A method and device for controlling fertilization in fruit tree planting

Abstract

This application provides a method and apparatus for controlling fertilization in fruit tree planting. When the fertilization deviation of the fertilization device exceeds a deviation threshold for the fertilization amount, the fertilization speed of the fertilization device is stably adjusted based on the target fertilization amount and the volume of the fertilization outlet, resulting in a stable adjustment value for the fertilization speed and thus determining the deviation adjustment gradient. When the deviation adjustment gradient exceeds a speed change threshold, the rotational speed of the fertilization wheel is compensated and optimized based on the historical fertilization error and the stable adjustment value of the fertilization speed, resulting in a compensated and optimized value for the rotational speed. Based on the compensated and optimized value of the rotational speed and the stable adjustment value of the fertilization speed, the fertilization device is controlled to complete the target variable fertilization for fruit tree planting. Based on the above scheme, the stable and coordinated adjustment of the fertilization speed and the rotational speed of the fertilization wheel in the fruit tree planting fertilization device can be achieved.

Description

Technical Field

[0001] This application relates to the field of intelligent agricultural planting technology, and more specifically, to a method and apparatus for controlling fertilization in fruit tree planting. Background Technology

[0002] Fruit trees require a variety of nutrients to grow, and soil fertility directly affects fruit yield and quality. Reasonable fertilization can replenish the nutrients missing in the soil, promote the development of fruit tree roots and lush branches and leaves, enhance the ability to resist diseases and pests, regulate soil pH, improve soil structure, make the soil loose and breathable, and facilitate root respiration and growth.

[0003] The core technical problem faced by existing fertilization devices during dynamic operation stems from the inherent delay characteristics of the mechanical transmission system. This delay makes it difficult to maintain precise synchronization between vehicle speed adjustment and fertilizer discharge control. When the fertilization device moves to the edge of the fruit tree canopy, the mechanical lag effect of the transmission components prevents the fertilizer discharge wheel speed adjustment from responding immediately to changes in vehicle speed, resulting in a significant dynamic mismatch. During deceleration, the fertilizer discharge rate remains consistently high due to the lag in speed adjustment, causing excessive fertilizer accumulation in the edge area. Conversely, during acceleration, the fertilizer discharge rate is temporarily insufficient due to the untimely increase in speed, leading to sparse fertilization in the central area. This dynamic mismatch in the temporal domain directly disrupts the uniformity of fertilizer distribution, resulting in significant uneven fertilization within the canopy projection area. This not only affects the effective utilization of fertilizer but also interferes with the normal growth and development of fruit trees, ultimately reducing the overall yield and fruit quality of the orchard. Therefore, achieving stable and coordinated adjustment of the fertilization vehicle speed and fertilizer discharge wheel speed in fruit tree fertilization devices has become a challenging problem for the industry. Summary of the Invention

[0004] This application provides a method and device for controlling fertilization in fruit tree planting, which can achieve stable and coordinated adjustment of the fertilization vehicle speed and the fertilization wheel speed in the fruit tree planting fertilization device.

[0005] Firstly, this application provides a method for controlling fertilization in fruit tree planting, including:

[0006] When using a fertilization device to fertilize fruit trees, a lidar sensor is used to detect the location of the fruit tree canopy and monitor the actual amount of fertilizer discharged by the fertilization device, thereby determining the deviation of the fertilization device in fertilizing the fruit trees.

[0007] When the deviation of the fertilization of the fruit trees is greater than the deviation threshold of the fertilization amount, the fertilization speed of the fertilization device is stably adjusted by the target fertilization amount of the fertilization device, the position of the fruit tree canopy and the volume of the sump of the fertilization device, so as to obtain the stable adjustment value of the fertilization speed in the fertilization device, and then determine the deviation adjustment gradient of the fertilization speed in the fertilization device.

[0008] When the deviation adjustment gradient is greater than the speed change threshold of the fertilizer applicator, the historical fertilizer discharge error of the actual fertilizer application in the fertilizer applicator is determined. The fertilizer discharge wheel speed of the fertilizer applicator is compensated and optimized by the historical fertilizer discharge error and the stable adjustment value of the fertilizer applicator speed to obtain the compensation and optimization value of the fertilizer discharge wheel speed.

[0009] Based on the compensation optimization value of the fertilizer discharge wheel speed and the stable adjustment value of the fertilizer application vehicle speed, the fertilizer application device is controlled to complete the targeted variable fertilization of fruit tree planting.

[0010] In some embodiments, determining the fertilization deviation of the fertilization device for fruit trees specifically includes:

[0011] Obtain the theoretical amount of fertilizer to be applied to fruit trees at the current planting stage using the fertilization device;

[0012] The fertilization deviation of the fertilization device for fruit trees is determined by the theoretical fertilization amount and the actual fertilization amount discharged by the fertilization device.

