Intelligent fertilizer applicator and control system and control method thereof

Abstract

The invention provides an intelligent fertilizer applicator and a control system and a control method thereof, and relates to the technical field of intelligent agricultural power machinery, the intelligent fertilizer applicator comprises a walking device, a material storage device, a fertilizer application device, a sensing device and a control device; wherein the control device is electrically connected with the walking device, the material storage device, the fertilizing device and the sensing device respectively; a feeding hole of the fertilizing device is communicated with the storage device through a pipeline, and the control device senses the current condition of crops through the sensing device and controls the fertilizing device to perform fertilizing operation based on the current condition. According to the intelligent fertilizer applicator and the control system and the control method thereof, automatic quantitative fertilizer application is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural power machinery technology, and in particular to an intelligent fertilizer applicator and its control system and control method. Background Technology

[0002] Precision agriculture is a modern agricultural model based on modern information technology, enabling refined and differentiated management of the entire agricultural production process. Its core lies in acquiring real-time information on the spatial and temporal differences in farmland to optimize resource allocation and make scientific decisions, ultimately achieving the goals of increased yield and efficiency, resource conservation, and environmental friendliness. Crop management includes water and fertilizer application. Current fertilization methods still primarily rely on manual labor and experience-based judgment; therefore, there is an urgent need for intelligent fertilizer applicators to achieve automated, quantitative fertilization, ensuring precise management during the fertilization stage of precision agriculture. Summary of the Invention

[0003] One of the objectives of this invention is to provide an intelligent fertilizer applicator and its control system and control method to achieve automatic quantitative fertilization.

[0004] An intelligent fertilizer applicator provided in this invention includes: a walking device, a storage device, a fertilizer applicator, a sensing device, and a control device; wherein, the control device is electrically connected to the walking device, the storage device, the fertilizer applicator, and the sensing device respectively; the feed inlet of the fertilizer applicator is connected to the storage device through a pipeline, and the control device senses the current condition of the crop through the sensing device and controls the fertilizer applicator to perform fertilizer application based on the current condition.

[0005] Preferably, the intelligent fertilizer applicator also includes: a working platform and a battery pack; the battery pack is set on the working platform and is electrically connected to the walking device, the material storage device, the fertilizer application device, the sensing device and the control device respectively.

[0006] Preferably, the intelligent fertilizer applicator also includes a water storage device, which is set on the working platform and connected to the water inlet of the fertilizer applicator through a pipeline.

[0007] Preferably, the sensing device includes a camera and / or a laser scanning imager disposed on the lower end face of the working platform.

[0008] Preferably, the sensing device further includes a camera and / or a laser scanning imager configured on the front side of the work platform.

[0009] Preferably, the fertilization device includes: a horizontally arranged guide rail, a telescopic mechanism arranged on the guide rail, and a fertilization mechanism arranged at the end of the telescopic mechanism; The fertilization mechanism includes two claws that can open and close in opposite directions; a water outlet and a material outlet are respectively provided on the side where the two claws are in contact; the water outlet is connected to the water inlet, and the material outlet is connected to the material inlet.

[0010] The present invention also provides a control system for any of the above-mentioned intelligent fertilizer applicators, comprising: The first sensing data acquisition module is used to acquire the first sensing data collected by the sensing device from below the working platform. The crop location analysis module is used to analyze the sensing data and locate the crop. The quantitative analysis module is used to analyze crops and determine the amount of fertilizer to apply. The fertilization control module is used to control the operation of the fertilization device based on the crop's location and the amount of fertilizer applied.

[0011] Preferably, the control system further includes: The second sensing data acquisition module is used to acquire the second sensing data collected by the sensing device in front of the working platform. The next location determination module is used to analyze the sensing data to determine the location of the next crop. The walking device control module is used to determine the control parameters of the walking device based on the position of the next crop and to control the walking device's movement after the fertilization device has finished its operation.

[0012] The present invention also provides a control method for any of the above-mentioned intelligent fertilizer applicators, comprising: Acquire the first sensing data collected by the sensing device from below the working platform; Analyze the sensor data to locate crops; Analyze the crop to determine the amount of fertilizer to apply; The operation of the fertilization device is controlled based on the location of the crop and the amount of fertilizer applied.

