Intelligent agricultural land and forest land liquid fertilizer application device based on big data and sensing

Abstract

The application discloses a kind of intelligent agricultural land and forest land liquid fertilizer fertilizing device based on big data and sensing, comprising: vehicle body, vehicle body front end is equipped with topographic perception unit, vehicle body is also equipped with liquid fertilizer fertilizing execution unit, the vehicle body lower end is equipped with soil detection unit, topographic perception unit, liquid fertilizer fertilizing execution unit and intelligent control unit are connected, intelligent control unit is connected with big data analysis unit, topographic perception unit is used to collect the topographic data of improved land forest land in real time, soil detection unit real-time acquisition land forest land soil data, and transmit to intelligent control unit, intelligent control unit will topographic data and soil data be transmitted to big data analysis unit, and intelligent control unit controls liquid fertilizer fertilizing execution unit to spray fertilization and improve soil according to the analysis data of big data analysis unit to land and forest land.It has the advantages that soil data is detected based on intelligent sensing, and according to detection data, liquid fertilizer is accurately matched and point-to-point transported to improve soil.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural fertilization machinery technology, and more specifically, to an intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing. Background Technology

[0002] Currently, soil improvement is a core step before crop planting, and liquid fertilizer application is a key means of improving soil fertility.

[0003] In current agricultural and forestry fertilization operations, traditional methods are generally characterized by extensive application, relying on manual experience to judge soil conditions. This lack of precise data on key soil parameters such as nitrogen, phosphorus, potassium, moisture, and density leads to either excessive or insufficient liquid fertilizer application, negatively impacting crop growth and causing soil pollution and water waste. Furthermore, existing equipment has poor adaptability to terrain. In complex terrains such as forests and mountains, the spraying arm cannot adjust to the terrain's contours, resulting in uneven spraying. The lack of real-time perception and positioning of the terrain makes precise fertilization by region difficult. Data fragmentation is also significant; soil testing, terrain data, and fertilization execution are not integrated into a closed loop, preventing dynamic optimization of fertilization plans based on historical and real-time data. Specifically, the inability to obtain real-time, multi-dimensional data on soil fertility, moisture, and density leads to mismatches between liquid fertilizer ratios and spray volumes, resulting in resource waste and soil pollution. Existing spraying arms cannot dynamically adjust to terrain undulations and slopes, resulting in uneven spraying in mountainous and forested areas. The lack of linkage between terrain data, soil data, and fertilization execution data makes it impossible to optimize fertilization plans through big data analysis, resulting in low operational efficiency. Existing spraying devices are mostly controlled as a whole, unable to achieve independent switching of individual spray heads or precise allocation of liquid fertilizer types, making it difficult to implement differentiated fertilization based on local soil variations.

[0004] In summary, at least one of the following technical problems exists:

[0005] Relying on human experience to judge soil conditions makes it impossible to accurately obtain key data such as soil nitrogen, phosphorus, potassium, moisture, and density. This can easily lead to excessive waste or insufficient liquid fertilizer, affecting crop growth, while also causing soil pollution and water waste.

[0006] The equipment has poor adaptability to terrain. In complex terrains such as woodlands and mountains, the spraying arm cannot be adjusted to follow the terrain undulations, resulting in uneven spraying. Furthermore, it lacks real-time perception and positioning of the terrain in the work area, making it difficult to achieve precise fertilization by region.

[0007] The data is severely fragmented, and the processes of soil testing, topographic data, and fertilization implementation are not in a closed loop, making it impossible to dynamically optimize fertilization plans based on historical and real-time data.

[0008] Most existing spraying devices are controlled as a whole, which cannot achieve independent switching of individual spray heads and precise allocation of liquid fertilizer types, making it difficult to implement differentiated fertilization based on local soil differences. Summary of the Invention

[0009] The main objective of this invention is to provide an intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing. This addresses the shortcomings of existing technologies that rely on manual experience to judge soil conditions, making it difficult to accurately obtain key data such as soil nitrogen, phosphorus, potassium, moisture, and density. This leads to excessive or insufficient liquid fertilizer application, negatively impacting crop growth and causing soil pollution and water waste. Furthermore, the equipment suffers from poor terrain adaptability; in complex terrains such as forests and mountains, the spraying arm cannot adjust to the terrain's undulations, resulting in uneven spraying. It also lacks real-time perception and positioning of the terrain, making precise fertilization by region difficult. Data fragmentation is severe; soil testing, terrain data, and fertilization execution are not integrated into a closed loop, preventing dynamic optimization of fertilization plans based on historical and real-time data. Existing spraying devices are mostly controlled as a whole, failing to achieve independent switching of individual spray heads and precise allocation of liquid fertilizer types, making it difficult to implement differentiated fertilization for local soil variations—at least one of these technical problems.