[0013] In some embodiments, the stability adjustment of the fertilization speed of the fertilization device is achieved by using the target fertilization amount, the position of the fruit tree canopy, and the volume of the fertilization device's inlet, specifically including:

[0014] Obtain the current fertilizer discharge wheel speed, target fertilizer application rate, and trough volume of the fertilizer applicator;

[0015] The correlation coefficient of the fertilizer application speed in the fertilizer application device is set based on the volume of the slot.

[0016] The theoretical speed of the fertilization device is corrected based on the correlation coefficient, the current rotation speed of the fertilizer discharge wheel, and the target fertilizer application rate, to obtain the corrected value of the theoretical speed of the fertilization device.

[0017] By adjusting the stability of the theoretical vehicle speed correction value based on the location of the fruit tree canopy, a stable adjustment value for the fertilizer application vehicle speed in the fertilizer application device is obtained.

[0018] In some embodiments, determining the deviation adjustment gradient of the fertilizer application vehicle speed in the fertilizer application device specifically includes:

[0019] Get the current fertilizer application speed in the fertilizer application device;

[0020] The deviation adjustment gradient of the fertilizer application speed in the fertilizer application device is determined based on the current fertilizer application speed and the stable adjustment value of the fertilizer application speed.

[0021] In some embodiments, determining the historical fertilizer discharge error of the actual fertilization in the fertilization device specifically includes:

[0022] Obtain fertilization records of fruit trees from the fertilization device within a historical time period;

[0023] Extract the fertilization deviation for each fruit tree fertilization from the fruit tree fertilization records;

[0024] The historical fertilizer discharge error in the fertilization device was determined by measuring all fertilizer deviations.

[0025] In some embodiments, the fertilizer discharge wheel speed of the fertilizer applicator is compensated and optimized using the historical fertilizer discharge error and the stable adjustment value of the fertilizer applicator speed. The specifically included compensation and optimization values ​​for the fertilizer discharge wheel speed are as follows:

[0026] The error compensation amount for the rotational speed of the fertilizer discharge wheel in the fertilizer application device is determined based on the historical fertilizer discharge error.

[0027] The error compensation amount is used to compensate for the stable adjustment value of the fertilizer applicator speed, thereby obtaining the optimized compensation value of the fertilizer discharge wheel speed.

[0028] In some embodiments, the fertilizer application device is a device based on an external groove wheel fertilizer discharge structure.

[0029] Secondly, this application provides a fruit tree planting fertilization device, including a control unit, the control unit comprising:

[0030] The monitoring module is used to detect the location of the fruit tree canopy using a lidar sensor when using a fertilization device to fertilize fruit trees, and to monitor the actual amount of fertilizer discharged by the fertilization device, thereby determining the deviation of the fertilization device in fruit tree application.

[0031] The processing module is used to adjust the fertilization speed of the fertilization device by means of the target fertilization amount of the fertilization device, the position of the fruit tree canopy and the volume of the slot of the fertilization device when the deviation of the fertilization of the fruit tree is greater than the deviation threshold of the fertilization amount of the fruit tree. The module obtains the stable adjustment value of the fertilization speed in the fertilization device and then determines the deviation adjustment gradient of the fertilization speed in the fertilization device.

[0032] The processing module is also used to determine the historical fertilizer discharge error of the actual fertilizer application in the fertilizer application device when the deviation adjustment gradient is greater than the speed change threshold of the fertilizer application device, and to compensate and optimize the speed of the fertilizer discharge wheel of the fertilizer application device by using the historical fertilizer discharge error and the stable adjustment value of the fertilizer application speed to obtain the compensation and optimization value of the speed of the fertilizer discharge wheel.

[0033] The execution module is used to control the fertilization device to complete the targeted variable fertilization of fruit trees based on the compensation optimization value of the fertilizer discharge wheel speed and the stable adjustment value of the fertilization vehicle speed.

[0034] Thirdly, this application provides a computer device, which includes a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device performs the above-described fruit tree planting and fertilization control method.

[0035] Fourthly, this application provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the above-mentioned fruit tree planting and fertilization control method.

[0036] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects:

[0037] This application provides a method and apparatus for controlling fertilization in fruit tree planting. When using a fertilization device to fertilize fruit trees, a lidar sensor is used to detect the position of the fruit tree canopy and monitor the actual fertilizer discharge of the fertilization device, thereby determining the fertilization deviation of the fertilization device. When the fertilization deviation exceeds a deviation threshold, the fertilization speed of the fertilization device is stably adjusted based on the target fertilizer discharge, the position of the fruit tree canopy, and the volume of the fertilization device's inlet, obtaining a stable adjustment value for the fertilization speed, and thus determining the deviation adjustment gradient of the fertilization speed. When the deviation adjustment gradient exceeds a speed change threshold, the historical fertilizer discharge error in the actual fertilization is determined. The rotational speed of the fertilizer discharge wheel is compensated and optimized using the historical fertilizer discharge error and the stable adjustment value of the fertilization speed, obtaining a compensated and optimized value for the rotational speed of the fertilizer discharge wheel. Based on the compensated and optimized value of the rotational speed of the fertilizer discharge wheel and the stable adjustment value of the fertilization speed, the fertilization device is controlled to complete the targeted variable fertilization of the fruit tree planting.

