A fertilization device and fertilization process for corn cultivation

Abstract

This invention relates to the field of agricultural machinery technology, and discloses a fertilization device and fertilization process for corn cultivation. The fertilization device for corn cultivation includes a mobile platform connecting frame. Several injection units are fixedly assembled at the end of the mobile platform connecting frame, and a gel forming unit is fixedly assembled at the top of each injection unit. By integrating a multimodal sensor ring on the spiral probe, key data such as soil temperature, humidity, and electrical conductivity can be acquired in real time during drilling, and based on this, the "optimal fertilization point" where the root system is most active can be determined. Nutrient gel rods are then directly injected into this location, achieving a leap from "fertilizer finding roots" to "root finding fertilizer," fundamentally solving the spatial mismatch problem.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a fertilization device and fertilization process for corn cultivation. Background Technology

[0002] Corn is a staple food crop, and its nutritional management during its growth process, especially fertilization, directly affects the final yield and quality. Traditional corn fertilization methods mainly rely on large-scale ground machinery for basal fertilizer application and topdressing during the seedling stage. This method has many insurmountable technical drawbacks:

[0003] Traditional fertilization methods often involve a broad, superficial application, failing to precisely match the dynamic needs for nitrogen, phosphorus, and potassium at different growth stages of corn, such as the jointing and tasseling stages (a time mismatch). Furthermore, the fertilizer is applied widely, far from the dense root absorption area, resulting in significant nutrient loss through volatilization and leaching. This leads to fertilizer utilization rates consistently below 40%, wasting resources and posing a serious threat to groundwater and soil environment. Summary of the Invention

[0004] This invention provides a fertilization device and fertilization process for corn cultivation, which solves the problems mentioned in the background art.

[0005] The present invention provides the following technical solution: a fertilization device for corn cultivation, comprising a mobile platform connecting frame, wherein a plurality of injection units are fixedly assembled at the end of the mobile platform connecting frame, and a gel forming unit is fixedly assembled at the top of the injection unit.

[0006] As a preferred technical solution of the present invention: the mobile platform connecting frame includes a platform chassis, a fixing mechanism is fixedly assembled at the end of the platform chassis, a land leveling mechanism is fixedly assembled at the bottom of the fixing mechanism, a leveling roller is rotatably connected to the bottom of the land leveling mechanism, and a moving wheel is rotatably connected to both sides of the leveling roller, and the leveling roller and the moving wheel are coaxially arranged.

[0007] As a preferred technical solution of the present invention: the injection unit includes a suspension arm, a main swing arm is rotatably connected to the bottom of the suspension arm near the mobile platform connecting frame, a shock-absorbing component is rotatably connected to the bottom of the suspension arm away from the mobile platform connecting frame, the shock-absorbing component is rotatably connected to the inner wall of the main swing arm at one end near the main swing arm, and a probe bracket is rotatably connected to the outer wall of the main swing arm away from the suspension arm.

[0008] As a preferred technical solution of the present invention: the inner walls of both ends of the probe bracket are rotatably connected with flat wheels, the side of the probe bracket away from the connecting frame of the mobile platform is fixedly equipped with a soil covering device rope, the end of the soil covering device rope is fixedly equipped with a soil covering plate, the bottom outer wall of the soil covering plate is fixedly equipped with a pressing rod, and the top of the probe bracket near the connecting frame of the mobile platform is fixedly equipped with a bionic injection component.

[0009] As a preferred embodiment of the present invention: the biomimetic injection component includes a helical probe, a multimodal sensor ring fixedly mounted on the outer wall of the helical probe, a plurality of retractable nozzles rotatably connected to the inner wall of the tip of the helical probe, a injection channel opened in the middle of the helical probe, a limiting groove opened on the inner wall of the injection channel, a push rod head slidably sleeved on the inner wall of the injection channel, and limiting posts on both sides of the top of the push rod head slidably sleeved with the inner wall of the limiting groove, an injection rod slidably sleeved on the inner wall of the injection channel, and the injection rod rotatably sleeved with the opposite end of the push rod head, and the top of the helical probe is fixedly mounted with... The device has a driven gear, and a lifting actuator is rotatably connected to the top of the driven gear. A lifting rack and a rotary motor are fixedly mounted on the outer wall of the lifting actuator. A rotary gear is fixedly mounted on the outer wall of the output end of the rotary motor. Two sets of limiting sliders are slidably sleeved on the outer wall of the lifting actuator. Mounting plates are fixedly mounted on the outer walls of both sides of the limiting sliders. A lifting motor is fixedly mounted on the outer wall of one side of the mounting plate. A lifting gear is fixedly mounted on the outer wall of the output shaft of the lifting motor. The lifting gear meshes with the lifting rack. The rotary gear meshes with the driven gear. The bottom of the mounting plate is fixedly mounted to the top of the probe bracket.

