A soil nutrient regulation and fertilization device and method based on arable land type partitioning

Abstract

The application provides a soil nutrient regulation and fertilization device and method based on arable land type zoning, comprising a type identification module, which is used for identifying arable land type zoning information corresponding to a current working area of the fertilization device. A vehicle-mounted main control module is in communication connection with the type identification module, used for receiving the arable land type zoning information, determining zoning fertilization control parameters according to the arable land type zoning information, and generating fertilization control instructions according to the zoning fertilization control parameters. A fertilization execution mechanism is in communication connection with the vehicle-mounted main control module, used for receiving the fertilization control instructions output by the vehicle-mounted main control module, and performing zoning fertilization work according to the fertilization control instructions. The application makes the fertilization work be able to take arable land type zoning as the regulation and control basis, and improves the matching degree between fertilization control and actual management needs of the land.

Description

Technical Field

[0001] This invention relates to the field of fertilization equipment technology, and in particular to a soil nutrient regulation and fertilization device and method based on arable land type zoning. Background Technology

[0002] Traditional soil improvement and fertilization management often employs a large-scale, uniform approach, typically treating the same plot of land according to empirically determined fertilization amounts, standardized prescriptions, or fixed parameters. However, within the same arable land area, spatial differences often exist due to variations in topography, historical farming practices, soil texture, nutrient base, and soil fertility level. If a uniform fertilization approach is still adopted, it can easily lead to over-fertilization in some areas, increasing nutrient leaching and environmental risks. Conversely, it can also result in under-fertilization in other areas, negatively impacting crop growth and soil fertility improvement.

[0003] Some existing variable-rate fertilization equipment can adjust the fertilization amount based on preset prescription maps or data collected by real-time sensors. For example, it can control the output of the fertilizer applicator according to the fertilization prescription map, or correct fertilization parameters based on single soil testing indicators such as electrical conductivity. However, the above methods usually control based on fixed prescriptions or single indicators, lacking the identification and response to the comprehensive management unit of "arable land type". It is difficult to call the corresponding nutrient regulation model, target nutrient range and recommended fertilizer ratio according to different arable land types.

[0004] Furthermore, during continuous field operations, there is usually a distance between the soil detection location and the actual fertilization point, and soil sampling, signal processing, model calculation, control command output, and fertilizer applicator response all require time. If fertilizer application commands are generated directly based on the instantaneous location or detection value, spatial misalignment and temporal lag can easily occur between the detection data, zoning results, and the actual fertilization area. This is particularly problematic near the boundaries of adjacent farmland type zones, potentially causing model switching delays and mismatches between fertilization parameters and the actual fertilization zone.

[0005] Therefore, there is an urgent need for a soil nutrient regulation and fertilization device and method that can combine information on arable land type zoning. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a soil nutrient regulation and fertilization device and method based on arable land type zoning. This invention can improve the accuracy of zoning fertilization and reduce boundary fertilization mismatch.

[0007] This invention provides a soil nutrient regulation and enrichment device based on arable land type zoning, comprising: The type identification module is used to identify the arable land type zoning information corresponding to the current working area of ​​the fertilization device; The vehicle-mounted main control module is communicatively connected to the type identification module, and is used to receive the cultivated land type zoning information, determine the zoning fertilization control parameters according to the cultivated land type zoning information, and generate fertilization control instructions according to the zoning fertilization control parameters. The fattening actuator is communicatively connected to the vehicle-mounted main control module, and is used to receive the fattening control commands output by the vehicle-mounted main control module, and to perform zonal fattening operations according to the fattening control commands.

[0008] Preferably, the vehicle-mounted main control module stores spatial distribution data of cultivated land types, and the spatial distribution data of cultivated land types includes the correspondence between the location data of the target cultivated land area and the zoning information of cultivated land types; The type identification module is configured to acquire the geographical location data of the fertilization device in the current working area, and based on the spatial distribution data of the cultivated land type, acquire the cultivated land type zoning information corresponding to the geographical location data.

[0009] Preferably, the vehicle-mounted main control module also stores zonal nutrient regulation model data, which includes at least one of the following: optimal soil nutrient range data corresponding to different types of arable land, crop nutrient requirement characteristic data, recommended fertilizer ratio data, and regulation logic algorithm data; The vehicle-mounted main control module is configured to determine the zonal fertilization control parameters corresponding to the zonal nutrient regulation model data and the zonal information of the cultivated land type.

[0010] Preferably, the fattening actuator includes: At least two fertilizer bins, each of which is used to store different types of fertilizer; Each of the fertilizer bins is equipped with a variable fertilizer discharger, and each of the variable fertilizer dischargers is communicatively connected to the vehicle-mounted main control module. The variable fertilizer dispenser is used to output the corresponding amount of fertilizer according to the fertilization control command of the vehicle-mounted main control module.

[0011] Preferably, the fertilization device further includes a multi-parameter soil information rapid sensing module, which is communicatively connected to the vehicle-mounted main control module and is used to collect soil parameter data and send the soil parameter data to the vehicle-mounted main control module. The vehicle-mounted main control module is also configured to receive soil parameter data from the multi-parameter soil information rapid sensing module, and determine zonal fertilization control parameters based on the zonal nutrient regulation model data, the arable land type zoning information, and the soil parameter data.

[0012] Preferably, the multi-parameter soil information rapid sensing module includes: The detection end is located on the leading side in the direction of travel of the fertilization device; A position adjustment component that carries the detection end and drives the detection end to move relative to the fattening actuator along the direction of travel.

[0013] Preferably, the multi-parameter soil information rapid sensing module further includes a position detection device for detecting the pre-detection distance, wherein the pre-detection distance represents the distance between the detection end and the position reference point of the fertilization device in the direction of travel, and the position detection device is communicatively connected to the vehicle-mounted main control module.

[0014] Preferably, the vehicle-mounted main control module is further configured to control the position adjustment component to adjust the position of the detection end based on a preset fertilization position correction model; The fertilization position correction model includes the following correction formula: |L+D-vT|≤Δ, where L is the forward detection distance, D is the backward distance of the fertilization landing point of the fertilization execution mechanism relative to the position reference point, v is the traveling speed of the fertilization device, T is the fertilization response delay, and Δ is the preset position deviation allowable value.

[0015] This invention also provides a method for regulating and improving soil nutrient levels based on arable land type zoning, comprising the following steps: Identify the farmland type zoning information corresponding to the current operating area of ​​the fertilization device; Determine the fertility control parameters for each arable land type based on the zoning information. Generate fertilization control instructions based on the zonal fertilization control parameters; The fertilization control command controls the fertilization execution mechanism to perform zonal fertilization operations.

[0016] Preferably, before determining the zoning control parameters based on the arable land type zoning information, the following steps are also included: Based on a preset fertilization location correction model, the detection location corresponding to the currently detected soil area is adjusted; soil parameter data of the soil area corresponding to the adjusted detection location is collected; The fertilization control parameters for each zone are determined based on the soil parameter data and the arable land type zoning information.

[0017] In the above-mentioned scheme implemented by the soil nutrient regulation and fertilization device and method based on arable land type zoning, This invention identifies the arable land type zoning information corresponding to the current working area of ​​the fertilization device through a type identification module, and the vehicle-mounted main control module determines the zoning fertilization control parameters based on the arable land type zoning information, so that the fertilization operation can be based on the arable land type zoning, thereby improving the matching degree between fertilization control and the actual management needs of the plot.