[0038] Therefore, in this application, the fertilizer applicator is controlled to complete the targeted variable fertilization of fruit trees based on the compensation optimization value of the fertilizer discharge wheel speed and the stable adjustment value of the fertilizer applicator speed. First, by determining the stable adjustment value of the fertilizer applicator speed, the appropriate speed of the fertilizer applicator can be obtained under different fruit tree canopy positions and target fertilizer amounts, thereby achieving precise control of the fertilizer applicator speed. The stable adjustment value is calculated based on the fruit tree canopy position, target fertilizer amount, and trough volume, which helps ensure that the fertilizer applicator can operate at a stable speed under different operating conditions, avoiding uneven fertilizer application due to speed fluctuations, thereby improving the accuracy and uniformity of fertilization, providing a more reasonable nutrient supply to the fruit trees, and promoting their healthy growth. Then, the following steps are taken: The optimized compensation value of the fertilizer discharge wheel speed can be obtained to achieve the optimal speed of the fertilizer discharge wheel under different fertilization vehicle speeds and historical fertilization errors, thus realizing precise compensation optimization of the fertilizer discharge wheel speed. Based on the historical fertilization errors and the stable adjustment value of the fertilization vehicle speed, by analyzing the fertilization performance of the fertilizer discharge wheel at different vehicle speeds, the speed is adjusted to compensate for the deviation in fertilization amount caused by changes in vehicle speed. This helps to further improve the accuracy and stability of fertilization, ensure that the amount of fertilizer applied matches the fertilizer requirements of the fruit trees, reduce fertilizer waste, improve fertilizer utilization, and reduce the adverse effects of uneven fertilization on fruit tree growth. In summary, based on the above scheme, the stable and coordinated adjustment of the fertilization vehicle speed and the fertilizer discharge wheel speed in the fruit tree planting fertilization device can be achieved. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is an exemplary flowchart of a fruit tree planting and fertilization control method according to some embodiments of this application;

[0041] Figure 2 This is a flowchart illustrating the process of determining the compensation optimization value according to some embodiments of this application;

[0042] Figure 3 This is a schematic diagram of the structure of a control unit according to some embodiments of this application;

[0043] Figure 4 This is a schematic diagram of the structure of a computer device for implementing a method for controlling fertilization in fruit tree planting, according to some embodiments of this application. Detailed Implementation

[0044] To better understand the technical solution of this application, the technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] refer to Figure 1 The figure is an exemplary flowchart of a fruit tree planting fertilization control method according to some embodiments of this application. The fruit tree planting fertilization control method mainly includes the following steps:

[0046] In step 101, when using the fertilization device to fertilize fruit trees, a lidar sensor is used to detect the position of the fruit tree canopy and monitor the actual amount of fertilizer discharged by the fertilization device, thereby determining the fertilization deviation of the fertilization device.

[0047] It should be noted that in this application, the fertilization device is a device based on an external groove wheel-type fertilizer discharge structure; the fruit tree canopy position refers to the spatial distribution range of the fruit tree branch and leaf coverage area, which includes the horizontal projection diameter and vertical height; the lidar sensor is an active detection device that measures the target distance and outline by emitting a laser beam and receiving the reflected signal; the actual fertilizer discharge volume refers to the volume of fertilizer discharged by the fertilization device per unit time, which can reflect the real-time fertilization effect.

[0048] In practical implementation, when using a fertilization device to fertilize fruit trees, firstly, a lidar sensor is installed at the front end of the fertilization device to scan the area in front at a fixed frequency (default 10Hz). Through point cloud data processing algorithms, the boundaries of dense point groups of fruit tree branches and leaves are identified, and the coordinates and projected diameter of the canopy center point are calculated. Combined with the direction of travel of the fertilization device, the horizontal distance and coverage area of ​​the canopy relative to the fertilization port are determined, and the set of horizontal distance and coverage area is taken as the position of the fruit tree canopy. Then, a high-precision weighing sensor or photoelectric flow meter is installed at the outlet of the fertilizer discharge pipe to collect the weight or volume data of the discharged fertilizer in real time. The weighing sensor detects the impact force of the fertilizer through strain gauges and converts it into an electrical signal. After filtering and calibration, the mass value is output (accumulated once every 5 seconds by default). At the same time, dynamic weighing combined with Kalman filtering can be used to eliminate mechanical vibration interference to ensure that the measurement error is less than 2%. If a flow meter is used, the frequency of fertilizer particles passing through is detected by an infrared sensor, and the discharge volume is converted into the discharge rate to obtain the actual discharge rate of the fertilization device.

[0049] In some embodiments, determining the fertilization deviation of the fertilization device on fruit trees can be achieved through the following steps:

[0050] Obtain the theoretical amount of fertilizer to be applied to fruit trees at the current planting stage using the fertilization device;

[0051] The fertilization deviation of the fertilization device for fruit trees is determined by the theoretical fertilization amount and the actual fertilization amount discharged by the fertilization device.

