Soilless turf production matrix laying device

Abstract

The invention discloses a soilless turf production matrix laying device which comprises a frame and a handrail mounted on the frame. The sliding plate is connected to the supporting frame in a sliding mode, the sliding rod is installed at the lower end of the sliding plate, the smoothing plate is installed at the end, away from the sliding plate, of the sliding rod and makes contact with a matrix, the spring is installed between the supporting frame and the sliding plate, and the connecting plate is installed on the sliding plate. The vibration assembly is installed on the supporting frame and drives the smoothing plate to make contact with a substrate and vibrate at the same time, the dust falling assembly is installed on the vehicle frame and sprays water mist to the bottom of the vehicle frame, the moving assembly is installed on the vehicle frame, the crushing assembly is installed on the vehicle frame, and the transmission assembly is installed between the moving assembly and the crushing assembly. The flattening plate vibrates in the laying process to dynamically compact the matrix and promote rearrangement and densification of particles, so that the settlement difference of the matrix in different areas is remarkably reduced, the surface of the turf is prevented from being uneven, and the attractiveness and the use performance of the turf are improved.

Description

Technical Field

[0001] This invention relates to the field of laying device technology, specifically to a soilless turf production substrate laying device. Background Technology

[0002] Soilless turf production typically uses a substrate instead of traditional soil. The substrate is a culture medium made up of a mixture of different materials that can provide the nutrients and air needed by plant roots. The substrate laying requirements for soilless turf production are to meet the plant roots' needs for nutrients, water and oxygen to the greatest extent possible, so as to improve production efficiency and obtain better cultivation results.

[0003] In existing technologies, traditional paving devices have a relatively simple function in actual operation, mainly focusing on leveling the surface of the substrate. However, the substrate paving area is often large and complex, and the physical and mechanical properties of the substrate vary in different areas. The particle composition of the substrate in some areas is uneven, resulting in different densities. During the subsequent curing process, due to the different properties of the substrate in different areas, their settling rates and settling amounts will be significantly different, resulting in differential settlement. This differential settlement will be directly reflected on the turf surface, causing the turf surface to be uneven. This not only affects the aesthetics of the turf, but may also have an adverse effect on the normal growth and use of the turf. Summary of the Invention

[0004] The purpose of this invention is to provide a soilless turf production substrate laying device to solve the problem mentioned in the background art, which is that only the surface of the substrate is leveled, resulting in settlement during later use.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a soilless turf production substrate laying device, comprising a frame and a handrail mounted on the frame, a support frame mounted on the frame, a slide plate slidably connected to the support frame, a slide rod mounted at the lower end of the slide plate, a smoothing plate mounted on the slide rod at the end away from the slide plate and in contact with the substrate, a spring mounted between the support frame and the slide plate, a connecting plate mounted on the slide plate, a vibration component mounted on the support frame to drive the smoothing plate to vibrate while in contact with the substrate, a dust suppression component mounted on the frame to spray water mist onto the bottom of the frame, a moving component mounted on the frame, a breaking component mounted on the frame, and a transmission component mounted between the moving component and the breaking component. The moving component causes the entire device to move along a preset direction on the substrate, and the breaking component breaks up the clumps of substrate.

[0006] Based on the preferred embodiment of this technical solution, the end of the handrail away from the handrail is raised and forms an arc transition with the other end which is horizontal to the ground.

[0007] In the preferred embodiment of this technical solution, the support frame has a groove at the corresponding position of the slide plate, and the slide plate slides inside the groove, while the slide rod is slidably connected to the support frame.

[0008] According to the preferred embodiment of this technical solution, the vibration assembly includes an electric telescopic rod mounted on a support frame, a first mounting frame mounted on the output end of the electric telescopic rod, a first motor mounted on the first mounting frame, a rotating disk mounted on the output end of the first motor, a screw inserted into the rotating disk, a nut threaded onto the screw, and a rotating rod rotatably connected to the screw. The first motor drives the rotating disk to rotate, thereby driving the rotating rod to contact the connecting plate.