[0010] A push-in actuator is fixedly assembled on the inner wall of the end of the lifting actuator tube away from the spiral probe, and the telescopic end of the push-in actuator is fixedly assembled with the end of the push-in rod.

[0011] As a preferred embodiment of the present invention: the gel forming unit includes a raw material storage tank, two sets of partitions are fixedly mounted on the inner wall of the raw material storage tank, a mixer fixing frame is fixedly mounted on the bottom outer wall of the raw material storage tank, a static mixer is fixedly mounted on the inner wall of the mixer fixing frame, a stirring motor is fixedly mounted on the top of the static mixer, a stirring paddle is fixedly mounted on the outer wall of the output shaft of the stirring motor, the inner cavity of the static mixer is connected to several material conveying channels, and the three cavities separated by the partitions in the inner cavity of the raw material storage tank are all connected to the inner cavity of the static mixer through the material conveying channels, a metering pump is provided at the middle of the material conveying channels, an extrusion pipe is connected to the bottom outlet of the static mixer, an ultraviolet curing module is fixedly mounted on the outside of the extrusion pipe, a valve plunger is slidably sleeved on the inner wall of the connection end between the extrusion pipe and the static mixer, a valve actuator is fixedly mounted on the outer wall of the extrusion pipe, and the telescopic end of the valve actuator is fixedly mounted to the end of the valve plunger.

[0012] A fertilization process for corn cultivation, the process comprising the following steps:

[0013] S1: The mobile platform connecting frame navigates to the fertilization point according to a preset path;

[0014] S2: The helical probe of the biomimetic injection component rotates and drills downward into the soil, while the multimodal sensor ring collects and transmits soil data in real time;

[0015] S3: Determine the optimal fertilization point based on the soil data, and control the spiral probe to stop at the optimal fertilization point;

[0016] S4: The gel forming unit prepares and delivers nutrient gel rods online based on the current crop growth stage data;

[0017] S5: The injector of the biomimetic injection component is activated, injecting the nutrient gel rod into the soil at the optimal fertilization point through the injection channel.

[0018] As a preferred technical solution of the present invention: in step S3, the optimal fertilization point is determined by constructing a three-dimensional heat map of root vitality and finding the peak area.

[0019] As a preferred technical solution of the present invention: in step S4, the prepared nutrient gel rod contains a biodegradable gel matrix, plant nutrients matched with the crop growth period, and plant root growth inducers.

[0020] As a preferred technical solution of the present invention: after step S5, step S6 is also included: the spiral probe is retracted, and at the same time the soil covering plate and the compaction rod cover and compact the soil after fertilization.

[0021] The present invention has the following beneficial effects:

[0022] 1. This fertilization device and process for corn cultivation, through a multimodal sensor ring integrated on a spiral probe, can acquire key data such as soil temperature, humidity, and electrical conductivity in real time during drilling, and determine the "optimal fertilization point" where the root system is most active based on this data. Nutrient gel rods are then directly injected into this location, achieving a leap from "fertilizer finding roots" to "root finding fertilizer," fundamentally solving the problem of spatial mismatch.

[0023] 2. This fertilization device and process for corn cultivation, through a gel molding unit, enables the invention to precisely prepare nutrient gel bars with the most suitable nutrient types and ratios online, using multiple raw materials in a raw material storage tank and a metering pump, according to the different growth stages of the corn. This "produce and use immediately" model perfectly solves the problem of time mismatch, ensuring that crops receive the most precise nutrient supply at every critical growth stage.