[0052] It should be noted that, in this application, fertilization deviation refers to the difference between the theoretical fertilization amount and the actual fertilization amount, and this fertilization deviation can reflect the accuracy of fertilization; the theoretical fertilization amount is a scientific fertilization standard value determined based on agronomic parameters such as fruit tree variety, tree age, growth stage and soil conditions, and is expressed in grams per tree.

[0053] In specific implementation, firstly, the theoretical fertilization amount of the fertilization device for fruit trees at the current planting stage can be obtained in the following way: the fertilization device has a built-in fruit tree growth database, which stores the standard fertilization amount data of different varieties (e.g., citrus, apple, etc.) at various growth stages (young tree stage, full-fruiting stage, etc.). When the fertilization operation begins, the operator inputs the variety and growth stage information of the current fruit tree through the human-machine interface, and the fertilization device automatically calls the corresponding theoretical fertilization amount parameter value in the database as the theoretical fertilization amount of the fertilization device for the fruit tree at the current planting stage. Then, the fertilization deviation of the fertilization device for fruit trees can be determined by the difference between the theoretical fertilization amount and the actual fertilization amount of the fertilization device, which is taken as the fertilization deviation of the fertilization device for fruit trees.

[0054] In step 102, when the deviation of the fruit tree fertilization exceeds the deviation threshold of the fruit tree fertilization amount, the fertilization speed of the fertilization device is stably adjusted by the target fertilization amount of the fertilization device, the position of the fruit tree canopy, and the volume of the sump of the fertilization device, so as to obtain the stable adjustment value of the fertilization speed in the fertilization device, and then determine the deviation adjustment gradient of the fertilization speed in the fertilization device.

[0055] In some embodiments, the stable adjustment of the fertilization speed of the fertilization device is achieved by using the target fertilization amount, the position of the fruit tree canopy, and the volume of the fertilization device's inlet, and the following steps can be taken to obtain a stable adjustment value for the fertilization speed of the fertilization device:

[0056] Obtain the current fertilizer discharge wheel speed, target fertilizer application rate, and trough volume of the fertilizer applicator;

[0057] The correlation coefficient of the fertilizer application speed in the fertilizer application device is set based on the volume of the slot.

[0058] The theoretical speed of the fertilization device is corrected based on the correlation coefficient, the current rotation speed of the fertilizer discharge wheel, and the target fertilizer application rate, to obtain the corrected value of the theoretical speed of the fertilization device.

[0059] By adjusting the stability of the theoretical vehicle speed correction value based on the location of the fruit tree canopy, a stable adjustment value for the fertilizer application vehicle speed in the fertilizer application device is obtained.

[0060] It should be noted that in this application, the stable adjustment value is the final actual control speed determined by the fertilization device; the current fertilizer discharge wheel speed refers to the number of revolutions per minute of the fertilizer discharge wheel, which directly affects the amount of fertilizer discharged per unit time; the target fertilizer application rate is the total amount of fertilizer required for a single fruit tree, set according to agronomic requirements; the slot volume represents the volume of fertilizer that a single slot of the fertilizer discharge wheel can hold, which determines the upper limit of the fertilizer discharge rate per operation; the correlation coefficient is a proportional parameter reflecting the relationship between the slot volume and the theoretical speed; the theoretical speed is the basic travel speed calculated based on ideal conditions; and the correction value is a speed reference value adjusted considering actual working conditions.

[0061] In specific implementation, firstly, the current rotational speed of the fertilizer discharge wheel, the target fertilizer application rate, and the trough volume of the fertilizer applicator can be obtained in the following way: the rotational speed is monitored in real time by an encoder installed on the fertilizer discharge wheel shaft, and the pulse signal is converted into a rotational speed value as the current rotational speed of the fertilizer discharge wheel of the fertilizer applicator; the target fertilizer application rate is automatically generated by the central control console of the fertilizer applicator based on the fruit tree growth model or manually input by the operator; the trough volume is calculated based on the displacement fed back by the baffle position sensor, and the fertilizer applicator has a built-in volume parameter table corresponding to different displacements; secondly, the correlation coefficient of the fertilizer applicator speed in the fertilizer applicator can be set based on the trough volume in the following way: the system pre-stores a lookup table of correlation coefficients corresponding to different trough volumes. After obtaining the current slot volume, the corresponding correlation coefficient is determined from the lookup table using linear interpolation, thus obtaining the correlation coefficient of the fertilizer applicator speed. Then, based on the correlation coefficient, combined with the current fertilizer wheel rotation speed and the target fertilizer application rate, the theoretical speed of the fertilizer applicator is corrected. This correction value can be achieved by: initializing a fertilizer application model based on multi-parameter coupling, using the correlation coefficient as the dynamic adjustment factor, the current fertilizer wheel rotation speed as the rotation speed input variable, the target fertilizer application rate as the baseline control variable, and the canopy diameter of the fruit tree as the spatial constraint parameter. This fertilizer application model is then used to correct the theoretical speed of the fertilizer applicator. The fertilizer application speed is quickly calibrated, and the result of the calibration is used as the calibration value of the theoretical speed in the fertilization device. Finally, the calibration value of the theoretical speed is stabilized by adjusting the position of the fruit tree canopy. The stable adjustment value of the fertilization speed in the fertilization device can be achieved in the following way: based on the canopy boundary position information detected in real time by lidar, the calibration value of the theoretical speed is further fine-tuned. That is, when the edge of the canopy is detected, the speed is automatically reduced to ensure the uniformity of fertilization; in the central area of ​​the canopy, the speed is appropriately increased to improve the efficiency of operation. The adjustment process adopts a fuzzy control algorithm to achieve a smooth transition of speed and avoid uneven fertilizer application caused by rapid acceleration or deceleration. The calibration value after adjusting the theoretical speed is used as the stable adjustment value of the fertilization speed in the fertilization device.