[0009] Based on the preferred embodiment of this technical solution, the rotating disk has several mounting holes arranged in a linear array, and the screw is inserted into the mounting holes. Inserting the screw into different mounting holes causes the rotating rod to move away from or close to the axis of the rotating disk.

[0010] In the preferred embodiment of this technical solution, the screw has a limiting hole at the corresponding position of the rotating rod, and the rotating rod is rotatably connected inside the limiting hole.

[0011] Based on the preferred embodiment of this technical solution, the dust suppression component includes a second mounting bracket installed on the vehicle frame and an atomizing nozzle installed on the second mounting bracket, through which water is atomized and sprayed downwards onto the vehicle frame.

[0012] According to the preferred embodiment of this technical solution, the moving component includes a first rotating shaft rotatably connected to the frame, a roller mounted on the first rotating shaft, and an anti-slip cover mounted on the roller. When the roller rotates, it rolls on the substrate through the anti-slip cover.

[0013] According to the preferred embodiment of this technical solution, the crushing component includes a second rotating shaft rotatably connected to the frame and a crushing blade mounted on the second rotating shaft, wherein the second rotating shaft drives the crushing blade to rotate and contact the agglomerated matrix.

[0014] In a preferred embodiment of this technical solution, the transmission assembly includes a second motor mounted on the vehicle frame, a first gear mounted on the output end of the second motor, a second gear meshing with the first gear, a first pulley mounted on a second rotating shaft, a second pulley mounted on the first rotating shaft, and a synchronous belt mounted between the second pulley and the first pulley. The second motor drives the first rotating shaft to rotate, and the second rotating shaft rotates accordingly. The second gear is mounted on the first rotating shaft. Compared with the prior art, the beneficial effects of this invention are:

[0015] 1. The turfboard vibrates during the laying process, dynamically compacting the substrate, promoting particle rearrangement and density, significantly reducing the settlement difference of the substrate in different areas, avoiding unevenness on the turf surface, and improving the aesthetics and performance of the turf.

[0016] 2. Break up any clumps of substrate to ensure uniform particle size. Avoid large clumps of substrate affecting the flatness and root growth of the turf. Combine this with vibration leveling using a screed to achieve a more consistent overall laying effect, which is beneficial for uniform turf growth.

[0017] 3. Water mist spraying effectively suppresses dust, reducing pollution to operators and the environment, while providing adequate moisture to the substrate, creating a suitable humid environment, and promoting seed germination and turf survival rate.

[0018] 4. The transmission assembly integrates the power of the moving assembly and the crushing assembly, driving multiple functions with a single motor, reducing energy consumption and equipment complexity, improving overall operating efficiency, and is suitable for large-area substrate laying scenarios. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of one embodiment of the soilless turf production substrate laying device of the present invention;

[0020] Figure 2 This is a schematic diagram of the flat plate and its connected components of the present invention;

[0021] Figure 3 This is a schematic diagram of the vibration component structure of the present invention;

[0022] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure of the rotating rod and screw;

[0023] Figure 5 This is a schematic diagram of the dust suppression component structure of the present invention;

[0024] Figure 6 for Figure 1 Schematic diagram of the bottom structure of the CRRC frame;

[0025] Figure 7 This is a schematic diagram of the transmission component and its connected components of the present invention.

[0026] In the diagram: 21. Frame; 22. Handrail; 23. Support frame; 24. Slide board; 25. Slide bar; 26. Slide board; 27. Spring; 28. Connecting plate; 31. Electric telescopic rod; 32. First mounting bracket; 33. First motor; 34. Rotating disc; 35. Screw; 36. Nut; 37. Rotating rod; 41. Second mounting bracket; 42. Atomizing nozzle; 51. First rotating shaft; 52. Roller; 53. Anti-slip cover; 61. Second rotating shaft; 62. Crushing blade; 71. Second motor; 72. First gear; 73. Second gear; 74. First pulley; 75. Second pulley; 76. Synchronous belt. Detailed Implementation

[0027] Soilless turf production is an innovative achievement combining modern agricultural engineering technology with traditional turf planting. Its core lies in using a soil-replaceable growing medium, scientifically configuring nutrients and minerals according to the growth needs of turfgrass, allowing the turf to grow and develop normally in a specialized substrate to form a carpet suitable for planting. Compared to traditional turf with soil, soilless turf has significant advantages such as being lightweight, not damaging the topsoil, easy to transport, and sustainable in production, making it an important material in urban greening, sports field construction, and ecological restoration.