[0024] 3. This fertilization device and process for corn cultivation utilizes a gel matrix that slowly degrades and releases nutrients in the soil, avoiding the risk of "seedling burn" and prolonging the fertilizer's effectiveness. More importantly, by adding root growth inducers to the formula, it actively attracts corn roots to grow and aggregate towards the gel rods, further improving nutrient absorption efficiency and achieving a major breakthrough in fertilization technology. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a schematic diagram of the side structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the mobile platform connecting frame structure of the present invention;

[0028] Figure 4 This is a schematic diagram of the injection unit structure of the present invention;

[0029] Figure 5 This is a schematic diagram of the flattening wheel structure of the present invention;

[0030] Figure 6 This is a schematic diagram of the biomimetic injection component structure of the present invention;

[0031] Figure 7 This is a schematic diagram of the driven gear structure of the present invention;

[0032] Figure 8 This is a schematic diagram of the push rod head structure of the present invention;

[0033] Figure 9 This is a schematic diagram of the gel forming unit structure of the present invention;

[0034] Figure 10 This is a schematic diagram of the valve plunger structure of the present invention.

[0035] In the diagram: 1. Mobile platform connector; 2. Injection unit; 3. Gel molding unit;

[0036] 101. Platform chassis; 102. Fixing mechanism; 103. Farmland leveling mechanism; 104. Leveling rollers; 105. Moving wheels;

[0037] 201. Suspension arm; 202. Main swing arm; 203. Shock absorber; 204. Probe bracket; 205. Leveling wheel; 206. Covering device rope; 207. Covering plate; 208. Pressing rod; 209. Bionic injection component;

[0038] 2091, Helical probe; 2092, Multimodal sensor ring; 2093, Retractable nozzle; 2094, Injection channel; 2095, Push rod head; 2096, Limiting groove; 2097, Injection rod; 2098, Driven gear; 2099, Lifting actuator; 20910, Lifting rack; 20911, Rotary motor; 20912, Rotary gear; 20913, Limiting slider; 20914, Mounting plate; 20915, Lifting motor; 20916, Lifting gear; 20917, Injection actuator;

[0039] 301. Raw material storage tank; 302. Baffle plate; 303. Material conveying channel; 304. Metering pump; 305. Mixer mounting frame; 306. Static mixer; 307. Stirring motor; 308. Stirring paddle; 309. Extrusion pipe; 310. UV curing module; 311. Valve plunger; 312. Valve actuator. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In this embodiment, the control core is a main controller integrated on the mobile platform connector 1. This controller can be an embedded industrial computer based on an ARM architecture, such as using an STM32F407 series microcontroller as the core processor. The multimodal sensor ring 2092 integrates various sensors. Specifically, the temperature sensor can be an NTC thermistor, the humidity sensor can be a capacitive sensor, and the conductivity sensor uses a four-electrode measurement method to improve accuracy. The sensors are connected to a data acquisition module via an I²C or SPI bus. This module is responsible for converting analog signals into digital signals and transmitting the data to the main controller via a 2.4GHz wireless communication module (e.g., an NRF24L01 module).

[0042] The main controller controls the drivers of the lifting motor 20915 and the rotary motor 20911 via pulse width modulation (PWM) signals, thereby precisely adjusting their speed and direction. For example, the drive signal for the lifting motor 20915 is a PWM signal with a frequency of 20kHz and a duty cycle that is linearly adjustable between 10% and 90%. The push actuator 20917 is a servo linear motor with a linear encoder, a stroke of 100mm, and a thrust of 50N. The main controller sends position commands to it via an RS485 bus and receives real-time position feedback to achieve closed-loop control. The ultraviolet curing module 310 consists of a ring-shaped LED array with a wavelength of 365nm and a power of 20W, and its on / off state is controlled by a MOSFET switching circuit.

[0043] Please see Figure 1 - Figure 10 A fertilization device for corn cultivation includes a mobile platform connecting frame 1, with several sets of injection units 2 fixedly assembled at the end of the mobile platform connecting frame 1, and a gel forming unit 3 fixedly assembled at the top of the injection unit 2.

[0044] In a preferred embodiment: the mobile platform connecting frame 1 includes a platform chassis 101, a fixing mechanism 102 is fixedly mounted at the end of the platform chassis 101, a land leveling mechanism 103 is fixedly mounted at the bottom of the fixing mechanism 102, a leveling roller 104 is rotatably connected to the bottom of the land leveling mechanism 103, and a moving wheel 105 is rotatably connected to both sides of the leveling roller 104. The leveling roller 104 and the moving wheel 105 are coaxially arranged.