[0018] This invention collects soil parameter data through a multi-parameter soil information rapid sensing module and determines fertilization control parameters by combining them with a zonal nutrient regulation model. This enables the fertilization device to simultaneously consider the zonal characteristics of cultivated land type and the actual nutrient status of the target soil area, thereby improving the pertinence and adaptability of fertilization decisions.

[0019] This invention establishes a correspondence between the soil area collected by the detection end and the subsequent fertilization point by adjusting the detection distance of the detection end relative to the position reference point using a position adjustment component and a position detection element. The onboard main control module compensates for the spatial misalignment and response delay between the detection position and the fertilization point based on a fertilization position correction model. This improves the consistency between soil detection, zoning judgment, model invocation, and variable fertilization execution during continuous operation, and reduces model switching lag and fertilization parameter mismatch at zoning boundaries. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 The diagram shows a structural schematic of a soil nutrient regulation and fertilization device based on arable land type zoning in one embodiment of the present invention. Figure 2 The diagram shows a flow chart of a soil nutrient regulation and fertilization method based on arable land type zoning in one embodiment of the present invention. Figure 3 The diagram shown is a flowchart illustrating a fertilization location correction method according to an embodiment of the present invention.

[0022] The following are the component labels: 110, Type Identification Module; 120, Vehicle Main Control Module; 130, Wireless Communication Module; 140, Multi-Parameter Soil Information Rapid Sensing Module; 141, Detection Terminal; 142, Position Adjustment Component; 143, Position Detection Component; 150, Fertilizer Tank; 151, Variable Fertilizer Discharge Device; 160, Fertilization Execution Mechanism; 170, Fertilizer Application Point. Detailed Implementation

[0023] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0025] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] In the description of the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0028] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0029] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0030] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0031] Unless otherwise specified, all embodiments and optional embodiments of this application can be combined to form new technical solutions.

[0032] First, it should be noted that in the embodiments of this invention, "direction of travel" refers to the forward direction of the fertilization device during field operations; "leading side" refers to the side located in front of the fertilization device along its direction of travel; "position reference point P0" refers to a reference point set on the fertilization device to determine the relative positional relationship between the detection end 141 and the fertilization landing point 170; "forward detection distance L" refers to the distance between the detection end 141 and the position reference point P0 in the direction of travel; and "backward distance D" refers to the distance formed by the fertilization landing point 170 relative to the position reference point P0 in the opposite direction of travel. The shapes, dimensions, proportions, and relative positional relationships of the components in the accompanying drawings are only illustrative representations for the purpose of explaining the technical solution of this invention and should not be construed as limitations on the actual product structure dimensions, installation angles, or arrangement proportions.

[0033] Traditional soil improvement and fertilization management often employs a large-scale, uniform operational model, typically treating the same plot of land according to experienced fertilization rates, standardized prescriptions, or fixed operational parameters. This approach easily overlooks the spatial heterogeneity of arable land caused by differences in topography, historical farming practices, soil texture, soil formation conditions, and nutrient base. For the same target arable land area, the soil productivity potential, nutrient retention capacity, and crop response characteristics may vary across different regions. If fertilization operations are still carried out according to a uniform fertilization rate, it is easy to cause over-fertilization in some areas, increasing nutrient leaching or environmental risks, or under-fertilization in other areas, limiting crop growth and yield increases.

[0034] With the development of precision agriculture technology, some existing variable-rate fertilization equipment can adjust the amount of fertilizer applied using preset prescription maps or real-time sensor data. For example, some equipment can control the output of the fertilizer applicator based on a pre-made fertilizer prescription map, or it can correct fertilization parameters based on a single soil testing indicator such as electrical conductivity. However, the above methods usually only control a single indicator or a fixed prescription, lacking the identification and response to the comprehensive management unit of "arable land type". Arable land type zoning is a spatial unit formed by comprehensively considering factors such as soil properties, environmental conditions, utilization methods, and productivity base. Compared with a single sensor indicator, it can better reflect the differences in arable land quality and management needs.

[0035] Therefore, in soil nutrient regulation and fertilization operations, relying solely on a uniform fertilization pattern, fixed prescription map, or single real-time sensor data is insufficient to achieve differentiated management for different types of arable land. Especially in scenarios requiring soil fertility enhancement and long-term fertilization, the fertilization device not only needs to identify the operation location but also, based on the arable land type zone to which that location belongs, invoke the corresponding nutrient regulation model, target nutrient range, and recommended fertilizer ratio. It must also control the variable outputs of different fertilizers or fertilization materials to form a seamless operational process of "zone identification—model invocation—parameter decision-making—variable execution."

[0036] Building upon the above, further control challenges arise during continuous field operations: There is typically a distance between the location where the multi-parameter soil information rapid sensing module collects soil data and the actual fertilization point of the fertilization execution mechanism; simultaneously, soil sampling, signal processing, zoning query, model calculation, command output, and fertilizer applicator response all require time. If the fertilization device directly generates fertilization commands based solely on the current location or current detection value at the moment of detection, spatial misalignment can easily occur between the detection data, the farmland type zoning judgment results, and the subsequent actual fertilization area. Especially near the boundaries of adjacent farmland type zoning areas, this misalignment may also lead to model switching delays or mismatches between fertilization parameters and the zoning area to which the actual application point belongs.

[0037] Based on this, the present invention provides a soil nutrient regulation and enrichment device and method based on cultivated land type zoning. It can first realize zoning identification, zoning nutrient regulation model invocation and variable enrichment execution around cultivated land type zoning. On this basis, by enabling the detection end to adjust its position relative to the enrichment execution mechanism along the direction of travel, the soil area detected in front can establish a positional correspondence with the subsequent actual fertilization landing point, thereby improving the consistency between soil detection, zoning judgment and variable fertilization execution in continuous traveling enrichment operations.

[0038] The device of this invention can be applied to various operational scenarios, including farmland soil fertilization, improvement of arable land quality, variable-rate fertilization, application of soil conditioners, and combined application of organic and inorganic fertilizers. The fertilization device can be installed on tractors, tracked agricultural machinery, self-propelled fertilizer applicators, or other field operation platforms, or it can be used as a standalone fertilization implement. The arable land type zoning can be based on soil texture, topography, cultivation history, soil fertility level, crop planting type, soil nutrient base, or comprehensive productivity evaluation results.

[0039] like Figure 1 As shown, in some embodiments, a soil nutrient regulation and fertilization device based on arable land type zoning includes a type identification module 110, an on-board main control module 120, and a fertilization execution mechanism 160. The type identification module 110 is used to identify the arable land type zoning information corresponding to the current operating area of ​​the fertilization device. The on-board main control module 120 is communicatively connected to the type identification module 110, and is used to receive the arable land type zoning information, determine the zoning fertilization control parameters based on the arable land type zoning information, and generate fertilization control commands based on the zoning fertilization control parameters. The fertilization execution mechanism 160 is communicatively connected to the on-board main control module 120, and is used to receive the fertilization control commands output by the on-board main control module 120, and execute the zoning fertilization operation according to the fertilization control commands.