[0028] The substrate for soilless turf production must meet the physiological needs of turfgrass at each growth stage, and its physicochemical properties directly affect the quality and production efficiency of the turf. The physical properties of the substrate mainly include parameters such as bulk density, total porosity, the ratio of large to small pores (air-to-water ratio), and particle size distribution. The ideal bulk density of a soilless substrate is generally 0.1-0.8 g / cm³, far lower than the 1.0-1.5 g / cm³ of soil. This makes the weight of soilless turf only 1 / 3 that of traditional turf, significantly reducing transportation and installation costs. Total porosity relates to root growth space and aeration, and should generally be maintained between 60% and 85%. The ideal ratio of aeration porosity to water-holding porosity is 1:2 to 1:4, ensuring both root respiration and a continuous water supply.

[0029] In terms of chemical properties, the substrate's pH, cation exchange capacity (CEC), and electrical conductivity (EC) are key factors affecting turfgrass growth. Most turfgrasses thrive in slightly acidic to neutral environments (pH 5.5-7.0). CEC reflects the substrate's ability to retain and supply nutrients, while EC characterizes the content of soluble salts in the substrate; excessively high levels can lead to root damage. Soilless turf production scientifically regulates these parameters to create a growing medium more suitable for turfgrass growth than natural soil.

[0030] The thickness design of the soilless turf substrate is crucial for turf quality formation and cost control. Studies have shown that regardless of the substrate material used, a thickness between 1.5 and 3.0 cm is optimal. This range satisfies the space requirements for early root development in turfgrass while ensuring sufficient tensile strength for easy rolling and transportation upon delivery. Research from Central South University of Forestry and Technology further confirms that the optimal thickness for either rice husk ash or coconut coir substrates is 3 cm. Too thin a substrate restricts root development, while too thick a substrate increases costs and hinders the formation of a complete turf carpet.

[0031] The development of soilless turf production technology is inseparable from the research and innovation of substrate materials. Currently used substrate materials have evolved from early single raw materials to diversified and composite formulation systems. Based on the source and properties of raw materials, soilless turf substrates can be mainly divided into three categories: organic substrates, inorganic substrates, and mixed substrates. Each type of material has its own characteristics and applicable scenarios.

[0032] Organic substrates mainly originate from agricultural and forestry waste and urban waste, including mushroom residue, sawdust, straw, pig manure, organic waste, and sludge. These materials are not only widely available and inexpensive, but also align with the environmentally friendly concept of resource recycling. Professor Han Liebao's team at Beijing Forestry University screened suitable materials from over 50 potential raw materials and, through scientific formulation research, developed two soilless grass mat substrate formulas using agricultural waste and urban waste compost as raw materials. Researchers at Hunan Agricultural University explored the mixing technology of rice straw and garden substrates, finding that when specific microbial agents were added for fermentation and the volume ratio of rice straw to garden substrate was 6:4, the substrate's physical properties were most ideal, with a significantly increased organic matter content, and the resulting grass mats exhibited significantly better performance than those treated with other methods. The advantages of organic substrates lie in their loose structure and rich nutrient content; however, the stability and durability of different raw materials vary, requiring pretreatment processes such as fermentation and composting to improve their performance.

[0033] Inorganic substrates mainly include mineral materials such as sand, vermiculite, perlite, and cinder. These substrates share common characteristics: stable structure, resistance to decomposition, and relatively high bulk density, but their water and fertilizer retention capacity is generally inferior to that of organic substrates. Sand was one of the earliest substrates used in soilless turf production, offering the advantage of not damaging the soil's topsoil layer; however, it has poor water and fertilizer retention, requiring large amounts of water and fertilizer, and its production cost has increased year by year due to rising sand prices. Cinder, as an industrial byproduct, possesses a certain degree of porosity and water retention capacity, and after appropriate screening and treatment, it can be used as a soilless turf substrate. Inorganic substrates are often used in combination with organic materials to adjust bulk density and improve structural stability.

