Waxberry seedling raising and fertilizing device and method

Abstract

The invention provides a waxberry seedling raising and fertilizing device and method. The method comprises the following steps: acquiring canopy information of waxberry seedlings to be fertilized in a waxberry seedling raising area; identifying the seedling condition grade of the waxberry sapling to be fertilized according to the canopy information; triggering a fertilization monitor according to the seedling condition level to scan the root distribution density and soil nutrient abundance of the rhizosphere soil area of the waxberry saplings to be fertilized; according to the root system distribution density information and the soil nutrient abundance information of the rhizosphere soil area, determining a limiting ring belt of a fertilizer control plate when annular furrow application is performed on the waxberry saplings to be fertilized in combination with a vertical coverage surface of the fertilizer control plate; determining the minimum constraint value of the fertilization spacing when the waxberry saplings to be fertilized are fertilized by combining the limiting ring belts with the positions of the main absorbing root zones of the waxberry saplings to be fertilized; and controlling the fertilizer control panel to perform constrained fertilization on the waxberry seedlings to be fertilized based on the minimum constraint value. According to the technical scheme provided by the invention, the chemical fertilizer can be controlled to cover the effective absorption area of the waxberry saplings to be fertilized.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent agricultural power machinery, in particular to a waxberry seedling fertilization device and method. BACKGROUND

[0002] In the current process of global agricultural modernization, intelligent agricultural power machinery emerges as the times require. With the rapid development of technology, artificial intelligence, sensors, satellite positioning and other technologies are becoming mature, providing technical support for the development of intelligent agricultural power machinery. Artificial intelligence technology gives the machinery autonomous decision-making capabilities, enabling it to adjust operation parameters in real time based on farmland environment and crop growth conditions. Sensors can accurately perceive information such as soil moisture, fertility, and crop diseases and pests. Satellite positioning enables high-precision navigation, ensuring that the machinery operates according to the preset path. The integration of these technologies has promoted the transition of agricultural power machinery from traditional to intelligent, significantly improving agricultural production efficiency and quality.

[0003] In existing intelligent agricultural power machinery, intelligent agricultural power machinery mainly relies on sensors, controllers and actuators to build a precise and efficient control system. That is, the sensors constantly collect monitoring data, and the algorithms and models built into the controller analyze the data, compare them with the preset crop growth parameters and operation standards, make decisions, and send decision instructions to the actuators through the controller to accurately control the operation of the machinery. However, in the control of waxberry seedling fertilization, traditional fertilization methods rely on fixed fertilization modes and do not combine the dual dynamic data of tree crown layer characteristics (such as photosynthesis area and branch density) and fertilization spacing, making it impossible to fertilize at the appropriate location of the waxberry seedlings to be fertilized. Therefore, it is difficult to cover the fertilizer in the effective absorption area of the waxberry seedlings to be fertilized, resulting in seedling burning problems in the waxberry seedlings to be fertilized. Therefore, how to cover the fertilizer in the effective absorption area of the waxberry seedlings to be fertilized has become a difficult problem in the industry. SUMMARY

[0004] The application provides a waxberry seedling fertilization device and method that can control the coverage of fertilizer in the effective absorption area of the waxberry seedlings to be fertilized.

[0005] In a first aspect, the application provides a waxberry seedling fertilization control method for controlling the fertilization of a waxberry seedling fertilization device. The waxberry seedling fertilization device is provided with a fertilization monitor and a fertilizer control panel. The method includes the following steps: Obtain the crown layer information of the waxberry seedlings to be fertilized in the waxberry seedling area through the fertilization monitor in the waxberry seedling fertilization device; Identify the seedling condition grade of the waxberry seedlings to be fertilized according to the crown layer information; The seedling condition grade triggers the fertilizer monitor to scan the rhizosphere soil area of the to-be-fertilized bayberry seedling for root distribution density and soil nutrient abundance, and determines a limiting ring zone of the fertilizer control plate for ring ditch fertilization of the to-be-fertilized bayberry seedling according to the root distribution density and the soil nutrient abundance of the rhizosphere soil area and the vertical coverage of the fertilizer control plate; The fertilizer control plate is moved into the limiting ring zone, and the minimum constraint value of the fertilization spacing for the to-be-fertilized bayberry seedling is determined by the limiting ring zone in combination with the main absorption root zone position of the to-be-fertilized bayberry seedling; The fertilizer control plate is controlled to perform constrained fertilization on the to-be-fertilized bayberry seedling based on the minimum constraint value.

[0006] In some embodiments, identifying the seedling condition grade of the to-be-fertilized bayberry seedling according to the crown layer information specifically includes: extracting crown layer morphological features of the to-be-fertilized bayberry seedling in different dimensions based on the crown layer information; identifying the seedling condition grade of the to-be-fertilized bayberry seedling according to the crown layer morphological features in each dimension.

[0007] In some embodiments, extracting the crown layer morphological features of the to-be-fertilized bayberry seedling in different dimensions based on the crown layer information specifically includes: extracting leaf density from the crown layer information as the crown layer morphological feature of the to-be-fertilized bayberry seedling in the spatial dimension; generating a reflectivity grid map of the crown layer structure of the to-be-fertilized bayberry seedling based on the multispectral image in the crown layer information, and determining a chlorophyll distribution index of the crown layer structure as the crown layer morphological feature of the to-be-fertilized bayberry seedling in the spectral dimension by the reflectivity grid map in combination with a preset chlorophyll content mapping table; calculating a crown layer growth trend of the crown layer structure as the crown layer morphological feature of the to-be-fertilized bayberry seedling in the time dimension based on the crown layer volume change data in the crown layer information.

[0008] In some embodiments, the seedling condition grade triggers the fertilizer monitor to scan the rhizosphere soil area of the to-be-fertilized bayberry seedling for root distribution density and soil nutrient abundance specifically includes: when the seedling condition grade is less than a set seedling condition grade, triggering the fertilizer monitor to scan the rhizosphere soil area of the to-be-fertilized bayberry seedling for root distribution density and soil nutrient abundance; when the seedling condition grade is greater than or equal to the set seedling condition grade, not triggering the fertilizer monitor to scan the rhizosphere soil area of the to-be-fertilized bayberry seedling for root distribution density and soil nutrient abundance.

