Fertilizer car operation state monitoring and variable rate fertilization control system

Abstract

The application discloses a fertilizing vehicle operation state monitoring and variable fertilizing control system, and particularly relates to the technical field of intelligent agricultural equipment and precision variable fertilizing control, and comprises an operation task processing unit, an operation state acquisition unit, a to-be-attributed fertilizing amount generation unit, a fertilizing state judgment unit, an actual fertilizing attribution unit, an effective fertilizing amount confirmation unit, a variable fertilizing control unit and an abnormality closed-loop processing unit. The system generates a to-be-attributed fertilizing amount from the fertilizer output, combines the fertilizing state, the actual fertilizing track and the fertilizing unit soil entering state to complete operation area attribution and effective soil entering confirmation, and jointly takes the to-be-attributed fertilizing amount and the compensation locking amount as the occupied fertilizing amount to participate in variable fertilizing control, realizes fertilizer output, conveying tracking, fertilizing attribution, effective confirmation, variable control and abnormality compensation closed loop, and improves the variable fertilizing precision, the fertilizing uniformity and the continuous operation stability.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for agricultural machinery, and discloses a fertilizer applicator operation status monitoring and variable fertilization control system. More specifically, this invention relates to a fertilizer applicator operation control system that continuously monitors the fertilizer output, fertilizer delivery status, actual fertilizer placement location and effective soil entry status of the fertilizer applicator, tracks the amount of fertilizer that has not yet been assigned as the amount to be assigned, and implements variable fertilizer discharge control, abnormal recovery and missing fertilizer compensation based on the zoning fertilizer amount account. Background Technology

[0002] With the development of precision agriculture and intelligent agricultural machinery technology, fertilizer applicators are gradually evolving from fixed fertilization methods to variable fertilization methods. Existing fertilizer applicators typically determine the target fertilization amount for different operating areas based on the fertilization prescription, vehicle operating location, driving speed, and plot operation information, and adjust the working status of the fertilizer discharge or delivery mechanism. Some fertilizer applicators are also equipped with fertilizer discharge detection devices, blockage detection devices, or fertilizer drop detection devices to monitor the fertilization process, thereby improving fertilization uniformity and fertilizer utilization rate.

[0003] In variable fertilization operations, the control system typically converts the target fertilization amount corresponding to the current position into a fertilizer discharge control command, driving the fertilizer discharge mechanism to meter and output fertilizer. The fertilizer is then released into the soil through the fertilizer conveying branch and the end of the fertilization unit. Existing control methods usually directly include the current output of the fertilizer discharge mechanism or the current detected amount at the fertilizer outlet into the actual fertilization amount corresponding to the current position, and adjust the output of the fertilizer discharge mechanism according to the difference between the actual fertilization amount and the target fertilization amount, thereby forming variable fertilization feedback control.

[0004] However, there is a delay in fertilizer delivery and a positional deviation between the fertilizer output from the fertilizer discharging mechanism and its final entry into the soil. The acceleration, deceleration, turning, stopping, reversing of the fertilizer truck, as well as the storage, bridging, idling, or blockage of fertilizer delivery branches, can all cause the actual fertilizer landing location to be inconsistent with the working area corresponding to the generation of the fertilizer discharging command. Existing technology lacks a mechanism for independently storing, continuously tracking, and classifying the amount of fertilizer that has been output but has not yet completed the actual landing location and effective soil entry confirmation. It also does not include the amount of fertilizer yet to be confirmed and the amount of compensation locked as the occupied fertilizer quota. It is easy to misjudge normal delivery delays as insufficient application and repeatedly increase the amount of fertilizer discharged, or to incorrectly include fertilizer released across regions, ineffective soil entry, and fertilizer released after abnormal recovery in the actual amount of fertilizer application, resulting in missed application, repeated application, and local over-application. Summary of the Invention

[0005] To overcome the shortcomings of existing variable fertilizer application control systems in the background art, which directly include the current output of the fertilizer dispensing mechanism or the current detected amount of fertilizer at the fertilizer outlet in the actual fertilizer amount corresponding to the current position, and lack independent temporary storage, continuous tracking, and zonal assignment of fertilizer amounts that have been output but have not yet completed actual fertilizer placement and effective soil entry confirmation, resulting in missed application, repeated fertilization, or local over-fertilization due to fertilizer delivery delays, vehicle position changes, fertilizer delivery anomalies, and compensation duplication, embodiments of the present invention provide a fertilizer vehicle operation status monitoring and variable fertilizer application control system. By setting the fertilizer amount that has been output by the fertilizer dispensing mechanism but has not yet completed actual fertilizer placement and effective soil entry confirmation as the fertilizer amount to be assigned, continuously tracking the delivery status and actual fertilizer placement position of the fertilizer amount to be assigned, and incorporating the fertilizer amount to be assigned, the confirmed fertilizer amount, and the compensation lock amount into the zonal fertilizer quota control, the problems mentioned in the background art are solved.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a fertilizer applicator operation status monitoring and variable fertilization control system, including an operation task processing unit, an operation status acquisition unit, a fertilizer amount to be assigned generation unit, a fertilizer delivery status determination unit, an actual fertilizer application assignment unit, an effective fertilizer amount confirmation unit, a variable fertilization control unit, and an abnormal closed-loop processing unit.