[0034] Hybrid substrates are composite substrates made by combining organic and inorganic materials in a specific ratio, which can comprehensively leverage the advantages of each material and achieve complementary performance. Studies have shown that when rice husk ash substrate and coconut coir substrate are mixed at a volume ratio of 1:2, the overall effect is optimal as a soilless turf cultivation substrate. The development of hybrid substrates enables soilless turf production to be precisely customized according to different regional climatic conditions and application needs. For example, for humid and semi-humid regions with abundant rainfall and high air humidity, substrates made from sawdust, rice husk ash, and animal manure can be used; while for arid and semi-arid regions, raw materials such as sludge, straw, mushroom residue, and water-retaining agents are needed to enhance the water retention performance of the substrate.

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figure 1 - Figure 7 This invention provides an embodiment of a soilless turf production substrate laying device, comprising a frame 21 and a handle 22 mounted on the frame 21, a support frame 23 mounted on the frame 21, a slide plate 24 slidably connected to the support frame 23, a slide rod 25 mounted on the lower end of the slide plate 24, a smoothing plate 26 mounted on the end of the slide rod 25 away from the slide plate 24 and in contact with the substrate, a spring 27 mounted between the support frame 23 and the slide plate 24, a connecting plate 28 mounted on the slide plate 24, a vibration component mounted on the support frame 23 to drive the smoothing plate 26 to vibrate while in contact with the substrate, a dust suppression component mounted on the frame 21 to spray water mist onto the bottom of the frame 21, a moving component mounted on the frame 21, a crushing component mounted on the frame 21, and a transmission component mounted between the moving component and the crushing component. The moving component causes the entire device to move along a preset direction on the substrate. The system uses a crushing component to break up clumps of substrate, and a vibrating component to transmit high-frequency vibrations to the smoothing plate 26. This causes the substrate particles to rearrange and compact during the laying process, reducing porosity and thus lowering the risk of differential settlement. The crushing component uses rotating blades to mechanically break up clumps of substrate, ensuring uniform distribution of substrate particles and improving laying consistency. The transmission component synchronously transmits the power of the moving component to the crushing component, achieving integrated operation and improving overall efficiency. The dust suppression component uses water mist to adsorb dust particles in the air, improving the working environment and preventing the substrate surface from drying out. It also avoids dust generated by crushing and smoothing. A battery is installed on the frame 21, which powers the first motor 33 of the vibrating component, the second motor 71 of the transmission component, and the water pump of the dust suppression component, enabling the device to move and operate independently, making it suitable for working environments without external power sources.

[0037] Please see Figure 2 A further solution based on this embodiment is as follows: the end of the smoothing plate 26 away from the handrail 22 is raised and forms an arc transition with the other end which is horizontal to the ground. This structural design allows the smoothing plate 26 to smoothly cut into the substrate when moving, reducing forward resistance, while avoiding scratching or disturbing the already laid substrate, ensuring surface flatness. The arc transition part is made of wear-resistant metal material to extend service life, and the smoothing plate 26 can be made of stainless steel, which has excellent corrosion resistance and can resist the corrosion of moisture and nutrients in the substrate.

[0038] Please see Figure 2 A further solution based on this embodiment is as follows: the support frame 23 has a groove at the corresponding position of the slide plate 24, and the slide plate 24 slides inside the groove, and the slide rod 25 is slidably connected to the support frame 23. The groove and sliding connection structure allow the slide plate 24 and the slide rod 25 to move adaptively in the vertical direction, so that the smoothing plate 26 closely fits the substrate surface, adapts to areas with different densities, and ensures uniform vibration smoothing effect.

