A device for cultivating seedlings of a damaged-preventing textura coronata and a control method thereof

Abstract

The application relates to a damaged-prevention Xanthoceras sorbifolia seedling cultivation device and a control method thereof, and belongs to the fields of intelligent agriculture, agricultural engineering and nondestructive testing technology. The device comprises a cultivation container used for containing seedlings to be detected and a cultivation substrate; a micro-tension execution module arranged 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 shaft line is vertically aligned with a stem of the seedling; 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 arranged in the cultivation substrate. The application makes it possible to repeatedly detect the same seedling at a high frequency, and provides a technical basis for dynamically tracking root development.

Description

Technical Field

[0001] This invention relates to the fields of intelligent agriculture, agricultural engineering and non-destructive testing technology, specifically to a device for preventing damage to *Sapindus mukorossi* seedlings and its control method. Background Technology

[0002] In assessing the root health of seedlings, traditional methods mainly rely on two approaches: indirect assessment through observing the growth of the above-ground parts of the plant, and direct examination of the root system through destructive methods such as uprooting. These methods suffer from limited coverage, inability to quantify in real time, and potential damage to samples, making it difficult to comprehensively and promptly reflect the true health status of the seedling root system. This situation makes it difficult for managers to quickly identify and diagnose root problems during precision seedling cultivation and mass production, affecting the timeliness and effectiveness of production quality monitoring. Furthermore, traditional methods lack the ability to quantitatively analyze key indicators such as root adhesion, failing to provide scientific data support for precise cultivation decisions. These shortcomings are primarily due to limitations in assessment methods and technologies. Observing the above-ground parts has significant lag and subjectivity; by the time problems appear in the above-ground parts, the root condition may have already deteriorated. While destructive testing methods are direct, they sacrifice the seedlings themselves and cannot be applied to dynamic quality monitoring during the production process. Ultimately, when root health problems arise, managers cannot quickly obtain accurate information through online, non-destructive, and quantitative means, delaying the optimal time to adjust cultivation strategies and implement effective interventions.

[0003] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a cultivation device for *Sapindus mukorossi* seedlings that prevents damage, in order to solve the problems mentioned in the background art.

[0005] The technical solution of the present invention includes:

[0006] A cultivation container, wherein the cultivation container is used to hold the seedlings to be tested and the cultivation substrate;

[0007] A micro-tension actuator is positioned directly above the cultivation container;

[0008] Multi-physical quantity sensing module;

[0009] Central control and analysis module;

[0010] The micro-tension execution module is fixed to the cultivation container by a frame structure, and the core transmission axis is vertically aligned with the stem of the seedling.

[0011] The multi-physical quantity sensing module includes a mechanical sensor connected in the drive chain of the micro-tension actuation module, and a soil sensor for deployment in the cultivation substrate;

[0012] The central control and analysis module is electrically connected to the micro-tension execution module and the multi-physical quantity sensing module, respectively, and is used to drive the micro-tension execution module to apply a preset mechanical disturbance to the seedling, and simultaneously collect the response signal of the multi-physical quantity sensing module.

[0013] Preferably, the micro-tension actuation module includes a stem base flexible clamp and a micro-stroke lead screw lifting unit;

[0014] The flexible clamp at the base of the stem is located at the end of the micro-tension execution module and is used to make a non-invasive physical connection with the base of the stem of the seedling near the ground to transmit the lifting action.

[0015] The micro-stroke lead screw lifting unit is used to drive the flexible clamp at the base of the stem to perform vertical linear movement.

[0016] Preferably, the flexible stem base holder includes relatively opening and closing arc-shaped grippers driven by a micro servo motor;

[0017] The inner wall of the arc-shaped gripper is lined with highly elastic silicone.

[0018] The flexible clamp at the base of the stem is equipped with a micro pressure sensor or uses the motor current of the micro servo motor to achieve constant force adaptive clamping of the seedling stem.

[0019] Preferably, the micro-stroke lead screw lifting unit includes a high-precision stepper motor, a reduction mechanism, and a precision ball screw pair;

[0020] The micro-stroke lead screw lifting unit integrates a high-precision displacement sensor to form a closed-loop position control.