[0040] Specifically, the type identification module 110 can be installed on the frame or traction platform of the soil enrichment device and connected to the on-board main control module 120 via wired communication harness, CAN bus, serial communication, Ethernet communication, or wireless communication. The on-board main control module 120 may include a processor, memory, input / output interfaces, and communication interfaces. The memory can store farmland type zoning data of the working area, enrichment parameters corresponding to different zones, and control programs for the enrichment actuator 160. The enrichment actuator 160 can be installed at the rear or middle of the enrichment device and is used to apply fertilizer, soil conditioner, organic matter amendment, or other enrichment materials to the target soil area.

[0041] Optionally, the type recognition module 110 can identify farmland type zoning information by matching positioning data with electronic maps, or by reading preset operation paths, plot numbers, zoning codes, QR code labels, or zoning data sent by a remote server. The vehicle-mounted main control module 120 can set parameters such as fertilizer application rate, fertilizer ratio, fertilizer applicator speed, fertilizer applicator start time, fertilizer application interval, and fertilizer application duration according to different farmland type zoning.

[0042] In one specific implementation, the fertilization device travels along the field operation path. The type identification module 110 acquires the arable land type zoning information corresponding to the current operation area and sends it to the vehicle-mounted main control module 120. The vehicle-mounted main control module 120 calls the corresponding zoning fertilization control parameters based on the received arable land type zoning information and converts the control parameters into fertilization control commands. After receiving the fertilization control commands, the fertilization actuator 160 outputs fertilization materials according to the corresponding fertilizer discharge volume or discharge rate, so that different arable land type zonings can receive matching fertilization treatment.

[0043] With the above settings, the soil improvement device can use the arable land type zoning as the basis for regulation and control, and adopt corresponding soil improvement control parameters for different types of zoning. This avoids large-scale operations based solely on a uniform amount of fertilizer, and helps to improve the matching degree between soil improvement operations and the actual nutrient requirements of the plot.

[0044] Continue reading Figure 1 In some embodiments, the on-board main control module 120 stores spatial distribution data of arable land types. The spatial distribution data of arable land types includes the correspondence between target arable land area location data and arable land type zoning information. The type identification module 110 is configured to acquire the geographical location data of the fertilization device within the current operating area, and based on the spatial distribution data of arable land types, acquire the arable land type zoning information corresponding to the geographical location data.

[0045] Specifically, the spatial distribution data of cultivated land types can be a digital map of cultivated land type zones, or a data table containing latitude and longitude coordinates, plot boundaries, zone boundaries, and zone codes. The target cultivated land area location data can include plot boundary coordinates, grid coordinates, operation path coordinates, or sampling point coordinates. The type identification module 110 can include one or more of the following: GNSS positioning unit, BeiDou positioning unit, RTK positioning unit, inertial measurement unit, heading detection unit, or velocity detection unit. After acquiring the geographic location data, the type identification module 110 can match the geographic location data with the cultivated land type spatial distribution data stored in the vehicle-mounted main control module 120 to obtain the cultivated land type zone information corresponding to the current location, and then send the obtained cultivated land type zone information to the vehicle-mounted main control module 120.

[0046] Optionally, the spatial distribution data of cultivated land types can be pre-stored in the local memory of the vehicle-mounted main control module, or it can be sent to the vehicle-mounted main control module by a remote server, cloud platform, or mobile terminal before operation. When the land parcel boundary or partition data is updated, the vehicle-mounted main control module 120 can receive the updated spatial distribution data of cultivated land types and provide it to the type identification module 110 for use, so as to keep the partition identification results consistent with the actual land parcel management data.

[0047] In one specific implementation, after the fertilization device enters the target cultivated land area, the type identification module 110 continuously acquires the geographical location data of the fertilization device and converts the geographical location data into map coordinates. Based on the cultivated land type spatial distribution data stored in the vehicle-mounted main control module 120, the type identification module 110 queries the cultivated land type partition where the map coordinates are located and sends the queried cultivated land type partition information to the vehicle-mounted main control module 120. When the cultivated land type partition information output by the type identification module 110 indicates that the fertilization device has entered the second cultivated land type partition from the first cultivated land type partition, the vehicle-mounted main control module 120 switches the partition parameters used for fertilization control from the parameters corresponding to the first partition to the parameters corresponding to the second partition according to the received cultivated land type partition information, and provides a partition basis for subsequent fertilization control.

[0048] With the above settings, the fertilization device can automatically identify the type of cultivated land to which the operation area belongs using spatial location data, reducing the workload of manual zoning and enabling zoning fertilization control to correspond to the spatial distribution of land plots.

[0049] In some embodiments, the on-board main control module 120 further stores zonal nutrient regulation model data. The zonal nutrient regulation model data includes at least one of the following: optimal soil nutrient range data corresponding to different arable land type zoning, crop nutrient requirement characteristic data, recommended fertilizer ratio data, and regulation logic algorithm data. The on-board main control module 120 is configured to determine zonal fertilization control parameters corresponding to the arable land type zoning information based on the zonal nutrient regulation model data and the arable land type zoning information.

[0050] Specifically, optimal soil nutrient range data can include target ranges for organic matter, nitrogen, phosphorus, potassium, pH, electrical conductivity, moisture content, or other soil indicators corresponding to different zones. Crop nutrient requirement characteristic data can include the fertilizer type and application rate requirements of the target crop at different growth stages. Recommended fertilizer ratio data can include the ratio relationships between nitrogen fertilizer, phosphorus fertilizer, potassium fertilizer, organic matter amendment, bio-fertilizer, or soil conditioner. Regulation logic algorithm data can include threshold comparison rules, ratio adjustment rules, lookup table rules, empirical models, machine learning models, or other algorithms that can determine fertilization parameters based on zone and soil conditions.

[0051] Regarding the model data establishment method, the regional nutrient regulation model data can be established based on one or more of the following: historical yield data, soil testing data, fertilizer effect experiment data, crop growth data, and arable land quality evaluation data. Different arable land types can each have corresponding target nutrient thresholds, recommended fertilizer ratios, and application rate calculation rules. Optionally, the regional nutrient regulation model data can be obtained by training, fitting, or configuring regression models, random forest models, neural network models, lookup table models, or empirical correction models on a remote server or vehicle-mounted main control module. Using the aforementioned model data, the vehicle-mounted main control module can use arable land type regional information as a model call index and, combined with subsequently collected soil parameter data, determine the fertilization control parameters for the corresponding regionality.

[0052] Optionally, the zoning nutrient regulation model data can be indexed according to the arable land type zoning code. Each arable land type zoning code can correspond to a set of target nutrient thresholds, a set of fertilizer ratio parameters, and a set of fertilizer discharge control rules. After obtaining the arable land type zoning information, the on-board main control module 120 can call the corresponding model data through the zoning code without having to rebuild the model during operation.

[0053] In one specific implementation, when the farmland type zoning information received by the vehicle-mounted main control module indicates that the target area belongs to a farmland type zoning with high organic matter but low available phosphorus, the nutrient regulation model corresponding to that zoning can be invoked, and a higher proportion of phosphorus and potassium compound fertilizer control parameters can be output according to the model; when the received farmland type zoning information indicates that the target area belongs to a farmland type zoning with insufficient organic matter, the organic matter amendment application parameters can be invoked, so that the fertilization execution mechanism increases the output of organic matter amendment.