[0039] Please see Figure 2 - Figure 4 A further embodiment of this solution is as follows: The vibration assembly includes an electric telescopic rod 31 mounted on the support frame 23, a first mounting frame 32 mounted on the output end of the electric telescopic rod 31, a first motor 33 mounted on the first mounting frame 32, a rotating disk 34 mounted on the output end of the first motor 33, a screw 35 inserted into the rotating disk 34, a nut 36 threadedly connected to the screw 35, and a rotating rod 37 rotatably connected to the screw 35. The first motor 33 drives the rotating disk 34 to rotate, thereby driving the rotating rod 37 to contact the connecting plate 28. The electric telescopic rod 31 can adjust the height of the vibration assembly to adapt to different laying thicknesses and densities. The first motor 33 drives the rotating disk 34 to rotate, and the rotational motion is converted into reciprocating vibration through the eccentrically arranged screw 35 and rotating rod 37, which drives the connecting plate 28 and the sliding plate 24 to move up and down, so that the flat plate 26 vibrates and compacts the substrate, thereby enhancing the overall compactness of the substrate.

[0040] Please see Figure 3 A further solution based on this embodiment is as follows: a number of mounting holes are provided on the rotating disk 34 in a linear array, and the screw 35 is inserted into the mounting holes. The screw 35 is inserted into different mounting holes so that the rotating rod 37 is away from or close to the axis of the rotating disk 34. By adjusting the position of the screw 35 in different mounting holes, the eccentricity of the rotating rod 37 can be changed, thereby adjusting the vibration amplitude to meet the vibration intensity requirements of different substrate types and improve the applicability of the device and the laying quality.

[0041] Please see Figure 4 A further solution based on this embodiment is as follows: the screw 35 has a limiting hole at the corresponding position of the rotating rod 37, and the rotating rod 37 is rotatably connected inside the limiting hole. The limiting hole structure ensures that the rotating rod 37 and the screw 35 rotate flexibly and are stably connected, reducing friction and wear during the movement process and improving the durability and reliability of the component.

[0042] Please see Figure 5A further solution based on this embodiment is as follows: The dust suppression component includes a second mounting bracket 41 mounted on the frame 21 and an atomizing nozzle 42 mounted on the second mounting bracket 41. The atomizing nozzle 42 sprays water atomized towards the underside of the frame 21. The atomizing nozzle 42 uses high-pressure atomization technology to convert water into micron-level water mist, which evenly covers the substrate surface, effectively suppressing dust generation and providing moderate moisture to the substrate, promoting the germination and growth of grass seeds. The second mounting bracket 41 can adjust the nozzle angle to optimize the spraying range. In use, water can be supplied to the atomizing nozzle 42 by connecting an external water pipe and a water pump. The external water supply equipment is a common technology in the prior art, so it will not be described in detail. Alternatively, a water tank can be added to the frame 21. The water tank is connected to the atomizing nozzle 42 of the dust suppression component through a water pipe, and a water pump 82 is installed on the water pipe. The water pump 82 delivers the water in the water tank to the atomizing nozzle 42 for spraying, without the need for an external water source. The specific choice can be made according to actual production and use.

[0043] Please see Figure 1 , Figure 6 and Figure 7 A further solution based on this embodiment is as follows: the moving component includes a first rotating shaft 51 rotatably connected to the frame 21, a roller 52 mounted on the first rotating shaft 51, and an anti-slip cover 53 mounted on the roller 52. When the roller 52 rotates, it rolls on the substrate through the anti-slip cover 53. The anti-slip cover 53 is made of rubber or polyurethane material to increase the friction with the substrate surface and prevent slipping or sinking on the soft substrate. The wide surface design of the roller 52 disperses the pressure, ensuring that the device moves smoothly and reducing compaction damage to the substrate.

[0044] Please see Figure 6 and Figure 7 A further solution based on this embodiment is as follows: the crushing component includes a second rotating shaft 61 rotatably connected to the frame 21 and a crushing blade 62 mounted on the second rotating shaft 61. The second rotating shaft 61 drives the crushing blade 62 to rotate and contact the clumped substrate. The crushing blade 62 is made of high-strength alloy steel and has wear-resistant and impact-resistant properties. The second rotating shaft 61 drives the blade to rotate at high speed, crushing large pieces of substrate into uniform particles, avoiding uneven laying caused by clumping, and improving the overall uniformity of the substrate and the growth environment of the turf roots.

