bunge seedling cultivation device to solve the problems raised in the background art.

[0005] The technical solution of the present application is as follows: a cultivation container for containing seedlings to be tested and cultivation substrate; a micro-tension execution module arranged directly above the cultivation container; a multi-physical quantity sensing module; a central control and analysis module; wherein the micro-tension execution module is fixed on the cultivation container through a frame structure, and the core transmission axis is vertically aligned with the stem of the seedling; the multi-physical quantity sensing module includes a mechanical sensor connected in the transmission chain of the micro-tension execution module, and a soil sensor for deployment in the cultivation substrate; The central control and analysis module is electrically connected with the micro-tension execution module and the multi-physical quantity sensing module respectively, and is used for driving the micro-tension execution module to exert a preset mechanical disturbance on the seedling and synchronously collecting a response signal of the multi-physical quantity sensing module.

[0006] Preferably, the micro-tension execution module comprises a stem base flexible holder and a micro-stroke screw lifting unit. The stem base flexible holder is arranged at the tail end of the micro-tension execution module, and is used for physically connecting with the stem base of the seedling near the ground in a non-invasive manner to transmit the lifting action. The micro-stroke screw lifting unit is used for driving the stem base flexible holder to perform vertical linear motion.

[0007] Preferably, the stem base flexible holder comprises relatively opening and closing arc-shaped clamping jaws driven by a micro-servo motor. The inner wall of the arc-shaped clamping jaw is lined with high-elasticity silica gel. The stem base flexible holder is internally provided with a micro-pressure sensor or realizes constant force self-adaptive clamping of the stem of the seedling based on the motor current of the micro-servo motor.

[0008] Preferably, the micro-stroke screw lifting unit comprises a high-precision stepping motor, a speed reduction mechanism and a precision ball screw pair. The micro-stroke screw lifting unit is integrated with a high-precision displacement sensor to form position closed-loop control.

[0009] Preferably, the mechanical sensor is a high-precision mechanical sensor, which is rigidly connected in series between the stem base flexible holder and the micro-stroke screw lifting unit, and is used for measuring the reaction force of the seedling.

[0010] Preferably, the soil sensor is a soil moisture sensor, which is used for accurately measuring the real-time humidity value in the root zone of the seedling.

[0011] Preferably, the central control and analysis module is internally provided with a core decoupling algorithm. The core decoupling algorithm is used for querying a humidity-fixing force influence coefficient model pre-stored in the system according to the real-time humidity value measured by the soil sensor, to obtain a reference value of the fixing force expected to be generated by the soil matrix itself under the humidity condition. The central control and analysis module is further used for comparing and analyzing the total fixing force actually measured by the mechanical sensor with the reference value of the fixing force, to calculate an index reflecting the health condition of the root system.

[0012] Preferably, all sensors in the multi-physical quantity sensing module are connected to the signal acquisition unit of the central control and analysis module through data cables; The central control and analysis module controls the motor action inside the micro-tension execution module through the driving signal line, forming a closed loop of command issuance and data feedback.

[0013] A control method of a damaged-preventing Xanthoceras sorbifolia seedling cultivation device, the method comprising the following steps: Driving and disturbance: the central control and analysis module drives the micro-tension execution module to apply a preset mechanical disturbance to the seedling; Synchronous acquisition: while applying the disturbance, the central control and analysis module synchronously acquires the total anchoring force signal measured by the mechanical sensor and the real-time soil humidity value measured by the soil sensor; Querying reference value: the central control and analysis module queries the humidity-anchoring force influence coefficient model pre-stored in the system according to the acquired real-time humidity value to obtain the anchoring force reference value generated by the cultivation substrate itself under the humidity condition; Decoupling calculation: the central control and analysis module compares and analyzes the measured total anchoring force and the queried anchoring force reference value to calculate an index capable of reflecting the health condition of the root system.