[0013] Preferably, the control method further includes: Acquire second sensing data collected by the sensing device in front of the work platform; Analyze the sensor data to determine the location of the next crop; The control parameters of the walking device are determined based on the location of the next crop, and the walking device is controlled to move after the fertilization device has finished moving.

[0014] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of an intelligent fertilizer applicator according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a control system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a control method according to an embodiment of the present invention. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] Example 1: This embodiment of the invention provides an intelligent fertilizer applicator, such as... Figure 1 As shown, it includes: a walking device 1, a storage device 2, a fertilizing device 3, a sensing device 4, and a control device 5; wherein, the control device 5 is electrically connected to the walking device 1, the storage device 2, the fertilizing device 3, and the sensing device 4 respectively; the feed inlet of the fertilizing device 3 is connected to the storage device 2 through a pipeline, and the control device 5 senses the current condition of the crop through the sensing device 4, and controls the fertilizing device 3 to perform fertilization operations based on the current condition.

[0019] To enable the device to bear load and provide power, the intelligent fertilizer applicator also includes a working platform and a battery pack; the battery pack is set on the working platform and is electrically connected to the walking device, the material storage device, the fertilizer application device, the sensing device, and the control device.

[0020] The sensing device includes a camera and / or a laser scanning imager disposed on the lower end face of the working platform. The camera or laser scanning imager is disposed on the lower end face of the working platform, preferably close to the rear side of the working platform, to acquire images of the crop from multiple angles, which helps to more accurately determine the location and growth status of the crop; The fertilization device includes: a horizontally arranged guide rail, a telescopic mechanism mounted on the guide rail, and a fertilization mechanism located at the end of the telescopic mechanism. The telescopic mechanism is specifically mounted on a sliding platform of the horizontally arranged guide rail and can slide on it. The telescopic mechanism's extension and retraction drive the fertilization mechanism to move up and down. As the working platform is driven by the traveling mechanism, the telescopic mechanism retracts, lifting the fertilization mechanism upwards to prevent it from touching the ground due to unevenness during movement. In practical implementation, the horizontally arranged guide rail can be a ball screw driven by a stepper motor or a horizontal electric cylinder; the telescopic mechanism uses a telescopic electric cylinder.

[0021] The fertilization mechanism includes two claw-shaped bodies that can open and close in opposite directions; a discharge port is provided on the side where the two claw-shaped bodies contact each other; the discharge port is connected to the inlet port. The claw-shaped bodies are closed when not fertilizing and open when fertilization is required; and when closed, they form a pointed cone-shaped structure, which facilitates soil insertion operations in some situations.

[0022] The present invention also provides a control system for use in the aforementioned intelligent fertilizer applicator, such as... Figure 2 As shown, it includes: The first sensing data acquisition module 11 is used to acquire first sensing data collected by the sensing device below the working platform; the first sensing data includes image data and / or laser scanning data. The crop positioning analysis module 12 is used to analyze the sensing data and locate the crop. The positioning of the crop is mainly based on the position of the starting part of the crop that is exposed above the ground. The specific positioning analysis includes: the first sensing data includes images of the crop from multiple angles. Three-dimensional modeling can be performed based on these multi-angle images to construct a three-dimensional model of the crop. Then, the three-dimensional model is segmented to obtain individual units. Each unit is identified to identify the positioning unit that can be used as the basis for positioning judgment. Quantitative analysis module 13 is used to analyze crops and determine fertilizer application rates. The analysis primarily determines the current growth status of the crop. This is achieved by extracting features from crop images and inputting them into a pre-configured neural network model for analysis. Extracted features include: features representing crop height, crop width, number of leaves, area of ​​the largest leaf, number of branch nodes from the root upwards, area of ​​the crop in images from various angles, and the proportion of different colors in the leaves, roots, and stems, etc. The neural network model is pre-trained and converged, used to determine the corresponding fertilizer application rate based on the crop's external characteristics. The fertilization control module 14 is used to control the operation of the fertilization device based on the crop's location and the amount of fertilizer applied. Knowing the crop's location, the module determines the fertilization position according to the fertilization requirements of each crop (generally 8-10 cm away from the main root during topdressing to avoid root burn and improve fertilizer utilization). After the fertilization device moves to this position, the telescopic mechanism moves the claw to that position for fertilization. Furthermore, the claw is designed to open and close, allowing it to penetrate the ground for deep topdressing. After topdressing, it can be closed on the ground to cover the soil.