[0007] The task processing unit acquires fertilization operation area data, fertilizer prescription data, the planned operation direction of the fertilization vehicle, and the operation width and installation position data of each fertilization unit. It then divides the fertilization operation area into multiple operation area units. Based on the positional relationship between each operation area unit and the fertilizer prescription, it determines the corresponding target fertilization amount and establishes a fertilization amount account for each operation area unit. The fertilization amount account includes at least the target fertilization amount, confirmed fertilization amount, fertilization amount to be assigned, abnormal fertilization amount, compensation locked amount, and remaining allowable fertilization amount. This account records the status changes of fertilizer amount during output, assignment, confirmation, abnormality, and compensation processes.

[0008] By adopting the above technical solution, the continuous fertilization operation area can be converted into multiple operation area units with clear boundary locations and target fertilization amounts. The fertilizer amount in different states in each area can be recorded using independent fertilization amount accounts. This provides a unified data foundation for subsequent tracking of fertilizer amount to be assigned, actual fertilizer attribution, effective soil entry confirmation, calculation of remaining fertilization amount, and compensation operations, avoiding the mixing of fertilizer amounts between different operation areas.

[0009] In a preferred embodiment, the task processing unit forms a work strip corresponding to each fertilization unit in a direction perpendicular to the predetermined work direction of the fertilization vehicle, according to the work width of each fertilization unit, and continuously divides each work strip along the predetermined work direction according to the preset area length to form multiple work area units with area unit number, boundary position data, work strip number and corresponding fertilization unit number.

[0010] By adopting the above technical solution, the spatial range of the work area unit corresponds to the actual working width of the fertilization unit and the predetermined movement direction of the fertilization vehicle. Each work area unit can be associated with the corresponding fertilization unit, providing a clear spatial boundary and unit correspondence for determining which work area the fertilizer actually released by a certain fertilization unit enters.

[0011] In a preferred embodiment, the task processing unit overlaps and matches the boundary location data of each task area unit with the prescription location range in the fertilizer prescription data, forms a partition target amount based on the area of ​​each overlapping part and the corresponding target fertilizer amount per unit area, and accumulates the partition target amounts to form the target fertilizer amount of the corresponding task area unit.

[0012] By adopting the above technical solution, when a work area unit overlaps with multiple fertilizer prescription ranges, the target amount for each zone can be determined according to the area of ​​each overlapping part, instead of directly assigning a single prescription value to the entire work area unit. This allows the target fertilizer amount for each work area unit to more accurately reflect the actual spatial distribution of the fertilizer prescription.

[0013] In a preferred embodiment, the task processing unit establishes independent fertilizer amount accounts for each task area unit, writes the target fertilizer amount into the target fertilizer amount field, and updates the fertilization amount field, confirmed fertilizer amount field, abnormal fertilizer amount field, and compensation lock amount field respectively according to the status transition results of the fertilization amount to be assigned, the valid fertilization amount, the invalid fertilization amount, and the compensation lock amount.

[0014] By adopting the above technical solution, every change in the status of fertilizer quantity during the process of fertilizer output, transportation, actual fertilizer placement, soil confirmation and compensation execution can be recorded in the corresponding fertilizer quantity account. This ensures that the fertilizer quantity to be assigned will not be directly transferred to the confirmed fertilizer quantity before confirmation, and also allows abnormal fertilizer quantity and compensation lock-in quantity to be managed separately from normal fertilizer quantity. When the amount of fertilizer to be assigned has not yet been actually assigned, the amount of fertilizer to be assigned is recorded in the general ledger of fertilizer to be assigned. Based on the unit movement trajectory of the corresponding fertilization unit, the fertilizer output period, and the assignment confirmation window, one or more expected assignment operation area units are determined, and a temporary occupancy record is created in the fertilizer amount account of the expected assignment operation area unit. After the actual fertilization is completed, the temporary occupancy record is canceled, and the corresponding amount of fertilizer to be assigned is updated according to the actual amount of fertilizer assigned to each operation area unit.

[0015] In a preferred embodiment, the operation status acquisition unit is used to acquire the position, movement status, fertilizer discharge mechanism status, fertilizer conveying status, and operation status of the fertilizer application vehicle, and to form operation status data according to the sampling time; to form the vehicle movement trajectory according to the position coordinates of the fertilizer application vehicle, and to convert the vehicle movement trajectory into the unit movement trajectory corresponding to each fertilizer application unit according to the installation position of each fertilizer application unit relative to the positioning reference point of the fertilizer application vehicle.

[0016] By adopting the above technical solution, not only can the overall movement position of the fertilizer applicator be obtained, but also the movement trajectory of each fertilizer applicator formed by the movement of the fertilizer applicator along with the fertilizer applicator can be obtained according to the actual installation offset position of each fertilizer applicator on the vehicle body. This avoids the error in fertilizer placement caused by using only the vehicle body positioning reference point position to replace the actual position of each fertilizer applicator.

[0017] In a preferred embodiment, the operational status data includes position coordinates, positioning time, travel speed, travel direction, steering status, start / stop status of the fertilizer dispensing mechanism, rotation speed of the fertilizer dispensing shaft, drive load, fertilizer passage status and fertilizer throughput of each fertilizer delivery branch, as well as the lifting position and soil penetration depth of each fertilizer application unit.

[0018] By adopting the above technical solution, complete operational status information can be obtained from four aspects: vehicle movement, fertilizer discharge mechanism operation, fertilizer transportation, and fertilizer application unit soil entry operation. This allows subsequent judgments to no longer rely on a single fertilizer discharge speed or a single fertilizer outlet detection result, but to identify the true fertilization status by combining the correspondence between multiple operational links.