[0014] The present application provides a damaged-preventing Xanthoceras sorbifolia seedling cultivation device, which has the following improvements and advantages compared with the prior art: 1. A standardized and extremely small mechanical disturbance is applied to the seedling by setting a micro-tension execution module, active detection is realized, the design of the stem base flexible holder, especially the high-elasticity silica gel lining on the inner wall thereof, and the constant force self-adaptive clamping function realized by the built-in micro-pressure sensor or micro-servo motor current feedback ensure that the radial pressure applied when contacting the stem of the seedling is constant and extremely small, thereby eliminating physical damage; at the same time, the micro-displacement lifting of the micro-stroke screw rod unit under closed-loop control is accurate and controllable, for example, only 0.5 mm, the disturbance amplitude is far less than enough to cause root damage, but enough to stimulate effective mechanical response; the combination of these functions makes it possible to perform high-frequency repeated detection on the same seedling, providing a technical basis for dynamic tracking of root development; 2. The accuracy and reliability of the diagnostic results are greatly improved, the interference of key environmental factors is successfully removed by introducing multi-physical quantity sensing and core decoupling algorithm; 3. In any physical measurement-based scheme, the interference of environmental factors is the core obstacle affecting accuracy; in the case of root anchorage force measurement, the humidity of the cultivation medium is the biggest interference variable, and changes in its humidity will dramatically affect the cohesion and friction of the medium itself, thereby masking the true signal of the root itself; 4. This problem is solved by an innovative technical combination; it not only uses a mechanical sensor to measure the total anchorage force, but also sets up a soil sensor in parallel to synchronously and accurately measure the real-time humidity value in the root zone of the seedling; this design provides the basic data needed to separate the interference; the core progress lies in the core decoupling algorithm built into the central control and analysis module; using the pre-set humidity-anchorage force influence coefficient model, the algorithm can accurately calculate the anchorage force reference value generated by the cultivation medium itself under the current humidity condition according to the measured humidity value; finally, by comparing and analyzing the total anchorage force measured by the mechanical sensor with this anchorage force reference value, the system can calculate a pure index reflecting only the health status of the root system; this series of operations successfully decomposes a complex, multi-factor coupled mixed signal into an accurately quantifiable, clearly physically meaningful root health index; 5. The architecture of this scheme has been designed with automation in mind from the beginning; the central control and analysis module, as the control and data processing core of the system, is connected to the motor of the micro-tension execution module through the driving signal line to realize accurate issuance of instructions; at the same time, it is connected to all sensors of the multi-physical quantity sensing module through the data cable to form a unified signal acquisition unit; this closed-loop structure of instruction issuance and data feedback enables the entire process from positioning preparation, non-destructive clamping, uniform speed lifting, synchronous measurement to data solving and result output to be automatically executed without human intervention; this not only greatly improves the detection efficiency, but more importantly, it can automatically perform preset strategies such as fixed time or specific humidity window, thereby building a root growth history database for each seedling, realizing longitudinal growth rate analysis and horizontal population development level comparison, and providing decision support for advanced applications such as grading and screening, precision water and fertilizer management, etc. BRIEF DESCRIPTION OF DRAWINGS

[0015] The invention will be further explained in conjunction with the accompanying drawings and examples: Figure 1 is a schematic diagram of the overall structure of the device; Figure 2 is a schematic diagram of the micro-tension execution module and its connection structure; Figure 3 is a schematic diagram of the stem base flexible clamp and the micro-stroke screw lifting unit; Figure 4 is a schematic diagram of the stem base flexible clamp; Figure 5is a schematic diagram of the method flow of the present application.

[0016] In the figure: 1, cultivation container; 2, micro-tension execution module; 21, stem base flexible holder; 211, micro servo motor; 212, arc-shaped clamping jaw; 213, micro pressure sensor; 22, micro stroke screw lifting unit; 221, high-precision stepping motor; 222, speed reduction mechanism; 223, precision ball screw pair; 224, high-precision displacement sensor; 3, multi-physical quantity sensing module; 31, mechanical sensor; 32, soil sensor; 4, central control and analysis module. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application is further described in detail below in combination with specific examples.