[0009] In some embodiments, the limiting ring belt of the fertilizer control plate for ring ditch fertilization of the to-be-fertilized waxberry seedlings is determined according to the root distribution density information and the soil nutrient abundance information of the rhizosphere soil region in combination with the vertical coverage of the fertilizer control plate, and specifically includes: obtaining the root distribution density information, the soil nutrient abundance information of the rhizosphere soil region, and the vertical coverage of the fertilizer control plate; performing root density peak value identification on the root scanning image in the root distribution density information, and then obtaining the density peak point coordinates of the root aggregation area of the to-be-fertilized waxberry seedlings; determining a rhizosphere protection first boundary for ring ditch fertilization of the to-be-fertilized waxberry seedlings based on the density peak point coordinates and the soil nutrient abundance information; determining a rhizosphere protection second boundary for ring ditch fertilization of the to-be-fertilized waxberry seedlings according to the rhizosphere protection first boundary and the vertical coverage; constructing the limiting ring belt of the fertilizer control plate for ring ditch fertilization of the to-be-fertilized waxberry seedlings according to the rhizosphere protection first boundary and the rhizosphere protection second boundary.

[0010] In some embodiments, the minimum constraint value of the fertilization spacing for fertilization of the to-be-fertilized waxberry seedlings is determined by the limiting ring belt in combination with the main absorption root area position of the to-be-fertilized waxberry seedlings, and specifically includes: determining the main absorption root area position of the to-be-fertilized waxberry seedlings; extracting a ring-shaped center line in the limiting ring belt; determining the minimum constraint value of the fertilization spacing for fertilization of the to-be-fertilized waxberry seedlings based on the ring-shaped center line and the main absorption root area position.

[0011] In some embodiments, a plurality of types of sensors are arranged in the fertilization monitor.

[0012] In a second aspect, the present application provides a waxberry seedling fertilization device, which comprises a fertilization monitor, a fertilizer control plate, and a fertilization control unit, and the fertilization control unit comprises: an acquisition module, configured to acquire, by the fertilization monitor in the waxberry seedling fertilization device, canopy information of to-be-fertilized waxberry seedlings in a waxberry seedling cultivation area; a processing module, configured to identify a seedling condition grade of the to-be-fertilized waxberry seedlings according to the canopy information; the processing module is further configured to trigger the fertilization monitor to scan the root distribution density and the soil nutrient abundance of the rhizosphere soil region of the to-be-fertilized waxberry seedlings according to the seedling condition grade, and determine the limiting ring belt of the fertilizer control plate for ring ditch fertilization of the to-be-fertilized waxberry seedlings according to the root distribution density information and the soil nutrient abundance information of the rhizosphere soil region in combination with the vertical coverage of the fertilizer control plate; The processing module is further configured to move the fertilizer control plate into the limiting ring belt, and then determine a minimum constraint value of a fertilization spacing when fertilizing the to-be-fertilized myrica rubra seedlings by combining the main absorption root zone position of the to-be-fertilized myrica rubra seedlings with the limiting ring belt; The execution module is configured to control the fertilizer control plate to perform constrained fertilization on the to-be-fertilized myrica rubra seedlings based on the minimum constraint value.

[0013] In a third aspect, the present application provides a computer device, which comprises a memory and a processor, the memory stores a code, and the processor is configured to acquire the code and execute the myrica rubra seedling fertilization control method.

[0014] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the myrica rubra seedling fertilization control method.

[0015] The technical scheme provided by the embodiments of the present application has the following beneficial effects: In the myrica rubra seedling fertilization device and method provided by the present application, first, the crown layer information of the to-be-fertilized myrica rubra seedlings in the myrica rubra seedling fertilization area is acquired by the fertilization monitor in the myrica rubra seedling fertilization device; second, the seedling condition grade of the to-be-fertilized myrica rubra seedlings is identified according to the crown layer information; further, the root system distribution density and soil nutrient abundance of the rhizosphere soil area of the to-be-fertilized myrica rubra seedlings are scanned by the fertilization monitor triggered by the seedling condition grade, and the limiting ring belt of the fertilizer control plate when performing ring-shaped ditch fertilization on the to-be-fertilized myrica rubra seedlings is determined according to the root system distribution density information and soil nutrient abundance information of the rhizosphere soil area combined with the vertical coverage of the fertilizer control plate; then, the fertilizer control plate is moved into the limiting ring belt, and then the minimum constraint value of the fertilization spacing when fertilizing the to-be-fertilized myrica rubra seedlings is determined by combining the main absorption root zone position of the to-be-fertilized myrica rubra seedlings with the limiting ring belt; finally, the fertilizer control plate is controlled to perform constrained fertilization on the to-be-fertilized myrica rubra seedlings based on the minimum constraint value.

[0016] It can be seen that the application can cover the fertilizer on the effective absorption area of the fertilized bayberry seedling. First, the crown layer information of the fertilized bayberry seedling in the bayberry seedling fertilization monitoring device is obtained, thereby providing data support for the seedling condition analysis of the fertilized bayberry seedling. Second, the seedling condition grade of the fertilized bayberry seedling is identified according to the crown layer information, so as to comprehensively consider the crown layer morphological characteristics and quickly identify the nutrient deficiency of the seedling, thereby dynamically adjusting the fertilization strategy, avoiding the waste of fertilizer resources and environmental burden. Further, the limiting ring belt of the fertilizer control plate for the fertilized bayberry seedling is determined according to the root distribution density information and soil nutrient abundance information of the rhizosphere soil area and the vertical covering area of the fertilizer control plate, so as to effectively determine the movement and fertilization operation boundary of the fertilizer control plate, ensure that the fertilization position accurately matches the extension characteristics of the root system and the nutrient demand gradient, and thereby avoid the poor fertilization effect caused by the fixed fertilization mode of the traditional fertilization method. Then, the minimum constraint value of the fertilized bayberry seedling is determined by the limiting ring belt combined with the main absorption root area position of the fertilized bayberry seedling, so as to effectively constrain the fertilization of the fertilized bayberry seedling, avoid the uneven nutrient absorption problem caused by the traditional single position fertilization and the seedling burning problem caused by improper fertilization spacing, and thereby improve the fertilization effectiveness of the fertilized bayberry seedling. Finally, the fertilizer control plate is controlled to constrain the fertilization of the fertilized bayberry seedling based on the minimum constraint value, so as to cover the fertilizer on the effective absorption area of the fertilized bayberry seedling. In summary, the technical scheme provided by the application can control the fertilizer to cover the effective absorption area of the fertilized bayberry seedling. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is an exemplary flowchart of a bayberry seedling fertilization control method according to some embodiments of the application; Figure 2 is a structural schematic diagram of a bayberry seedling fertilization device according to some embodiments of the application; Figure 3 is an exemplary flowchart of determining a minimum constraint value according to some embodiments of the application; Figure 4 is a structural schematic diagram of a fertilization control unit according to some embodiments of the application; Figure 5 is a structural schematic diagram of a computer device for implementing a bayberry seedling fertilization control method according to some embodiments of the application. DETAILED DESCRIPTION

[0018] In order to better understand the technical scheme of the application, the technical scheme of the application will be described in detail below in combination with the drawings in the specification and specific embodiments.