[0019] In a preferred embodiment, the system further includes a data validity determination unit, which sequentially performs sampling continuity determination, numerical range determination, and multi-source correspondence determination on the operation status data. The sampling continuity determination is used to determine whether the time interval between adjacent sampling time points exceeds a preset upper limit of the sampling interval; the numerical range determination is used to determine whether the change in position coordinates, travel speed, fertilizer discharge shaft speed, drive load, fertilizer throughput, and soil penetration depth are within their corresponding preset valid ranges; the multi-source correspondence determination is used to determine whether the direction of position coordinate change corresponds to the travel direction, whether the speed of position change corresponds to the detected travel speed, whether the change in fertilizer discharge shaft speed corresponds to the change in drive load, and whether the fertilizer throughput status corresponds to the fertilizer throughput.

[0020] By adopting the above technical solution, the continuity and numerical rationality of the various operational status data can be judged first, and then cross-validation can be carried out by combining the operational correlation between different detection data, thereby reducing the incorrect fertilization attribution and incorrect fertilization control caused by positioning drift, sensor interruption, detection value exceeding the limit, or inconsistency between detection channels.

[0021] In a preferred embodiment, the data validity determination unit identifies data that simultaneously meets the sampling continuity condition, numerical range condition, and multi-source correspondence condition as valid operational status data, and identifies data that does not meet any of the conditions as abnormal operational status data, and records the abnormal data type, abnormal start time, and abnormal duration. Valid operational status data is used for generating fertilizer application amounts to be assigned, determining fertilizer delivery status, assigning actual fertilizer application, and controlling variable fertilization. Abnormal operational status data is sent to the abnormal closed-loop processing unit.

[0022] By adopting the above technical solution, the subsequent use of data can be controlled according to whether the data meets the preset valid conditions, avoiding abnormal location coordinates, abnormal fertilizer throughput or abnormal fertilizer discharge status from directly participating in the generation of actual fertilizer application trajectory and variable fertilization control, while retaining the necessary data basis for judging the duration of abnormality, confirming abnormal recovery and reconstructing trajectory.

[0023] In a preferred embodiment, the fertilizer application amount generation unit is used to determine the fertilizer application amount to be assigned based on the fertilizer output generated by the fertilizer discharge mechanism, and to associate the fertilizer application amount to be assigned with the fertilizer output time period, fertilizer delivery branch number, and fertilizer application unit number. Before the fertilizer application amount to be assigned is actually assigned and effectively deposited into the soil is confirmed, it is only written into the fertilizer application amount field and is not included in the confirmed fertilizer application amount.

[0024] By adopting the above technical solution, the fertilizer that has been output by the fertilizer discharging mechanism but is still in the process of being transported has an independent status identifier and corresponding record, avoiding the direct identification of the output position of the fertilizer discharging mechanism as the actual landing position of the fertilizer, and also avoiding the premature increase of the confirmed fertilizer amount before the fertilizer has reached the end of the fertilization or has been effectively put into the soil.

[0025] In a preferred embodiment, when the fertilizer discharge mechanism switches from a stopped state to a started state, the fertilizer discharge shaft speed enters a preset effective speed range, and the driving load enters a preset effective load range and is maintained continuously for a first preset duration, the fertilizer amount generation unit to be assigned determines the start time of the continuous maintenance as the start time of the fertilizer output period.

[0026] By adopting the above technical solution, fertilizer output is confirmed to begin only after the fertilizer discharge mechanism's start-stop state, the fertilizer discharge shaft speed, and the drive load all meet the actual fertilizer discharge conditions and continue for a predetermined time. This eliminates the influence of speed fluctuations, short-term no-load, and detection vibrations on the identification of fertilizer output periods at the moment of fertilizer discharge mechanism startup.

[0027] In a preferred embodiment, when the fertilizer discharge mechanism switches to a stopped state, or the fertilizer discharge shaft speed is lower than a preset effective speed range, or the driving load is lower than a preset effective load range and remains continuously for a second preset duration, the fertilizer amount generation unit to be assigned will determine the corresponding time as the end time of the fertilizer output period.

[0028] By adopting the above technical solution, the end of fertilizer output can be determined based on the actual cessation or continuous loss of effective fertilizer output conditions of the fertilizer discharge mechanism, avoiding the erroneous interruption of the fertilizer output period due to instantaneous speed reduction or instantaneous load change, so that the output period can more accurately correspond to a continuous fertilizer output process.

[0029] In a preferred embodiment, when the fertilizer throughput of the corresponding fertilizer delivery branch during the fertilizer output period is valid operating status data, the fertilizer amount generation unit to be assigned accumulates the fertilizer throughput to form the actual output amount; when the fertilizer throughput is abnormal operating status data, but the fertilizer discharge shaft speed and drive load are valid operating status data, a substitute output amount is formed according to the correspondence between the fertilizer discharge shaft speed, drive load and output amount per unit time established in advance during the normal fertilizer discharge period.

[0030] By adopting the above technical solution, when the fertilizer throughput detection is normal, the actual detection results are used to determine the fertilizer output. When the fertilizer throughput detection is abnormal but the operation of the fertilizer discharge mechanism is still reliable, the corresponding relationship established by the historical normal fertilizer discharge process is used to form an alternative output, so as to avoid the fertilizer that has been actually discharged from being completely lost due to a short-term abnormality of a single detection channel.