[0021] Preferably, the mechanical sensor is a high-precision mechanical sensor, which is rigidly connected in series between the flexible clamp at the base of the stem and the micro-stroke screw lifting unit, and is used to measure the reaction force of the seedling.

[0022] Preferably, the soil sensor is a soil moisture sensor, used to accurately measure the real-time humidity value in the root zone of the seedling.

[0023] Preferably, the central control and analysis module has a built-in core decoupling algorithm;

[0024] The core decoupling algorithm is used to query the humidity-fixation influence coefficient model pre-set in the system based on the real-time humidity value measured by the soil sensor, and obtain the expected fixation benchmark value of the soil matrix under the humidity condition.

[0025] The central control and analysis module is further used to compare and analyze the total fixation force measured by the mechanical sensor with the fixation force benchmark value in order to calculate an indicator reflecting the health status of the root system itself.

[0026] Preferably, all sensors in the multi-physical quantity sensing module are connected to the signal acquisition unit of the central control and analysis module via data cables;

[0027] The central control and analysis module controls the motor inside the micro-tension execution module through the drive signal line, forming a closed loop of command issuance and data feedback.

[0028] A control method for a cultivation device for preventing damage to *Sapindus mukorossi* seedlings, the method comprising the following steps:

[0029] Drive and Disturbance: The central control and analysis module drives the micro-tension execution module to apply a preset mechanical disturbance to the seedlings;

[0030] Synchronous acquisition: While the disturbance is applied, the central control and analysis module simultaneously acquires the total fixation force signal measured by the mechanical sensor and the real-time soil moisture value measured by the soil sensor.

[0031] Querying the baseline value: The central control and analysis module queries the humidity-fixation influence coefficient model preset in the system based on the collected real-time humidity value to obtain the baseline value of fixation generated by the cultivation substrate itself under the humidity conditions.

[0032] Decoupled calculation: The central control and analysis module compares and analyzes the measured total fixation force with the queried fixation force benchmark value to calculate an indicator that reflects the health status of the root system itself.

[0033] This invention provides an improved cultivation device for *Sapindus mukorossi* seedlings to prevent damage, which has the following improvements and advantages compared with the prior art:

[0034] 1. By setting up a micro-tension execution module to apply a standardized, extremely small mechanical disturbance to the seedling, active detection is achieved. The design of the flexible clamp at the stem base, especially its highly elastic silicone lining and the constant force adaptive clamping function achieved through built-in micro-pressure sensors or micro-servo motor current feedback, ensures that the radial pressure applied when in contact with the seedling stem is constant and negligible, thus eliminating physical damage. Simultaneously, the micro-stroke screw lifting unit, under closed-loop control, performs a tiny displacement lift with precisely controllable stroke, for example, only 0.5 mm. This disturbance amplitude is far from causing root damage, but sufficient to trigger an effective mechanical response. This combined effect makes it possible to perform high-frequency repeated detection on the same seedling, providing a technical basis for dynamically tracking root development.

[0035] 2. It greatly improves the accuracy and reliability of diagnostic results. By introducing multi-physical quantity sensing and core decoupling algorithms, it successfully eliminates the interference of key environmental factors.

[0036] 3. In any physical measurement scheme, the interference of environmental factors is the core obstacle affecting accuracy; specifically in the measurement of root fixation, the humidity of the cultivation substrate is the biggest interference variable. Changes in its humidity will drastically affect the cohesion and friction of the substrate itself, thereby masking the true signal of the root system's condition.

[0037] 4. This challenge was solved through an innovative combination of technologies. It not only uses mechanical sensors to measure the total fixation force but also employs parallel soil sensors to synchronously and accurately measure real-time humidity levels within the seedling root zone. This design provides the fundamental data needed to remove interference. Its core advancement lies in the decoupling algorithm built into the central control and analysis module. This algorithm utilizes a pre-defined humidity-fixation force influence coefficient model to accurately calculate the baseline fixation force generated by the cultivation substrate itself under the current humidity conditions, based on the measured humidity values. Finally, by comparing the total fixation force measured by the mechanical sensors with this baseline fixation force value, the system can calculate a pure index that reflects only the health of the root system itself. This series of operations successfully decomposes a complex, multi-factor-coupled mixed signal into a precisely quantifiable root health index with clear physical meaning.