[0018] Example 1 Please refer to Figures 1-4 The present application provides a kind of to prevent damaged Xanthoceras sorbifolia Bunge nursery cultivation device, comprising: Cultivation container 1, cultivation container 1 is used to accommodate to be measured seedling and cultivation substrate; Micro-tension execution module 2 is set to the upside of cultivation container 1; Multi-physical quantity sensing module 3; Central control and analysis module 4; Wherein, micro-tension execution module 2 is fixed on cultivation container 1 by frame structure, and core transmission axis is kept vertical alignment with the stem of seedling; Multi-physical quantity sensing module 3 includes mechanical sensor 31 connected in the transmission chain of micro-tension execution module 2, and soil sensor 32 for being arranged in cultivation substrate; Central control and analysis module 4 is electrically connected with micro-tension execution module 2 and multi-physical quantity sensing module 3 respectively, for driving micro-tension execution module 2 to exert preset mechanical disturbance to seedling, and synchronously collecting the response signal of multi-physical quantity sensing module 3; To solve the technical problems that cannot be diagnosed on-line, non-destructively and quantitatively in the existing seedling root health evaluation method, the present embodiment provides a kind of to prevent damaged Xanthoceras sorbifolia Bunge nursery cultivation device;In the prior art, the indirect evaluation method by observing the aboveground part has significant lag and subjectivity, and although the destructive method such as seedling pulling is direct, it sacrifices the seedling itself, and cannot meet the quality monitoring demand of batch production process in precision seedling raising;The device aims to solve the above-mentioned pain points, and provides a kind of new technical solution; The working principle of the device is: by applying standardized micro mechanical disturbance to the seedling, the mechanical response signal capable of representing the tightness of the root system and soil is excited and captured, and the key environmental variables affecting the response, i.e. soil humidity, are measured synchronously, and through data coupling analysis model, the health status of the root system itself is accurately quantified; The device is composed of four modules as a whole: The cultivation container 1 at the bottom serves as a base, and the inside is used to accommodate the Xanthoceras sorbifolia Bunge seedlings to be tested and the corresponding cultivation medium; The micro-tension execution module 2 is installed directly above the cultivation container 1, fixed by a set of frame structure, and ensures that the core transmission axis is vertically aligned with the stem of the seedling, providing structural guarantee for applying accurate vertical disturbance; The multi-physical quantity sensing module 3 is deployed at the key position, including a mechanical sensor 31 for measuring mechanical response and a soil sensor 32 for measuring environmental variables; The central control and analysis module 4, as the core of the system, is electrically connected with the micro-tension execution module 2 and the multi-physical quantity sensing module 3; the function of this module is, on the one hand, to control the motor action of the micro-tension execution module 2 through the driving signal line, to apply standardized lifting disturbance to the seedling; on the other hand, through the data cable connected to the signal acquisition unit of the sensing module, the mechanical response signal and soil state signal generated during the disturbance process are synchronously collected, providing input for subsequent data analysis; through this structure and connection, the whole process from active detection, synchronous sensing to intelligent analysis is realized, and the technical effect of non-invasive, online, dynamic and quantitative diagnosis of seedling root health is achieved.

[0019] The micro-tension execution module 2 includes a stem base flexible holder 21 and a micro-stroke screw lifting unit 22; The stem base flexible holder 21 is arranged at the end of the micro-tension execution module 2, used for non-invasively physically connecting with the stem base of the seedling near the ground, to transfer the lifting action; The micro-stroke screw lifting unit 22 is used to drive the stem base flexible holder 21 to move vertically and linearly; In order to apply standardized mechanical disturbance input in a highly repeatable and completely non-destructive way to the plant, the micro-tension execution module 2 in this embodiment is specifically designed; the module is composed of a stem base flexible holder 21 and a micro-stroke screw lifting unit 22; The stem base flexible holder 21, as a component directly physically interacting with the seedling, is arranged at the end of the transmission chain of the micro-tension execution module 2; the function is to laterally hold the stem base of the seedling near the ground in a non-invasive way during work; the purpose of this physical connection is to non-destructively transfer the vertical motion generated by the subsequent micro-stroke screw lifting unit 22 into the lifting action of the seedling. The function of the micro-stroke screw lifting unit 22 is to provide power and precise stroke control for the whole lifting action; through the internal power mechanism, the stem base flexible gripper 21 as its end effector is driven to perform linear motion in the vertical direction for a preset stroke; These two parts work together to complete the detection task through precise cooperation under the coordination of the central control and analysis module 4, ensuring the standardization and non-destructiveness of each detection action, which is the physical prerequisite for all subsequent accurate measurements.