[0031] In a preferred embodiment, the fertilizer application amount generation unit determines the actual output amount or the alternative output amount as the fertilizer application amount to be assigned, and adds fertilizer output time period, fertilizer delivery branch number, fertilizer unit number, data source identifier, and assignment status identifier to the fertilizer application amount to be assigned, and initializes the assignment status identifier to a pending confirmation state. When the fertilizer throughput, fertilizer discharge shaft speed, and drive load are all abnormal operating state data, no alternative output amount is generated, and the corresponding fertilizer output time period is marked as an output amount uncertain state.

[0032] By adopting the above technical solution, it is possible to clearly determine whether the fertilizer amount to be attributed comes from actual detection data or substitute output data, and retain its corresponding fertilizer delivery branch, fertilization unit and output time period, which is convenient for subsequent tracking and verification. When all relevant data are abnormal, the fertilizer output amount is not forcibly estimated, thereby reducing the cumulative error caused by unreliable data continuing to enter the variable fertilization closed loop.

[0033] In a preferred embodiment, the fertilizer delivery status determination unit is used to determine the outlet time period corresponding to the fertilizer outlet based on the fertilizer delivery process corresponding to the amount of fertilizer to be assigned, and output the normal fertilizer delivery status, insufficient fertilizer delivery status, idling fertilizer discharge status, fertilizer blockage status, or assignment failure status based on the corresponding status between the fertilizer discharge shaft speed, drive load, and fertilizer throughput.

[0034] By adopting the above technical solution, the transportation process from the output of the fertilizer discharge mechanism to the arrival of fertilizer at the end of the fertilization process can be identified separately, and different states such as normal fertilizer transportation, insufficient transportation volume, idling of the fertilizer discharge mechanism, blockage of fertilizer transportation branch, and inability to determine the arrival location of fertilizer can be distinguished. This provides a basis for subsequent actions such as normal attribution, abnormal freezing, stopping fertilizer discharge, or manual handling.

[0035] In a preferred embodiment, the fertilizer delivery status determination unit reads the fertilizer output period, fertilizer delivery branch length, fertilizer discharge shaft speed, and fertilizer type identifier corresponding to the fertilizer amount to be assigned. From the historical normal fertilizer delivery data of the corresponding fertilizer delivery branch, it reads the historical shortest delivery time and historical longest delivery time that match the current fertilizer discharge shaft speed range and fertilizer type identifier. The initial detection time is formed by superimposing the historical shortest delivery time on the start time of the fertilizer output period, and the initial window end time is formed by superimposing the historical longest delivery time on the end time of the fertilizer output period. The initial assignment confirmation window is formed by the initial detection time and the initial window end time.

[0036] By adopting the above technical solution, the normal time range for fertilizer to arrive at the outlet can be determined by combining the length of the current fertilizer conveying branch, the speed of the fertilizer discharge shaft, and the type of fertilizer. This allows the attribution confirmation window to adapt to different fertilizer conveying branches, different fertilizer flow rates, and different fertilizer discharge conditions, avoiding premature detection or late attribution caused by using a fixed time delay.

[0037] In a preferred embodiment, within the initial attribution confirmation window, when the corresponding fertilizer transport branch switches from a state of no fertilizer passage to a state of fertilizer passage, and the fertilizer passage volume reaches a preset lower limit and remains continuously for a third preset duration, the start time of the continuous maintenance is determined as the exit arrival time; after the exit arrival time, when the corresponding fertilizer transport branch switches from a state of fertilizer passage to a state of no fertilizer passage, or the fertilizer passage volume is lower than the preset lower limit and remains continuously for a fourth preset duration, the corresponding time is determined as the exit end time, and the exit arrival time and the exit end time form the exit time period.

[0038] By adopting the above technical solution, the time interval between the arrival and departure of the fertilizer amount to be assigned can be determined according to the actual passage status of the fertilizer outlet. At the same time, the duration condition is used to filter out sporadic passage of fertilizer particles and short-term fluctuations in the detection signal, so that the formed outlet period corresponds more stably to an actual fertilizer application process.

[0039] In a preferred embodiment, when the speed of the fertilizer discharge shaft and the drive load are both within their respective stable ranges, and the fertilizer throughput is within a preset normal throughput range, the fertilizer conveying state determination unit outputs a normal fertilizer conveying state; when the speed of the fertilizer discharge shaft and the drive load are both within their respective stable ranges, but the fertilizer throughput is lower than the preset normal throughput range but higher than the preset lower throughput limit, the unit outputs a fertilizer insufficient state; when the speed of the fertilizer discharge shaft is within a preset effective speed range, the drive load is lower than the preset effective load range, and no outlet period is formed, the unit outputs a fertilizer idling state; when the drive load is higher than the preset upper load limit and the fertilizer throughput is lower than the preset lower throughput limit, the unit outputs a fertilizer blockage state.

[0040] By adopting the above technical solution, the cause of the abnormality can be distinguished according to the different combinations of the fertilizer discharge shaft speed, drive load and fertilizer outlet throughput, avoiding the uniform judgment of insufficient fertilizer outlet throughput as insufficient application, and thus preventing the fertilizer discharge shaft speed from being blindly increased when the fertilizer discharge shaft is running idle or the fertilizer transport is blocked.

[0041] In a preferred embodiment, if no exit period is formed when the initial attribution confirmation window ends, but the fertilizer discharge shaft speed and drive load meet the fertilizer output conditions, the fertilizer delivery status determination unit extends the initial attribution confirmation window to a preset maximum attribution confirmation window; if no exit period is formed when the preset maximum attribution confirmation window ends, an attribution failure status is output, and the corresponding amount of fertilizer to be attributed is sent to the abnormal closed-loop processing unit.