[0010] To achieve the above objectives, according to one aspect of the present invention, a smart agricultural land and forest liquid fertilizer application device based on big data and sensing is provided, comprising: a vehicle body, a terrain sensing unit at the front end of the vehicle body, a liquid fertilizer application execution unit on the vehicle body, and a soil detection unit at the lower end of the vehicle body; the terrain sensing unit and the liquid fertilizer application execution unit are respectively connected to an intelligent control unit; the intelligent control unit is connected to a big data analysis unit; the terrain sensing unit is used to collect terrain data of the improved land and forest in real time; the soil detection unit collects soil data of the land and forest in real time and transmits it to the intelligent control unit; the intelligent control unit transmits the terrain data and soil data to the big data analysis unit; and the intelligent control unit controls the liquid fertilizer application execution unit to spray fertilizer to improve the soil in the land and forest according to the analysis data of the big data analysis unit.

[0011] Preferably, the terrain perception unit includes a lidar terrain sensor, an inertial measurement module, and a GPS / BeiDou positioning module. The lidar terrain sensor is used to scan the terrain of the work area and acquire three-dimensional height and slope data. The inertial measurement module is used to detect the vehicle's attitude and adjust it according to the terrain. The GPS / BeiDou positioning module is used to locate terrain and soil data.

[0012] Preferably, the soil detection unit includes a multispectral soil fertility sensor, a soil moisture sensor, and a soil density sensor. The multispectral soil fertility sensor is used to detect soil chemical indicators, including nitrogen, phosphorus, potassium, organic matter, and pH. The soil moisture sensor is used to detect soil moisture content, and the soil density sensor is used to detect soil density.

[0013] Preferably, the liquid fertilizer application unit includes a liquid fertilizer storage tank, which is mounted on the vehicle body. The liquid fertilizer storage tank is connected to a liquid fertilizer delivery system, which is connected to a spray head. The spray head is connected to a terrain-adaptive spray arm and an angle adjustment structure. A transparent anti-diffusion cover is provided around the spray head.

[0014] Preferably, the spray heads include a plurality of spray heads arranged in a rectangular array on the spray plate. Each spray head is provided with a corresponding third control valve, which is used to control the spraying of the corresponding spray head. Each spray head is connected to a corresponding water supply pipe, and each water supply pipe is connected to a corresponding first liquid fertilizer delivery pipe. Each first liquid fertilizer delivery pipe is connected to a plurality of second liquid fertilizer delivery pipes. The plurality of first liquid fertilizer delivery pipes and the plurality of liquid fertilizer delivery pipes form a distribution matrix. Each first liquid fertilizer delivery pipe and the second liquid fertilizer delivery pipe intersect to form an intersection point. A fourth control valve is provided at the intersection point, which is used to control the opening and closing of the second liquid fertilizer delivery pipe to deliver liquid fertilizer into the first liquid fertilizer delivery pipe.

[0015] Preferably, both the first and second liquid fertilizer delivery pipes are equipped with delivery pumps, which are used to provide delivery power. The second liquid fertilizer delivery pipe is connected to a liquid fertilizer mixing tank, and a third control valve is provided at the connection between the second liquid fertilizer delivery pipe and the liquid fertilizer mixing tank. The mixing tank is used to mix liquid fertilizer.

[0016] Preferably, the central controller includes a first central processing unit, a lidar terrain sensor control module, a GPS / BeiDou positioning module control module, a terrain perception unit control module, a soil detection unit control module, a multispectral soil fertility sensor control module, a soil moisture sensor control module, a soil density sensor control module, a big data analysis unit control module, a liquid fertilizer execution unit control module, a liquid fertilizer delivery system control module, a terrain-adaptive spraying arm control module, a control valve control module, a pump control module, a liquid fertilizer mixing tank control module, a data storage module, a data analysis module, and a data interaction module. The lidar terrain sensor control module, GPS / BeiDou positioning module control module, terrain perception unit control module, soil detection unit control module, multispectral soil fertility sensor control module, soil moisture sensor control module, soil density sensor control module, big data analysis unit control module, liquid fertilizer execution unit control module, liquid fertilizer delivery system control module, terrain-adaptive spraying arm control module, control valve control module, pump control module, liquid fertilizer mixing tank control module, data storage module, data analysis module, and data interaction module are respectively connected to the first central processing unit.