[0054] Through the above settings, the vehicle-mounted main control module can combine farmland type zoning information with zoning nutrient regulation models, so that different zoning correspond to different fertilization control parameters, thereby improving the pertinence of fertilization decisions.

[0055] Continue reading Figure 1 In some embodiments, the soil fertilization device may further include a wireless communication module 130, which is communicatively connected to the vehicle-mounted main control module 120. The wireless communication module 130 can receive farmland type spatial distribution data, zonal nutrient regulation model data, recommended fertilizer ratio data, or operation task data from a remote server, cloud platform, or mobile terminal, and send the received data to the vehicle-mounted main control module 120. The vehicle-mounted main control module 120 can store the above data in its local memory and, during the operation of the soil fertilization device, provide farmland type spatial distribution data support to the type identification module 110, as well as invoke zonal nutrient regulation model data for soil fertilization control.

[0056] Specifically, the wireless communication module 130 can employ a 4G communication module, a 5G communication module, a BeiDou short message communication module, a WiFi communication module, a Bluetooth communication module, a LoRa communication module, or other data communication modules suitable for field operation environments. A remote server or cloud platform can pre-establish spatial distribution data of farmland types and zonal nutrient regulation model data corresponding to the target farmland area, and distribute this data to the vehicle-mounted main control module 120 before or during operation. Upon receiving the updated data, the vehicle-mounted main control module 120 can replace or correct the locally stored spatial distribution data of farmland types, target nutrient thresholds, recommended fertilizer ratio data, or regulation logic algorithm data.

[0057] Optionally, the on-board main control module can also record the operational data of the soil enrichment device. This operational data may include the target soil area coordinates, farmland type zoning information, soil parameter data, zoning enrichment control parameters, fertilizer discharge volume of each variable fertilizer applicator 151, operational time, implement travel speed, and the forward detection distance of the detection end. The on-board main control module 120 can store the operational data in local storage or upload it to a remote server or cloud platform via the wireless communication module 130.

[0058] In one specific implementation, after the fertilization device completes its work in the target cultivated land area, the on-board main control module 120 uploads the soil parameter data, actual fertilizer discharge data, zonal fertilization control parameters, and work location data generated during the operation to a remote server or cloud platform via the wireless communication module 130. The remote server or cloud platform can update the cultivated land type spatial distribution data, zonal nutrient regulation model data, or recommended fertilizer ratio data based on the aforementioned operational data, and then distribute the updated data to the on-board main control module 120. In subsequent operations, the on-board main control module 120 can use the updated zonal nutrient regulation model data or recommended fertilizer ratio data for fertilization control and provide updated cultivated land type spatial distribution data to the type identification module 110 as data support.

[0059] With the above setup, the soil improvement device can form a closed data loop on the device side, including data reception, operation recording, data uploading, and model updating. This allows the zonal soil improvement control parameters to be adjusted based on farmland management data, soil testing data, and operation feedback data, thereby improving the adaptability of subsequent operations.

[0060] Continue reading Figure 1In some embodiments, the fertilization actuator 160 includes at least two fertilizer bins 150 and a variable displacement fertilizer dispenser 151 corresponding to each fertilizer bin 150. Each fertilizer bin 150 is used to store different types of fertilizer. Each variable displacement fertilizer dispenser 151 has a feed end communicating with the discharge port of the corresponding fertilizer bin 150 and a control end communicating with the on-board main control module 120. The variable displacement fertilizer dispenser 151 is used to output the corresponding application amount of fertilizer according to the fertilization control command.

[0061] Specifically, fertilizer bins 150 can be installed on the frame of the fertilization device and spaced apart in the horizontal, vertical, or vertical directions. At least two fertilizer bins 150 can be used to store nitrogen fertilizer, phosphorus-potassium compound fertilizer, organic matter amendment, bio-fertilizer, lime-based soil conditioner, or other fertilization materials, respectively. At least one fertilizer bin 150 can be used to store inorganic fast-acting fertilizer, and at least another fertilizer bin 150 can be used to store solid organic fertilizer, bio-fertilizer, or organic matter amendment, enabling the fertilization device to combine fast-acting nutrient supplementation with long-term soil fertility improvement according to the needs of different arable land types and zones. A variable-rate fertilizer dispenser 151 can be installed below or at the discharge port of the corresponding fertilizer bin 150. The inlet end of the variable-rate fertilizer dispenser 151 is connected to the discharge port of the fertilizer bin 150, and the discharge end of the variable-rate fertilizer dispenser 151 can be connected to a guide pipe, fertilizer spreading port, trenching fertilizer application pipe, or material discharge channel.

[0062] Optionally, the variable displacement fertilizer dispenser 151 can be an external grooved wheel fertilizer dispenser, a spiral fertilizer dispenser, a star wheel fertilizer dispenser, a vibrating fertilizer dispenser, or an air-pneumatic quantitative fertilizer dispenser. The variable displacement fertilizer dispenser 151 can be driven by a stepper motor, a servo motor, or a DC motor. The on-board main control module 120 can adjust the fertilizer discharge volume of the corresponding fertilizer bin 150 by controlling the motor speed, rotation angle, working time, or start / stop frequency.

[0063] In one specific implementation, the on-board main control module 120 calculates the target application rates of the first and second fertilizer bins according to the zoning fertilization control parameters, and generates corresponding fertilizer discharge control commands. The first variable fertilizer discharger 151 outputs the first fertilizer according to the first control command, and the second variable fertilizer discharger 151 outputs the second fertilizer according to the second control command. When the first fertilizer is nitrogen, phosphorus, potassium, or compound fertilizer, and the second fertilizer is an organic matter amendment, bio-fertilizer, or soil conditioner, the on-board main control module 120 can adjust the output rates of the two types of fertilizers respectively, ensuring that the current arable land zoning receives both readily available nutrients for crop growth and fertilization materials to improve soil structure or increase organic matter levels. Different fertilizers can be combined by a guiding component before falling into the soil, or they can fall separately into the target soil area.

[0064] With the above settings, the fertilization actuator 160 can adjust the application amount of different fertilizers according to the fertilization control command output by the vehicle main control module 120, so that the fertilization operation is not limited to a single fertilizer output, which is conducive to realizing the combined treatment of nutrient regulation and soil fertilization.

[0065] Continue reading Figure 1 In some embodiments, the soil enrichment device further includes a multi-parameter soil information rapid sensing module 140. The multi-parameter soil information rapid sensing module 140 is communicatively connected to the vehicle-mounted main control module 120, and is used to collect soil parameter data and send the soil parameter data to the vehicle-mounted main control module 120. The vehicle-mounted main control module 120 is also configured to receive soil parameter data from the multi-parameter soil information rapid sensing module 140, and, based on the zoning nutrient regulation model data, determine zoning enrichment control parameters according to the arable land type zoning information and the soil parameter data.

[0066] Specifically, the multi-parameter soil information rapid sensing module 140 can be installed at the front, middle, or side of the fertilization device to detect the soil area to be fertilized during the device's movement. In embodiments requiring fertilization position correction, the multi-parameter soil information rapid sensing module 140 is preferably installed on the leading side of the fertilization device's direction of travel. Soil parameter data may include soil organic matter content, pH value, electrical conductivity, moisture content, temperature, spectral characteristics, nitrogen, phosphorus, and potassium related indicators, or other data related to soil nutrient status. After receiving the soil parameter data, the on-board main control module 120 can compare the soil parameter data with the optimal soil nutrient range data for the corresponding zone and determine the application rate of different fertilizers based on the comparison results.