[0038] 5. The architecture of this solution was designed with automation in mind from the outset. The central control and analysis module, as the core of the system's control and data processing, is connected to the motor of the micro-tension execution module via drive signal lines to achieve precise command issuance. Simultaneously, it is connected to all sensors of the multi-physical quantity sensing module via data cables to form a unified signal acquisition unit. This closed-loop structure of command issuance and data feedback enables the entire process, from positioning preparation, non-destructive clamping, uniform lifting, synchronous measurement to data processing and result output, to be executed automatically without manual intervention. This not only greatly improves detection efficiency, but more importantly, it can automatically perform the process according to preset strategies, such as at fixed times each day or within specific humidity windows, thereby building a root growth history database for each seedling. This allows for longitudinal growth rate analysis and horizontal comparison of population development levels, providing decision support for advanced applications such as graded screening and precise water and fertilizer management. Attached Figure Description

[0039] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0040] Figure 1 This is a schematic diagram of the overall structure of the device;

[0041] Figure 2 This is a schematic diagram of the micro-tension actuator module and its connection structure;

[0042] Figure 3 This is a structural schematic diagram of the flexible clamp at the base of the stem and the micro-stroke lead screw lifting unit;

[0043] Figure 4 This is a schematic diagram of the flexible clamp at the base of the stem;

[0044] Figure 5 This is a schematic diagram of the method flow of the present invention.

[0045] In the diagram: 1. Cultivation container; 2. Micro-tension actuator module; 21. Flexible stem base holder; 211. Micro servo motor; 212. Arc-shaped gripper; 213. Micro-pressure sensor; 22. Micro-stroke screw lifting unit; 221. High-precision stepper motor; 222. 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 Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0047] Example 1

[0048] Please see Figure 1-4This invention provides a device for cultivating *Sapindus mukorossi* seedlings to prevent damage, comprising:

[0049] Cultivation container 1 is used to hold the seedlings to be tested and the cultivation substrate;

[0050] The micro-tension actuator 2 is positioned directly above the cultivation container 1;

[0051] Multi-physical quantity sensing module 3;

[0052] Central Control and Analysis Module 4;

[0053] Among them, the micro-tension execution module 2 is fixed to the cultivation container 1 through the frame structure, and the core transmission axis is vertically aligned with the stem of the seedling.

[0054] The multi-physical quantity sensing module 3 includes a mechanical sensor 31 connected in the transmission chain of the micro-tension actuation module 2, and a soil sensor 32 for deployment in the cultivation substrate;

[0055] 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 seedling, and simultaneously collect the response signal of the multi-physical quantity sensing module 3.

[0056] To address the technical problems of existing seedling root health assessment methods, which lack online, non-destructive, and quantitative diagnosis, this embodiment provides a cultivation device for preventing damage to *Sapindus mukorossi* seedlings. Existing technologies, such as indirect assessment methods by observing the above-ground parts, suffer from significant lag and subjectivity. While destructive methods like uprooting are direct, they sacrifice the seedlings themselves, failing to meet the quality monitoring requirements of mass production in precision seedling cultivation. This device aims to solve these pain points and provide a novel technical solution.

[0057] The working principle of this device is as follows: by applying standardized micro-mechanical disturbances to the seedlings, it excites and captures mechanical response signals that can characterize the tightness of the connection between the root system and the soil, while simultaneously measuring key environmental variables that affect this response, namely soil moisture. Through data coupling analysis models, the health status of the root system itself is accurately quantified.

[0058] This device consists of four main modules:

[0059] The cultivation container 1 at the bottom serves as a base, and its interior is used to hold the *Sapindus mukorossi* seedlings to be tested and the corresponding cultivation substrate;

[0060] The micro-tension actuator 2, installed directly above the cultivation container 1, is fixed by a frame structure, ensuring that its core transmission axis is vertically aligned with the seedling stem, providing structural assurance for applying precise vertical disturbances.

[0061] The multi-physical quantity sensing module 3, deployed in key locations, includes a mechanical sensor 31 for measuring mechanical response and a soil sensor 32 for measuring environmental variables.