[0062] It should be noted that in this application, the fertilizer application model is an intelligent control system based on multi-parameter dynamic coupling. This model achieves precise control of the fertilizer application vehicle speed by establishing a mathematical relationship between rotation speed, fertilizer application rate, canopy size, and adjustment coefficient. The model integrates data from four dimensions: mechanical parameters (fertilizer application wheel rotation speed), agronomic requirements (target fertilizer application rate), fruit tree characteristics (canopy diameter), and dynamic compensation (correlation coefficient). Specifically, the theoretical speed correction value = (fruit tree canopy diameter * (first correlation coefficient * current fertilizer application wheel rotation speed)). 2 +Second correlation coefficient * current fertilizer discharge wheel speed) / (15 * target fertilizer application rate), where the correlation coefficient is responsible for compensating for the differences in fertilizer discharge characteristics under different trough volumes, the current fertilizer discharge wheel speed reflects the real-time operation status, the target fertilizer application rate ensures agronomic standards, and the canopy diameter of the fruit tree constrains the fertilization space range. By constructing a parameter space mapping relationship, this fertilizer discharge model can dynamically correct the theoretical speed based on real-time monitoring data, enabling the fertilization device to maintain fertilization positioning accuracy and fertilizer application rate error even in complex operating environments, significantly improving the accuracy and adaptability of variable fertilization.

[0063] In some embodiments, determining the deviation adjustment gradient of the fertilizer application vehicle speed in the fertilizer application device can be achieved by the following steps:

[0064] Get the current fertilizer application speed in the fertilizer application device;

[0065] The deviation adjustment gradient of the fertilizer application speed in the fertilizer application device is determined based on the current fertilizer application speed and the stable adjustment value of the fertilizer application speed.

[0066] It should be noted that in this application, the deviation adjustment gradient represents the rate of change and direction of the current vehicle speed that needs to be adjusted; the current fertilization vehicle speed refers to the real-time travel speed of the fertilization device during operation, and the current fertilization vehicle speed is the basic parameter for dynamic adjustment.

[0067] In specific implementation, firstly, the current fertilization speed of the fertilization device can be obtained in the following way: a Hall sensor is installed on the walking mechanism of the fertilization device, and the real-time speed is obtained by detecting the rotational speed of the drive shaft. The pulse signal collected by the sensor is processed by the signal conditioning circuit and then converted into an actual speed value (unit: m / s) by the central control of the fertilization device as the current fertilization speed of the fertilization device. Then, the deviation adjustment gradient of the fertilization speed in the fertilization device can be determined according to the current fertilization speed and the stable adjustment value of the fertilization speed in the fertilization device in the following way: the difference between the current fertilization speed and the stable adjustment value of the fertilization speed is used as the deviation adjustment gradient of the fertilization speed in the fertilization device.

[0068] In step 103, when the deviation adjustment gradient is greater than the speed change threshold of the fertilizer applicator, the historical fertilizer discharge error of the actual fertilizer application in the fertilizer applicator is determined. The fertilizer discharge wheel speed of the fertilizer applicator is compensated and optimized by the historical fertilizer discharge error and the stable adjustment value of the fertilizer applicator speed to obtain the compensated and optimized value of the fertilizer discharge wheel speed.

[0069] In some embodiments, determining the historical fertilizer discharge error of the actual fertilization in the fertilization device can be achieved by the following steps:

[0070] Obtain fertilization records of fruit trees from the fertilization device within a historical time period;

[0071] Extract the fertilization deviation for each fruit tree fertilization from the fruit tree fertilization records;

[0072] The historical fertilizer discharge error in the fertilization device was determined by measuring all fertilizer deviations.

[0073] It should be noted that in this application, historical fertilizer application error is the overall accuracy index of the fertilization device derived from statistical analysis of long-term operational data; fruit tree fertilization record refers to the complete set of working data stored by the fertilization device in past operations; and fertilization deviation represents the difference between the actual amount of fertilizer applied and the target amount of fertilizer applied during a single fertilization process.