[0067] Optionally, the multi-parameter soil information rapid sensing module 140 may include a visible-near-infrared spectral sensor, a multi-electrode sensor array, a temperature sensor, a moisture content sensor, a signal conditioning circuit, and a data acquisition unit. The visible-near-infrared spectral sensor can be positioned towards the soil surface to acquire the spectral characteristics of soil organic matter, moisture content, or other nutrient-related indicators; the multi-electrode sensor array can be in contact with the soil to detect soil conductivity, pH value, or ion-related parameters; the temperature sensor and moisture content sensor can be used to correct or compensate for the detection results. Data collected by different sensors can be processed by the signal conditioning circuit and the data acquisition unit before being sent to the vehicle-mounted main control module.

[0068] In one specific implementation, the multi-parameter soil information rapid sensing module 140 collects data on the organic matter content, pH value, and electrical conductivity of the target soil area and sends this soil parameter data to the vehicle-mounted main control module 120. The vehicle-mounted main control module 120 determines whether the target soil area has insufficient organic matter, pH deviation, or high salinity based on the model data corresponding to the current cultivated land type zoning, and adjusts the output parameters of each variable fertilizer applicator 151 accordingly.

[0069] In terms of the control process, the vehicle-mounted main control module 120 first receives the farmland type zoning information output by the type recognition module 110, and uses this farmland type zoning information as an index to call the corresponding target nutrient threshold, recommended fertilizer ratio, and control logic algorithm. Subsequently, the vehicle-mounted main control module 120 receives soil parameter data output by the multi-parameter soil information rapid sensing module 140, compares the soil parameter data with the target nutrient threshold of the corresponding zoning, and calculates the target application rate of each fertilizer type. Afterwards, the vehicle-mounted main control module 120 converts the target application rate into control parameters such as the rotation speed, turning angle, start-stop time, or fertilizer discharge duration of the variable fertilizer dispenser 151, and generates fertilization control instructions. Through this process, the farmland type zoning information is used to determine the control model and target range, and the soil parameter data is used to correct the actual application rate in the current area. Both participate in the determination of the zoning fertilization control parameters.

[0070] With the above settings, the soil improvement device can not only be controlled according to the type of cultivated land, but also the soil improvement control parameters can be corrected by combining real-time or near-real-time soil parameter data, so that the soil improvement operation is more in line with the actual soil condition of the operation area.

[0071] Continue reading Figure 1 In continuous field fertilization operations, the multi-parameter soil information rapid sensing module 140 typically needs to contact or sense the soil area to be fertilized before the fertilization execution mechanism 160. This is because the onboard main control module 120 needs to first obtain soil parameter data for the target soil area, then combine this data with farmland type zoning information to determine the corresponding zoning fertilization control parameters, and further generate fertilization control commands. If the detection terminal 141 is positioned after the fertilization execution mechanism 160, the detection results can only reflect soil areas that have already been fertilized or are in the process of being fertilized, making it difficult to use as a basis for controlling fertilizer application in advance. Therefore, positioning the detection terminal 141 on the leading side of the fertilization device's travel direction allows the detection action to occur before the fertilization execution action, reserving processing time for subsequent model calls, parameter calculations, and fertilizer application control.

[0072] In some embodiments, the multi-parameter soil information rapid sensing module 140 includes a detection end 141 and a position adjustment component 142. The detection end 141 is located on the leading side of the traveling direction of the fertilization device. The position adjustment component 142 carries the detection end 141 and drives the detection end 141 to move relative to the fertilization actuator 160 in the traveling direction.

[0073] Specifically, the detection end 141 can be mounted on the forward-looking sensing arm at the front end of the fertilization device and oriented towards the ground. The detection end 141 may include one or more of the following: a sensor housing, a detection window, a spectral detection element, an electrode detection element, a temperature detection element, a distance-to-ground detection element, and a signal processing board. The detection window can face the soil area to be tested, enabling the spectral detection element to perform non-contact detection of the soil surface. The electrode detection element can contact the soil when needed to obtain conductivity, pH value, or related ionic parameters. The distance-to-ground detection element can detect the distance between the detection end 141 and the ground, helping to maintain the detection window or electrode detection element in a suitable detection position. The position adjustment assembly 142 may include a fixed base, a telescopic section, and a telescopic drive mechanism. The fixed base is mounted on the frame or front crossbeam of the fertilization device, the telescopic section is slidably connected to the fixed base along the direction of travel, and the detection end 141 is mounted at the front or lower end of the telescopic section. The telescopic drive mechanism is driven by the telescopic section and is used to drive the telescopic section to extend or retract along the direction of travel.

[0074] Optionally, the telescopic drive mechanism can be an electric push rod, a lead screw and nut pair, a gear and rack mechanism, a synchronous belt linear module, a hydraulic telescopic mechanism, or a pneumatic telescopic mechanism. Taking a lead screw and nut pair as an example, the telescopic drive mechanism may include a stepper motor, a reducer, a lead screw, and a nut. The lead screw is set along the traveling direction, and the nut is connected to the telescopic section. The stepper motor drives the lead screw to rotate, causing the nut to drive the telescopic section to move along the traveling direction.

[0075] In one specific implementation, after the fertilization device begins operation, the on-board main control module 120 determines the target forward position of the detection end 141 relative to the fertilization execution mechanism 160 based on the current travel speed and fertilization response delay. The position adjustment component 142 drives the detection end 141 to extend forward in the travel direction, so that the detection end 141 arrives at the soil area to be detected before the fertilization execution mechanism 160. After the detection end 141 collects parameter data of the soil area, the fertilization execution mechanism 160 performs fertilization operations on the same soil area or adjacent target areas during subsequent travel.

[0076] With the above settings, the detection end 141 does not collect soil data near the current position of the vehicle body in a fixed manner, but can be located in front of the fertilization execution mechanism 160 and adjusted in the direction of travel according to the needs of the operation, thereby providing a structural basis for establishing a correspondence between the soil detection position and the subsequent fertilization landing point 170.

[0077] Continue reading Figure 1 In some embodiments, the multi-parameter soil information rapid sensing module 140 further includes a position detection element 143. The position detection element 143 is used to detect the preceding detection distance L. The preceding detection distance L represents the distance between the detection end 141 and the position reference point P0 of the fertilization device in the direction of travel, and the position detection element 143 is communicatively connected to the vehicle-mounted main control module 120.

[0078] Specifically, the position reference point P0 can be the GNSS antenna mounting point on the fertilizer device, the geometric center point of the frame, a preset coordinate reference point of the vehicle-mounted main control module 120, or other fixed points that facilitate the establishment of positional relationships. The position detection component 143 can be installed on the position adjustment assembly 142 to detect the forward detection distance L formed by the detection end 141 relative to the position reference point P0 along the direction of travel. The forward detection distance L detected by the position detection component 143 can be sent to the vehicle-mounted main control module 120 in real time, so that the vehicle-mounted main control module 120 can obtain the actual position of the detection end 141.