[0042] By adopting the above technical solution, when fertilizer is delayed in arrival due to changes in flowability or temporary storage of fertilizer in the fertilizer delivery branch, the amount of fertilizer to be assigned can be retained and the tracking time can be extended to avoid prematurely judging it as a lack of fertilizer; when the exit time cannot be determined after the maximum allowable tracking time has been exceeded, it will be transferred to the abnormal closed-loop processing to prevent the amount of fertilizer to be assigned from being suspended for a long time.

[0043] In a preferred embodiment, the actual fertilizer application assignment unit is used to determine the actual fertilizer application trajectory based on the unit movement trajectory corresponding to the exit time period, match the actual fertilizer application trajectory with each work area unit, and form the assigned fertilizer application amount corresponding to each work area unit.

[0044] By adopting the above technical solution, the actual movement position of the fertilization unit can be obtained based on the actual time interval of the fertilizer arriving at the end of the fertilization unit. This allows the fertilizer amount to be assigned to the unit according to the actual fertilizer placement position rather than the position generated by the fertilizer output command, thereby reducing the position offset error caused by vehicle movement and transport delays.

[0045] In a preferred embodiment, after receiving the normal fertilizer delivery status or insufficient fertilizer delivery status and the corresponding exit time period, the actual fertilizer application unit extracts the unit position coordinates whose sampling time is within the exit time period from the unit movement trajectory of the corresponding fertilizer application unit, and forms the actual fertilizer application trajectory according to the sampling time sequence.

[0046] By adopting the above technical solution, the actual fertilizer application trajectory is made to correspond with the continuous process of fertilizer passing through the outlet in time. This can reflect all the spatial locations traversed by the fertilization unit from the arrival of fertilizer at the outlet to the end of the outlet, providing a trajectory basis for continuous fertilizer application and the attribution of fertilizer quantity across regional boundaries.

[0047] In a preferred embodiment, when the actual fertilizer application trajectory is entirely within the same work area unit, the entire exit time period is defined as a single allocation time period, and the corresponding amount of fertilizer to be allocated is assigned to that work area unit. When the actual fertilizer application trajectory crosses the boundary of at least one work area unit, the intersection point between the actual fertilizer application trajectory and the boundary of the work area unit and the corresponding time of the intersection point are extracted. The exit time period is then divided into multiple allocation time periods according to the time sequence of the exit arrival time, the corresponding time of each intersection point, and the exit end time, so that each allocation time period establishes a corresponding relationship with the work area unit where the actual fertilizer application trajectory is located.

[0048] By adopting the above technical solution, when a continuous fertilizer application process spans two or more operational area units, the continuous exit time period can be segmented according to the intersection of the actual fertilizer application trajectory and the area boundary, thus avoiding the concentration of all fertilizer in a single area where the exit start or exit end point is located.

[0049] In a preferred embodiment, when the fertilizer throughput in each assigned time period is valid operational status data, the fertilizer throughput in each assigned time period is accumulated to form the assigned fertilizer amount corresponding to each operational area unit; when the fertilizer throughput in any assigned time period is abnormal operational status data, the fertilizer amount to be assigned is allocated according to the proportion of the duration of each assigned time period to the exit time period, and the change status of the fertilizer discharge shaft speed and drive load in each assigned time period relative to the average fertilizer discharge shaft speed and average drive load in the exit time period, to form the assigned fertilizer amount corresponding to each operational area unit.

[0050] By adopting the above technical solution, when the fertilizer export detection volume is valid, the zonal measurement can be directly implemented according to the actual fertilizer throughput of each time period. When some export detection data is abnormal, the amount of fertilizer to be assigned is allocated based on the duration of the time period and the operating status of the fertilizer discharge mechanism, so that the cross-regional assignment process still has a traceable allocation basis even when the detection data is incomplete.

[0051] In a preferred embodiment, the effective fertilization amount confirmation unit is used to perform effective soil entry confirmation on the fertilization amount according to the soil entry operation status corresponding to the fertilization unit, convert the fertilization amount into confirmed fertilization amount or abnormal fertilization amount respectively, and update the fertilization amount account of the corresponding operation area unit.

[0052] By adopting the above technical solution, the treatment of fertilizer reaching the end of fertilization and fertilizer effectively entering the soil can be distinguished. Only when the fertilization unit is in an effective soil entry operation state can the corresponding fertilizer amount be converted into the confirmed fertilizer amount, thereby avoiding the conclusion that fertilization is completed based solely on the fertilizer outlet test results.

[0053] In a preferred embodiment, the effective fertilization amount confirmation unit determines the continuous time period when the fertilization unit is in the operation descent position and the soil penetration depth is within the preset effective depth range as the effective soil penetration sub-time period, and determines the continuous time period when the fertilization unit is in the lifting position or the soil penetration depth is below the preset effective depth range as the invalid soil penetration sub-time period.

[0054] By adopting the above technical solution, the continuous fertilization process can be divided into different soil entry states according to the actual lifting position and soil entry depth of the fertilization unit during the designated period, thus avoiding the fertilizer released during periods when the fertilization unit is raised, shallowly entered, or not yet entered into the soil being recognized as effective fertilization.