[0019] REFERENCE Figure 1Fig. 1 is an exemplary flow chart of a method for controlling fertilization of seedlings of a waxberry according to some embodiments of the present application, which mainly comprises the following steps: In step 101, the crown layer information of the seedlings of the waxberry to be fertilized in the waxberry seedling fertilization area is obtained by a fertilization monitor in the waxberry seedling fertilization device.

[0020] In a specific implementation, the crown layer information of the seedlings of the waxberry to be fertilized in the waxberry seedling fertilization area is obtained by a fertilization monitor in the waxberry seedling fertilization device. Specifically, a plurality of types of sensors are provided in the fertilization monitor, such as a three-dimensional laser radar, a depth camera, a multispectral imager, an underground imaging radar, etc. The crown layer structure of the seedlings of the waxberry to be fertilized in the waxberry seedling fertilization area is scanned by these sensors to obtain the crown layer information of the seedlings of the waxberry to be fertilized in the waxberry seedling fertilization area, and the scanning information obtained by scanning is uploaded to a waxberry seedling fertilization monitoring database.

[0021] It should be noted that the crown layer information in the present application represents the scanning information of the crown layer structure of the seedlings of the waxberry to be fertilized, and the crown layer information contains information such as the shape, size, and branch and leaf density of the crown layer structure of the seedlings of the waxberry to be fertilized. The waxberry seedling fertilization device in the present application is a device specially used for fertilization operation in the process of waxberry seedling cultivation, which is composed of a fertilizer storage tank, a fertilization pipeline, a fertilizer control panel, a fertilization arm, a base, a fertilization monitor, etc. For reference Figure 2 Fig. 2 is a schematic diagram of the structure of the waxberry seedling fertilization device, in which the fertilizer storage tank is used to store fertilizer, the fertilization pipeline is used to deliver the fertilizer to the fertilizer control panel, the fertilizer control panel controls the fertilizer to be uniformly sprayed in the soil around the roots of the seedlings of the waxberry to be fertilized, and the fertilization monitor is used to monitor the fertilization object or the environment around the fertilization.

[0022] It should also be noted that the crown layer structure of the seedlings of the waxberry to be fertilized in the present application refers to the part of the seedlings of the waxberry to be fertilized above the main stem together with the branches and leaves thereof, which is mainly composed of the main branches and auxiliary branches from the structure of the tree. By scanning the crown layer structure of the seedlings of the waxberry to be fertilized in the waxberry seedling fertilization area, the crown layer information of the seedlings of the waxberry to be fertilized can be obtained, such as the shape, size, and branch and leaf density of the crown layer structure, etc., so as to determine whether the growth of the seedlings is good, whether there is over-dense growth, over-dilute growth, or partial branch and leaf growth, etc., thereby providing a basis for formulating a reasonable fertilization plan.

[0023] In step 102, the seedling grade of the seedlings of the waxberry to be fertilized is identified according to the crown layer information.

[0024] In some embodiments, the seedling grade of the seedlings of the waxberry to be fertilized can be identified according to the crown layer information by the following steps, i.e.: extracting, based on the canopy information, canopy morphological characteristics of the to-be-fertilized bayberry seedlings in different dimensions; According to the canopy morphological characteristics in each dimension, the seedling condition grade of the to-be-fertilized bayberry seedlings is identified.

[0025] In some embodiments, the step of extracting, based on the canopy information, canopy morphological characteristics of the to-be-fertilized bayberry seedlings in different dimensions can be implemented by the following steps: extracting leaf density from the canopy information as the canopy morphological characteristics of the to-be-fertilized bayberry seedlings in the spatial dimension; generating a reflectivity grid map of the canopy structure of the to-be-fertilized bayberry seedlings based on the multispectral image in the canopy information, and determining the chlorophyll distribution index of the canopy structure as the canopy morphological characteristics of the to-be-fertilized bayberry seedlings in the spectral dimension by combining the reflectivity grid map with a pre-set chlorophyll content mapping table; based on the canopy volume change data in the canopy information, calculating the canopy growth trend of the canopy structure as the canopy morphological characteristics of the to-be-fertilized bayberry seedlings in the time dimension.

[0026] In specific implementation, the leaf density is extracted from the canopy information as the canopy morphological characteristics of the to-be-fertilized bayberry seedlings in the spatial dimension, that is, the three-dimensional point cloud data of the canopy structure of the to-be-fertilized bayberry seedlings is extracted from the canopy information, the three-dimensional point cloud data is obtained by scanning the canopy structure of the to-be-fertilized bayberry seedlings by a three-dimensional laser radar, all leaf point clouds are segmented from the three-dimensional point cloud data by a pre-trained point cloud deep learning model (PointNet), a minimum convex hull calculation is performed on all leaf point clouds by a three-dimensional convex hull algorithm, the volume of the minimum convex hull is taken as the canopy volume, and the quotient of the number of leaf point clouds and the canopy volume is taken as the leaf density, which is then taken as the canopy morphological characteristics of the to-be-fertilized bayberry seedlings in the spatial dimension; wherein the training data of the pre-trained point cloud deep learning model (PointNet) is the point cloud categories of artificial labeled leaves, branches, backgrounds, etc., which will not be described here; wherein the minimum convex hull calculation on all leaf point clouds by the three-dimensional convex hull algorithm is that all leaf point clouds are taken as input variables to input the compute_convex_hull function of the Open3D library in the three-dimensional convex hull algorithm to calculate the volume of the minimum convex hull, which will not be described here.

[0027] In a specific implementation, a reflectance grid image of the canopy structure of the to-be-fertilized Chinese bayberry seedling is generated based on the multispectral image in the canopy information, and a chlorophyll distribution index of the canopy structure is determined as a canopy morphological feature of the to-be-fertilized Chinese bayberry seedling in the spectral dimension by combining the reflectance grid image with a preset chlorophyll content mapping table, that is, a multispectral image in the canopy information is obtained, the multispectral image is obtained by scanning the canopy structure of the to-be-fertilized Chinese bayberry seedling by a multispectral imager, and the multispectral image includes spectral images in near-infrared and red wave bands. A reflectance grid image of the canopy structure of the to-be-fertilized Chinese bayberry seedling is generated by using a rasterio library of Python to traverse the multispectral image pixel by pixel, the reflectance grid image contains reflectance ratios at a plurality of pixel points, the reflectance ratio is a ratio of a pixel value in the near-infrared wave band to a pixel value in the red wave band at the same pixel point, each reflectance ratio in the reflectance grid image is mapped to a preset chlorophyll content mapping table as a variable parameter to obtain all chlorophyll mapping values, a mean value of all chlorophyll values is taken as the chlorophyll distribution index of the canopy structure, and the chlorophyll distribution index is taken as the canopy morphological feature of the to-be-fertilized Chinese bayberry seedling in the spectral dimension. The preset chlorophyll content mapping table is constructed based on laboratory calibration data, and a specific method is to collect leaf samples of the to-be-fertilized Chinese bayberry seedling, measure an actual chlorophyll content (unit: μg / cm²) by using a chlorophyll meter (such as Konica Minolta SPAD-502), synchronously measure pixel values in the near-infrared wave band and the red wave band of the same leaf and calculate a reflectance ratio, and fit a relationship between the reflectance ratio and the chlorophyll content by using linear regression (such as a LinearRegression model of scikit-learn) to form the chlorophyll content mapping table, which is not described herein again.