[0074] In specific implementation, firstly, obtaining the fertilization records of fruit trees within a historical time period can be achieved by retrieving the fertilization records of fruit trees within a historical time period (default is the most recent month) from the historical database of the fertilization device; then, extracting the fertilization deviation of each fertilization from the fertilization records can be achieved by the data processor in the fertilization device traversing the fertilization records in chronological order, parsing the fertilization record of each fruit tree, directly recording the target value and actual value of each stored fertilization record, and calculating the absolute difference between the two as the fertilization deviation. In other embodiments, in order for the extracted fertilization deviation to truly reflect the performance of the fertilization device, the fertilization device will first perform validity verification on the original data, remove outliers (e.g., erroneous data caused by sensor failure), and simultaneously use a moving average algorithm to eliminate random errors; finally, determining the historical fertilization error of the actual fertilization in the fertilization device through all fertilization deviations can be achieved by the average of all fertilization deviations as the historical fertilization error of the actual fertilization in the fertilization device.

[0075] In some embodiments, the rotational speed of the fertilizer discharge wheel of the fertilizer applicator is compensated and optimized using the historical fertilizer discharge error and the stable adjustment value of the fertilizer applicator speed, resulting in an optimized compensation value for the rotational speed of the fertilizer discharge wheel. Figure 2 The diagram is a flowchart illustrating the determination of the compensation optimization value in some embodiments of this application. In this embodiment, the determination of the compensation optimization value can be achieved using the following steps:

[0076] In step 1031, the error compensation amount of the fertilizer discharge wheel speed in the fertilizer application device is determined based on the historical fertilizer discharge error;

[0077] In step 1032, the stable adjustment value of the fertilizer applicator speed is compensated by the error compensation amount to obtain the compensated optimized value of the fertilizer discharge wheel speed.

[0078] It should be noted that, in this application, the compensation optimization value refers to the final speed control command value after error compensation correction. Specifically, the error compensation amount for the speed of the fertilizer discharge wheel in the fertilizer applicator can be determined based on the historical fertilizer discharge error in the following manner: by analyzing the fertilizer discharge error data stored in the historical database, establishing a mapping relationship model between error and speed, performing time series analysis on the fertilizer discharge error data to identify systematic deviation patterns (e.g., continuous large or small deviations within a specified speed range), and using the least squares method to fit the error curve to calculate the required compensation under different operating conditions. The compensation coefficient is calculated to generate a compensation coefficient table for the fertilization device. Finally, based on the current operating parameters (e.g., target fertilizer application rate, trough volume), the compensation coefficient table is queried, and the corresponding rotational speed compensation amount is output as the error compensation amount for the fertilizer discharge wheel rotational speed. This error compensation amount is the additional speed increment or decrement value that needs to be adjusted to correct the inherent deviation of the system. Then, the stable adjustment value of the fertilizer discharge vehicle speed is compensated by the error compensation amount. The optimized compensation value of the fertilizer discharge wheel rotational speed can be obtained by the following method: the sum of the error compensation amount and the stable adjustment value of the fertilizer discharge vehicle speed is used as the optimized compensation value of the fertilizer discharge wheel rotational speed.

[0079] In step 104, based on the compensation optimization value of the fertilizer discharge wheel speed and the stable adjustment value of the fertilizer application vehicle speed, the fertilizer application device is controlled to complete the targeted variable fertilization of fruit tree planting.

[0080] In practice, firstly, the stepper motor driver precisely executes the compensation optimization value of the fertilizer discharge wheel speed to ensure that the amount of fertilizer discharged per unit time is consistent with the target value. At the same time, the stable adjustment value of the fertilizer discharge vehicle speed is realized by the walking motor control system in the fertilizer device to maintain synchronization with the fertilizer discharge action. During the fertilization process, the lidar continuously monitors the position of the canopy edge. When the fruit tree canopy is detected, the fertilizer device dynamically fine-tunes the vehicle speed and fertilizer discharge rhythm according to the real-time position information to ensure that the fertilizer falls accurately within the canopy projection range.

[0081] It should be noted that in this application, the control system of the fertilization device adopts a feedforward-feedback composite algorithm. The feedforward link performs coarse adjustment based on a preset model, while the feedback link performs fine adjustment by monitoring the actual fertilizer discharge in real time through a weighing sensor, forming a closed-loop control. This effectively overcomes interference factors such as terrain undulations and mechanical vibrations, thereby controlling the fertilization position error of the fertilization device and reducing the fertilizer discharge error. The fertilization device also has a safety protection mechanism that automatically enters protection mode when abnormal operating conditions are detected to avoid fertilizer waste or mechanical damage. The entire control process of the fertilization device is displayed in real time on the human-machine interface, including key parameters such as current vehicle speed, fertilizer discharge, and canopy position, and complete operation data is recorded for subsequent analysis and optimization. Through intelligent and precise control, fertilizer utilization is significantly improved, environmental pollution is reduced, and it is suitable for modern orchards of different sizes and terrains.