[0045] Please see Figure 6 and Figure 7A further solution based on this embodiment is as follows: The transmission assembly includes a second motor 71 mounted on the frame 21, a first gear 72 mounted on the output end of the second motor 71, a second gear 73 meshing with the first gear 72, a first pulley 74 mounted on the second rotating shaft 61, a second pulley 75 mounted on the first rotating shaft 51, and a synchronous belt 76 mounted between the second pulley 75 and the first pulley 74. While the second motor 71 drives the first rotating shaft 51 to rotate, the second rotating shaft 61 rotates accordingly. The second gear 73 is mounted on the first rotating shaft 51. The second motor 71, as a single power source, synchronously drives the moving assembly and the crushing assembly through gear meshing and the synchronous belt 76, reducing additional energy consumption and achieving coordinated operation of moving and crushing. The synchronous belt 76 provides smooth transmission and low noise, ensuring power transmission efficiency and reducing maintenance requirements. Furthermore, the diameter of the second pulley 75 is larger than the diameter of the first pulley 74. Therefore, the second pulley 75 drives the first pulley 74 through the synchronous belt 76 in an accelerating transmission, so the rotational speed of the second rotating shaft 61 is greater than that of the first rotating shaft 51. The specific size ratio of the second pulley 75 and the first pulley 74 can be selected according to actual use. An automatic steering component is set on the roller 52 near the end of the handrail 22 and electrically connected to the control system. The automatic steering component includes a steering actuator mounted on the frame, such as an electric push rod or servo motor. Its output end is mechanically connected to the bogie or steering linkage. The steering actuator is directly driven by the controller (with built-in AI chip). The controller receives real-time position and path information from the navigation and positioning module (such as RTK-GPS, LiDAR), calculates the required real-time steering angle command through the path planning algorithm (such as the improved A* algorithm), and drives the steering actuator to move, thereby accurately and automatically controlling the deflection of the roller 52, realizing the device's autonomous tracking, obstacle avoidance and path tracking.

[0046] Working principle: The operator supports the device through the handle 22. The second motor 71 drives the first rotating shaft 51 to rotate through the first gear 72 and the second gear 73. The first rotating shaft 51 drives the roller 52, which rolls on the substrate surface through the anti-slip cover 53, moving the entire device along the preset direction. At the same time, the rotation of the first rotating shaft 51 transmits power to the second rotating shaft 61 of the crushing component through the synchronous belt 76, causing the crushing blade 62 to rotate at high speed, breaking up the clumps of substrate into uniform particles. The first motor 33 of the vibration component drives the rotating disk 34 to rotate, which pushes the connecting plate 28 through the screw 35 and the rotating rod 37. The connecting plate 28 and the sliding plate 24 vibrate up and down, thereby causing the smoothing plate 26 to vibrate and flatten the substrate, increasing the substrate density and reducing differential settling. The spring 27 is used to reset the sliding plate 24, so that the connecting plate 28 fits the corresponding rotating rod 37. The atomizing nozzle 42 of the dust suppression component sprays water mist under the frame 21 to suppress dust and keep the substrate moist.

[0047] In practical applications, this invention can be integrated into a fully automatic control system to achieve autonomous navigation, adaptive parameter adjustment, and closed-loop optimization of the operation process, meeting the high-precision requirements of soilless turf substrate laying. The specific system components are as follows:

[0048] It includes a controller, an electric steering module, a navigation and positioning module, a matrix detection module, an environmental monitoring module, and a wireless communication module. The controller is used to control the start and stop of the vibration component, transmission component, crushing component, and moving component.

[0049] The controller includes an edge computing chip (such as NVIDIA Jetson Nano) that supports real-time inference of AI models, and has a built-in matrix compaction prediction model and operation parameter optimization algorithm. It can adjust the vibration amplitude of the vibration component (by adjusting the position of the screw 35 mounting hole) and the rotation speed of the crushing component (by adjusting the motor frequency) in real time based on the density and particle uniformity data fed back by the matrix detection module, so as to achieve dynamic adaptive optimization of the laying parameters.