[0023] This invention also provides a control method applied to the aforementioned intelligent fertilizer applicator, such as... Figure 3 As shown, it includes: Step 1: Acquire the first sensing data collected by the sensing device from below the working platform; Step 2: Analyze the sensor data to locate the crop; Step 3: Analyze the crop and determine the amount of fertilizer to apply; Step 4: Control the operation of the fertilization device based on the location of the crop and the amount of fertilizer applied.

[0024] The intelligent fertilization device in this embodiment moves via a walking device. When it reaches above the crop, it senses the crop's position and growth status using a sensing device. Based on the crop's growth status, it determines the amount of fertilizer to apply and the location of the fertilizer application. Then, the fertilization device applies fertilizer at a fixed point and in a fixed quantity. When not fertilizing, the two claws of the fertilization mechanism are closed together. During fertilization, they open and discharge fertilizer through the outlet on the side where the two claws are in contact. The storage device can be configured as a storage tank, or more specifically, as a dispensing mechanism and a storage tank connection mechanism. The storage tank connection mechanism can be threaded to connect to the opening of the fertilizer storage and transportation tank, facilitating fertilizer loading.

[0025] Example 2: This embodiment of the invention provides an intelligent fertilizer applicator, including: a walking device, a storage device, a fertilizer applicator, a sensing device, and a control device; wherein, the control device is electrically connected to the walking device, the storage device, the fertilizer applicator, and the sensing device respectively; the feed inlet of the fertilizer applicator is connected to the storage device through a pipeline, and the control device senses the current condition of the crop through the sensing device and controls the fertilizer applicator to perform fertilizer application based on the current condition.

[0026] To address applications where fertilization and irrigation are synchronized, the intelligent fertilizer applicator also includes a water storage device, which is installed on the working platform and connected to the water inlet of the fertilizer applicator via a pipeline.

[0027] The sensing device also includes: a camera and / or laser scanning imager disposed on the lower end face of the working platform, and a camera and / or laser scanning imager disposed on the front side of the working platform.

[0028] The fertilization device includes: a horizontally arranged guide rail, a telescopic mechanism arranged on the guide rail, and a fertilization mechanism arranged at the end of the telescopic mechanism; The fertilization mechanism includes two opposing claws that can open and close; a water outlet and a material outlet are respectively provided on the side where the two claws contact each other; the water outlet is connected to the water inlet, and the material outlet is connected to the material inlet. In addition, to handle the application of harder soil, a soil loosening device can be configured. This device is similarly configured to the fertilization device, with a telescopic mechanism mounted on a guide rail, and the loosening mechanism mounted on the telescopic mechanism. The loosening mechanism can use a spiral blade driven by a rotary motor. When configuring the loosening device, the traveling device needs to move twice: the first movement positions the fertilization location below the guide rail of the loosening device, and the second movement positions the fertilization location below the guide rail of the fertilization mechanism.

[0029] The present invention also provides a control system for the above-mentioned intelligent fertilizer applicator, comprising: The first sensing data acquisition module is used to acquire the first sensing data collected by the sensing device from below the working platform. The crop location analysis module is used to analyze the sensing data and locate the crop. The quantitative analysis module is used to analyze crops and determine the amount of fertilizer to apply. The fertilization control module is used to control the operation of the fertilization device based on the crop's location and the amount of fertilizer applied.

[0030] To meet the requirements of continuous operation, the control system also includes: The second sensing data acquisition module is used to acquire the second sensing data collected by the sensing device in front of the working platform. The next location determination module is used to analyze the sensing data to determine the location of the next crop. The walking device control module is used to determine the control parameters of the walking device based on the position of the next crop and to control the walking device's movement after the fertilization device has finished its operation.