[0028] It should be noted that the multispectral image in the embodiment represents two-dimensional image data of a plurality of spectral wave bands; the reflectance grid image in the embodiment represents a grid image composed of a plurality of reflectance ratios; the reflectance ratio in the embodiment represents a ratio of reflectances of two specific wave bands, that is, a ratio of reflectances in the near-infrared wave band and the red wave band, in addition, the reflectance is represented by a pixel value; the chlorophyll content mapping table in the embodiment is a table associating the reflectance ratio with the actually measured chlorophyll content, and is fitted by a linear regression fitting formula; the chlorophyll mapping value in the embodiment represents a specific numerical value of the chlorophyll content converted from the reflectance ratio; and the chlorophyll distribution index in the embodiment represents an index of chlorophyll distribution in the canopy structure of the to-be-fertilized Chinese bayberry seedling, which is specifically represented by a statistical feature of all chlorophyll mapping values.

[0029] In a specific implementation, based on the crown volume change data in the crown layer information, a crown growth trend of the crown layer structure is calculated as the crown layer morphological feature of the to-be-fertilized bayberry seedling in the time dimension, that is, all crown volume change rates corresponding to the crown volume change data are calculated, the variance and mean of all crown volume change rates are calculated, and the weighted sum of the mean and the variance is taken as the crown growth trend of the crown layer structure, and the crown growth trend is taken as the crown layer morphological feature of the to-be-fertilized bayberry seedling in the time dimension. The crown volume change rate is the quotient of the difference between the current crown volume and the last crown volume and the time interval between the two. When the mean and the variance are weighted, the weight values of the mean and the variance can be set according to actual needs, which are not limited here. The crown volume change data includes a plurality of crown volume change values, which represent the volume value of the crown layer structure of the to-be-fertilized bayberry seedling. Specifically, the crown volume change data can be obtained from a bayberry seedling fertilization monitoring database, which is not described here.

[0030] In this embodiment, the crown volume change rate represents the absolute change amount of the crown volume of the to-be-fertilized bayberry seedling. In this embodiment, the crown growth trend represents the change trend of the crown volume of the to-be-fertilized bayberry seedling with time.

[0031] It should be noted that the crown layer morphological feature in this embodiment represents the feature state of the to-be-fertilized bayberry seedling in different dimensions. The core role of determining the crown layer morphological feature in different dimensions is to realize precise fertilization decision. The spatial dimension feature can quantify the physical expansion state of the tree crown, the spectral dimension feature directly reflects the leaf photosynthetic capacity and the degree of nutrient deficiency, and the time dimension feature identifies the growth condition of the to-be-fertilized bayberry seedling by dynamically monitoring the growth rate, so as to dynamically adjust the fertilization time and intensity. The synergistic analysis of multi-dimensional features can avoid the blindness of traditional fertilization, accurately match the real-time needs of the seedling, optimize the fertilizer utilization rate, avoid resource waste or environmental pollution caused by excessive fertilization, and at the same time improve the growth uniformity and seedling success rate of the to-be-fertilized bayberry seedling.

[0032] In some embodiments, the seedling grade of the to-be-fertilized bayberry seedling identified according to the crown layer morphological feature in each dimension can be realized by the following steps, that is: Obtain the crown layer morphological feature in each dimension, including the crown layer morphological feature in the spatial dimension, the spectral dimension and the time dimension; The spatial dimension, the spectral dimension and the time dimension are normalized to obtain the normalized crown layer morphological feature of the to-be-fertilized bayberry seedling in different dimensions; Match the weight coefficient of the normalized crown layer morphological feature in the corresponding dimension from the preset weight database; The normalized crown layer morphological features are weighted with the corresponding weight coefficients to obtain a seedling condition comprehensive index of the to-be-fertilized bayberry seedling crown layer morphology. The seedling condition comprehensive index is compared with a preset grade threshold interval to obtain a seedling condition grade of the to-be-fertilized bayberry seedling.

[0033] In specific implementation, the crown layer morphological features in the spatial dimension, the spectral dimension and the time dimension are normalized to obtain the normalized crown layer morphological features of the to-be-fertilized bayberry seedling in different dimensions, that is, the crown layer morphological features in the spatial dimension, the spectral dimension and the time dimension are respectively taken as input variables and input into corresponding maximum-minimum normalization functions, and the results output by the maximum-minimum normalization functions are taken as the normalized crown layer morphological features of the to-be-fertilized bayberry seedling in different dimensions. The maximum-minimum normalization function refers to a process of mapping an input variable to the interval [0, 1], which will not be described herein. In addition, in other embodiments, other normalization methods can be used to normalize the crown layer morphological features in the spatial dimension, the spectral dimension and the time dimension, which will not be limited herein.

[0034] It should be noted that the weight coefficients of the normalized crown layer morphological features in the corresponding dimensions are matched from a preset weight database. The preset weight database is constructed by combining agronomic expert knowledge of the growth stage of the to-be-fertilized bayberry seedling, historical test data and machine learning model training, which will not be described herein. For example, the weight coefficients of the normalized crown layer morphological features in the spatial dimension, the spectral dimension and the time dimension can be respectively set as 0.28, 0.42 and 0.30. In addition, the weight coefficients can be set according to actual needs in other embodiments, which will not be limited herein.

[0035] In specific implementation, the normalized crown layer morphological features are weighted with the corresponding weight coefficients to obtain a seedling condition comprehensive index of the to-be-fertilized bayberry seedling crown layer morphology, that is, the weighted sum of the normalized crown layer morphological features and the corresponding weight coefficients is taken as the seedling condition comprehensive index of the to-be-fertilized bayberry seedling crown layer morphology. In this embodiment, the seedling condition comprehensive index represents a comprehensive index for quantifying the growth condition of the to-be-fertilized bayberry seedling by comprehensively considering multiple seedling condition related indexes. The seedling condition comprehensive index can reflect the current growth and development of the to-be-fertilized bayberry seedling.