[0020] The stem base flexible gripper 21 includes relatively opening and closing arc-shaped clamping jaws 212 driven by a micro servo motor 211; The inner wall of the arc-shaped clamping jaw 212 is lined with high-elasticity silica gel; The stem base flexible gripper 21 is built-in with a micro-pressure sensor 213 or based on the motor current of the micro servo motor 211 to realize constant force self-adaptive clamping of the seedling stem; In order to provide sufficient friction to transfer the lifting force in the process of clamping the seedling stem, and to avoid damaging the seedling or introducing measurement errors due to excessive or inconsistent clamping force, the stem base flexible gripper 21 in this embodiment is specifically designed; The structure of the stem base flexible gripper 21 includes a pair of relatively opening and closing arc-shaped clamping jaws 212, and the opening and closing action is precisely driven by a micro servo motor 211; this design can adapt to seedling stems of different thicknesses; in order to further protect the stem and increase the contact friction, a layer of high-elasticity silica gel material is specially lined on the inner wall of the arc-shaped clamping jaw 212; In order to realize precise control of the clamping force, this embodiment proposes two optional technical solutions; the first solution is to directly integrate a micro-pressure sensor 213 inside the stem base flexible gripper 21; when the clamping jaw is closed, the sensor monitors the radial pressure on the stem in real time, and once the preset, extremely slight pressure threshold, such as 0.5 Newton, is reached, the central controller immediately stops the driving of the micro servo motor 211, thereby realizing constant force clamping; the second solution is to use the characteristics of the micro servo motor 211 itself, and indirectly reflect its output torque by monitoring its output current; the central controller can also realize constant force self-adaptive clamping of the seedling stem by controlling the output current of the motor to be constant; both solutions ensure that the radial pressure exerted by the stem base flexible gripper 21 is a same and preset small value regardless of the thickness of the seedling, thereby eliminating the measurement errors introduced by inconsistent clamping force, which is the first heavy guarantee for non-destructive measurement.

[0021] The micro-stroke screw lifting unit 22 includes a high-precision stepper motor 221, a speed reduction mechanism 222, and a precision ball screw pair 223; The micro-stroke screw lifting unit 22 is integrated with a high-precision displacement sensor 224 to form a position closed-loop control. In order to ensure that the dose of each pulling disturbance, that is, the total stroke and rate of pulling, is strictly consistent, the micro-stroke screw lifting unit 22 in the embodiment is specifically designed; the unit aims to provide extremely precise vertical linear motion in speed and displacement; The core driving components of the unit are composed of a high-precision stepping motor 221, a speed reduction mechanism 222 and a precision ball screw pair 223; the stepping motor provides a rotation motion that can be accurately stepped, the speed reduction mechanism 222 is used to increase the output torque and reduce the rotation speed, and the precision ball screw pair 223 is responsible for efficiently and smoothly converting the rotation motion into precise linear displacement; In order to realize accurate control of displacement, the unit is also integrated with a high-precision displacement sensor 224; the sensor can adopt a rotary encoder installed on the stepping motor shaft to measure the rotation angle, or a linear grating ruler to directly measure the linear displacement; the real-time position information collected by the sensor is fed back to the central control and analysis module 4, compared with the command position, so as to form a position closed-loop control; the design of such closed-loop control ensures the accurate completion of the pulling stroke, for example, within a stroke of 0.5 millimeters, the error can be controlled within microns, thereby providing a second guarantee for standardized mechanical disturbance.