[0082] In another aspect, in some embodiments, this application provides a fruit tree planting and fertilization device, which includes a control unit, as referenced. Figure 3 The figure is a schematic diagram of the structure of a control unit according to some embodiments of this application. The control unit includes: a monitoring module 201, a processing module 202, and an execution module 203, which are described below:

[0083] The monitoring module 201 in this application is mainly used to detect the position of the fruit tree canopy using a lidar sensor when using a fertilization device to fertilize fruit trees, and to monitor the actual amount of fertilizer discharged by the fertilization device, thereby determining the deviation of the fertilization device in fertilizing fruit trees.

[0084] Processing module 202, in this application, is used to adjust the fertilization speed of the fertilization device by means of the target fertilization amount of the fertilization device, the position of the fruit tree canopy and the volume of the slot of the fertilization device when the deviation of the fertilization of the fruit tree is greater than the deviation threshold of the fertilization amount of the fruit tree. This allows for the stable adjustment value of the fertilization speed in the fertilization device to be obtained, and the deviation adjustment gradient of the fertilization speed in the fertilization device to be determined.

[0085] It should be noted that the processing module 202 is also used to determine the historical fertilizer discharge error of the actual fertilizer application in the fertilizer application device when the deviation adjustment gradient is greater than the speed change threshold of the fertilizer application device, and to compensate and optimize the speed of the fertilizer discharge wheel of the fertilizer application device by using the historical fertilizer discharge error and the stable adjustment value of the fertilizer application speed to obtain the compensation and optimization value of the speed of the fertilizer discharge wheel.

[0086] The execution module 203 in this application is mainly used to control the fertilization device to complete the targeted variable fertilization of fruit tree planting based on the compensation optimization value of the fertilizer discharge wheel speed and the stable adjustment value of the fertilization vehicle speed.

[0087] The foregoing has detailed examples of the fruit tree planting fertilization control method and apparatus provided in the embodiments of this application. It is understood that, in order to achieve the above functions, the corresponding apparatus includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0088] In some embodiments, this application also provides a computer device, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, so that the computer device performs the above-described fruit tree planting and fertilization control method.

[0089] In some embodiments, reference Figure 4 The dashed lines in the figure indicate that the unit or module is optional. This figure is a structural schematic diagram of a computer device for implementing a fruit tree planting and fertilization control method according to an embodiment of this application. The fruit tree planting and fertilization control method described in the above embodiments can be achieved through… Figure 4 The computer device shown is used to implement this, and the computer device includes at least one processor 301, a memory 302 and at least one communication unit 305. The computer device may be a terminal device, a server or a chip.

[0090] Processor 301 can be a general-purpose processor or a special-purpose processor. For example, processor 301 can be a central processing unit (CPU), which can be used to control computer devices, execute software programs, and process data from software programs. The computer device may also include a communication unit 305 for inputting (receiving) and outputting (transmitting) signals.

[0091] For example, the computer device may be a chip, and the communication unit 305 may be the input and / or output circuit of the chip, or the communication unit 305 may be the communication interface of the chip, which may be a component of a terminal device, network device or other device.

[0092] For example, the computer device may be a terminal device or a server, and the communication unit 305 may be a transceiver of the terminal device or the server, or the communication unit 305 may be a transceiver circuit of the terminal device or the server.

[0093] The computer device may include one or more memories 302 storing a program 304. The program 304 can be executed by a processor 301 to generate instructions 303, causing the processor 301 to execute the method described in the above method embodiments according to the instructions 303. Optionally, the memory 302 may also store data (such as a target audit model). Optionally, the processor 301 may also read data stored in the memory 302, which may be stored at the same storage address as the program 304, or it may be stored at a different storage address than the program 304.

[0094] The processor 301 and memory 302 can be configured separately or integrated together, for example, integrated on the system on chip (SOC) of the terminal device.

[0095] It should be understood that each step of the above method embodiment can be completed by hardware logic circuits or software instructions in the processor 301. The processor 301 can be a CPU, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0096] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] For example, in some embodiments, this application also provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the above-described fruit tree planting and fertilization control method.

[0098] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0099] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for controlling fertilization in fruit tree planting, characterized in that, Includes the following steps: When using a fertilization device to fertilize fruit trees, a lidar sensor is used to detect the location of the fruit tree canopy and monitor the actual amount of fertilizer discharged by the fertilization device, thereby determining the deviation of the fertilization device in fertilizing the fruit trees. When the deviation of the fertilization of the fruit trees is greater than the deviation threshold of the fertilization amount, the fertilization speed of the fertilization device is stably adjusted by the target fertilization amount of the fertilization device, the position of the fruit tree canopy and the volume of the sump of the fertilization device, so as to obtain the stable adjustment value of the fertilization speed in the fertilization device, and then determine the deviation adjustment gradient of the fertilization speed in the fertilization device. When the deviation adjustment gradient is greater than the speed change threshold of the fertilizer applicator, the historical fertilizer discharge error of the actual fertilizer application in the fertilizer applicator is determined. The fertilizer discharge wheel speed of the fertilizer applicator is compensated and optimized by the historical fertilizer discharge error and the stable adjustment value of the fertilizer applicator speed to obtain the compensation and optimization value of the fertilizer discharge wheel speed. Based on the compensation optimization value of the fertilizer discharge wheel speed and the stable adjustment value of the fertilizer application vehicle speed, the fertilizer application device is controlled to complete the targeted variable fertilization of fruit tree planting.