[0055] In a preferred embodiment, when the entire attribution period consists of valid soil entry sub-periods, the total attribution fertilizer amount is determined as the valid attribution fertilizer amount; when the entire attribution period consists of invalid soil entry sub-periods, the total attribution fertilizer amount is determined as the invalid attribution fertilizer amount; when the attribution period includes both valid and invalid soil entry sub-periods, the valid attribution fertilizer amount and the invalid attribution fertilizer amount are formed according to the fertilizer throughput in each sub-period; when the fertilizer throughput in any sub-period is abnormal operation status data, the corresponding attribution fertilizer amount is divided according to the proportion of the duration of that sub-period to the attribution period.

[0056] By adopting the above technical solution, it is possible to perform segmented measurement of mixed operations where both effective and ineffective fertilization occur simultaneously within a given time period. This eliminates the need to classify the entire fertilization amount within a given time period as either effective or abnormal, thereby improving the accuracy of confirming the effective fertilization amount.

[0057] In a preferred embodiment, the effective fertilization amount confirmation unit deducts the effective fertilization amount and the invalid fertilization amount from the unassigned fertilization amount field of the fertilization amount account, adds the effective fertilization amount to the confirmed fertilization amount field, adds the invalid fertilization amount to the abnormal fertilization amount field, and recalculates the remaining allowable fertilization amount.

[0058] By adopting the above technical solution, the fertilizer quantity that has completed the location assignment and soil entry status confirmation can be promptly removed from the pending assignment state and entered into the confirmed fertilizer quantity or abnormal fertilizer quantity field according to the confirmation result. This ensures that there is no duplicate measurement between fields in the fertilizer quantity account and allows subsequent variable fertilization control to be recalculated based on the updated real fertilization status.

[0059] In a preferred embodiment, when the fertilizer delivery status determination unit outputs a fertilizer discharge idling status, the amount of fertilizer to be assigned for the corresponding fertilizer output period is corrected to zero; when the fertilizer delivery is blocked, the amount of fertilizer that has already formed an outlet period before the blockage occurs continues to be assigned as actual fertilizer, and the amount of fertilizer to be assigned that has not yet formed an outlet period after the blockage occurs is marked as an abnormal amount to be confirmed; when the assignment fails, the corresponding amount of fertilizer to be assigned is marked as an unassigned abnormal amount, and the unassigned abnormal amount is not included in the confirmed fertilizer amount of any work area unit. The abnormal fertilizer application amount refers to the amount of fertilizer that has been determined to have failed to produce effective fertilization results in the corresponding work area; the abnormal amount to be confirmed refers to the amount of fertilizer that cannot be temporarily assigned to the actual fertilizer application or confirmed to have been effectively applied to the soil due to positioning anomalies, fertilizer transport blockages, or incomplete formation of the exit period; the unassigned abnormal amount refers to the amount of fertilizer to be assigned to the actual fertilizer application area that cannot be determined after the preset maximum assignment confirmation window has ended. The abnormal amounts to be confirmed and unassigned abnormal amounts are not written into the abnormal fertilizer application amount field of any work area unit before the anomaly handling is completed, but are instead retained in the abnormal pending confirmation record, and the corresponding work area unit is prohibited from generating a late application compensation task in advance.

[0060] By adopting the above technical solution, the corresponding amount of fertilizer can be handled according to different abnormal fertilizer delivery states, avoiding the formation of false output volume due to empty discharge of fertilizer, and also avoiding the overall discarding of the amount of fertilizer that has been actually released before the blockage, while preventing the amount of fertilizer that has not yet been determined from being forcibly included in any work area unit.

[0061] In a preferred embodiment, the variable fertilization control unit is used to determine the occupied fertilization amount and the remaining allowable fertilization amount of the corresponding work area unit based on the target fertilization amount, the confirmed fertilization amount, the fertilization amount to be assigned, and the compensation lock amount, and to generate a fertilization discharge control command based on the remaining allowable fertilization amount to execute variable fertilization control on the corresponding fertilization unit.

[0062] By adopting the above technical solution, variable fertilization control no longer generates fertilization instructions based solely on the difference between the target fertilization amount and the confirmed fertilization amount. Instead, it simultaneously considers the fertilization amount to be assigned that is still in the process of being transported and assigned, as well as the compensation amount that has been generated but not yet completed. This avoids the system from repeatedly discharging fertilizer because unconfirmed fertilizer is not included in the fertilization quota.

[0063] In a preferred embodiment, the variable fertilization control unit determines the current working area unit of each fertilization unit and the working area unit to be entered along the driving direction based on the current unit position coordinates, driving direction and boundary position data of each working area unit, and determines the remaining travel distance of each fertilization unit in the corresponding working area unit.

[0064] By adopting the above technical solution, the target area for each fertilization unit to be operated can be determined in advance based on its actual location and direction of movement, and the remaining allowable amount of fertilizer can be allocated according to the remaining movement distance in the corresponding area, so that the fertilizer discharge control matches the actual fertilization distance of the fertilization unit in each operating area.

[0065] In a preferred embodiment, the variable fertilization control unit filters the fertilization quantities expected to fall into the corresponding work area unit from the fertilization quantities still in the assignment confirmation window. The filtered fertilization quantities, the confirmed fertilization quantities of the corresponding work area unit, and the compensation lock-in quantity are added together to form the occupied fertilization quantity. The target fertilization quantity is then subtracted from the occupied fertilization quantity to form the remaining allowable fertilization quantity. By including the fertilization quantities to be assigned and the compensation lock-in quantity in the occupied fertilization quantity, fertilizer still in the process of delivery or compensation execution is prevented from being repeatedly counted as insufficient fertilization.