[0022] The mechanical sensor 31 is a high-precision mechanical sensor 31, which is rigidly connected in series between the stem base flexible holder 21 and the micro-stroke screw lifting unit 22, and is used to measure the reaction force of the seedling; In order to accurately measure the mechanical response of the seedling when subjected to pulling disturbance, the mechanical sensor 31 in the embodiment is specifically described; The mechanical sensor 31 selects a high-precision mechanical sensor 31, such as a micro weighing sensor or a tension and compression force sensor, whose range and resolution need to match the small reaction force generated by the seedling; in terms of installation, the sensor is rigidly connected in series between the stem base flexible holder 21 and the transmission chain of the micro-stroke screw lifting unit 22; This connection mode ensures that when the micro-stroke screw lifting unit 22 moves upward, all the reaction forces generated by the seedling roots and the soil, that is, the root fixation forces, must pass through the mechanical sensor 31 for transmission; therefore, the sensor can measure the total reaction force value without omission, providing the most original and most critical mechanical signal input for subsequent health status analysis.

[0023] The soil sensor 32 is a soil moisture sensor, which is used to accurately measure the real-time humidity value in the root zone of the seedling; In order to solve the technical problem that the measured root anchoring force contains the interference of the physical properties of the soil itself, the soil sensor 32 in the embodiment is specifically described; Research has found that the most important interference factor affecting the measurement of root anchoring force is the cohesion and friction of the soil matrix itself, and the size of the force is highly nonlinearly related to the humidity value of the soil. Therefore, in order to be able to separate this interference term from the total anchoring force signal, the soil humidity at the moment of disturbance must be accurately measured; The soil moisture sensor is used as the soil sensor 32 in the embodiment, and the probe thereof is deployed in the main root distribution area of the seedling to be measured in the cultivation matrix. The sensor is used to accurately measure the humidity value in the root zone in real time. The measured real-time humidity value will be used as a key environmental background parameter and transmitted to the central control and analysis module 4 in synchronization, which will be used in the subsequent core decoupling algorithm.

[0024] The central control and analysis module 4 is built-in with a core decoupling algorithm; The core decoupling algorithm is used to query the humidity-anchoring force influence coefficient model pre-stored in the system according to the real-time humidity value measured by the soil sensor 32, to obtain the expected anchoring force reference value generated by the soil matrix itself under the humidity condition; The central control and analysis module 4 is further used to compare and analyze the total anchoring force measured by the mechanical sensor 31 with the anchoring force reference value, to calculate an index reflecting the health condition of the root system; One normalization method is to divide the difference value, i.e. by the biomass parameter capable of representing the size of the seedling individual, such as the stem base diameter of the seedling measured by machine vision or manually, to eliminate the influence caused by the size difference of the seedling individual, so as to obtain a relative and more comparable root health index; In order to accurately separate the pure index capable of truly reflecting the health condition of the root system from the mixed mechanical signal containing the root contribution and the soil contribution, the central control and analysis module 4 and the built-in algorithm thereof in the embodiment are specifically described; The core technology built-in the module is a decoupling algorithm, and the logic chain realized is as follows: Quantitative calibration of interference factors; before using the device for diagnosis, a humidity-anchoring force influence coefficient model needs to be established in advance; the method of establishing the model is: only put the same type of cultivation medium as used in actual cultivation in the cultivation container 1, but do not plant any plants; then, artificially and step by step change the water content of the medium from completely dry to saturated state, forming a series of humidity gradient points; at each humidity point, the micro-tension execution module 2 of the device is used to execute a standardized pulling action identical to the actual detection, and the resistance generated by the medium itself at this time, i.e. the anchoring force interference term, is measured; fitting the series of resistance values measured at different humidities forms the humidity-anchoring force influence coefficient model, which is in the form of data curve or function and is pre-stored in the memory of the central control and analysis module 4; Synchronous acquisition of coupled signals and reference value query; when diagnosing the sample loaded with real seedlings, the module instructs the mechanical sensor 31 to acquire the measured total anchoring force, and simultaneously instructs the soil moisture sensor to acquire the real-time humidity value in the root zone; the algorithm takes the real-time humidity value as input to query the pre-stored humidity-anchoring force influence coefficient model, thereby obtaining the anchoring force reference value expected to be generated by the soil medium itself under the humidity condition; Interference stripping based on the model and index calculation; the algorithm compares and analyzes the total anchoring force measured by the mechanical sensor 31 with the anchoring force reference value obtained by querying; the direct calculation method is to subtract the anchoring force reference value from the total anchoring force, and the difference value mainly reflects the anchoring capacity contributed by the roots in addition; after normalization, the difference value can be output as an index reflecting the health condition of the roots themselves; through this complete logic of calibration-measurement-decoupling, the device successfully converts the soil humidity from an interference variable to a known calibration parameter, thereby realizing accurate extraction of the target signal.