[0050] The electric steering module is connected to the input of the moving component, which includes a servo motor and a planetary reducer;

[0051] The navigation and positioning module includes a high-precision GNSS (supporting RTK real-time differential positioning with a positioning accuracy of ±1cm), an inertial measurement unit (IMU, sampling frequency 100Hz, used for motion attitude compensation), a lidar (detection range 0.5-10m, resolution 0.1°, used for local obstacle avoidance), and a binocular camera (frame rate 30fps, resolution 1920×1080, used for field ridge marker recognition and initial inspection of substrate surface flatness).

[0052] The matrix detection module includes a conductivity probe (to detect matrix salt content), a near-infrared spectrometer (to analyze the ratio of organic to inorganic matter), and an array of pressure sensors (placed under the flat plate to provide real-time feedback on density).

[0053] The environmental monitoring module includes temperature and humidity sensors and dust concentration detectors.

[0054] The movement path planning method for this device is as follows:

[0055] An improved A* algorithm was used to construct a field grid map (0.1 m² resolution) using RTK-GPS, and a matrix type heat map was generated by combining the conductivity and spectral data from the matrix detection module.

[0056] Path cost function design: C path =w1⋅L+w2⋅C obstacle +w3⋅C terrain

[0057] Where L: path length (meters)

[0058] C obstacle Obstacle weighting (via LiDAR / visual detection)

[0059] C terrain Terrain adaptability weight (determined by the matrix type analyzed by near-infrared spectroscopy)

[0060] w1, w2, w3: Adjustable parameters (users can set the priority through the HMI interface).

[0061] When a mixed matrix area is detected, w3 is reduced to prioritize organic matrix areas. If the dust concentration is >150μg / m³, w2 is temporarily increased to avoid dusty areas.

[0062] The binocular camera extracts the field ridge marking lines through the HSV color space and combines IMU data to compensate for image distortion, achieving ±2cm lateral deviation control.

[0063] (Wireless communication module: adopts 4G / 5G and LoRa dual-mode communication. 4G / 5G is used for remote data transmission (work progress, equipment status, and detection data are uploaded to the cloud management platform in real time), and LoRa is used for short-distance equipment linkage (such as coordinated start and stop with matrix conveying equipment) to ensure stable communication in complex working environments.

[0064] Electric steering module: servo motor response time ≤50ms, planetary reducer transmission ratio 1:100. After receiving the path command from the controller, it precisely adjusts the roller 52 steering angle, and works with the navigation module to achieve automatic tracking, avoiding overlapping or omissions caused by human operation deviation.

[0065] Matrix detection module: The conductivity probe measures 0-10 mS / cm with a sampling interval of 1s, monitoring the matrix salt content in real time. When the value exceeds the suitable range (1-3 mS / cm), an alarm is triggered by the controller; the near-infrared spectrometer detects wavelengths of 700-2500nm with an analysis accuracy of ±1%, quickly identifying the ratio of organic to inorganic matter; the array-type pressure sensors (≥8 in number, spaced 5cm apart) detect 0-50kPa, providing real-time feedback on matrix density and data support for the adjustment of the vibration components.