[0036] In a specific implementation, the seedling condition comprehensive index is compared with a preset grade threshold interval to obtain the seedling condition grade of the Yangmei seedling to be fertilized, that is, a preset grade threshold interval is obtained, the seedling condition comprehensive index is compared with the preset grade threshold interval, and a grade corresponding to the grade threshold interval to which the seedling condition comprehensive index is mapped is taken as the seedling condition grade of the Yangmei seedling to be fertilized. For example, the grade threshold interval is divided into four grades of seedling condition [0.8, 1.0], three grades of seedling condition [0.6, 0.8), two grades of seedling condition [0.4, 0.6), and one grade of seedling condition [0, 0.4). In addition, in other embodiments, other grade threshold intervals can also be divided according to actual conditions, which are not limited here.

[0037] It should be noted that the grade threshold interval in the present embodiment represents a set of predefined numerical ranges for determining the seedling condition grade of the Yangmei seedling to be fertilized. The grade threshold interval is set by machine learning based on a large number of seedling condition comprehensive indexes. The seedling condition grade in the present application represents the health level of the Yangmei seedling to be fertilized. In the process of fertilizing the Yangmei seedling to be fertilized, the core role of determining the seedling condition grade is to quantify the growth state and soil conditions of the seedling to achieve precise and differentiated fertilization management. The seedling condition grade integrates the crown layer morphological characteristics of the Yangmei seedling to be fertilized in different dimensions of the crown layer structure, generates objective evaluation indexes by using normalization and weight distribution algorithms, and then maps them to the preset grade threshold interval. Through this process, the growth potential and nutritional deficiencies of the seedling can be quickly identified, so as to dynamically adjust the fertilization strategy, avoid resource waste or environmental burden caused by traditional fertilization methods, and at the same time improve the survival rate, photosynthetic efficiency and fruit yield of the seedling. By determining the seedling condition grade, the fertilization strategy can be further optimized, so that the Yangmei seedling to be fertilized can better absorb nutrients.

[0038] In step 103, the root distribution density and soil nutrient abundance of the rhizosphere soil region of the Yangmei seedling to be fertilized are scanned by the fertilization monitor triggered by the seedling condition grade, and the limiting ring belt of the fertilizer control plate for the Yangmei seedling to be fertilized is determined when the fertilizer control plate is used for circular ditch fertilization, according to the root distribution density information and soil nutrient abundance information of the rhizosphere soil region and the vertical coverage of the fertilizer control plate.

[0039] In some embodiments, the scanning of the root distribution density and soil nutrient abundance of the rhizosphere soil region of the Yangmei seedling to be fertilized triggered by the seedling condition grade can be achieved by the following steps, that is: When the seedling condition grade is less than the set seedling condition grade, the scanning of the root distribution density and soil nutrient abundance of the rhizosphere soil region of the Yangmei seedling to be fertilized is triggered by the fertilization monitor; When the seedling condition level is greater than or equal to the set seedling condition level, the fertilizer monitor does not trigger the scanning of the root distribution density and soil nutrient abundance of the rhizosphere soil area of the to-be-fertilized bayberry seedling.

[0040] In a specific implementation, first, when the seedling condition level is less than the set seedling condition level, the preset seedling condition level can be set according to actual needs. For example, the set seedling condition level can be set to level two, indicating that the to-be-fertilized bayberry seedling has problems such as slow growth, yellow leaves, and weak plants, and the problems are caused by reasons such as insufficient soil fertility and unbalanced nutrient supply. Therefore, the fertilizer monitor triggers the scanning of the root distribution density and soil nutrient abundance of the rhizosphere soil area of the to-be-fertilized bayberry seedling. The scanning of the root distribution density of the rhizosphere soil area of the to-be-fertilized bayberry seedling can be performed by using an underground imaging radar to obtain a root scanning image of the rhizosphere soil area, and the root scanning image is used as the root distribution density information. The scanning of the soil nutrient abundance of the rhizosphere soil area of the to-be-fertilized bayberry seedling can be performed by using near-infrared spectrum in a multispectral imager to obtain soil nutrient abundance information of the rhizosphere soil area. The root distribution density information and the soil nutrient abundance information are uploaded to a bayberry seedling fertilization monitoring database to further accurately determine the fertilization position of the to-be-fertilized bayberry seedling, thereby improving the fertilization effect of the to-be-fertilized bayberry seedling and avoiding improper fertilization from causing damage or burn to the bayberry seedling. When the seedling condition level is greater than or equal to the set seedling condition level, it indicates that the to-be-fertilized bayberry seedling has problems such as slow growth, yellow leaves, and weak plants, and the problems are not serious. Therefore, the fertilizer monitor does not trigger the scanning of the root distribution density and soil nutrient abundance of the rhizosphere soil area of the to-be-fertilized bayberry seedling.

[0041] It should be noted that the root distribution density information in the present application represents the spatial distribution characteristics and density of the roots in the rhizosphere soil area of the to-be-fertilized bayberry seedling. The root distribution density information is represented by a root scanning image, which is an image obtained after scanning the roots of the to-be-fertilized bayberry seedling. The soil nutrient abundance information in the present application represents the distribution information of the contents of various nutrients affecting the growth of the bayberry seedling in the rhizosphere soil area of the to-be-fertilized bayberry seedling. The soil nutrient abundance information includes the soil nutrient abundance at different positions in the rhizosphere soil area of the to-be-fertilized bayberry seedling. The soil nutrient abundance is determined by the fusion value of each nutrient component in the soil, that is, the quantified value obtained by weighted summation of the contents of multiple nutrient components at the same position.

[0042] In some embodiments, according to the root distribution density information and the soil nutrient abundance information of the rhizosphere soil area and the vertical coverage of the fertilizer control plate, the limiting ring belt of the fertilizer control plate when performing ring ditch fertilization on the to-be-fertilized bayberry seedling can be implemented by the following steps, that is: obtaining root distribution density information of the rhizosphere soil region, soil nutrient abundance information, and a vertical coverage of the fertilizer control plate; performing root density peak value identification on a root scanning image in the root distribution density information, and obtaining a density peak point coordinate of a root aggregation area of the to-be-fertilized waxberry seedling; determining a rhizosphere protection first boundary for the to-be-fertilized waxberry seedling when performing ring ditch fertilization based on the density peak point coordinate and the soil nutrient abundance information; determining a rhizosphere protection second boundary for the to-be-fertilized waxberry seedling when performing ring ditch fertilization according to the rhizosphere protection first boundary and the vertical coverage; constructing a limiting ring belt of the fertilizer control plate for the to-be-fertilized waxberry seedling when performing ring ditch fertilization according to the rhizosphere protection first boundary and the rhizosphere protection second boundary.

[0043] In a specific implementation, the root distribution density information of the rhizosphere soil region, the soil nutrient abundance information, and the vertical coverage of the fertilizer control plate can be obtained through a waxberry seedling fertilization monitoring database. The vertical coverage of the fertilizer control plate can take a vertical projection area of the fertilizer control plate in a horizontal state as the vertical coverage. In this embodiment, the rhizosphere soil region image represents a region image composed of a rhizosphere of a to-be-fertilized waxberry seedling and a surrounding area of the rhizosphere. In this embodiment, the vertical coverage represents a projection area of the fertilizer control plate in a horizontal state.