[0045] In the above structure, by setting a mobile platform connecting frame 1, the injection unit 2 and the gel forming unit 3 can be moved through the mobile platform connecting frame 1, and the cultivation land is leveled by using the flat rollers 104, which increases the convenience for the injection unit 2 to fertilize the subsequent cultivation land.

[0046] In a preferred embodiment: the injection unit 2 includes a suspension arm 201, a main swing arm 202 is rotatably connected to the bottom of the suspension arm 201 near the mobile platform connecting frame 1, a shock-absorbing component 203 is rotatably connected to the bottom of the suspension arm 201 away from the mobile platform connecting frame 1, the shock-absorbing component 203 is rotatably connected to the inner wall of the main swing arm 202 at one end near the main swing arm 202, and a probe bracket 204 is rotatably connected to the outer wall of the main swing arm 202 away from the suspension arm 201.

[0047] In a preferred embodiment: flattening wheels 205 are rotatably connected to the inner walls of both ends of the probe bracket 204; a soil covering pull rope 206 is fixedly mounted on the side of the probe bracket 204 away from the mobile platform connecting frame 1; a soil covering plate 207 is fixedly mounted at the end of the soil covering pull rope 206; a pressing rod 208 is fixedly mounted on the bottom outer wall of the soil covering plate 207; and a bionic injection component 209 is fixedly mounted on the top of the probe bracket 204 near the mobile platform connecting frame 1.

[0048] In the above structure, the shock-absorbing component 203 supports the suspension arm 201 and the main swing arm 202, so that the shock-absorbing component 203 can reduce the shock of the main swing arm 202. At the same time, when the height of the suspension arm 201 remains unchanged, the probe bracket 204 can be adjusted vertically through the pivot between the main swing arm 202 and the suspension arm 201. The probe bracket 204 is rotatably connected to the end of the main swing arm 202, so that the probe bracket 204 can drive the leveling wheel 205 and the bionic injection component 209 to perform fertilization operations on the cultivated land. By setting the soil covering plate 207 and the pressing rod 208, after the mobile platform connecting frame 1 moves the injection unit 2 to the top of the cultivated land, the pressing rod 208 can restore the cultivated land, so that the fertilizer is placed in the soil.

[0049] In a preferred embodiment: the biomimetic injection component 209 includes a spiral probe 2091, a multimodal sensor ring 2092 fixedly mounted on the outer wall of the spiral probe 2091, a plurality of retractable nozzles 2093 rotatably connected to the inner wall of the tip of the spiral probe 2091, an injection channel 2094 opened in the middle of the spiral probe 2091, a limiting groove 2096 opened on the inner wall of the injection channel 2094, a push rod head 2095 slidably sleeved on the inner wall of the injection channel 2094, and the limiting posts on both sides of the top of the push rod head 2095 slidably sleeved with the inner wall of the limiting groove 2096, an injection rod 2097 slidably sleeved on the inner wall of the injection channel 2094, and the injection rod 2097 rotatably sleeved with the opposite end of the push rod head 2095, and a driven gear 2098 fixedly mounted on the top of the spiral probe 2091. The top of the wheel 2098 is rotatably connected to the lifting actuator tube 2099. The outer wall of the lifting actuator tube 2099 is fixedly fitted with a lifting rack 20910 and a rotary motor 20911. The outer wall of the output end of the rotary motor 20911 is fixedly fitted with a rotary gear 20912. The outer wall of the lifting actuator tube 2099 is slidably sleeved with two sets of limit sliders 20913. The outer walls of the limit sliders 20913 on both sides are fixedly fitted with mounting plates 20914. The outer wall of one mounting plate 20914 is fixedly fitted with a lifting motor 20915. The outer wall of the output shaft of the lifting motor 20915 is fixedly fitted with a lifting gear 20916. The lifting gear 20916 meshes with the lifting rack 20910. The rotary gear 20912 meshes with the driven gear 2098. The bottom of the mounting plate 20914 is fixedly fitted with the top of the probe bracket 204.

[0050] A pusher actuator 20917 is fixedly mounted on the inner wall of the end of the lifting actuator tube 2099 away from the spiral probe 2091. The telescopic end of the pusher actuator 20917 is fixedly mounted to the end of the pusher rod 2097.