[0025] All sensors in the multi-physical quantity sensing module 3 are connected to the signal acquisition unit of the central control and analysis module 4 through data cables; The central control and analysis module 4 controls the motor action inside the micro-tension execution module 2 through the driving signal line, forming a closed loop of instruction issuance and data feedback; To realize automatic closed-loop control of the entire diagnosis process, the electrical connection and control relationship between the modules in the embodiment are specifically described; All sensors in the multi-physical quantity sensing module 3, including but not limited to the mechanical sensor 31, the soil moisture sensor, and the high-precision displacement sensor 224 for position closed loop, are connected to the signal acquisition unit integrated inside the central control and analysis module 4 through data cables; the signal acquisition unit is responsible for collecting, conditioning and converting the analog or digital signals output by each sensor; Meanwhile, the central control and analysis module 4 is connected to the power components inside the micro-tension execution module 2, i.e. the micro servo motor 211 for driving the opening and closing of the clamping jaw and the high-precision stepping motor 221 for driving the movement of the micro-stroke screw lifting unit 22, through the driving signal line; Based on the above connection relationship, a complete closed-loop control link is formed: the central control and analysis module 4 issues movement instructions to the downstream motor according to the preset program, the motor executes the action and drives the mechanical structure to apply disturbance to the seedling, and in this process, the sensors will produce changes in physical quantities such as force, displacement and humidity in the form of data signals to the central control and analysis module 4 upstream; The closed loop of this instruction issuing and data feedback ensures the automation, accuracy and data synchronization of the entire detection process.

[0026] Embodiment 2 Please refer to Figure 5 A control method of a damaged Xanthoceras sorbifolia Bunge seedling cultivation device, the method comprising the following steps: Disturbance driving: the central control and analysis module 4 drives the micro-tension execution module 2 to apply a preset mechanical disturbance to the seedling; Synchronous acquisition: at the same time of applying disturbance, the central control and analysis module 4 synchronously acquires the total fixation force signal measured by the mechanical sensor 31 and the real-time soil humidity value measured by the soil sensor 32; Query reference value: the central control and analysis module 4 queries the humidity-fixation force influence coefficient model pre-stored in the system according to the acquired real-time humidity value to obtain the fixation force reference value generated by the cultivation substrate itself under the humidity condition; Decoupling calculation: the central control and analysis module 4 compares and analyzes the measured total fixation force with the queried fixation force reference value to calculate an index reflecting the health condition of the root system; This embodiment specifically describes the above-mentioned plant root health non-destructive diagnosis control method based on micro-disturbance response; the method aims to realize accurate, non-destructive and quantitative evaluation of the health condition of the seedling root system through an automatic closed-loop control process. The execution of the method depends on a diagnosis device mainly composed of a central control and analysis module 4, a micro-tension execution module 2 and a multi-physical quantity sensing module 3.

[0027] Before performing the routine diagnostic task, a one-time preliminary calibration of the system is required to establish a baseline model for subsequent decoupling calculations. The specific steps are as follows: only put the same type, density and compaction of the cultivation medium as used in the actual cultivation in the cultivation container 1, but do not plant any seedlings; by artificially changing the water content of the medium in a step-by-step manner, at multiple humidity gradient points from completely dry to saturated, the standard lifting action of the device is used to measure the anchoring force generated purely by the medium itself; fitting this series of anchoring force values at different humidities forms a humidity-anchoring force influence coefficient model, which can be expressed as a function relationship where H represents the humidity value, and F0(H) represents the anchoring force baseline value generated by the soil medium itself at that humidity. This model is pre-stored in the central control and analysis module 4.