[0062] The central control and analysis module 4, which serves as the core of the system, is electrically connected to the micro-tension execution module 2 and the multi-physical quantity sensing module 3, respectively. The module's functions are twofold: firstly, it controls the motor of the micro-tension execution module 2 via a drive signal line to apply standardized lifting disturbances to the seedlings; secondly, it connects to the signal acquisition unit of the sensing module via a data cable to synchronously acquire the mechanical response signals and soil state signals generated during the disturbance process, providing input for subsequent data analysis. Through this structure and connection, the entire process from active detection and synchronous sensing to intelligent analysis is realized, achieving the technical effect of non-destructive, online, dynamic, and quantitative diagnosis of seedling root health.

[0063] The micro-tension actuation module 2 includes a stem base flexible clamp 21 and a micro-stroke lead screw lifting unit 22;

[0064] Among them, the flexible clamp at the base of the stem 21 is set at the end of the micro-tension execution module 2, and is used to make a non-invasive physical connection with the base of the stem of the seedling near the ground to transmit the lifting action;

[0065] The micro-stroke lead screw lifting unit 22 is used to drive the flexible clamp at the base of the stem 21 to perform vertical linear motion;

[0066] In order to apply standardized mechanical disturbance input in a highly repeatable and completely non-destructive manner to the plant, the micro-tension execution module 2 in this embodiment is specifically designed; the module consists of two parts: a stem base flexible clamp 21 and a micro-stroke lead screw lifting unit 22.

[0067] The flexible stem base holder 21, as a component that directly interacts with the seedling, is located at the end of the transmission chain of the micro-tension execution module 2. Its function is to hold the stem base of the seedling near the ground in a non-invasive manner during operation. The purpose of this physical connection is to transmit the vertical motion generated by the subsequent micro-stroke screw lifting unit 22 into a lifting action on the seedling without damage.

[0068] The function of the micro-stroke screw lifting unit 22 is to provide power and precise stroke control for the entire lifting action; through the internal power mechanism, it drives the flexible clamp 21 at the stem base, which is its end actuator, to perform a linear motion in the vertical direction with a preset stroke.

[0069] Under the coordination of the central control and analysis module 4, these two parts work together to complete the detection task through a precise cooperation, ensuring the standardization and non-destructive nature of each detection action, which is the physical prerequisite for all subsequent accurate measurements.

[0070] The flexible stem base holder 21 includes relatively opening and closing arc-shaped grippers 212 driven by a micro servo motor 211;

[0071] The inner wall of the arc-shaped gripper 212 is lined with highly elastic silicone.

[0072] The flexible clamp at the base of the stem 21 is equipped with a micro pressure sensor 213 or a motor current based on a micro servo motor 211 to achieve constant force adaptive clamping of the seedling stem.

[0073] In order to provide sufficient friction to transmit the lifting force during the clamping of seedling stems, and to avoid damage to the seedlings or the introduction of measurement errors due to excessive or inconsistent clamping force, the flexible clamping device 21 at the base of the stem in this embodiment has been specifically designed.

[0074] The flexible stem base holder 21 has a structure including a pair of opposing open and close arc-shaped grippers 212, the opening and closing action of which 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 highly elastic silicone material is specially lined on the inner wall of the arc-shaped grippers 212.

[0075] To achieve 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 flexible clamp 21 at the base of the stem. When the clamps are closed, the sensor monitors the radial pressure acting on the stem in real time. Once a preset, extremely slight pressure threshold is reached, such as 0.5 Newtons, the central controller immediately stops driving the micro servo motor 211, thereby achieving constant force clamping. The second solution is to utilize 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 achieve constant force adaptive clamping of the seedling stem by controlling the motor's output current to a constant value. Both solutions ensure that the radial pressure applied by the flexible clamp 21 at the base of the stem is the same and a preset small value, regardless of the thickness of the seedling. This eliminates the measurement error caused by inconsistent clamping force, which is the first guarantee for achieving non-destructive measurement.

[0076] The micro-stroke ball screw lifting unit 22 includes a high-precision stepper motor 221, a reduction mechanism 222, and a precision ball screw pair 223;

[0077] The micro-stroke lead screw lifting unit 22 integrates a high-precision displacement sensor 224 to form a position closed-loop control;

[0078] To ensure that the dosage of each lifting disturbance, i.e. the total stroke and rate of lifting, are strictly consistent, the micro-stroke lead screw lifting unit 22 in this embodiment has been specifically designed; this unit is designed to provide extremely precise vertical linear motion in both speed and displacement.