[0051] It should be noted that the end of the push rod head 2095 near the retractable nozzle 2093 is provided with several pull ropes that are connected to the retractable nozzle 2093.

[0052] In the above structure, the lifting motor 20915 meshes with the lifting rack 20910 through the lifting gear 20916, causing the lifting rack 20910 to drive the spiral probe 2091 to reciprocate along the direction of the injection rod 2097 through the driven gear 2098. Meanwhile, the rotary motor 20911 meshes with the driven gear 2098 through the rotary gear 20912, thereby driving the spiral probe 2091 to rotate. During the drilling process, the multimodal sensor ring 2092 continuously collects soil data streams, including depth, temperature, humidity, and electrical conductivity EC value, at a high frequency and wirelessly transmits them to the main controller.

[0053] When it is necessary to discharge the nutrient gel rod through the retractable nozzle 2093, the controller drives the push rod 2097 located on the inner wall of the push channel 2094 towards the retractable nozzle 2093 via the push actuator 20917. The push rod 2097 drives the push rod head 2095 towards the retractable nozzle 2093, so that several retractable nozzles 2093 are unfolded under the abutment of the push rod head 2095, thereby allowing the nutrient gel rod to be discharged from the retractable nozzle 2093 through the inner cavity of the push rod 2097 and the push rod head 2095.

[0054] In a preferred embodiment: the gel forming unit 3 includes a raw material storage tank 301, two sets of partitions 302 are fixedly mounted on the inner wall of the raw material storage tank 301, a mixer mounting bracket 305 is fixedly mounted on the bottom outer wall of the raw material storage tank 301, a static mixer 306 is fixedly mounted on the inner wall of the mixer mounting bracket 305, a stirring motor 307 is fixedly mounted on the top of the static mixer 306, a stirring paddle 308 is fixedly mounted on the outer wall of the output shaft of the stirring motor 307, and the inner cavity of the static mixer 306 is connected to several material conveying channels 303, and the inner cavity of the raw material storage tank 301 is connected to the partitions. The three cavities isolated by plate 302 are all connected to the inner cavity of static mixer 306 through conveying channel 303. A metering pump 304 is installed in the middle of conveying channel 303. An extrusion pipe 309 is connected to the bottom outlet of static mixer 306. An ultraviolet curing module 310 is fixedly installed on the outside of extrusion pipe 309. A valve plunger 311 is slidably sleeved on the inner wall of the connection end between extrusion pipe 309 and static mixer 306. A valve actuator 312 is fixedly installed on the outer wall of extrusion pipe 309. The telescopic end of valve actuator 312 is fixedly installed with the end of valve plunger 311.

[0055] In the above structure, the inner cavity of the raw material storage tank 301 is divided into three chambers by a partition 302, which are used to store three core raw materials respectively: A) a biodegradable gel matrix solution, such as a 2% sodium alginate solution; B) a concentrated plant nutrient solution, the nitrogen, phosphorus and potassium ratio of which can be adjusted according to the corn growth stage; C) a plant root growth inducing agent solution, such as a 10 -8A mol / L strigolactone analog solution. When nutrient gel rod preparation is required, the main controller, according to a preset program, instructs the metering pumps 304 in each conveying channel 303 to precisely extract the three raw materials in a specific ratio and transfer them to the inner cavity of the static mixer 306 through the conveying channels 303. The stirring motor 307 drives the stirring paddle 308 to premix the raw materials, and then the materials enter the static mixer 306 for thorough laminar flow mixing to form a uniform gel liquid. Afterwards, the valve actuator 312 drives the valve plunger 311 to move, connecting the extrusion pipe 309 with the static mixer 306. At this time, the gel liquid is extruded through the extrusion pipe 309, and when it passes through the ultraviolet curing module 310, its surface is rapidly cured to form a nutrient gel rod with a certain toughness for easy injection, while keeping the inside moist to facilitate the slow release of nutrients. The formed gel rod is then conveyed to the injection channel 2094 of the biomimetic injection component 209 to wait for use.