[0066] By adopting the above technical solution, only the amount of fertilizer to be assigned to the current work area unit is included in the amount of fertilizer occupied in that area, instead of deducting all the amount of fertilizer to be assigned. This can prevent duplicate fertilization while maintaining the independence and accuracy of fertilizer quota calculation between different work area units.

[0067] In a preferred embodiment, when the remaining allowable fertilization amount is greater than zero, the corresponding fertilization unit is in the descent position, the soil penetration depth is within the preset effective depth range, the fertilization vehicle is in a forward driving state, and there is no abnormal operating state data that affects fertilizer discharge control, the allowable fertilizer discharge amount per unit distance is formed based on the remaining allowable fertilization amount and the remaining travel distance, and the allowable fertilizer discharge amount per unit time is formed based on the allowable fertilizer discharge amount per unit distance and the current travel speed. Finally, the current allowable fertilizer discharge speed is determined based on the pre-established correspondence between the fertilizer discharge amount per unit time and the fertilizer discharge shaft speed.

[0068] By adopting the above technical solution, the amount of fertilizer that can still be applied in the work area unit can be converted into the permissible rotation speed that the fertilizer dispensing mechanism can execute according to the remaining work distance and the current travel speed, so that the actual output of the fertilizer dispensing mechanism can be dynamically adjusted according to the speed of the fertilizer vehicle and the remaining fertilizer quota in the area.

[0069] In a preferred embodiment, when the remaining allowable fertilizer application is less than or equal to zero, the fertilizer applicator stops or reverses, the fertilizer unit is in a raised position, or the soil penetration depth is below a preset effective depth range, the current permissible fertilizer discharge speed is set to zero and a stop fertilizer discharge command is output. When the fertilizer applicator's steering state exceeds a preset steering threshold, the original current permissible fertilizer discharge speed is paused. After the unit's motion trajectory is re-established and the corresponding work area unit is re-determined, the current permissible fertilizer discharge speed is recalculated.

[0070] By adopting the above technical solution, fertilizer discharge can be stopped in time when there are no effective fertilization conditions or no remaining allowable fertilization amount in the current working area. When the fertilizer vehicle turns and the actual trajectory of the fertilizer unit changes, the original control command is suspended, avoiding the continued use of the area affiliation and fertilizer discharge allowable speed before the turn.

[0071] In a preferred embodiment, when the amount of fertilizer to be assigned is assigned, converted to an abnormal amount of fertilizer, or exits the expected assignment range of the corresponding work area unit, the variable fertilizer control unit rereads the corresponding fertilizer account and updates the occupied fertilizer amount, the remaining allowable fertilizer amount, and the current fertilizer discharge permit speed, without directly using the fertilizer discharge control instructions before the account update.

[0072] By adopting the above technical solution, when the status or expected allocation range of any fertilizer application amount changes, the fertilizer discharge control parameters can be recalculated immediately based on the updated fertilizer application amount account, preventing excessive fertilization caused by the fertilizer discharge agency continuing to execute the original instructions even though the account has changed.

[0073] In a preferred embodiment, the abnormal closed-loop processing unit is used to perform closed-loop processing on positioning abnormalities, fertilizer delivery blockage, attribution failure, and compensation operations, and to re-execute actual fertilizer attribution, effective soil entry confirmation, and fertilizer discharge control recalculation after the abnormality is recovered.

[0074] By adopting the above technical solution, the abnormal state will no longer end with just an alarm or cessation of fertilizer application. Instead, the amount of fertilizer to be assigned before and after the abnormality will continue to be included in the subsequent trajectory recovery, location assignment, soil entry confirmation and control recalculation process, ensuring that the amount of fertilizer formed during the abnormal period can still be processed.

[0075] In a preferred embodiment, when the location coordinate sampling is interrupted, the value exceeds the limit, or the location change speed does not correspond to the driving speed, the abnormal closed-loop processing unit stops using the abnormal location coordinates to generate a new actual fertilizer application trajectory, determines the amount of fertilizer to be assigned that has not yet been assigned or has not yet been effectively confirmed to be in the soil as the amount of fertilizer to be assigned, and limits the current fertilizer discharge permit speed of the corresponding fertilizer unit to no higher than the current fertilizer discharge permit speed corresponding to the most recent normal sampling time point before the abnormality occurred.

[0076] By adopting the above technical solution, it is possible to prevent abnormal location coordinates from participating in the generation of actual fertilizer application trajectory and causing incorrect area assignment, and to limit fertilizer output during the period of abnormal location, thereby reducing cross-regional misapplication and over-fertilization caused by the inability to accurately determine the location of fertilization units.

[0077] In a preferred embodiment, after continuously obtaining the position coordinates that reach the preset recovery quantity and meet the sampling continuity condition, numerical range condition and multi-source correspondence condition, the intermediate position coordinates during the abnormal period are supplemented based on the last valid position coordinates before the anomaly occurred, the driving speed and driving direction during the anomaly duration, and the valid position coordinates after recovery. The vehicle movement trajectory and unit movement trajectory are re-formed, and the actual fertilizer application assignment and effective soil entry confirmation are re-executed for the frozen fertilizer application amount to be assigned.

[0078] By adopting the above technical solution, the missing trajectory can be reconstructed using the effective location before and after the location anomaly, as well as the motion state data that can still be obtained during the anomaly. This allows the frozen fertilizer application amount to be reassigned to a new location after the location is restored, rather than being directly discarded as an abnormal fertilizer application amount or forcibly assigned to the restored location.