[0028] After the above calibration is completed, the automatic control method for diagnosing the sample loaded with the seedling to be tested is as follows: Drive and disturbance The diagnostic process is initiated by the central control and analysis module 4; the module controls the stem base flexible gripper 21 at the end of the micro-tension execution module 2 to hold the stem of the seedling to be tested near the ground with a pre-set, constant micro pressure, and the module precisely drives the micro-stroke screw lifting unit 22 to drive the stem base flexible gripper 21 to perform a vertical lifting of a standardized speed for a small distance, for example, a stroke of 0.5 mm; The standardized speed here is preferably a pre-set, constant low speed, for example, 0.1 mm / s; a constant and low speed is used to minimize the interference of dynamic effects and the viscoelastic behavior of the soil on the measurement results, ensuring that the measurement is the anchoring force under quasi-static conditions, thereby improving the comparability and accuracy between different measurements.

[0029] This process applies a standard, repeatable and non-damaging mechanical disturbance to the seedling for subsequent measurements.

[0030] Synchronous acquisition At the moment when the micro-stroke screw lifting unit 22 performs the lifting action, the signal acquisition unit of the central control and analysis module 4 synchronously acquires two sets of key data from the multi-physical quantity sensing module 3 at high frequency: The total anchoring force signal measured in real time by the mechanical sensor 31 connected in series in the transmission chain, denoted as Ftot(t); This signal is the total reaction force of the root system of the seedling and the soil medium resisting the lifting action; The current humidity value measured in real time by the soil moisture sensor deployed in the root zone of the seedling, denoted as H(t); ​The synchronization of the data ensures that the measured total holding force and soil moisture values ​​are obtained at exactly the same time point, providing a basis for subsequent accurate analysis; Query benchmark value After data collection is completed, the core decoupling algorithm in the central control and analysis module 4 is immediately started; the algorithm uses the real-time humidity value collected in the second step as Input variables and query the humidity-fixation coefficient model preset in the memory, that is, calculate Through this query, we can obtain the expected anchoring force generated by the soil matrix alone under the current moisture conditions. ; Decoupled computing The algorithm converts the total fixation force measured by the mechanical sensor 31 into The reference value of the fixing force obtained by query Perform comparative analysis; a direct calculation method is to perform a subtraction operation, and the difference mainly reflects the additional anchoring capacity contributed by the root system; after normalization, the difference can be output as the final indicator reflecting the health status of the root system itself ;The core calculation formula is:

[0031] Through this complete control and calculation process of calibration-measurement-decoupling, this method successfully transforms soil moisture, a key environmental disturbance, from a variable into a known calibration parameter, thereby accurately isolating and quantifying the root health indicators themselves, achieving fully automated, high-precision, and non-destructive diagnosis. The health indicator As a quantitative evaluation value, its practical application value lies in: managers can determine whether individual seedlings have developmental delays or root health problems by comparing it with the average value of indicators measured in a group of healthy seedlings from the same batch and the same growth stage; or, by conducting long-term and regular measurements of the same seedling, a growth curve of its root anchorage can be constructed, thereby dynamically tracking its development rate and health trend, providing decision support for advanced applications such as graded screening and precise water and fertilizer management.

[0032] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A device for cultivating Xanthoceras sorbifolia seedlings to prevent damage, characterized in that: include: A cultivation container (1), wherein the cultivation container (1) is used to accommodate the seedlings to be tested and the cultivation medium; A micro-tension execution module (2) is arranged directly above the cultivation container (1); Multi-physical quantity sensing module (3); Central control and analysis module (4); The micro-tension execution module (2) is fixed on the cultivation container (1) via a frame structure, and the core transmission axis is vertically aligned with the stem of the seedling; The multi-physical quantity sensing module (3) includes a mechanical sensor (31) connected to the transmission chain of the micro-tension execution module (2), and a soil sensor (32) for being deployed in the cultivation matrix; The central control and analysis module (4) is electrically connected to the micro-tension execution module (2) and the multi-physical quantity sensing module (3) respectively, and is used to drive the micro-tension execution module (2) to apply a preset mechanical disturbance to the seedlings, and synchronously collect the response signal of the multi-physical quantity sensing module (3).