[0044] In a specific implementation, the root density peak value identification is performed on a root scanning image in the root distribution density information to obtain a density peak point coordinate of a root aggregation area of the to-be-fertilized waxberry seedling. Specifically, a threshold segmentation method is used to divide the root scanning image into a root region and a background region, and a preset sliding window is used to perform sliding analysis on the root region to obtain coverage characteristics of roots in each sliding window. A sliding window region corresponding to a maximum coverage characteristic is extracted as the root aggregation area, and a center pixel point coordinate in the root aggregation area is extracted as the density peak point coordinate of the root aggregation area of the to-be-fertilized waxberry seedling. In this embodiment, an Otsu global threshold segmentation method of an image processing tool OpenCV is used to perform binaryzation processing on the root scanning image. A region with a pixel value greater than an automatically calculated threshold (determined by minimum intra-class variance) is marked as the root region, and the rest is marked as the background region. In this embodiment, the preset sliding window is a 32x32 pixel rectangular sliding window. The root region is traversed through the rectangular sliding window. A white pixel ratio in each sliding window is calculated as a coverage characteristic value. (The white pixel is a root pixel with a pixel value of 1.)

[0045] It should be noted that the coverage feature in this embodiment represents the proportion of root system pixels in a specific area; the root system aggregation area in this embodiment represents the root system area with the maximum root system density; and the density peak point coordinate in this embodiment represents the pixel coordinate corresponding to the center pixel point in the root system aggregation area, and the center pixel point in the root system aggregation area quantifies the area with the maximum root system density.

[0046] In a specific implementation, the first rhizosphere protection boundary for the ring ditch fertilization of the myrica rubra seedling to be fertilized is determined based on the density peak point coordinate and the soil nutrient abundance information, that is, a position coordinate corresponding to the maximum soil nutrient abundance is extracted from the soil nutrient abundance information, a center coordinate between the position coordinate and the density peak point coordinate is calculated, a distance from the center coordinate to a main absorption root zone position of the myrica rubra seedling to be fertilized is calculated, the distance is taken as a circle radius, and a circle boundary constructed by the circle radius is taken as the first rhizosphere protection boundary for the ring ditch fertilization of the myrica rubra seedling to be fertilized; in this embodiment, the first rhizosphere protection boundary represents the starting boundary of the rhizosphere protection of the myrica rubra seedling to be fertilized, that is, the innermost boundary adjacent to the root system surface, and this area is the most direct area of interaction between the root system and the fertilizer.

[0047] In a specific implementation, the second rhizosphere protection boundary for the ring ditch fertilization of the myrica rubra seedling to be fertilized is determined according to the first rhizosphere protection boundary and the vertical coverage, that is, the width value of the vertical coverage is extracted, the first rhizosphere protection boundary is extended outward by a distance of the width value, and the boundary obtained after the extension is taken as the second rhizosphere protection boundary for the ring ditch fertilization of the myrica rubra seedling to be fertilized, wherein the width value of the vertical coverage can be extracted according to an image processing tool OpenCV, and in other embodiments, other ways of determining the second rhizosphere protection boundary of the myrica rubra seedling to be fertilized can also be used, which is not limited here; in this embodiment, the second rhizosphere protection boundary represents the termination boundary of the rhizosphere protection of the myrica rubra seedling to be fertilized, that is, the outermost boundary adjacent to the root system surface.

[0048] In a specific implementation, the limiting ring belt of the fertilizer control plate for the ring ditch fertilization of the myrica rubra seedling to be fertilized is constructed according to the first rhizosphere protection boundary and the second rhizosphere protection boundary, that is, the first rhizosphere protection boundary and the second rhizosphere protection boundary are respectively taken as the lower ring belt and the upper ring belt of the limiting ring belt, and then the limiting ring belt of the fertilizer control plate for the fertilization of the myrica rubra seedling to be fertilized is constructed.

[0049] It should be noted that the limiting ring belt in the present application represents the limited space range when fertilizing the to-be-fertilized myrica rubra seedlings, the limiting ring belt includes a lower ring belt and an upper ring belt, the lower ring belt represents the ring belt closest to the to-be-fertilized myrica rubra seedlings, and the upper ring belt represents the ring belt farthest from the to-be-fertilized myrica rubra seedlings. Specifically, the limiting ring belt refers to the area composed of the rhizosphere protection first boundary and the rhizosphere protection second boundary. By determining the limiting ring belt, the movement and fertilization operation boundary of the fertilizer control plate can be effectively delimited, the fertilization position can be accurately matched with the extension characteristics and nutrient demand gradient of the root system, and the mechanical damage risk of the root system dense area and the seedling burning problem caused by insufficient fertilization spacing can be avoided.

[0050] In step 104, the fertilizer control plate is moved into the limiting ring belt, and then the minimum constraint value of the fertilization spacing when fertilizing the to-be-fertilized myrica rubra seedlings is determined by combining the main absorption root zone position of the to-be-fertilized myrica rubra seedlings with the limiting ring belt.

[0051] In specific implementation, after the limiting ring belt is determined, the fertilizer control plate is moved into the limiting ring belt to perform the fertilization preparation work of the to-be-fertilized myrica rubra seedlings.

[0052] In some embodiments, referring to Figure 3 The figure is an exemplary flow chart for determining the minimum constraint value according to some embodiments of the present application. In the present embodiment, the minimum constraint value of the fertilization spacing when fertilizing the to-be-fertilized myrica rubra seedlings is determined by combining the main absorption root zone position of the to-be-fertilized myrica rubra seedlings with the limiting ring belt, which can be implemented by the following steps: First, in step 1041, the main absorption root zone position of the to-be-fertilized myrica rubra seedlings is determined. Then, in step 1042, the ring center line in the limiting ring belt is extracted. Finally, in step 1043, the minimum constraint value of the fertilization spacing when fertilizing the to-be-fertilized myrica rubra seedlings is determined based on the ring center line and the main absorption root zone position.

[0053] In a specific implementation, the position of the main absorption root zone of the to-be-fertilized waxberry seedling is determined, that is, a rhizosphere soil region image of a rhizosphere region of the to-be-fertilized waxberry seedling is acquired, the rhizosphere region of the to-be-fertilized waxberry seedling is segmented from the rhizosphere soil region image according to an image segmentation method, and a geometric center point of the rhizosphere region is taken as the position of the main absorption root zone of the to-be-fertilized waxberry seedling. In the image segmentation method, the Otsu method can be used to segment the rhizosphere region of the to-be-fertilized waxberry seedling from the rhizosphere soil region image, that is, the Otsu method automatically determines an optimal threshold by calculating a gray histogram of the rhizosphere soil region image, and divides the rhizosphere soil region image into a foreground region and a background region by using the optimal threshold, and takes the foreground region as the rhizosphere region of the to-be-fertilized waxberry seedling. In addition, in other embodiments, other calculation methods can be used to calculate the position of the main absorption root zone of the to-be-fertilized waxberry seedling. In this application, the position of the main absorption root zone represents a position point for calibrating the most important nutrient absorption of the to-be-fertilized waxberry seedling.