[0056] A fertilization process for corn cultivation, comprising the following steps:

[0057] Step S1: Before the operation begins, the operator transmits a high-definition farmland map (.tif format) and corn planting point data (.csv format, containing GPS coordinates of each plant) to the main controller of the mobile platform connector 1 via Wi-Fi using client software running on a tablet. The main controller runs a Linux-based operating system, and its built-in path planning module uses the A-StarAlgorithm algorithm to plan the optimal path traversing all points. Subsequently, the external mobile device drives the mobile platform connector 1 to start, and its RTK-GPS receiver provides centimeter-level positioning. Combined with the inertial measurement unit (IMU) for attitude calculation, it autonomously travels to the fertilization point according to the planned path.

[0058] Step S2: Upon reaching the designated position, the main controller issues a command to start the lifting motor 20915, driving the spiral probe 2091 to descend at a speed of 2 cm / s; simultaneously, the rotary motor 20911 starts, causing the spiral probe 2091 to rotate at a speed of 80 rpm. During drilling, the multimodal sensor ring 2092 continuously collects soil data at a frequency of 5 Hz and transmits the data packets to the main controller via a wireless module.

[0059] In step S3, the AI ​​algorithm module within the controller receives real-time data streams. The core of this algorithm is a "root vitality 3D heat map" construction algorithm based on radial basis function (RBF) interpolation. The algorithm uses the collected EC value (electrical conductivity) as the core weight, combines it with temperature and humidity for Gaussian function correction, and constructs and updates a 3D mesh model in memory in real time, centered on the current plant, within a radius of 30cm and a depth of 40cm, assigning a "vitality index" to each mesh cell. When the probe drills to a depth of 15-25cm, the algorithm searches the heat map and locks onto the geometric center of a connected region (peak vitality zone) with a volume not less than 1cm³ and the highest "vitality index," using its coordinates as the optimal fertilization point. The main controller immediately commands the lifting motor 20915 and the rotating motor 20911 to stop, and the spiral probe 2091 precisely positions itself at this depth and location.

[0060] Step S4: While steps S2 and S3 are being performed, the gel forming unit 3 has automatically completed the preparation of the corresponding high-nitrogen formula "nutrient gel rod" according to the instruction obtained by the main controller from the farmland management platform that the corn is currently in the "big trumpet stage", and transported it to the injection channel 2094 to wait.

[0061] Step S5: After positioning is completed, the main controller sends a command to the injection actuator 20917 via RS485 bus to push the injection rod 2097 and inject the nutrient gel rod from the unfolded retractable nozzle 2093 into the soil at the optimal fertilization point.

[0062] Step S6: After injection, the lifting motor 20915 rotates in the reverse direction, retracting the spiral probe 2091 from the soil. During the retraction process, the soil covering plate 207 located behind the probe support 204 covers the hole left by the probe, and then the compaction rod 208 lightly compacts the topsoil. Afterwards, the external mobile device with the mobile platform connecting frame 1 travels to the next corn plant and repeats all the above steps.

[0063] In a preferred embodiment: In step S4, the prepared nutrient gel rod contains a biodegradable gel matrix, plant nutrients matched to the crop's growth period, and plant root growth inducers.

[0064] Algorithm for constructing a "3D heat map of root vitality"

[0065] 1. Data preprocessing workflow:

[0066] After receiving the JSON data packet from the multimodal sensor ring 2092, the main controller first performs preprocessing. This process includes:

[0067] Data cleaning: The continuous conductivity (EC) data is smoothed by a sliding window mean filtering algorithm (WindowSize=5) to remove sudden noise interference from individual data points.

[0068] Coordinate registration: The depth value (provided by the encoder of the lifting motor 20915) when the sensor collects data is combined with the GPS coordinates of the mobile platform connecting frame 1 to calculate the absolute coordinates (X,Y,Z) of each data point in the three-dimensional coordinate system of the farmland.

[0069] Data interpolation: Since the probe drills along a single path, it obtains data from a series of discrete points. To construct a continuous three-dimensional spatial model, radial basis function (RBF) interpolation is used to numerically predict the unknown regions between the sampling points.

[0070] 2. Mathematical Model and Parameter Settings:

[0071] The core of this algorithm is to calculate the "root vitality index" V(x,y,z) for any point (x,y,z) in space. This index consists of one main term and two correction terms:

[0072]

[0073] in:

[0074] V(x,y,z) is the final vitality index of the target point.