[0017] Preferably, a closed loop is formed by first collecting data, then analyzing and making decisions, and then executing precisely. Through the data collection layer, the lidar terrain sensor of the terrain perception unit scans the three-dimensional terrain and slope, the inertial measurement module detects the vehicle attitude, the GPS and Beidou positioning module locates the working area, and the multispectral soil fertility sensor of the soil detection unit measures soil chemical indicators, the humidity sensor measures moisture, and the density sensor measures soil compaction. Data is collected in real time and transmitted to the intelligent control unit.

[0018] Preferably, the intelligent control unit transmits the collected terrain and soil data to the big data analysis unit, the data storage module saves historical and real-time data, and the data analysis module compares soil requirements with liquid fertilizer ratio standards through algorithms to output the optimal fertilization plan, including liquid fertilizer ratio, spraying area, and spraying amount.

[0019] The technical solution of this invention has the following technical effects:

[0020] A closed loop is formed through data acquisition, analysis and decision-making, and precise execution. The data acquisition layer uses a terrain perception unit with lidar sensors to scan 3D terrain and slope, an inertial measurement module to detect vehicle attitude, and a GPS / BeiDou positioning module to locate the work area. A soil detection unit uses multispectral soil fertility sensors to measure soil chemical indicators, humidity sensors to measure moisture, and compaction sensors to measure soil density, collecting data in real time and transmitting it to the intelligent control unit. Next, the intelligent control unit transmits the collected terrain and soil data to a big data analysis unit. A data storage module saves historical and real-time data, and a data analysis module uses algorithms to compare soil requirements with liquid fertilizer mixing standards, outputting the optimal fertilization plan, including the liquid fertilizer ratio, spraying area, and spray volume. Finally, in the precise execution layer, the intelligent control unit controls the liquid fertilizer application unit based on the analysis results: first, it accurately mixes the liquid fertilizer using a mixing tank; second, it adjusts the extension and angle of the spray arm using a terrain-adaptive spray arm control module; and third, it coordinates with various control valves and delivery pumps through a distribution matrix to deliver the appropriate liquid fertilizer to the target spray head, achieving precise spraying. During the operation, real-time data is continuously transmitted back to the big data analysis unit to update the historical database, providing an optimization basis for subsequent soil operations in the same area or of the same type, forming a closed loop of collection, analysis, execution, and updating.

[0021] By collecting data in real time through multispectral soil fertility sensors and humidity sensors, and combining big data analysis, dynamic ratio of liquid fertilizer and on-demand spraying can be achieved, thereby improving the utilization rate of liquid fertilizer, reducing soil pollution and water waste, and realizing precision fertilization.

[0022] The terrain-adaptive spray arm can adjust in real time according to the terrain undulations, improving spray uniformity and adapting to complex scenarios such as mountains and forests.

[0023] Precise control of individual spray heads is achieved through the allocation matrix and independent control valves, supporting differentiated fertilization in local areas; the human-machine interface combined with GPS and Beidou positioning enables unmanned operation and operation trajectory tracking. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 A schematic diagram of the structure of the intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing according to the present invention is shown.

[0026] Figure 2 It shows Figure 1 A structural view of the spraying execution unit of a smart agricultural land and forest liquid fertilizer application device based on big data and sensors;

[0027] Figure 3 It shows Figure 2 A view of the spraying plate of a smart agricultural land and forest liquid fertilizer application device based on big data and sensors;

[0028] Figure 4 It shows Figure 2 A structural view of the liquid fertilizer delivery unit in a smart agricultural land and forest liquid fertilizer application device based on big data and sensors;

[0029] Figure 5 It shows Figure 2 A structural view of the water conveyance unit of a smart agricultural land and forest liquid fertilizer application device based on big data and sensors.

[0030] The above figures include the following reference numerals:

[0031] Terrain sensing unit 1; LiDAR terrain sensor 2; Inertial measurement module 3; GPS / BeiDou positioning module 4; Soil detection unit 5; Multispectral soil fertility sensor 6; Soil moisture sensor 7; Soil compaction sensor 8; Big data analysis unit 9; Data storage module 10; Data analysis module 11; Data interaction module 12; Intelligent control unit 13; Central controller 14; Drive controller 15; Human-machine interface 16; Liquid fertilizer application execution unit 17; Liquid fertilizer storage tank 18; Liquid fertilizer delivery system 19; Terrain-adaptive spraying arm 20; Multi-segment telescopic structure 21; Angle adjustment structure 22; Anti-diffusion transparent cover 23; Water tank 25; First control valve 26; Water supply pipeline 27; Second control valve 28; Spraying plate 29; Spray head 30; Third control valve 31; First delivery pump 32; First liquid fertilizer 33. Delivery pipe; 34. Second liquid fertilizer delivery pipe; 35. Second delivery pump; 36. Third control valve; 37. Liquid fertilizer mixing tank; 38. Distribution matrix; 39. Intersection point; 40. First central processing unit; 41. LiDAR terrain sensor control module; 42. GPS / BeiDou positioning module control module; 43. Terrain perception unit control module; 44. Soil detection unit control module; 45. Multispectral soil fertility sensor control module; 46. Soil moisture sensor control module; 47. Soil density sensor control module; 48. Big data analysis unit control module; 49. Liquid fertilizer execution unit control module; 50. Liquid fertilizer delivery system control module; 51. Terrain-adaptive spray arm control module; 52. Control valve control module; 53. Pump body control module; 54. Liquid fertilizer mixing tank control module; 55. Tractor; 56. Sprayer plate mounting bracket; 57. Lifting mechanism. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] like Figures 1 to 5 As shown, this embodiment of the invention provides an intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing, comprising: a vehicle body, a terrain sensing unit 1 at the front end of the vehicle body, a liquid fertilizer application execution unit 17 on the vehicle body, and a soil detection unit 5 at the lower end of the vehicle body. The terrain sensing unit 1, the liquid fertilizer application execution unit 17, and the intelligent control unit 13 are connected. The intelligent control unit 13 is connected to a big data analysis unit 9. The terrain sensing unit 1 is used to collect terrain data of the improved land and forest in real time. The soil detection unit 5 collects soil data of the land and forest in real time and transmits it to the intelligent control unit 13. The intelligent control unit 13 transmits the terrain data and soil data to the big data analysis unit 9. The intelligent control unit 13 controls the liquid fertilizer application execution unit 17 to spray fertilizer to improve the soil in the land and forest according to the analysis data of the big data analysis unit 9.

[0034] In this embodiment, the terrain perception unit 1 includes a lidar terrain sensor 2, an inertial measurement module 3, and a GPS / BeiDou positioning module 4. The lidar terrain sensor 2 is used to scan the terrain of the work area and acquire three-dimensional height and slope data. The inertial measurement module 3 is used to detect the vehicle's attitude and adjust it according to the terrain. The GPS / BeiDou positioning module 4 is used to locate the terrain and soil data. The soil detection unit 5 includes a multispectral soil fertility sensor 6, a soil moisture sensor 7, and a soil density sensor 8. The multispectral soil fertility sensor 6 is used to detect soil chemical indicators, including nitrogen, phosphorus, potassium, organic matter, and pH. The soil moisture sensor 7 is used to detect soil moisture content, and the soil density sensor 8 is used to detect soil density.

[0035] Specifically, the lidar terrain sensor 2 of the terrain perception unit 1 scans the terrain of the work area to obtain three-dimensional height and slope data, providing terrain basis for spray arm adjustment. The inertial measurement module 3 detects the vehicle's posture during operation and feeds it back to the intelligent control unit 13 in real time to adjust the vehicle's balance and spray arm angle to adapt to the terrain. The GPS Beidou positioning module 4 locates the latitude and longitude coordinates of the work area, associates terrain and soil data, and achieves precise matching of area, data, and fertilization plan, while recording the work trajectory. The multispectral soil fertility sensor 6 of the soil detection unit 5 is used to detect soil chemical indicators, such as nitrogen, phosphorus, potassium, organic matter, and pH value, to determine soil fertility deficiencies and provide core data for liquid fertilizer formulation. The soil moisture sensor 7 is used to detect soil moisture content to avoid waterlogging caused by the superposition of liquid fertilizer and water, or insufficient absorption of liquid fertilizer in drought areas. The soil compaction sensor 8 is used to detect soil compaction, determine soil permeability, and assist in adjusting parameters related to liquid fertilizer spraying depth. The data storage module 10 of the big data analysis unit 9 stores historical soil data, topographic data, fertilization plans, and operational effect data, providing a data foundation for data analysis. The data analysis module 11 uses algorithms to compare real-time soil data with crop requirement standards to calculate the optimal liquid fertilizer ratio and spraying volume, while also optimizing the plan based on historical data. The data interaction module 12 enables data transmission between the intelligent control unit 13 and the big data analysis unit 9, and also supports data interaction with external platforms for remote monitoring.

[0036] In this embodiment, the central controller 14 of the intelligent control unit 13 is the core control hub of the device, receiving data from each unit, issuing control commands, and coordinating the collaborative work of each module. The first central processing unit 40 is used to process all data and control commands and is the computing core of the central controller 14. The lidar terrain sensor control module 41, the liquid fertilizer mixing box control module 54, and the components corresponding to the control of the terrain perception 1, soil detection 5, big data analysis 9, and liquid fertilizer execution units ensure that each unit operates according to the instructions. The drive controller 15 controls the vehicle's speed and direction, and works with the GPS positioning module 4 to achieve operation along a preset trajectory. The human-machine interface 16 allows operators to view real-time data, such as soil indicators, liquid fertilizer ratio, work progress, set parameters, and manual intervention, while also displaying fault alarm information.