[0079] The core drive components of this unit consist of a high-precision stepper motor 221, a reduction mechanism 222, and a precision ball screw pair 223. The stepper motor provides precisely step-by-step rotary motion, the reduction mechanism 222 is used to increase the output torque and reduce the speed, and the precision ball screw pair 223 is responsible for efficiently and smoothly converting the rotary motion into precise linear displacement.

[0080] To achieve precise displacement control, the unit also integrates a high-precision displacement sensor 224. This sensor can be a rotary encoder mounted on the stepper 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 and compared with the commanded position to form a position closed-loop control. This closed-loop control design ensures the precise completion of the lifting stroke. For example, within a stroke of 0.5 mm, the error can be controlled at the micrometer level, thus providing a second layer of protection against standardized mechanical disturbances.

[0081] The mechanical sensor 31 is a high-precision mechanical sensor, which is rigidly connected in series between the flexible clamp 21 at the base of the stem and the micro-stroke screw lifting unit 22, and is used to measure the reaction force of the seedling.

[0082] In order to accurately measure the mechanical response of seedlings when subjected to lifting disturbance, the mechanical sensor 31 in this embodiment is specifically described;

[0083] The mechanical sensor 31 is a high-precision mechanical sensor, such as a miniature weighing sensor or a tension / compression sensor, whose range and resolution need to match the tiny reaction force generated by the seedling; in terms of installation, the sensor is rigidly connected in series between the flexible clamp at the base of the stem 21 and the transmission chain of the micro-stroke screw lifting unit 22.

[0084] This connection method ensures that when the micro-stroke screw lifting unit 22 moves upward, all the reaction forces generated by the seedling roots and soil, i.e. root fixation force, must be transmitted through the mechanical sensor 31; therefore, the sensor can measure the total reaction force value without omission, providing the most original and critical mechanical signal input for subsequent health status analysis.

[0085] Soil sensor 32 is a soil moisture sensor used to accurately measure the real-time humidity value in the root zone of seedlings;

[0086] In order to solve the technical problem that the measured root fixation force is affected by the interference of the soil's own physical properties, the soil sensor 32 in this embodiment is described in detail.

[0087] The study found that the most significant interference factors affecting root fixation measurement are the cohesive force and friction of the soil matrix itself, and the magnitude of this force is highly nonlinearly correlated with the soil moisture value. Therefore, in order to isolate this interference term from the total fixation signal, it is necessary to accurately measure the soil moisture at the moment of disturbance.

[0088] In this embodiment, a soil moisture sensor is used as the soil sensor 32, and its probe is deployed in the main distribution area of ​​the root system of the seedling to be tested in the cultivation substrate. The sensor is used to measure the humidity value in the root zone in real time and accurately. The measured real-time humidity value will be used as a key environmental background parameter and synchronously transmitted to the central control and analysis module 4 for use in the subsequent core decoupling algorithm.

[0089] The central control and analysis module 4 has a built-in core decoupling algorithm;

[0090] The core decoupling algorithm is used to query the humidity-fixation influence coefficient model pre-set in the system based on the real-time humidity value measured by the soil sensor 32, and obtain the expected fixation benchmark value of the soil matrix under the humidity condition.

[0091] The central control and analysis module 4 is further used to compare and analyze the total fixation force measured by the mechanical sensor 31 with the fixation force reference value in order to calculate an index reflecting the health status of the root system itself.

[0092] One normalization method is to use this difference, i.e. In addition to biomass parameters that can characterize the size of individual seedlings, such as the diameter of the base of the seedling stem measured by machine vision or manually, the influence of differences in individual seedling size is eliminated, thereby obtaining a relatively more comparable root health index.

[0093] In order to accurately separate the pure indicators that can truly reflect the health status of the root system from the mixed mechanical signals that include root contributions and soil contributions, the central control and analysis module 4 and its built-in algorithm in this embodiment are described in detail.