[0075] EC, T, and H are the predicted values ​​of conductivity (mS / cm), temperature (°C), and humidity (%) at this point, obtained through RBF interpolation, respectively.

[0076] W ec As the main weighting factor for conductivity, it is set to W in this embodiment. ec =1.0.

[0077] f ec (EC) is the membership function of conductivity, used to map EC values ​​to a standardized activity range. In this embodiment, a piecewise linear function is used: when 0.8 ≤ EC ≤ 1.5, f ec (EC) = 1; when EC < 0.8 or EC > 1.5, the function value decreases linearly, and drops to 0 when EC = 0.2 and EC = 2.5. This range is set based on the soil ion concentration range where maize roots are most active in absorbing nutrients.

[0078] C t (T) is the temperature correction factor, modeled using a Gaussian function: Among them, the most suitable temperature for root growth is T. opt Set at 26°C, standard deviation The value is set to 5. This means that the vitality index will decrease when the soil temperature deviates from 26°C.

[0079] C h (H) is the humidity correction factor, which is modeled using a similar logic: Among them, the most suitable field water holding capacity H opt Set at 70%, standard deviation Set to 15.

[0080] 3. Peak Activity Zone Search:

[0081] The main controller creates a three-dimensional virtual grid space in memory, centered on the rootstock of the current plant, with a radius of 30cm and a depth of 40cm. The grid resolution is 1cm x 1cm x 1cm. The algorithm traverses all grid cells within a depth range of 15-25cm underground and calculates the vitality index V of each cell using the above model.

[0082] Subsequently, the connected-component labeling algorithm was used to identify all vitality indices greater than a preset threshold. The system consists of connected regions composed of grid cells. Finally, the volume and average vitality index of each connected region are calculated, and the region with a volume of not less than 1 cm³ and the highest average vitality index is selected as the "peak vitality zone". The geometric center point of this region is then determined as the coordinates of the optimal injection point for this fertilization.

[0083] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0084] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fertilization device for corn cultivation, comprising a mobile platform connecting frame (1), characterized in that: The end of the mobile platform connecting frame (1) is fixedly equipped with several sets of injection units (2), and the top of the injection unit (2) is fixedly equipped with a gel forming unit (3). The injection unit (2) includes a suspension arm (201), a main swing arm (202) is rotatably connected to the bottom of the side of the suspension arm (201) near the mobile platform connecting frame (1), a shock-absorbing component (203) is rotatably connected to the bottom of the side of the suspension arm (201) away from the mobile platform connecting frame (1), the shock-absorbing component (203) is rotatably connected to the inner wall of the main swing arm (202) at one end near the main swing arm (202), and a probe bracket (204) is rotatably connected to the outer wall of the end of the main swing arm (202) away from the suspension arm (201). The inner walls of both ends of the probe bracket (204) are rotatably connected with flat wheels (205). A soil covering device rope (206) is fixedly installed on the side of the probe bracket (204) away from the mobile platform connecting frame (1). A soil covering plate (207) is fixedly installed at the end of the soil covering device rope (206). A pressing rod (208) is fixedly installed on the bottom outer wall of the soil covering plate (207). A bionic injection component (209) is fixedly installed on the top of the probe bracket (204) near the mobile platform connecting frame (1). The biomimetic injection component (209) includes a spiral probe (2091), a multimodal sensor ring (2092) is fixedly mounted on the outer wall of the spiral probe (2091), and a plurality of retractable nozzles (2093) are rotatably connected to the inner wall of the tip of the spiral probe (2091). A push-in channel (2094) is provided in the middle of the spiral probe (2091), and a limiting groove (2096) is provided on the inner wall of the push-in channel (2094). A push rod head (2095) is slidably sleeved on the inner wall of the channel (2094), and the limiting posts on both sides of the top of the push rod head (2095) are slidably sleeved on the inner wall of the limiting groove (2096). A push rod (2097) is slidably sleeved on the inner wall of the injection channel (2094), and the push rod (2097) is rotatably sleeved on the opposite end of the push rod head (2095). A driven gear (2098) is fixedly mounted on the top of the spiral probe (2091). The top is rotatably connected to a lifting actuator (2099). A lifting rack (20910) and a rotary motor (20911) are fixedly mounted on the outer wall of the lifting actuator (2099). A rotary gear (20912) is fixedly mounted on the outer wall of the output end of the rotary motor (20911). Two sets of limiting sliders (20913) are slidably sleeved on the outer wall of the lifting actuator (2099). Mounting plates (20912) are fixedly mounted on the outer walls of both sides of the limiting sliders (20913). 0914), a lifting motor (20915) is fixedly mounted on the outer wall of the mounting plate (20914) on one side, a lifting gear (20916) is fixedly mounted on the outer wall of the output shaft of the lifting motor (20915), the lifting gear (20916) meshes with the lifting rack (20910), the rotating gear (20912) meshes with the driven gear (2098), and the bottom of the mounting plate (20914) is fixedly mounted with the top of the probe bracket (204); The inner wall of the end of the lifting actuator (2099) away from the spiral probe (2091) is fixedly fitted with a push actuator (20917), and the telescopic end of the push actuator (20917) is fixedly fitted with the end of the push rod (2097).