[0066] Environmental monitoring module: Temperature and humidity sensor measurement range: temperature 0-50℃ (accuracy ±0.5℃), humidity 20%-90%RH (accuracy ±3%RH). When the temperature exceeds the suitable range of 15-30℃ or the humidity is lower than 40%RH, the controller will link the dust suppression component to increase the amount of atomized spray. Dust concentration detector measurement range: 0-1000μg / m³ (accuracy ±10μg / m³). It monitors dust in real time and automatically adjusts the device's moving speed and strengthens water mist spraying when the standard is exceeded to ensure that the working environment meets the standards.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for laying a soilless turf production substrate comprising a frame (21) and a handrail (22) mounted on the frame (21), characterised in that: The device further comprises a support frame (23) mounted on the frame (21), a sliding plate (24) slidingly connected to the support frame (23), a sliding rod (25) mounted at the lower end of the sliding plate (24), a flattening plate (26) mounted at the end of the sliding rod (25) away from the sliding plate (24) and in contact with the substrate, a spring (27) mounted between the support frame (23) and the sliding plate (24), a connecting plate (28) mounted on the sliding plate (24), a vibration assembly mounted on the support frame (23) to vibrate the flattening plate (26) while it is in contact with the substrate, a dust reduction assembly mounted on the frame (21) to spray water mist to the bottom of the frame (21), a moving assembly mounted on the frame (21), a crushing assembly mounted on the frame (21), and a transmission assembly mounted between the moving assembly and the crushing assembly, so that the device as a whole moves along a predetermined direction on the substrate through the moving assembly, and the caked substrate is broken through the crushing assembly.

2. A device for laying a soilless turf production substrate according to claim 1, characterised in that: The end of the flattening plate (26) away from the handrail (22) is raised and is in arc transition with the other end which is horizontal to the ground.

3. A device for laying a soilless turf production substrate according to claim 2, characterised in that: The support frame (23) is provided with a sliding groove at the corresponding position of the sliding plate (24), and the sliding plate (24) slides in the sliding groove, and the sliding rod (25) is slidingly connected to the support frame (23).

4. A device for laying a soilless turf production substrate according to claim 3, characterised in that: The vibration assembly comprises an electric telescopic rod (31) mounted on the support frame (23), a first mounting bracket (32) mounted at the output end of the electric telescopic rod (31), a first motor (33) mounted on the first mounting bracket (32), a rotating disc (34) mounted at the output end of the first motor (33), a screw rod (35) inserted into the rotating disc (34), a nut (36) threadedly connected to the screw rod (35), and a rotating rod (37) rotatably connected to the screw rod (35), and the first motor (33) drives the rotating disc (34) to rotate, thereby driving the rotating rod (37) to contact the connecting plate (28).

5. A device for laying a soilless turf production substrate according to claim 4, characterised in that: A plurality of mounting holes are linearly arranged on the rotating disc (34), and the screw rod (35) is inserted into the mounting holes, and the insertion into different mounting holes makes the rotating rod (37) away from or close to the axis of the rotating disc (34).

6. A device for laying a soilless turf production substrate according to claim 5, characterised in that: The screw rod (35) is provided with a limiting hole at the corresponding position of the rotating rod (37), and the rotating rod (37) is rotatably connected to the limiting hole.

7. A device for laying a soilless turf production substrate according to claim 6, characterised in that: The dust reduction assembly comprises a second mounting bracket (41) mounted on the frame (21) and an atomizing nozzle (42) mounted on the second mounting bracket (41), and the atomizing nozzle (42) atomizes and sprays water mist downward of the frame (21).

8. A device for laying a soilless turf production substrate according to claim 7, characterised in that: The moving assembly comprises a first rotating shaft (51) rotatably connected to the frame (21), a roller (52) mounted on the first rotating shaft (51), and a non-slip cover (53) mounted on the roller (52), and the roller (52) rolls on the substrate through the non-slip cover (53) when rotating.

9. A device for laying a soilless turf production substrate according to claim 8, characterised in that: The crushing assembly comprises a second rotating shaft (61) rotatably connected to the frame (21) and a crushing blade (62) mounted on the second rotating shaft (61), and the second rotating shaft (61) drives the crushing blade (62) to rotate and contact the caked substrate.

10. A device for laying a soilless turf production substrate according to claim 9, characterised in that: The transmission assembly comprises a second motor (71) mounted on the frame (21), a first gear (72) mounted on the output end of the second motor (71), a second gear (73) engaged on the first gear (72), a first pulley (74) mounted on the second rotating shaft (61), a second pulley (75) mounted on the first rotating shaft (51) and a synchronous belt (76) mounted between the second pulley (75) and the first pulley (74), the second motor (71) drives the first rotating shaft (51) to rotate, and the second rotating shaft (61) rotates at the same time, and the second gear (73) is mounted on the first rotating shaft (51).

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