[0031] The present invention also provides a control method for the above-mentioned intelligent fertilizer applicator, comprising: Acquire the first sensing data collected by the sensing device from below the working platform; Analyze the sensor data to locate crops; Analyze the crop to determine the amount of fertilizer to apply; The operation of the fertilization device is controlled based on the location of the crop and the amount of fertilizer applied.

[0032] To meet the requirements of continuous operation, the control methods also include: Acquire second sensing data collected by the sensing device in front of the working platform; the second sensing data includes image data and / or laser point cloud data. The location of the next crop is determined by analyzing the sensor data. Specific analysis includes constructing a 3D model and then locating the next crop based on that model. Constructing a 3D model using laser scanning data and multi-angle image data is a well-established technology and will not be elaborated upon here. The constructed 3D model is mapped into the positioning space, and the relative positions of the reference points in the positioning space and the sampling points on the 3D model corresponding to the plant roots in contact with the soil are determined as the positioning data for the next crop. The reference point is the center point of the working platform, corresponding to the mapped position of a point on the soil in the positioning space. The control parameters of the walking device are determined based on the location of the next crop, and the walking device is controlled to move after the fertilization device has finished moving.

[0033] This embodiment of the intelligent fertilizer applicator uses a sensing device on the front to detect the condition of the crops ahead, thereby controlling the movement of the walking mechanism to achieve continuous operation. The walking mechanism includes a connecting body and electrically controlled wheels at the end of the connecting body; a shock absorber is located in the middle of the connecting body. The front-side sensing device in this embodiment is primarily used during the transition from traditional to precision agriculture. Due to manual planting, the distance between crops can be unequal. With the widespread mechanization of precision agriculture, the distance between crops is essentially constant, eliminating the need to determine the position of the next crop; simply controlling the walking mechanism to move at equal intervals is sufficient. In addition, to ensure that fertilizer can smoothly exit from the discharge port of the fertilization device, a pulse airflow device can be configured, with pulse airflow connected from the end of the pipeline near the storage device. The pulse airflow device includes a high-pressure storage tank (storing compressed gas) and an electrically controlled valve. The electrically controlled valve is connected to the conduit between the high-pressure storage tank and the pipeline, and the pulse airflow is introduced into the pipeline by controlling the opening and closing of the electrically controlled valve. The pulse airflow clears the pipeline, addressing both fertilizer blockage and the potential for soil residue between the claws to block the discharge port during deep soil topdressing. In actual use… Using airflow to flush fertilizer during each application would undoubtedly waste compressed gas. Control can be achieved by monitoring the fertilizer in the storage device and pipelines. This control is implemented by a control unit that monitors fertilizer quality using a material detection sensor installed in the storage device. By making the pipeline and inlet area transparent, a camera captures localized images of the transparent areas. Based on the amount of fertilizer loss detected by the material detection sensor during each application, and / or the analysis results of the localized images, the pulse airflow device is activated. The specific control steps are as follows: When the reduction is less than the value obtained by multiplying the fertilizer application amount by the allowable coefficient (any value between 0.8 and 0.95), the pulse airflow device is controlled to open when the two claws are closed, and a certain amount of gas is injected into the pipeline. Then, the material discharge valve of the storage device is controlled to open and the pulse airflow device is controlled to perform pulse impact. When the fertilizing device finishes fertilizing, the two claws close and the camera captures a partial image. When fertilizer is identified from the partial image, the fertilizing device is controlled to repeat the fertilizing action. When the fertilizing device opens the two claws, the pulse airflow device is activated.

[0034] Example 3: This embodiment of the invention provides an intelligent fertilizer applicator, including: a walking device, a storage device, a fertilizer applicator, a sensing device, and a control device; wherein, the control device is electrically connected to the walking device, the storage device, the fertilizer applicator, and the sensing device respectively; the feed inlet of the fertilizer applicator is connected to the storage device through a pipeline, and the control device senses the current condition of the crop through the sensing device and controls the fertilizer applicator to perform fertilizer application based on the current condition.

[0035] The sensing device also includes a camera and / or a laser scanning imager configured on the front side of the work platform.