[0094] The core technology built into this module is a decoupling algorithm, and the logic chain implemented is as follows:

[0095] Quantitative calibration of interference factors: Before using the device for diagnosis, a humidity-fixation influence coefficient model needs to be established in advance. The method for establishing this model is as follows: only the same type of cultivation substrate as used in actual cultivation is placed in the cultivation container 1, but no plants are planted. Then, the moisture content of the substrate is artificially and stepwise changed from completely dry to saturated, forming a series of humidity gradient points. At each humidity point, the micro-pulling force execution module 2 of this device is used to perform a standardized lifting action that is exactly the same as that in actual testing, and the resistance generated purely by the substrate itself at this time is measured, i.e., the fixation interference term. The humidity-fixation influence coefficient model is formed by fitting the resistance values ​​measured at different humidity levels. This model is preset in the memory of the central control and analysis module 4 in the form of data curves or functions.

[0096] Synchronous acquisition of coupling signals and reference value query; When diagnosing samples carrying real seedlings, the module instructs the mechanical sensor 31 to acquire the measured total fixation force on the one hand, and simultaneously instructs the soil moisture sensor to acquire the real-time humidity value in the root zone on the other hand; The algorithm takes this "real-time humidity value" as input to query the preset humidity-fixation force influence coefficient model, thereby obtaining the expected fixation force reference value that the soil matrix itself will generate under this humidity condition.

[0097] The algorithm is based on model-based interference removal and index calculation. It compares and analyzes the total fixation force measured by the mechanical sensor 31 with the reference fixation force value obtained by query. The direct calculation method is to subtract the reference fixation force value from the total fixation force. The difference mainly reflects the fixation capacity contributed by the root system. After normalization, the difference can be output as an index reflecting the health status of the root system. Through this complete calibration-measurement-decoupling logic, the device successfully transforms soil moisture from an interference variable into a known calibration parameter, thereby achieving accurate extraction of the target signal.

[0098] 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;

[0099] The central control and analysis module 4 controls the motor inside the micro-tension execution module 2 through the drive signal line, forming a closed loop of command issuance and data feedback;

[0100] To achieve automated closed-loop control of the entire diagnostic process, the electrical connections and control relationships between the modules in this embodiment are described in detail.

[0101] 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 via data cables; the signal acquisition unit is responsible for acquiring, conditioning, and converting the analog or digital signals output by each sensor.

[0102] Meanwhile, the central control and analysis module 4 is connected to the power components inside the micro-tension execution module 2 via drive signal lines, namely the micro servo motor 211 used to drive the opening and closing of the gripper and the high-precision stepper motor 221 used to drive the movement of the micro-stroke lead screw lifting unit 22.

[0103] Based on the above connections, a complete closed-loop control link is formed: the central control and analysis module 4 sends motion commands to the downstream motors according to the preset program, the motors execute the actions and drive the mechanical structure to apply disturbance to the seedlings. During this process, the changes in physical quantities such as force, displacement, and humidity generated by each sensor are fed back to the central control and analysis module 4 upstream in the form of data signals. This closed loop of command issuance and data feedback ensures the automation, accuracy and data synchronization of the entire detection process.

[0104] Example 2

[0105] Please see Figure 5 A control method for a cultivation device for preventing damage to *Sapindus mukorossi* seedlings, the method comprising the following steps:

[0106] Drive and Disturbance: The central control and analysis module 4 drives the micro-tension execution module 2 to apply a preset mechanical disturbance to the seedlings;

[0107] Synchronous acquisition: While the disturbance is applied, the central control and analysis module 4 simultaneously 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.

[0108] Querying the baseline value: Based on the collected real-time humidity value, the central control and analysis module 4 queries the humidity-fixation influence coefficient model preset in the system to obtain the baseline value of fixation generated by the cultivation substrate itself under the humidity conditions.

[0109] Decoupled calculation: The central control and analysis module 4 compares and analyzes the measured total fixation force with the queried fixation force benchmark value, and calculates an indicator that can reflect the health status of the root system itself.

[0110] This embodiment specifically illustrates the above-mentioned non-destructive diagnostic control method for plant root health based on micro-perturbation response. This method aims to achieve accurate, non-destructive, and quantitative assessment of the root health status of seedlings through an automated closed-loop control process. The execution of this method relies on a diagnostic device, which mainly consists of a central control and analysis module 4, a micro-tension execution module 2, and a multi-physical quantity sensing module 3.