[0079] Optionally, the position detection component 143 can be a linear displacement sensor, a grating ruler, a magnetostrictive displacement sensor, a draw rope displacement sensor, an encoder, or a stroke feedback unit integrated into an electric actuator or linear module. When a lead screw and nut pair is used as the telescopic drive mechanism, the extension distance of the detection end 141 can also be calculated by the rotation of the motor encoder and the lead screw lead.

[0080] In one specific implementation, the vehicle-mounted main control module 120 outputs an extension control command to the position adjustment component 142, which drives the detection end 141 to move forward. The position detection component 143 provides real-time feedback on the current forward detection distance L of the detection end 141. When the feedback distance reaches the target value, the vehicle-mounted main control module 120 stops or reduces the drive output of the position adjustment component 142, keeping the detection end 141 at the target detection position.

[0081] With the above settings, the vehicle-mounted main control module 120 can know the actual forward detection distance L of the detection end 141, avoiding the need to judge the position of the detection end 141 based solely on the driving time or theoretical stroke, thereby improving the reliability of the correspondence between the detection position and the fertilization control.

[0082] Continue reading Figure 1 In some embodiments, the on-board main control module 120 is further configured to control the position adjustment component 142 to adjust the position of the detection end 141 based on a preset fertilization position correction model. The fertilization position correction model includes the following correction formula: |L+D-vT|≤Δ; Where L is the forward detection distance, D is the backward distance of the fertilization landing point 170 of the fertilization actuator 160 relative to the position reference point P0, v is the traveling speed of the fertilization device, T is the fertilization response delay, and Δ is the preset position deviation allowable value.

[0083] Specifically, the forward detection distance L represents the distance of the detection end 141 relative to the position reference point P0 along the direction of travel; the backward distance D represents the distance of the fertilizer application point 170 of the fertilization actuator 160 relative to the position reference point P0 along the direction of travel; the travel speed v can be obtained from a speed sensor, GNSS positioning data, wheel speed sensor, or inertial measurement unit. The fertilization response delay T can include soil detection sampling time, signal processing time, zone query time, model calculation time, control command transmission time, variable fertilizer applicator response time, and fertilizer application time from the applicator to the fertilizer application point; the preset position deviation allowable value Δ can be set according to the operational accuracy requirements, fertilizer application point width, positioning error, or machine operating speed.

[0084] Optionally, when |L+D-vT| is greater than Δ, the on-board main control module 120 can control the position adjustment component 142 to adjust the forward detection distance L of the detection end 141, causing the detection end 141 to extend forward or retract backward; it can also adjust the output time of the fertilizer discharge control command, or set a timestamp for the soil parameter data and perform cache matching. The above methods can be used individually or in combination.

[0085] In one specific embodiment, the fertilization device travels at a speed v, and the detection end 141 is located in front of the position reference point P0 and collects soil parameter data for a target soil area. After a fertilization response delay T, the fertilization landing point 170 of the fertilization actuator 160 moves to the vicinity of the target soil area along with the fertilization device. The on-board main control module 120 controls the preceding detection distance L so that L, D, v, and T satisfy |L+D-vT|≤Δ, thereby enabling the soil parameter data collected by the detection end 141 to correspond to the subsequent actual fertilization landing point 170.

[0086] Continue reading Figure 1 Through the above configuration, the present invention can utilize the positional coordination between the detection end 141, the position adjustment component 142, the position detection component 143, the position reference point P0, and the fertilization execution mechanism 160 to correct the spatial misalignment and time lag between the detection position and the fertilization landing point 170 during continuous operation.

[0087] Specifically, the detection end 141 is located on the leading side of the fertilizer device's travel direction and is supported by the position adjustment component 142. Under the control of the on-board main control module 120, the position adjustment component 142 drives the detection end 141 to extend or retract along the travel direction, so that the detection end 141 forms an adjustable forward detection distance L relative to the position reference point P0. The position detection component 143 detects the forward detection distance L in real time and feeds back the detection result to the on-board main control module 120, so that the on-board main control module 120 can know the current actual position of the detection end 141 relative to the position reference point P0.

[0088] Meanwhile, the fertilization landing point 170 of the fertilization execution mechanism 160 is located behind the position reference point P0, forming a backward distance D between it and the position reference point P0. The vehicle-mounted main control module 120 determines, based on the forward detection distance L, the backward distance D, the traveling speed v of the fertilization device, and the fertilization response delay T, whether the soil area currently detected by the detection end 141 can reach the vicinity of the fertilization landing point 170 after the fertilization response delay T.

[0089] Specifically, when |L+D-vT|≤Δ, the deviation between the soil parameter data collected by the detection terminal 141 and the soil area corresponding to the subsequent actual fertilization landing point 170 is within the allowable range.

[0090] When |L+D-vT|>Δ, the vehicle-mounted main control module 120 can control the position adjustment component 142 to adjust the position of the detection end 141, or adjust the output time of the fertilization control command, so that the soil area collected by the detection end 141 and the soil area subsequently fertilized by the fertilization execution mechanism 160 can re-establish a correspondence.

[0091] Therefore, the detection action of the detection terminal 141, the parameter calculation action of the vehicle main control module 120, and the fertilization action of the fertilization execution mechanism 160 can be connected according to the same target soil area.

[0092] Near the boundaries of cultivated land type zones, the aforementioned coordination can further reduce the problem of lag in zone model switching. Specifically, when the fertilization device is about to approach the boundary of an adjacent cultivated land type zone, if the advance detection distance L of the detection end 141 is too short, the detection end 141 will collect data of the soil area on the other side of the boundary too late, and the lead time for the vehicle-mounted main control module 120 to use for model switching and fertilizer discharge control will be insufficient.

[0093] If the preceding detection distance L is too long, the soil area collected by the detection end 141 may deviate from the area actually reached by the subsequent fertilization landing point 170. Therefore, the vehicle-mounted main control module 120 can control the position adjustment component 142 to adjust the position of the detection end 141 based on the traveling speed v of the fertilization device, the fertilization response delay T, and the backward distance D of the fertilization landing point 170 relative to the position reference point P0, so that the detection end 141 forms a preceding detection distance L suitable for boundary prediction relative to the position reference point P0. The position detection component 143 provides real-time feedback of this preceding detection distance L, enabling the vehicle-mounted main control module 120 to confirm whether the soil area currently detected by the detection end 141 corresponds to the fertilization landing point 170 after the fertilization response delay T.

[0094] After the above positional relationship meets the preset correction conditions, the type recognition module 110 can obtain the cultivated land type zoning information corresponding to the target soil area based on the current detection position of the detection terminal 141 or the subsequent fertilization target position predicted by the fertilization position correction model, and send the cultivated land type zoning information to the vehicle main control module 120.

[0095] In other words, the position adjustment component 142 is used to adjust the detection end 141 to a position where it can perceive the boundary of the zone in advance, and the position detection component 143 is used to feed back to the vehicle main control module 120 whether the perceived distance has reached the target range. Based on this, the type recognition module 110 then determines the zone to which the target soil area belongs based on the detection position or the predicted fertilization target position. The vehicle main control module 120 does not simply call the model according to the zone where the position reference point P0 is currently located, but rather calls the corresponding zone nutrient regulation model data in advance according to the zone to which the target soil area belongs corresponding to the fertilization landing point 170, and combines it with the soil parameter data collected by the detection end 141 to determine the zone fertilization control parameters.