[0054] In a specific implementation, the annular center line in the limiting ring belt is extracted, that is, the center position points of different connecting lines between the rhizosphere protection first boundary and the rhizosphere protection second boundary in the limiting ring belt are extracted by using a data processing tool Python, and all the extracted center position points are smoothly connected to obtain the annular center line in the limiting ring belt. In this embodiment, the annular center line represents the central ring line in the limiting ring belt.

[0055] In a specific implementation, the minimum constraint value of the fertilization spacing when the to-be-fertilized waxberry seedling is fertilized is determined based on the annular center line and the position of the main absorption root zone, that is, the distance from the position of the main absorption root zone to any point on the annular center line is calculated, and the calculated distance is taken as the minimum constraint value of the fertilization spacing when the to-be-fertilized waxberry seedling is fertilized. In addition, in other embodiments, other methods can be used to calculate the minimum constraint value of the fertilization spacing when the to-be-fertilized waxberry seedling is fertilized, which is not limited here.

[0056] It should be noted that the minimum constraint value in this application represents the minimum constraint spacing of the surrounding fertilization of the to-be-fertilized waxberry seedling. By determining the minimum constraint value, the to-be-fertilized waxberry seedling can be effectively fertilized in a surrounding manner, which can avoid the problems of uneven nutrient absorption caused by traditional single position fertilization and seedling burning caused by close-range fertilization, and thus improve the effectiveness of fertilization of the to-be-fertilized waxberry seedling.

[0057] In step 105, the fertilizer control board is controlled to perform constraint fertilization on the to-be-fertilized waxberry seedling based on the minimum constraint value.

[0058] In a specific implementation, the fertilizer control board is controlled to perform constrained fertilization on the to-be-fertilized myrica rubra seedlings based on the minimum constraint value, that is, the fertilizer control board is controlled to perform constrained fertilization on the to-be-fertilized myrica rubra seedlings in a circular surrounding manner with the position of the to-be-fertilized myrica rubra seedling as a center point and the minimum constraint value as a radius.

[0059] It should be noted that, by performing constrained fertilization on the to-be-fertilized myrica rubra seedlings, the extension characteristics of the root system and the nutrient absorption hot spot can be accurately matched, the problem of seedling burning caused by improper fertilization distance is avoided while mechanical damage to the capillary root dense area is avoided, the minimum constraint value is used to make the nutrients penetrate into the root system efficiently, the fertilizer utilization rate is improved, and the rhizosphere of the to-be-fertilized myrica rubra seedlings is prevented from being burned by the fertilizer, thereby promoting the balanced development of the myrica rubra seedling root system and improving the fertilization effectiveness of the to-be-fertilized myrica rubra seedlings.

[0060] In addition, another aspect of the present application provides a myrica rubra seedling fertilization device, which includes a fertilization monitor, a fertilizer control board, and a fertilization control unit. Figure 4 The figure is a structural schematic diagram of a fertilization control unit according to some embodiments of the present application. The fertilization control unit 200 includes an acquisition module 201, a processing module 202, and an execution module 203, which are described as follows. The acquisition module 201 is mainly used to acquire the canopy information of the to-be-fertilized myrica rubra seedlings in the myrica rubra seedling fertilization area through the fertilization monitor in the myrica rubra seedling fertilization device. The processing module 202 is mainly used to identify the seedling condition grade of the to-be-fertilized myrica rubra seedlings according to the canopy information. The processing module 202 is also used to trigger the fertilization monitor to scan the root system distribution density and soil nutrient abundance of the rhizosphere soil area of the to-be-fertilized myrica rubra seedlings according to the seedling condition grade, and determine the limiting ring belt of the fertilizer control board when performing ring-shaped ditch fertilization on the to-be-fertilized myrica rubra seedlings according to the root system distribution density information and soil nutrient abundance information of the rhizosphere soil area and the vertical coverage of the fertilizer control board. In addition, the processing module 202 is also used to move the fertilizer control board to the limiting ring belt, and then determine the minimum constraint value of the fertilization spacing of the to-be-fertilized myrica rubra seedlings by combining the main absorption root area position of the to-be-fertilized myrica rubra seedlings with the limiting ring belt. The execution module 203 is mainly used to control the fertilizer control board to perform constrained fertilization on the to-be-fertilized myrica rubra seedlings based on the minimum constraint value.

[0061] In addition, the present application further provides a computer device, comprising a memory and a processor, the memory stores a code, and the processor is configured to acquire the code and execute the above-mentioned Yangmei seedling fertilization control method.

[0062] In some embodiments, with reference to Figure 5 , the figure is a structural schematic diagram of a computer device for implementing the Yangmei seedling fertilization control method according to some embodiments of the present application. The Yangmei seedling fertilization control method in the above-mentioned embodiments can be implemented by the computer device shown in the figure, which comprises at least one processor 301, a communication bus 302, a memory 303 and at least one communication interface 304. Figure 5

[0063] The processor 301 can be a general central processing unit (CPU), an application specific integrated circuit (ASIC) or one or more circuits for controlling the execution of the Yangmei seedling fertilization control method in the present application.

[0064] The communication bus 302 can be used to transmit information between the above-mentioned components.

[0065] The memory 303 can be a readonly memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, an electrically erasable programmable readonly memory (EEPROM), a compact disc readonly memory (CDROM) or other optical disc storage, an optical disc storage (including a compact disc, a laser disc, an optical disc, a digital versatile disc, a blue-ray disc, etc.), a magnetic disc or other magnetic storage device, or any other medium capable of carrying or storing desired program codes in the form of instructions or data structures and capable of being accessed by a computer, but is not limited thereto. The memory 303 can exist independently and be connected to the processor 301 through the communication bus 302. The memory 303 can also be integrated with the processor 301.

[0066] ​The memory 303 is configured to store program codes for implementing the solutions of the present application, and the processor 301 is configured to execute the program codes stored in the memory 303. The program codes can include one or more software modules. The determination of the raspberry seedling fertilization control method in the above-described embodiments can be implemented by the processor 301 and one or more software modules in the program codes in the memory 303.

[0067] The communication interface 304 is configured to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc., using any transceiver-like device.

[0068] In specific implementations, as an example, the computer device can include multiple processors, each of which can be a single CPU processor or a multi-CPU processor. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0069] The computer device described above can be a general-purpose computer device or a special-purpose computer device. In specific implementations, the computer device can be a desktop computer, a laptop computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The embodiments of the present application do not limit the type of the computer device.