2. The fertilization device for corn cultivation according to claim 1, characterized in that: The mobile platform connecting frame (1) includes a platform chassis (101), a fixing mechanism (102) is fixedly assembled at the end of the platform chassis (101), a land leveling mechanism (103) is fixedly assembled at the bottom of the fixing mechanism (102), a leveling roller (104) is rotatably connected to the bottom of the land leveling mechanism (103), and a moving wheel (105) is rotatably connected to both sides of the leveling roller (104). The leveling roller (104) and the moving wheel (105) are coaxially arranged.

3. The fertilization device for corn cultivation according to claim 1, characterized in that: The gel forming unit (3) includes a raw material storage tank (301). Two sets of partitions (302) are fixedly installed on the inner wall of the raw material storage tank (301). A mixer mounting bracket (305) is fixedly installed on the bottom outer wall of the raw material storage tank (301). A static mixer (306) is fixedly installed on the inner wall of the mixer mounting bracket (305). A stirring motor (307) is fixedly installed on the top of the static mixer (306). A stirring paddle (308) is fixedly installed on the outer wall of the output shaft of the stirring motor (307). The inner cavity of the static mixer (306) is connected to several material conveying channels (303), and the inner cavity of the raw material storage tank (301) is connected to the partitions (302). The three isolated cavities are all connected to the inner cavity of the static mixer (306) through the material conveying channel (303). A metering pump (304) is provided at the middle end of the material conveying channel (303). An extrusion pipe (309) is connected to the bottom outlet of the static mixer (306). An ultraviolet curing module (310) is fixedly installed on the outside of the extrusion pipe (309). A valve plunger (311) is slidably sleeved on the inner wall of the connection end between the extrusion pipe (309) and the static mixer (306). A valve actuator (312) is fixedly installed on the outer wall of the extrusion pipe (309). The telescopic end of the valve actuator (312) is fixedly installed on the end of the valve plunger (311).

4. A fertilization process for corn cultivation, characterized in that, The fertilization process, using the fertilization apparatus according to any one of claims 1-3, includes the following steps: S1: Mobile platform connecting frame (1) navigates to the fertilization point according to the preset path; S2: The spiral probe (2091) of the bionic injection component (209) rotates and drills downward into the soil, while the multimodal sensor ring (2092) collects and transmits soil data in real time; S3: Determine the optimal fertilization point based on soil data and control the spiral probe (2091) to stop at that optimal fertilization point; S4: Gel forming unit (3) prepares and delivers nutrient gel rods online based on current crop growth period data; S5: The push actuator (20917) of the bionic injection component (209) is activated to inject the nutrient gel rod into the soil at the optimal fertilization point through the push channel (2094).

5. The fertilization process for corn cultivation according to claim 4, characterized in that: In step S3, the optimal fertilization point is determined by constructing a three-dimensional heat map of root vitality and finding the peak area.

6. The fertilization process for maize cultivation according to claim 5, characterized in that: In step S4, the prepared nutrient gel rod contains a biodegradable gel matrix, plant nutrients matched to the crop's growth stage, and plant root growth inducers.

7. The fertilization process for corn cultivation according to claim 6, characterized in that: After step S5, step S6 is also included: the spiral probe (2091) is retracted, and at the same time the soil covering plate (207) and the compaction rod (208) cover and compact the fertilized soil.

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