[0037] In this embodiment, the liquid fertilizer application execution unit 17 includes a liquid fertilizer storage tank 18, which is mounted on the vehicle body. The liquid fertilizer storage tank 18 is connected to the liquid fertilizer delivery system 19, which is connected to the spray head 30. The spray head 30 is connected to the terrain-adaptive spray arm 20 and the angle adjustment structure 22. The spray head 30 is surrounded by a transparent anti-diffusion cover 23. The spray head 30 includes several spray heads arranged in a rectangular array on the spray plate 29. Each spray head 30 is equipped with a corresponding third control valve 31, which is used to control the spraying of the corresponding spray head 30. Each spray head 30 is connected to a corresponding water supply pipe 27. Each water supply pipe 27 is connected to a corresponding first liquid fertilizer delivery pipe 33. Each first liquid fertilizer delivery pipe 33 is connected to several second liquid fertilizer delivery pipes 34. The several first liquid fertilizer delivery pipes 33 and several liquid fertilizer delivery pipes 34 form a distribution matrix 38. Each first liquid fertilizer delivery pipe 33 and second liquid fertilizer delivery pipe 34 intersect to form an intersection point 39. A fourth control valve is provided at the intersection point 39, which is used to control the opening and closing of the second liquid fertilizer delivery pipe 34 to deliver liquid fertilizer into the first liquid fertilizer delivery pipe 33. Both the first liquid fertilizer delivery pipe 33 and the second liquid fertilizer delivery pipe 34 are equipped with delivery pumps 32 / 35, which provide delivery power. The second liquid fertilizer delivery pipe 34 is connected to a liquid fertilizer mixing tank 37. A third control valve 36 is provided at the connection between the second liquid fertilizer delivery pipe 34 and the liquid fertilizer mixing tank 37. The mixing tank 37 is used to mix liquid fertilizer. The central controller 14 includes a first central processing unit 40, a lidar terrain sensor control module 41, a GPS / BeiDou positioning module control module 42, a terrain perception unit control module 43, a soil detection unit control module 44, a multispectral soil fertility sensor control module 45, a soil moisture sensor control module 46, a soil compaction sensor control module 47, a big data analysis unit control module 48, a liquid fertilizer execution unit control module 49, a liquid fertilizer delivery system control module 50, a terrain-adaptive spraying arm control module 51, a control valve control module 52, a pump body control module 53, a liquid fertilizer mixing tank control module 54, a data storage module 10, a data analysis module 11, and a data interaction module 1. 2. The lidar terrain sensor control module 41, GPS Beidou positioning module control module 42, terrain perception unit control module 43, soil detection unit control module 44, multispectral soil fertility sensor control module 45, soil moisture sensor control module 46, soil density sensor control module 47, big data analysis unit control module 48, liquid fertilizer execution unit control module 49, liquid fertilizer delivery system control module 50, terrain-adaptive spraying arm control module 51, control valve control module 52, pump body control module 53, liquid fertilizer mixing tank control module 54, data storage module 10, data analysis module 11, and data interaction module 12 are respectively connected to the first central processing unit 40.

[0038] Specifically, the liquid fertilizer storage tank 18 of the liquid fertilizer application execution unit 17 stores unmixed basic liquid fertilizers such as nitrogen fertilizer and phosphate fertilizer concentrate, providing raw materials for mixing. The liquid fertilizer delivery system 19 consists of a first liquid fertilizer delivery pipe 33, a second liquid fertilizer delivery pipe 34, a water delivery pipe 27, and delivery pumps 32 / 35, responsible for delivering the mixed liquid fertilizer and water to the spray head 30 in proportion. The terrain-adaptive spray arm 20 includes a multi-segment telescopic structure 21, which adjusts the length of the spray arm according to the terrain width and operating range to adapt to crops and woodlands with different row spacings. The multi-segment telescopic structure 21 uses an electric telescopic rod or a hydraulic telescopic rod, and is equipped with a distance sensor and an infrared sensor to detect the distance to the ground in real time, and transmits the data to the controller 14. The controller 14 calculates the distance and controls the extension and retraction of the multi-segment telescopic structure 21 in real time. The multi-segment telescopic structure 21 is connected to the spray plate 29, thereby driving the spray plate 29 to rise and fall. The spray plate 29 is mounted on the spray plate mounting plate 56.