[0070] In addition, the present application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described raspberry seedling fertilization control method.

[0071] Although the preferred embodiments of the present application have been described, those skilled in the art who are informed of the basic inventive concept can make additional changes and modifications to the embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0072] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A method for controlling the application of fertilizer to seedlings of a blueberry plant, for use in a blueberry seedling fertilization device, said blueberry seedling fertilization device being provided with a fertilizer monitor and a fertilizer control panel, characterized in that, The method comprises the following steps: Obtain the canopy information of the seedling of the waxberry to be fertilized in the waxberry seedling fertilization device; According to the canopy information, the seedling grade of the seedling of the waxberry to be fertilized is identified; The seedling grade triggers the fertilizer monitor to scan the rhizosphere soil area of the seedling of the waxberry to be fertilized, and determines the limiting ring of the fertilizer control plate when the ring ditch is fertilized according to the root distribution density information and the soil nutrient abundance information of the rhizosphere soil area and the vertical coverage of the fertilizer control plate. The fertilizer control plate is moved into the limiting ring, and then the minimum constraint value of the fertilization spacing of the seedling of the waxberry to be fertilized is determined by the limiting ring combined with the main absorption root area position of the seedling of the waxberry to be fertilized. Based on the minimum constraint value, the fertilizer control plate controls the constraint fertilization of the seedling of the waxberry to be fertilized.

2. The method of claim 1, wherein, According to the canopy information, the seedling grade of the seedling of the waxberry to be fertilized is identified, which specifically comprises: Based on the canopy information, the canopy morphological characteristics of the seedling of the waxberry to be fertilized in different dimensions are extracted; According to the canopy morphological characteristics in each dimension, the seedling grade of the seedling of the waxberry to be fertilized is identified.

3. The method of claim 2, wherein, Based on the canopy information, the canopy morphological characteristics of the seedling of the waxberry to be fertilized in different dimensions are extracted, which specifically comprises: The leaf density is extracted from the canopy information as the canopy morphological characteristics of the seedling of the waxberry to be fertilized in the spatial dimension; Based on the multispectral image in the canopy information, the reflectivity grid map of the canopy structure of the seedling of the waxberry to be fertilized is generated, and the chlorophyll distribution index of the canopy structure is determined as the canopy morphological characteristics of the seedling of the waxberry to be fertilized in the spectral dimension by combining the preset chlorophyll content mapping table with the reflectivity grid map; Based on the canopy volume change data in the canopy information, the canopy growth trend of the canopy structure is calculated as the canopy morphological characteristics of the seedling of the waxberry to be fertilized in the time dimension.

4. The method of claim 1, wherein, The seedling grade triggers the fertilizer monitor to scan the rhizosphere soil area of the seedling of the waxberry to be fertilized, which specifically comprises: When the seedling grade is less than the set seedling grade, the fertilizer monitor is triggered to scan the rhizosphere soil area of the seedling of the waxberry to be fertilized; When the seedling grade is greater than or equal to the set seedling grade, the fertilizer monitor is not triggered to scan the rhizosphere soil area of the seedling of the waxberry to be fertilized.

5. The method of claim 1, wherein, According to the root distribution density information and the soil nutrient abundance information of the rhizosphere soil area combined with the vertical coverage of the fertilizer control plate, the limiting ring of the fertilizer control plate when the ring ditch is fertilized is determined, which specifically comprises: Obtain the root distribution density information, soil nutrient abundance information and vertical coverage of the fertilizer control plate of the rhizosphere soil area; The root system density peak value identification is performed on the root system scanning image in the root system density information, and then the density peak point coordinates of the root system aggregation area of the seedling of the waxberry to be fertilized are obtained; The root system density peak value identification is performed on the root system scanning image in the root system density information, and then the density peak point coordinates of the root system aggregation area of the seedling of the waxberry to be fertilized are obtained; determine a rhizosphere protection first boundary for the to-be-fertilized bayberry seedlings when the ring ditch fertilization is performed based on the density peak point coordinates and the soil nutrient abundance information; determine a rhizosphere protection second boundary for the to-be-fertilized bayberry seedlings when the ring ditch fertilization is performed based on the rhizosphere protection first boundary and the vertical coverage surface; construct a limiting ring belt of the fertilizer control plate for the to-be-fertilized bayberry seedlings when the ring ditch fertilization is performed according to the rhizosphere protection first boundary and the rhizosphere protection second boundary.

6. The method of claim 1, wherein, determine a minimum constraint value of the fertilization spacing for the to-be-fertilized bayberry seedlings when the fertilization is performed through the limiting ring belt combined with the main absorption root zone position of the to-be-fertilized bayberry seedlings, and the minimum constraint value of the fertilization spacing specifically includes: determine the main absorption root zone position of the to-be-fertilized bayberry seedlings; extract a ring center line in the limiting ring belt; determine the minimum constraint value of the fertilization spacing for the to-be-fertilized bayberry seedlings when the fertilization is performed based on the ring center line and the main absorption root zone position.

7. The method of claim 1, wherein, The fertilization monitor is provided with multiple types of sensors.

8. A seedling raising and fertilizing device for a blueberry, the seedling raising and fertilizing device comprising a fertilizing monitor, a fertilizer control panel, and a fertilizing control unit, characterized by, The fertilization control unit includes: an acquisition module configured to acquire, by the fertilization monitor in the bayberry seedling fertilization device, canopy information of to-be-fertilized bayberry seedlings in a bayberry seedling fertilization area; a processing module configured to identify a seedling condition grade of the to-be-fertilized bayberry seedlings according to the canopy information; the processing module is further configured to trigger the fertilization monitor to scan a root distribution density and a soil nutrient abundance of a rhizosphere soil area of the to-be-fertilized bayberry seedlings according to the seedling condition grade, and determine a limiting ring belt of the fertilizer control plate for the to-be-fertilized bayberry seedlings when the ring ditch fertilization is performed according to the root distribution density information and the soil nutrient abundance information of the rhizosphere soil area combined with a vertical coverage surface of the fertilizer control plate; the processing module is further configured to move the fertilizer control plate into the limiting ring belt, and then determine a minimum constraint value of the fertilization spacing for the to-be-fertilized bayberry seedlings when the fertilization is performed through the limiting ring belt combined with the main absorption root zone position of the to-be-fertilized bayberry seedlings; an execution module configured to control the fertilizer control plate to perform constrained fertilization on the to-be-fertilized bayberry seedlings based on the minimum constraint value.

9. A computer device, comprising: The computer device includes a memory and a processor, the memory stores a code, and the processor is configured to acquire the code and execute the bayberry seedling fertilization control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the bayberry seedling fertilization control method according to any one of claims 1 to 7.

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