[0111] Before performing routine diagnostic tasks, a one-time preliminary calibration of the system is required to establish a baseline model for subsequent decoupled calculations. The specific steps are as follows: In cultivation container 1, only cultivation substrate of the exact same type, density, and compaction degree as used in actual cultivation is placed, but no seedlings are planted; by artificially varying the substrate's moisture content in a stepped manner, the binding force generated purely by the substrate itself is measured at multiple humidity gradient points from completely dry to saturated using the device's standard lifting action; by fitting these binding force values ​​under different humidity levels, a humidity-binding force influence coefficient model is constructed, which can be expressed as a functional relationship. Where H represents the humidity value, This represents the baseline value of the soil matrix's own adhesion at this humidity level. This model is pre-stored in the central control and analysis module 4.

[0112] After completing the above calibration, the detailed steps of the automated control method for diagnosing samples containing seedlings to be tested are as follows:

[0113] Drive and disturbance

[0114] The diagnostic process is initiated by the central control and analysis module 4. The module controls the flexible clamp 21 at the base of the stem at the end of the micro-tension execution module 2 through the drive signal line, so that it clamps the stem of the seedling to be tested near the ground with a preset, constant micro pressure. The module precisely drives the micro-stroke screw lifting unit 22, which drives the flexible clamp 21 at the base of the stem to perform a vertical lift of a small distance at a standardized speed, such as a stroke of 0.5 mm.

[0115] The standardization speed here is preferably a preset, constant low rate, for example, 0.1 mm / s; using a constant and low rate is to minimize the interference of dynamic effects and soil viscoelastic behavior on the measurement results, ensuring that the measurement is of the quasi-static fixation force, thereby improving the comparability and accuracy between different measurements.

[0116] This process applies a standardized, repeatable, and non-damaging mechanical disturbance to subsequent measurements.

[0117] Synchronous acquisition

[0118] At the instant the micro-stroke lead screw lifting unit 22 performs the lifting action, the signal acquisition unit of the central control and analysis module 4 will collect two sets of key data from the multi-physical quantity sensing module 3 at high frequency and synchronously:

[0119] The total fixed force signal, measured in real time by the mechanical sensor 31 connected in series in the transmission chain, is denoted as... This signal represents the total reaction force of the seedling roots and soil matrix resisting the lifting action.

[0120] The current humidity value, measured in real time by soil moisture sensors deployed in the root zone of the seedlings, is denoted as... ;

[0121] The synchronization of the data ensured that the measured total fixation and soil moisture values ​​were obtained at exactly the same point in time, providing a basis for subsequent accurate analysis;

[0122] Query baseline value

[0123] Once data acquisition is complete, the core decoupling algorithm within the central control and analysis module 4 is immediately activated; the algorithm uses the real-time humidity value acquired in the second step as... Input variables, query the preset humidity-fixation influence coefficient model in memory, i.e., calculate This query provides the baseline value of the expected adhesion force generated solely by the soil matrix under current humidity conditions. ;

[0124] Decoupling computation

[0125] The algorithm will use the total fixed force measured by the mechanical sensor 31 Compared with the fixed force reference value obtained from the query A comparative analysis is performed; a direct calculation method is to perform a subtraction operation, and the difference mainly reflects the additional fixation capacity contributed by the root system; after normalization, this difference can be output as the final indicator reflecting the health status of the root system itself. The core calculation formula is:

[0126]

[0127] Through this complete control and calculation process of calibration-measurement-decoupling, this method successfully transforms soil moisture, a key environmental disturbance factor, from a variable into a known calibration parameter, thereby accurately separating and quantifying the root system's own health indicators and achieving fully automated, high-precision, and non-destructive diagnosis.

[0128] This health indicator As a quantitative evaluation value, its practical application value lies in the fact that managers can compare it with the average value of indicators measured in a group of healthy seedlings of the same batch and growth stage to determine whether a single seedling has developmental delay or root health problems; or, by conducting long-term and regular measurements on the same seedling, a growth curve of its root fixation can be constructed, thereby dynamically tracking its development rate and health trend, providing decision support for advanced applications such as graded screening and precision water and fertilizer management.