[0036] The present invention also provides a control system for the above-mentioned intelligent fertilizer applicator, comprising: The second sensing data acquisition module is used to acquire the second sensing data collected by the sensing device in front of the working platform. The next location determination module is used to analyze the second sensing data to determine the location of the next crop; The walking device control module is used to determine the control parameters of the walking device based on the position of the next crop and to control the walking device to move after the fertilization device has finished moving. The next position determination module is based on the center point of the working platform and the sampling point where the plant roots are in contact with the soil. It can directly control the walking device to move so that the fertilization position is below the fertilization device. The quantitative analysis module is used to analyze crops and determine the amount of fertilizer. It also uses a neural network model to analyze the amount of fertilizer. The neural network model used here for fertilizer analysis has slight differences from the neural network models used in Examples 1 and 2. The main difference is in the features that represent the area of ​​crops in images from various angles. The fertilization control module is used to control the fertilization device's operation based on the amount of fertilizer applied after the walking device has completed its movement.

[0037] The present invention also provides a control method for the above-mentioned intelligent fertilizer applicator, comprising: Acquire second sensing data collected by the sensing device in front of the work platform; Analyze the second sensing data to determine the location of the next crop; The control parameters of the walking device are determined based on the location of the next crop, and the walking device is controlled to move after the fertilization device has finished moving. Analyze the crop to determine the amount of fertilizer to apply; Once the walking device completes its movement, the fertilization device's movement is controlled based on the amount of fertilizer applied.

[0038] The intelligent fertilizer applicator in this embodiment uses a front-mounted sensing device to sense the crop, then performs inertial navigation to determine the position of the crop below the working platform, and then controls the fertilizer applicator to precisely fertilize the crop.

[0039] In practical applications, to improve fertilization efficiency, a multi-machine collaborative mode is typically adopted. Fertilizer is loaded into the intelligent fertilizer applicator manually or using a fertilizer loading device. In this collaborative mode, a central control platform serves as the control hub, with one fertilizer loading device and multiple intelligent fertilizer applicators forming a collaborative fertilization team. For fertilizing crops planted in an orderly arrangement, one intelligent fertilizer applicator is responsible for fertilizing one row of crops, simultaneously performing multiple rows of work, effectively improving operational efficiency. When the intelligent fertilizer applicator is fertilizing, it needs to ensure that the fertilizer it receives from the fertilizer loading device is just enough to complete one row of work. This minimizes energy consumption during the return trip to the fertilizer loading device after completing one row. Therefore, this can be achieved through the following control method, the specific control method of which is as follows: Moving along the same side of the crop perpendicular to the crop arrangement direction and continuously taking pictures, the crop contours are extracted and associated from the captured images to obtain a region image group corresponding to each crop; based on the region image group and the minimum distance of the crop from the shooting position, the estimated fertilizer amount corresponding to each crop is determined from the preset estimated analysis library; The estimated fertilizer application amount for each row of operations is accumulated to obtain the loading capacity of each smart fertilizer applicator; in order to cope with possible estimation errors, the accumulated value can be increased by twice the average value to obtain the final loading capacity. The regional image group includes contour images extracted from images taken in the preceding and following N rows and from parallel sides of the same row; N is greater than or equal to 2. This allows for accurate monitoring of crop growth from multiple angles, thus ensuring the accuracy of the estimated fertilizer application rate analysis. The estimated fertilizer application rate analysis library is pre-configured by professionals based on extensive historical data analysis. In the estimated fertilizer application rate analysis library, the location identifier parameter (distance), standard image group, and estimated fertilizer application rate are associated one-to-one. When the location identifier parameter matches and the images in the regional image group match the images in the standard image group in the same order, the corresponding estimated fertilizer application rate is retrieved. Furthermore, for the first N rows of crops, some region images are missing when constructing the region image group. To achieve accurate prediction of their fertilization amount, the region images of subsequent crops can be used to fill in the gaps. Specifically, the region image groups of crops in the same order (same column) after the Nth row are pruned to obtain supplementary analysis image groups. These supplementary analysis image groups are then matched with the incomplete region image groups corresponding to the first N rows of crops. The pruned region image corresponding to the supplementary analysis image group with the highest matching degree is used to fill in the incomplete region image groups. The matching degree is the sum of the similarities between each region image in the supplementary analysis image group and the region images in the same order within each region image of the incomplete region image group. In actual operation, an adjustment value can be configured. By analyzing the historical differences between the actual and estimated fertilizer application amounts of each intelligent fertilizer applicator, the loading amount for the next operation can be dynamically adjusted to address errors during actual operation. Specifically, the average of the previous M differences can be used as the adjustment value, where M is greater than or equal to 2. Since the loading time of each intelligent fertilizer applicator varies during collaborative operation, it is best to orderly interval the completion time of each intelligent fertilizer applicator when a round is completed to ensure continuous operation. This can be achieved through the following control method: When the first intelligent fertilizer applicator finishes its work, a standby time is configured. If a second intelligent fertilizer applicator finishes its work during the standby time, it is reassigned to the end of the row of intelligent fertilizer applicators furthest from its completion position to perform supplementary fertilization. When the standby time ends, fertilizer is loaded first onto the intelligent fertilizer applicators performing supplementary fertilization. The standby time is the time spent loading fertilizer (which can be averaged after analyzing the time of historical loading actions).