[0096] In this way, when the fertilization device moves from the first arable land type zone to the second arable land type zone, or when the target fertilization area is about to cross the zone boundary, the detection end 141, driven by the position adjustment component 142, can reach the target soil area in front of the boundary or on the other side of the boundary before the fertilization landing point 170. The preceding detection distance L fed back by the position detection component 143 is used to ensure that the target soil area and the subsequent fertilization landing point 170 meet the preset position correspondence. The on-board main control module 120 can complete the zone model switching and control parameter update before the target soil area reaches the fertilization landing point 170. Thus, it can reduce the mismatch of fertilization parameters caused by inaccurate detection position at the boundary, delayed zone judgment, or untimely model switching.

[0097] Optionally, when the detection terminal 141 or the predicted fertilization target location is near the boundary of an adjacent cultivated land type zone, the vehicle-mounted main control module 120 can also smooth the fertilization control parameters of the zone based on the cultivated land type zone information continuously output by the type recognition module 110. For example, the vehicle-mounted main control module 120 can complete the model switch only after confirming that the target soil area has entered the new zone in multiple consecutive sampling cycles, or it can perform transitional calculations on the fertilization amount corresponding to different zones according to the distance between the target soil area and the boundary of the adjacent zone, and it can also limit the change range of the output amount of the variable fertilizer dispenser 151 within adjacent control cycles. Through the above methods, the fertilizer output process near the zone boundary can be made more continuous, reducing abrupt changes in fertilizer amount, and improving the matching stability between soil detection, zone judgment, model calling, and actual fertilization area.

[0098] like Figure 2 As shown, in some embodiments, a method for regulating and improving soil nutrient levels based on arable land type zoning includes: Step S101: Identify the arable land type zoning information corresponding to the current operating area of ​​the fertilization device.

[0099] Step S102: Determine the fertility control parameters for each arable land type based on the zoning information.

[0100] Step S103: Generate fertilization control instructions based on the zoning fertilization control parameters.

[0101] Step S104: Control the fertilization execution mechanism to perform zonal fertilization operations according to the fertilization control instructions.

[0102] Specifically, when identifying farmland type zoning information, the geographical location data of the fertilization device can be obtained, and the corresponding farmland type zoning can be queried based on the spatial distribution data of farmland types. When determining the zoning fertilization control parameters, the zoning nutrient regulation model data corresponding to the farmland type zoning information can be called, and the fertilizer application rate, fertilizer ratio, or variable fertilizer dispenser control parameters can be generated based on the model data. When performing zoning fertilization operations, the variable fertilizer dispensers 151 corresponding to different fertilizer bins 150 can be controlled to output fertilizer according to the corresponding application rate.

[0103] Optionally, this method can be executed collaboratively by the type identification module 110, the vehicle-mounted main control module 120, and the fertilization actuator 160 in any of the above embodiments, or it can be executed collaboratively by the fertilization device and a remote server, mobile terminal, or cloud platform. The type identification module 110 can identify the arable land type zoning information, the vehicle-mounted main control module 120 can perform model invocation and fertilizer discharge control, and the vehicle-mounted main control module 120 can also receive the zoning model parameters sent by the remote server before performing local control.

[0104] In one specific implementation, after the fertilization device enters the target plot, the on-board main control module 120 loads the spatial distribution data of cultivated land types and the zoning nutrient regulation model data. During operation, the type identification module 110 continuously acquires the location data of the fertilization device and identifies the cultivated land type zoning information of the current or target operation area based on the cultivated land type spatial distribution data; the on-board main control module 120 receives the cultivated land type zoning information sent by the type identification module 110 and calls the fertilization control parameters corresponding to the zoning. The on-board main control module 120 generates control commands according to the fertilization control parameters, controlling the fertilization actuator 160 to perform zoning fertilization operations on the target soil area.

[0105] The above method can connect farmland type zoning identification, zoning model invocation and soil improvement execution control, so that soil improvement operations can be carried out in a differentiated manner according to different farmland type zoning.

[0106] like Figure 3 As shown, in some embodiments, before determining the zoning fertility control parameters based on arable land type zoning information, the following steps are also included: Step S201: Based on the preset fertilization location correction model, adjust the detection location corresponding to the currently detected soil area.

[0107] Step S202: Collect soil parameter data for the soil area corresponding to the adjusted detection location.

[0108] Step S203: Determine the zoning fertilization control parameters based on soil parameter data and arable land type zoning information.

[0109] Specifically, the vehicle-mounted main control module 120 can first acquire the traveling speed v of the fertilization device, the backward distance D of the fertilization landing point 170 of the fertilization actuator 160 relative to the position reference point P0, the fertilization response delay T of the system, and the current forward detection distance L of the detection end 141. Then, the vehicle-mounted main control module 120 determines whether L, D, v, and T satisfy a preset position correction relationship. When the corresponding deviation between the detection position and the fertilization landing point 170 exceeds a preset position deviation allowable value, the vehicle-mounted main control module 120 controls the position adjustment component 142 to adjust the position of the detection end 141, so that the detection position corresponding to the detection end 141 and the subsequent fertilization landing point 170 satisfy a preset correspondence relationship.

[0110] Optionally, the type recognition module 110 can also obtain the farmland type zoning information corresponding to the subsequent actual fertilization target area based on the spatial distribution data of farmland types, according to the detection location or predicted fertilization location, and send the farmland type zoning information to the vehicle-mounted main control module 120. That is, the type recognition module 110 can obtain the zoning corresponding to the current vehicle location, or it can obtain the zoning corresponding to the target soil area after fertilization location correction. When the target soil area is located near the boundary of an adjacent zoning, the vehicle-mounted main control module 120 can smooth the fertilization control parameters according to the farmland type zoning information sent by the type recognition module 110, based on the distance between adjacent zoning, continuous sampling judgment results, or the rate of change of fertilization amount.

[0111] In one specific embodiment, the detection end 141 extends to the front of the fertilization device under the drive of the position adjustment component 142, and detects the target soil area in front. The vehicle-mounted main control module 120 calculates the time when the target soil area reaches the fertilization landing point 170 based on the position of the detection end 141, the speed of the implement, and the fertilization response delay. The type identification module 110 obtains the arable land type zoning information of the target soil area based on its location, and sends the arable land type zoning information to the vehicle-mounted main control module 120; the vehicle-mounted main control module 120 determines the zoning fertilization control parameters by combining the soil parameter data of the soil area and the received arable land type zoning information. When the target soil area moves to the vicinity of the fertilization landing point 170, the vehicle-mounted main control module 120 controls the fertilization execution mechanism 160 to output the corresponding amount of fertilizer.

[0112] With the above-described configuration, the method of this invention can complete the detection location correction and soil parameter acquisition before determining the zoning fertilization control parameters, ensuring that the soil parameter data corresponds to the actual fertilization area subsequently applied, rather than merely to the sensor location at the moment of detection. This improves the consistency between soil detection, zoning determination, and fertilization execution during continuous operation.

[0113] In some embodiments, based on the data recording functions of the wireless communication module 130 and the vehicle-mounted main control module 120 in the above-mentioned soil enrichment device, the method may further include: receiving spatial distribution data of cultivated land type, zoning nutrient regulation model data, recommended fertilizer ratio data, or operation task data sent by a remote server, cloud platform, or mobile terminal; recording the target soil area coordinates, cultivated land type zoning information, soil parameter data, zoning soil enrichment control parameters, fertilizer discharge amount of each variable fertilizer discharger 151, operation time, machine travel speed, and detection distance of the detection end; and uploading the above-mentioned operation data to a remote server or cloud platform.