[0129] 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 it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A device for cultivating *Sapindus mukorossi* seedlings to prevent damage, characterized in that, include: Cultivation container (1), the cultivation container (1) is used to hold the seedlings to be tested and the cultivation substrate; The micro-tension actuator (2) is positioned 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 to the cultivation container (1) by 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 in the transmission chain of the micro-tension actuation module (2) and a soil sensor (32) for deployment in the cultivation substrate. 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 seedling, and simultaneously collect the response signal of the multi-physical quantity sensing module (3); The micro-tension execution module (2) includes a stem base flexible clamp (21) and a micro-stroke screw lifting unit (22). The flexible clamp at the base of the stem (21) is located at the end of the micro-pulling force execution module (2) and is used to make a non-invasive physical connection with the base of the stem of the seedling near the ground to transmit the lifting action. The micro-stroke lead screw lifting unit (22) is used to drive the stem base flexible clamp (21) to perform vertical linear movement; 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 pre-set in the system based on the real-time humidity value measured by the soil sensor (32) to obtain the expected fixation benchmark value of the soil matrix under the humidity condition. In the cultivation container (1), only the cultivation substrate of the same type as that used in actual cultivation is placed, but no plants are planted; then, the moisture content of the substrate is changed artificially and stepwise, from completely dry to saturated, forming a series of humidity gradient points; at each humidity point, the micro-pulling force execution module (2) of this device is used to perform a standardized lifting action that is exactly the same as that in actual testing, and the resistance generated purely by the substrate itself at this time is measured, that is, the fixation interference term; by fitting this series of resistance values ​​measured under different humidity, a humidity-fixation influence coefficient model is formed. The central control and analysis module (4) is further used to compare and analyze the total fixation force measured by the mechanical sensor (31) with the fixation force benchmark value to calculate an index reflecting the health status of the root system itself. The direct calculation method is to subtract the baseline value of fixation from the total fixation force. The difference mainly reflects the additional fixation capacity contributed by the root system. After normalization, this difference can be output as an indicator reflecting the health status of the root system itself.

2. The anti-damage cultivation device for *Sapindus mukorossi* seedlings according to claim 1, characterized in that, The flexible stem base holder (21) includes relatively opening and closing arc-shaped grippers (212) driven by a micro servo motor (211). The inner wall of the arc-shaped gripper (212) is lined with highly elastic silicone. The flexible clamp at the base of the stem (21) is equipped with a micro pressure sensor (213) or uses the motor current of the micro servo motor (211) to achieve constant force adaptive clamping of the seedling stem.

3. The anti-damage cultivation device for *Sapindus mukorossi* seedlings according to claim 1, characterized in that, The micro-stroke screw lifting unit (22) includes a high-precision stepper motor (221), a reduction mechanism (222), and a precision ball screw pair (223). The micro-stroke lead screw lifting unit (22) integrates a high-precision displacement sensor (224) to form a position closed-loop control.

4. The anti-damage cultivation device for *Sapindus mukorossi* seedlings according to claim 1, characterized in that, The mechanical sensor (31) is a high-precision mechanical sensor (31), which is rigidly connected in series between the flexible clamp (21) at the base of the stem and the micro-stroke screw lifting unit (22) to measure the reaction force of the seedling.

5. The anti-damage cultivation device for *Sapindus mukorossi* seedlings 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.

6. The anti-damage cultivation device for *Sapindus mukorossi* seedlings 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 inside the micro-tension execution module (2) through the drive signal line, forming a closed loop of command issuance and data feedback.

7. A control method for a cultivation device for preventing damage to *Sapindus mukorossi* seedlings, characterized in that, The method, applied to the anti-damage cultivation device for *Sapindus mukorossi* seedlings according to any one of claims 1-6, comprises the following steps: Drive and Disturbance: 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: While the disturbance is applied, the central control and analysis module (4) simultaneously 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); Query the baseline value: The central control and analysis module (4) queries the humidity-fixation influence coefficient model preset in the system based on the collected real-time humidity value to obtain the baseline value of fixation generated by the cultivation substrate itself under the humidity conditions. Decoupling calculation: The central control and analysis module (4) compares and analyzes the measured total fixation force with the queried fixation force benchmark value, and calculates an indicator that can reflect the health status of the root system itself.

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