[0039] In this embodiment, the angle adjustment structure 22 is used to adjust the tilt angle of the spray arm 20 in real time according to the terrain slope, ensuring that the spray head 30 maintains the optimal distance from the soil and improving the uniformity of spraying. The angle adjustment structure 22 is connected to the adjustment frame, and the anti-diffusion transparent cover 23 is connected to the adjustment frame to cover the spray head 30, reducing the waste caused by wind diffusion of liquid fertilizer. The water tank 25 provides the dilution water required for spraying, which improves the permeability of the liquid fertilizer after mixing with it. The first control valve 26, the second control valve 28, the third control valve 31, and the fourth control valve control the on / off of the water supply pipeline 27, the liquid fertilizer delivery pipeline 34, the spray head 30, and the intersection point 39 of the distribution matrix 38, respectively, to achieve precise distribution of liquid fertilizer. The spray plate 29 and the spray head 30 are arranged in a rectangular array, with the spray plate 29 carrying the spray head 30. The spray head 30 sprays the liquid fertilizer and water mixture evenly onto the soil surface; each spray head 30 is independently controlled, supporting localized differentiated spraying. The liquid fertilizer mixing tank 37, according to the instructions of the central controller 14, mixes the basic liquid fertilizer in the liquid fertilizer storage tank 18 with the water in the water tank 25 in a specific ratio to generate liquid fertilizer suitable for soil needs. The distribution matrix 38 is formed by the intersection of the first liquid fertilizer delivery pipe 33 and the second liquid fertilizer delivery pipe 34. The fourth control valve at the intersection point 39 controls the flow of different types of liquid fertilizer into the corresponding first liquid fertilizer delivery pipe 33, achieving precise supply of multiple types of liquid fertilizer in a single area. The tractor 55 provides the mobile carrier for the device, carrying all units such as the terrain sensing 1, soil detection 5, and liquid fertilizer execution 17, while also providing power support to each unit.

[0040] In this embodiment, terrain perception 1 is deeply integrated with LiDAR terrain sensor 2, inertial measurement module 3, and GPS / BeiDou positioning module 4, and soil detection 5 is deeply integrated with multispectral soil fertility sensor 6, soil moisture sensor 7, and soil compaction sensor 8. Combined with big data analysis unit 9, a closed loop of real-time acquisition, dynamic analysis, precise execution, and data iteration is formed. The terrain-adaptive spraying arm 20, with multi-segment telescopic structure 21 and angle adjustment structure 22, adapts to the undulations and slopes of complex terrains such as mountains and forests in real time. Through the distribution matrix 38 formed by the first liquid fertilizer delivery pipe 33 and the second liquid fertilizer delivery pipe 34 and independent control valves, the liquid fertilizer type and spraying volume of a single spray head 30 can be independently controlled, supporting refined fertilization with a plan for each area. This breaks through the limitations of traditional overall spraying and the inability to make local adjustments, improving work efficiency and fertilization effect.

[0041] working methods

[0042] Operation Preparation Phase: The operator starts the device and sets the operation area through the human-machine interface 16; the central controller 14 initializes each unit, starts the GPS / BeiDou positioning module 4 to locate the operation area, and starts the data storage module 10 to prepare for data storage. Data Acquisition Phase: Terrain Sensing Unit 1 operates: the lidar terrain sensor 2 scans the three-dimensional terrain and slope of the operation area, the inertial measurement module 3 detects the tractor's attitude, and the GPS / BeiDou positioning module 4 records the real-time position. The data is transmitted to the central controller 14 in real time. Soil Detection Unit 5 operates: the multispectral soil fertility sensor 6, soil moisture sensor 7, and soil compaction sensor 8 collect soil chemical indicators, moisture, and compaction data in real time and transmit them to the central controller 14. Data Processing and Solution Generation Phase: The central controller 14 transmits the terrain and soil data to the big data analysis unit 9. The data analysis module 11 compares the soil data with crop requirement standards to calculate the optimal liquid fertilizer ratio, such as the nitrogen, phosphorus, and potassium ratio, spraying amount, and spraying area; the data storage module 10 simultaneously saves the real-time data. Liquid fertilizer mixing and adjustment stage: The central controller 14 instructs the liquid fertilizer mixing tank 37 to work via the liquid fertilizer mixing tank control module 54, mixing the basic liquid fertilizer in the liquid fertilizer storage tank 18 with the water in the water tank 25 in proportion. The terrain-adaptive spraying arm control module 51 instructs the spraying arm 20: the multi-segment telescopic structure 21 adjusts the length to adapt to the working width, and the angle adjustment structure 22 adjusts the tilt angle according to the terrain slope. Precision fertilization stage: The central controller 14 starts the first delivery pump 32 and the second delivery pump 35 via the pump body control module 53, and opens the corresponding fourth control valve via the control valve control module 52, delivering the mixed liquid fertilizer to the target first liquid fertilizer delivery pipe 33. The first control valve 26 and the second control valve 28 of the corresponding water supply pipeline 27 are opened, mixing the liquid fertilizer and water and delivering it to the target spray head 30 on the spray plate 29. The third control valve 31 is opened to control the spraying of the spray head 30; the anti-diffusion transparent cover 23 reduces liquid fertilizer diffusion. Data storage and optimization phase: All data during the operation, such as terrain, soil, and fertilizer application, are stored in real time to the data storage module 10. The data analysis module 11 updates and optimizes the algorithm based on this data to provide better solutions for subsequent operations in the same area.