[0114] Specifically, the remote server or cloud platform can update the spatial distribution data of cultivated land types, regional nutrient regulation model data, or recommended fertilizer ratio data based on the uploaded operational data, and then send the updated data to the vehicle-mounted main control module 120. In subsequent operations, the vehicle-mounted main control module 120 can use the updated regional nutrient regulation model data or recommended fertilizer ratio data for fertilization control and provide updated cultivated land type spatial distribution data support to the type identification module 110.

[0115] With the above settings, the method can form an operational data feedback and model update process, so that the zonal fertilization control parameters can be adjusted according to farmland management data, soil testing data and operational feedback data, thereby improving the adaptability of subsequent operations.

[0116] In summary, this invention identifies the arable land type zoning information corresponding to the current operating area of ​​the fertilization device through the type identification module 110, and calls the corresponding zoning nutrient regulation model data based on the arable land type zoning information through the on-board main control module 120, thereby determining the zoning fertilization control parameters that match different arable land type zonings. Simultaneously, the multi-parameter soil information rapid sensing module 140 collects soil parameter data, enabling the on-board main control module 120 to correct the fertilization control parameters by combining the arable land type zoning information and soil parameter data. Each fertilizer bin 150 and variable fertilizer dispenser 151 in the fertilization execution mechanism 160 outputs the corresponding amount of fertilizer according to the fertilization control command, enabling differentiated execution of fertilization operations according to different arable land type zonings and different soil conditions.

[0117] Furthermore, this invention arranges the detection end 141 on the leading side of the fertilization device's travel direction, and uses the position adjustment component 142 and the position detection component 143 to adjust and detect the preceding detection distance L of the detection end 141 relative to the position reference point P0, so that the soil area collected by the detection end 141 can establish a correspondence with the fertilization landing point 170 of the fertilization execution mechanism 160. The on-board main control module 120 compensates for the spatial misalignment and response delay between the detection position and the fertilization landing point 170 based on the fertilization position correction model, thereby forming a continuous coordination between soil detection, zoning judgment, model invocation, and variable fertilization execution. Thus, this invention can improve the accuracy and stability of zoning fertilization control in continuous traveling fertilization operations, and is conducive to improving fertilizer utilization and soil fertility cultivation effects.

[0118] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, modifications or substitutions can be made to the structure, connection method, control flow, and parameter acquisition method in the above embodiments without departing from the concept of the present invention, and all such modifications or substitutions should fall within the protection scope of the present invention.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A soil nutrient regulation and fertilization device based on arable land type zoning, characterized in that, include: The type identification module is used to identify the arable land type zoning information corresponding to the current working area of ​​the fertilization device; The vehicle-mounted main control module is communicatively connected to the type identification module, and is used to receive the cultivated land type zoning information, determine the zoning fertilization control parameters according to the cultivated land type zoning information, and generate fertilization control instructions according to the zoning fertilization control parameters. The fattening actuator is communicatively connected to the vehicle-mounted main control module, and is used to receive the fattening control commands output by the vehicle-mounted main control module, and to perform zonal fattening operations according to the fattening control commands.

2. The soil nutrient regulation and fertilization device based on arable land type zoning according to claim 1, characterized in that, The vehicle-mounted main control module stores spatial distribution data of cultivated land types, which includes the correspondence between target cultivated land area location data and cultivated land type zoning information. The type identification module is configured to acquire the geographical location data of the fertilization device in the current working area, and based on the spatial distribution data of the cultivated land type, acquire the cultivated land type zoning information corresponding to the geographical location data.

3. The soil nutrient regulation and fertilization device based on arable land type zoning according to claim 2, characterized in that, The vehicle-mounted main control module also stores zonal nutrient regulation model data, which includes at least one of the following: optimal soil nutrient range data corresponding to different types of cultivated land, crop nutrient requirement characteristic data, recommended fertilizer ratio data, and regulation logic algorithm data. The vehicle-mounted main control module is configured to determine the zonal fertilization control parameters corresponding to the zonal nutrient regulation model data and the zonal information of the cultivated land type.

4. The soil nutrient regulation and fertilization device based on arable land type zoning according to claim 1, characterized in that, The fattening implementation agencies include: At least two fertilizer bins, each of which is used to store different types of fertilizer; Each of the fertilizer bins is equipped with a variable fertilizer discharger, and each of the variable fertilizer dischargers is communicatively connected to the vehicle-mounted main control module. The variable fertilizer dispenser is used to output the corresponding amount of fertilizer according to the fertilization control command of the vehicle-mounted main control module.

5. The soil nutrient regulation and fertilization device based on arable land type zoning according to claim 3, characterized in that, The fertilization device also includes a multi-parameter soil information rapid sensing module, which is communicatively connected to the vehicle-mounted main control module and is used to collect soil parameter data and send the soil parameter data to the vehicle-mounted main control module. The vehicle-mounted main control module is also configured to receive soil parameter data from the multi-parameter soil information rapid sensing module, and determine zonal fertilization control parameters based on the zonal nutrient regulation model data, the arable land type zoning information, and the soil parameter data.

6. The soil nutrient regulation and fertilization device based on arable land type zoning according to claim 5, characterized in that, The multi-parameter soil information rapid sensing module includes: The detection end is located on the leading side in the direction of travel of the fertilization device; A position adjustment component that carries the detection end and drives the detection end to move relative to the fattening actuator along the direction of travel.

7. The soil nutrient regulation and fertilization device based on arable land type zoning according to claim 6, characterized in that, The multi-parameter soil information rapid sensing module also includes a position detection device for detecting the pre-detection distance. The pre-detection distance represents the distance between the detection end and the position reference point of the fertilization device in the direction of travel, and the position detection device is communicatively connected to the vehicle-mounted main control module.

8. The soil nutrient regulation and fertilization device based on arable land type zoning according to claim 7, characterized in that, The vehicle-mounted main control module is also configured to control the position adjustment component to adjust the position of the detection end based on a preset fertilization position correction model; The fertilization position correction model includes the following correction formula: |L+D-vT|≤Δ, where L is the forward detection distance, D is the backward distance of the fertilization landing point of the fertilization execution mechanism relative to the position reference point, v is the traveling speed of the fertilization device, T is the fertilization response delay, and Δ is the preset position deviation allowable value.

9. A method for regulating and improving soil nutrient levels based on arable land type zoning, characterized in that, Includes the following steps: Identify the farmland type zoning information corresponding to the current operating area of ​​the fertilization device; Determine the fertility control parameters for each arable land type based on the zoning information. Generate fertilization control instructions based on the zonal fertilization control parameters; The fertilization control command controls the fertilization execution mechanism to perform zonal fertilization operations.

10. The method for soil nutrient regulation and fertilization based on arable land type zoning according to claim 9, characterized in that, Before determining the zoning control parameters based on the farmland type zoning information, the following steps are also included: Based on a preset fertilization location correction model, the detection location corresponding to the currently detected soil area is adjusted; soil parameter data of the soil area corresponding to the adjusted detection location is collected; The fertilization control parameters for each zone are determined based on the soil parameter data and the arable land type zoning information.

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