2. The method as described in claim 1, characterized in that, Determining the fertilization deviation of fruit trees using fertilization equipment specifically includes: Obtain the theoretical amount of fertilizer to be applied to fruit trees at the current planting stage using the fertilization device; The fertilization deviation of the fertilization device for fruit trees is determined by the theoretical fertilization amount and the actual fertilization amount discharged by the fertilization device.

3. The method as described in claim 1, characterized in that, The stability of the fertilization speed of the fertilization device is adjusted by considering the target fertilization amount, the position of the fruit tree canopy, and the volume of the fertilization device's inlet. Specifically, the stable adjustment value for the fertilization speed in the fertilization device includes: Obtain the current fertilizer discharge wheel speed, target fertilizer application rate, and trough volume of the fertilizer applicator; The correlation coefficient of the fertilizer application speed in the fertilizer application device is set based on the volume of the slot. The theoretical speed of the fertilization device is corrected based on the correlation coefficient, the current rotation speed of the fertilizer discharge wheel, and the target fertilizer application rate, to obtain the corrected value of the theoretical speed of the fertilization device. By adjusting the stability of the theoretical vehicle speed correction value based on the location of the fruit tree canopy, a stable adjustment value for the fertilizer application vehicle speed in the fertilizer application device is obtained.

4. The method as described in claim 1, characterized in that, Determining the deviation adjustment gradient of the fertilizer applicator speed in the fertilizer applicator specifically includes: Get the current fertilizer application speed in the fertilizer application device; The deviation adjustment gradient of the fertilizer application speed in the fertilizer application device is determined based on the current fertilizer application speed and the stable adjustment value of the fertilizer application speed.

5. The method as described in claim 1, characterized in that, Determining the historical fertilizer discharge error in the fertilization system specifically includes: Obtain fertilization records of fruit trees from the fertilization device within a historical time period; Extract the fertilization deviation for each fruit tree fertilization from the fruit tree fertilization records; The historical fertilizer discharge error in the fertilization device was determined by measuring all fertilizer deviations.

6. The method as described in claim 1, characterized in that, The fertilizer discharge wheel speed of the fertilizer applicator is compensated and optimized by using the historical fertilizer discharge error and the stable adjustment value of the fertilizer applicator speed. The specific compensation and optimization values ​​for the fertilizer discharge wheel speed include: The error compensation amount for the rotational speed of the fertilizer discharge wheel in the fertilizer application device is determined based on the historical fertilizer discharge error. The error compensation amount is used to compensate for the stable adjustment value of the fertilizer applicator speed, thereby obtaining the optimized compensation value of the fertilizer discharge wheel speed.

7. The method as described in claim 1, characterized in that, The fertilization device is based on an external groove wheel-type fertilizer discharge structure.

8. A fruit tree planting and fertilization device, comprising a control unit, characterized in that, The control unit includes: The monitoring module is used to detect the location of the fruit tree canopy using a lidar sensor when using a fertilization device to fertilize fruit trees, and to monitor the actual amount of fertilizer discharged by the fertilization device, thereby determining the deviation of the fertilization device in fruit tree application. The processing module is used to adjust the fertilization speed of the fertilization device by means of the target fertilization amount of the fertilization device, the position of the fruit tree canopy and the volume of the slot of the fertilization device when the deviation of the fertilization of the fruit tree is greater than the deviation threshold of the fertilization amount of the fruit tree. The module obtains the stable adjustment value of the fertilization speed in the fertilization device and then determines the deviation adjustment gradient of the fertilization speed in the fertilization device. The processing module is also used to determine the historical fertilizer discharge error of the actual fertilizer application in the fertilizer application device when the deviation adjustment gradient is greater than the speed change threshold of the fertilizer application device, and to compensate and optimize the speed of the fertilizer discharge wheel of the fertilizer application device by using the historical fertilizer discharge error and the stable adjustment value of the fertilizer application speed to obtain the compensation and optimization value of the speed of the fertilizer discharge wheel. The execution module is used to control the fertilization device to complete the targeted variable fertilization of fruit trees based on the compensation optimization value of the fertilizer discharge wheel speed and the stable adjustment value of the fertilization vehicle speed.

9. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to call and run the computer programs from the memory, so that the computer device performs the fruit tree planting and fertilization control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions or code that, when executed on a computer, cause the computer to implement the fruit tree planting and fertilization control method as described in any one of claims 1 to 7.

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