[0043] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects: A closed loop is formed by first collecting data, then analyzing and making decisions, and finally executing precisely. Through the data collection layer, the lidar terrain sensor 2 of the terrain perception unit 1 scans the three-dimensional terrain and slope; the inertial measurement module 3 detects the vehicle's attitude; the GPS / BeiDou positioning module 4 locates the work area; and the multispectral soil fertility sensor 6 of the soil detection unit 5 measures soil chemical indicators, the soil moisture sensor 7 measures moisture, and the soil compaction sensor 8 measures soil density. Real-time data is collected and transmitted to the intelligent control unit 13. Then, analysis and decision-making are performed. The intelligent control unit 13 transmits the collected terrain and soil data to the big data analysis unit 9. The data storage module 10 saves historical and real-time data. The data analysis module 11 compares soil requirements with liquid fertilizer ratio standards using algorithms and outputs the optimal fertilization plan, including the liquid fertilizer ratio, spraying area, and spraying amount. Finally, in the precise execution layer, the intelligent control unit 13, based on the analysis results, controls the liquid fertilizer application execution unit 17: first, it completes the precise mixing of liquid fertilizer through the liquid fertilizer mixing tank 37; second, it adjusts the extension length and angle of the spray arm 20 through the terrain-adaptive spray arm control module 51; and third, it delivers the appropriate liquid fertilizer to the target spray head 30 in coordination with the distribution matrix 38 and various control valves and delivery pumps, achieving precise spraying. During the operation, real-time data is continuously transmitted back to the big data analysis unit 9 to update the historical database, providing optimization basis for subsequent soil operations in the same area or of the same type, forming a closed loop of collection, analysis, execution, and updating.

[0044] Real-time data collection via multispectral soil fertility sensor 6 and soil moisture sensor 7, combined with big data analysis unit 9, enables dynamic mixing and on-demand spraying of liquid fertilizer, improving the utilization rate of liquid fertilizer, reducing soil pollution and water waste, and achieving precision fertilization.

[0045] The terrain-adaptive spray arm 20 can adjust in real time according to the terrain undulations, improving the uniformity of spraying and adapting to complex scenarios such as mountains and forests.

[0046] Precise control of a single spray head 30 is achieved through the allocation matrix 38 and independent control valves, supporting differentiated fertilization in local areas; the human-machine interface 16 is combined with the GPS Beidou positioning module 4 to realize unmanned operation and operation trajectory tracking.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A smart agricultural land and forest liquid fertilizer application device based on big data and sensing, characterized in that, include: The vehicle body includes a terrain sensing unit at its front end and a liquid fertilizer application unit on its upper surface. A soil detection unit is located at the lower end of the vehicle body. The terrain sensing unit and the liquid fertilizer application unit are connected to an intelligent control unit, which in turn is connected to a big data analysis unit. The terrain sensing unit collects real-time terrain data for improving the land and forest. The soil detection unit collects real-time soil data for the land and forest and transmits it to the intelligent control unit. The intelligent control unit transmits the terrain and soil data to the big data analysis unit. Based on the analysis data from the big data analysis unit, the intelligent control unit controls the liquid fertilizer application unit to spray fertilizer onto the land and forest to improve the soil.

2. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, The terrain perception unit includes a lidar terrain sensor, an inertial measurement module, and a GPS / BeiDou positioning module. The lidar terrain sensor is used to scan the terrain of the work area and acquire three-dimensional height and slope data. The inertial measurement module is used to detect the vehicle's attitude and adjust it according to the terrain. The GPS / BeiDou positioning module is used to locate terrain and soil data.

3. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, The soil testing unit includes a multispectral soil fertility sensor, a soil moisture sensor, and a soil density sensor. The multispectral soil fertility sensor is used to detect soil chemical indicators, including nitrogen, phosphorus, potassium, organic matter, and pH. The soil moisture sensor is used to detect soil moisture content, and the soil density sensor is used to detect soil density.

4. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, The liquid fertilizer application unit includes a liquid fertilizer storage tank, which is mounted on the vehicle body. The liquid fertilizer storage tank is connected to a liquid fertilizer delivery system, which is connected to a spray head. The spray head is connected to a terrain-adaptive spray arm and an angle adjustment structure. A transparent anti-diffusion cover is provided around the spray head.

5. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, The spray head includes several spray heads arranged in a rectangular array on the spray plate. Each spray head is equipped with a corresponding third control valve, which controls the spraying of the corresponding spray head. Each spray head is connected to a corresponding water supply pipe, and each water supply pipe is connected to a corresponding first liquid fertilizer delivery pipe. Each first liquid fertilizer delivery pipe is connected to several second liquid fertilizer delivery pipes. The several first liquid fertilizer delivery pipes and several liquid fertilizer delivery pipes form a distribution matrix. Each first liquid fertilizer delivery pipe and second liquid fertilizer delivery pipe intersects to form an intersection point. A fourth control valve is provided at the intersection point, which controls the opening and closing of the second liquid fertilizer delivery pipe to deliver liquid fertilizer into the first liquid fertilizer delivery pipe.

6. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, Both the first and second liquid fertilizer delivery pipes are equipped with delivery pumps, which are used to provide delivery power. The second liquid fertilizer delivery pipe is connected to a liquid fertilizer mixing tank. A third control valve is provided at the connection between the second liquid fertilizer delivery pipe and the liquid fertilizer mixing tank. The mixing tank is used to mix liquid fertilizer.

7. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, The central controller includes a first central processing unit, a lidar terrain sensor control module, a GPS / BeiDou positioning module control module, a terrain perception unit control module, a soil detection unit control module, a multispectral soil fertility sensor control module, a soil moisture sensor control module, a soil density sensor control module, a big data analysis unit control module, a liquid fertilizer execution unit control module, a liquid fertilizer delivery system control module, a terrain-adaptive spraying arm control module, a control valve control module, a pump control module, a liquid fertilizer mixing tank control module, a data storage module, a data analysis module, and a data interaction module. The lidar terrain sensor control module, GPS / BeiDou positioning module control module, terrain perception unit control module, soil detection unit control module, multispectral soil fertility sensor control module, soil moisture sensor control module, soil density sensor control module, big data analysis unit control module, liquid fertilizer execution unit control module, liquid fertilizer delivery system control module, terrain-adaptive spraying arm control module, control valve control module, pump control module, liquid fertilizer mixing tank control module, data storage module, data analysis module, and data interaction module are all connected to the first central processing unit.

8. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, The central controller, based on the real-time soil testing results from the soil testing unit, controls the liquid fertilizer mixing tank to mix the liquid fertilizer and controls the mixed liquid fertilizer to be transported through the second liquid fertilizer delivery pipe to the first liquid fertilizer delivery pipe. According to the testing results, the central controller opens the fourth control valve at the corresponding intersection point of the distribution matrix, controlling the corresponding type of liquid fertilizer to enter the first liquid fertilizer delivery pipe and be transported through the first liquid fertilizer delivery pipe to the corresponding water supply pipeline. The central controller controls the opening of the first and second control valves on the water supply pipeline to be transported, and the liquid fertilizer enters the water supply pipe and is transported to the spray head along with the water in the water supply pipe. The controller controls the opening of the third control valve of the spray head at the corresponding position, thereby realizing the precise spraying of liquid fertilizer for soil deficient elements.

9. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, A closed loop is formed by first collecting data, then analyzing and making decisions, and then executing precisely. Through the data collection layer, the lidar terrain sensor of the terrain perception unit scans the three-dimensional terrain and slope, the inertial measurement module detects the vehicle's attitude, the GPS and Beidou positioning module locates the working area, and the multispectral soil fertility sensor of the soil detection unit measures soil chemical indicators, the humidity sensor measures moisture, and the density sensor measures soil compaction. Data is collected in real time and transmitted to the intelligent control unit.

10. The intelligent agricultural land and forest liquid fertilizer application device based on big data and sensing as described in claim 1, characterized in that, The intelligent control unit transmits the collected terrain and soil data to the big data analysis unit. The data storage module saves historical and real-time data, and the data analysis module compares soil requirements with liquid fertilizer ratio standards through algorithms to output the optimal fertilization plan, including liquid fertilizer ratio, spraying area, and spraying amount.

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