2. A damage-resistant Xanthoceras sorbifolia seedling cultivation device according to claim 1, characterized in that: The micro-tension execution module (2) comprises a stem base flexible clamp (21) and a micro-stroke lead screw lifting unit (22); The stem base flexible clamp (21) is provided at the end of the micro-tension execution module (2) and is used for non-invasively physically connecting with the stem base of the seedling near the ground to transmit the pulling action; The micro-stroke lead screw lifting unit (22) is used to drive the stem base flexible clamp (21) to perform vertical linear motion.

3. A damage-proof Xanthoceras sorbifolia seedling cultivation device according to claim 2, characterized in that: The stem base flexible clamp (21) comprises arc-shaped clamping claws (212) that are driven by a micro servo motor (211) to open and close relative to each other; Wherein, the inner wall of the arc-shaped clamping claw (212) is lined with highly elastic silica gel; The stem base flexible clamp (21) is equipped with a micro pressure sensor (213) or realizes constant force adaptive clamping of the seedling stem based on the motor current of the micro servo motor (211).

4. The device for cultivating Xanthoceras sorbifolia seedlings to prevent damage according to claim 2, wherein: The micro-stroke screw lifting unit (22) comprises a high-precision stepping motor (221), a speed reduction mechanism (222) and a precision ball screw pair (223); The micro-stroke lead screw lifting unit (22) is integrated with a high-precision displacement sensor (224) to form position closed-loop control.

5. The device for cultivating Xanthoceras sorbifolia seedlings to prevent damage according to claim 2, wherein: The mechanical sensor (31) is a high-precision mechanical sensor (31) rigidly connected in series between the stem base flexible clamp (21) and the micro-stroke lead screw lifting unit (22) for measuring the reaction force of the seedling.

6. The damage-resistant Xanthoceras sorbifolia seedling cultivation device according to claim 1, characterized in that: The soil sensor (32) is a soil moisture sensor used to accurately measure the real-time humidity value in the root zone of the seedling.

7. The damage-resistant Xanthoceras sorbifolia seedling cultivation device according to claim 1, characterized in that: The central control and analysis module (4) has a built-in core decoupling algorithm; The core decoupling algorithm is used to query the humidity-fixation influence coefficient model preset in the system based on the real-time humidity value measured by the soil sensor (32), and obtain the fixation reference value expected to be generated by the soil matrix itself under the humidity condition; The central control and analysis module (4) is further used to compare and analyze the total anchoring force actually measured by the mechanical sensor (31) with the anchoring force reference value, so as to calculate an index reflecting the health status of the root system itself.

8. The damage-resistant Xanthoceras sorbifolia seedling cultivation device according to claim 1, characterized in that: All sensors in the multi-physical quantity sensing module (3) are connected to the signal acquisition unit of the central control and analysis module (4) via data cables; The central control and analysis module (4) controls the motor movement inside the micro-tension execution module (2) via a drive signal line, thereby forming a closed loop of command issuance and data feedback.

9. A control method for a Xanthoceras sorbifolia seedling cultivation device to prevent damage, characterized in that: The method for cultivating Xanthoceras sorbifolia seedlings to prevent damage according to any one of claims 1 to 8 comprises the following steps: Driving and disturbing: the central control and analysis module (4) drives the micro-tension execution module (2) to apply a preset mechanical disturbance to the seedlings; Synchronous acquisition: while applying the disturbance, the central control and analysis module (4) synchronously acquires the total fixation force signal measured by the mechanical sensor (31) and the real-time soil moisture value measured by the soil sensor (32); Querying the reference value: the central control and analysis module (4) queries the humidity-fixation influence coefficient model preset in the system based on the real-time humidity value collected, so as to obtain the fixation reference value generated by the cultivation matrix itself under the humidity condition; Decoupling calculation: the central control and analysis module (4) compares and analyzes the measured total anchorage with the retrieved anchorage reference value, and calculates an index that can reflect the health status of the root system itself.

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