[0040] The fertilizer loading equipment includes a storage bin and a discharge control valve located below the storage bin.

[0041] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An intelligent fertilizer applicator, characterized in that, include: The system comprises a walking device, a storage device, a fertilizing device, a sensing device, and a control device. The control device is electrically connected to the walking device, the storage device, the fertilizing device, and the sensing device. The inlet of the fertilizing device is connected to the storage device via a pipeline. The control device senses the current condition of the crop through the sensing device and controls the fertilizing device to perform fertilization operations based on the current condition.

2. The intelligent fertilizer applicator as described in claim 1, characterized in that, Also includes: The work platform and battery pack are mounted on the work platform and electrically connected to the walking device, the material storage device, the fertilizer application device, the sensing device, and the control device.

3. The intelligent fertilizer applicator as described in claim 1, characterized in that, Also includes: The water storage device is installed on the working platform and is connected to the water inlet of the fertilizer application device through a pipeline.

4. The intelligent fertilizer applicator as described in claim 1, characterized in that, The sensing device includes a camera and / or a laser scanning imager configured on the lower end face of the work platform.

5. The intelligent fertilizer applicator as described in claim 1, characterized in that, The sensing device also includes a camera and / or a laser scanning imager configured on the front side of the work platform.

6. The intelligent fertilizer applicator as described in claim 1, characterized in that, The fertilization device includes: a horizontally arranged guide rail, a telescopic mechanism arranged on the guide rail, and a fertilization mechanism arranged at the end of the telescopic mechanism; The fertilization mechanism includes two claws that can open and close in opposite directions; a water outlet and a material outlet are respectively provided on the side where the two claws are in contact; the water outlet is connected to the water inlet, and the material outlet is connected to the material inlet.

7. A control system applied to an intelligent fertilizer applicator as described in any one of claims 1 to 6, characterized in that, include: The first sensing data acquisition module is used to acquire the first sensing data collected by the sensing device from below the working platform. The crop location analysis module is used to analyze the sensing data and locate the crop. The quantitative analysis module is used to analyze crops and determine the amount of fertilizer to apply. The fertilization control module is used to control the operation of the fertilization device based on the crop's location and the amount of fertilizer applied.

8. The control system as described in claim 7, characterized in that, Also includes: The second sensing data acquisition module is used to acquire the second sensing data collected by the sensing device in front of the working platform. The next location determination module is used to analyze the sensing data to determine the location of the next crop. The walking device control module is used to determine the control parameters of the walking device based on the position of the next crop and to control the walking device's movement after the fertilization device has finished its operation.

9. A control method applied to an intelligent fertilizer applicator as described in any one of claims 1 to 6, characterized in that, include: Acquire the first sensing data collected by the sensing device from below the working platform; Analyze the sensor data to locate crops; Analyze the crop to determine the amount of fertilizer to apply; The operation of the fertilization device is controlled based on the location of the crop and the amount of fertilizer applied.

10. The control method as described in claim 9, characterized in that, Also includes: Acquire second sensing data collected by the sensing device in front of the work platform; Analyze the sensor data to determine the location of the next crop; The control parameters of the walking device are determined based on the location of the next crop, and the walking device is controlled to move after the fertilization device has finished moving.

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