[0079] In a preferred embodiment, when a fertilizer delivery blockage occurs, the abnormal closed-loop processing unit outputs a stop fertilizer discharge command to the fertilizer discharge mechanism of the corresponding fertilizer delivery branch, marks the corresponding fertilizer delivery branch as prohibited from discharging fertilizer, and keeps other fertilizer delivery branches that have not been blocked from continuing to execute their respective fertilizer discharge control commands.

[0080] By adopting the above technical solution, the blocked fertilizer delivery branch can be isolated independently to prevent fertilizer from being delivered to the blocked branch and worsening the blockage, while other normal fertilizer delivery branches can continue to operate, reducing the impact of a single branch abnormality on the continuity of the whole vehicle fertilization operation.

[0081] In a preferred embodiment, after the drive load of the corresponding fertilizer conveying branch is restored to the preset effective load range, the fertilizer outlet is restored to an effective fertilizer passage state and is maintained continuously for a preset recovery duration, the fertilizer discharge prohibition state of the corresponding fertilizer conveying branch is lifted, the actual output fertilizer amount after the blockage is lifted is regenerated as the fertilizer amount to be assigned, and the fertilizer conveying state determination, actual fertilizer assignment and effective soil entry confirmation are re-executed; after the confirmation is completed, the current fertilizer discharge permissible speed is recalculated, and the fertilizer discharge control command before the blockage occurs is not directly restored.

[0082] By adopting the above technical solution, the fertilizer released or re-output after the blockage is cleared will still be tracked according to the new fertilizer amount to be assigned, which can prevent this part of the fertilizer from being directly counted in the area before the blockage occurred. At the same time, by recalculating the fertilizer discharge permit speed, it avoids continuing to use the old control commands that are no longer suitable for the current fertilizer amount account and vehicle position after the abnormality is recovered.

[0083] In a preferred embodiment, after the corresponding work area unit no longer has any pending fertilization amounts, frozen pending fertilization amounts, pending abnormal amounts, or unlocated abnormal amounts still within the fertilization confirmation window, the abnormality closed-loop processing unit subtracts the confirmed fertilization amount from the target fertilization amount to form the fertilization difference. When the fertilization difference exceeds a preset allowable fertilization deviation, the fertilization difference is determined as a confirmed shortfall, and candidate fertilization units that can re-enter the corresponding work area unit are selected based on the subsequent unit movement trajectories of each fertilization unit.

[0084] By adopting the above technical solution, the target fertilizer amount and the confirmed fertilizer amount are finally compared only after the amount of fertilizer to be assigned and the amount of abnormal fertilizer to be confirmed related to the work area unit have been processed. This can avoid misjudging fertilizer that is still being transported or waiting to be reassigned as a shortfall.

[0085] In a preferred embodiment, when at least one candidate fertilization unit performs compensation, and the confirmed fertilization amount of the corresponding work area unit does not exceed the pre-set fertilization limit, the execution fertilization unit is determined from the candidate fertilization units, and the smaller value between the confirmed shortfall amount and the allowed additional fertilization amount is determined as the compensation amount. A compensation task is generated, including the work area unit number to be compensated, the compensation amount, and the execution fertilization unit number, and the compensation amount is written into the compensation lock amount field of the corresponding fertilization amount account.

[0086] By adopting the above technical solution, the automatic compensation conditions can be restricted based on whether the fertilization unit can re-enter the fertilization-deficient area and whether the total amount of fertilization after compensation exceeds the fertilization limit. At the same time, the already generated compensation amount is written into the compensation lock amount field in advance to prevent duplicate compensation tasks from being generated before the compensation task is completed.

[0087] In a preferred embodiment, when the fertilization unit enters the compensation operation area unit, is in the operation descent position, and has a soil penetration depth within a preset effective depth range and there is no abnormal operation status data affecting fertilizer discharge control, the variable fertilization control unit generates a compensation fertilizer discharge permissible speed based on the compensation amount and the compensable movement distance of the fertilization unit within the compensation operation area unit, and outputs a compensation fertilizer discharge command.

[0088] By adopting the above technical solution, the compensation fertilizer is only discharged when the fertilization unit actually enters the area to be compensated and meets the conditions for effective soil entry. This avoids premature release of compensation fertilizer outside the area, when the fertilization unit is raised, or when the detection status is abnormal.

[0089] In a preferred embodiment, the actual fertilizer output generated by the compensation fertilizer discharge command is not directly included in the confirmed fertilizer application amount, but is regenerated as a fertilizer application amount to be assigned, and sequentially undergoes fertilizer delivery status determination, actual fertilizer application assignment, and effective soil entry confirmation. When the fertilizer amount generated by compensation is converted into a confirmed fertilizer application amount, the corresponding compensation amount is deducted from the compensation locked amount field and the confirmed fertilizer application amount is increased; when the fertilizer amount generated by compensation is converted into an abnormal fertilizer application amount, the corresponding compensation amount is deducted from the compensation locked amount field and the abnormal fertilizer application amount is increased. During the execution of the compensation task, the corresponding conversion amount is deducted from the compensation lock amount field according to the amount of compensation fertilizer actually completed for each state transition. When the actual output amount of compensation fertilizer is less than the compensation amount recorded in the compensation task, the unexecuted part is retained in the compensation lock amount field. When the compensation task is terminated because the automatic compensation conditions are no longer met, the compensation lock amount corresponding to the unexecuted part is released, and the remaining amount of fertilizer deficiency is re-determined based on the currently confirmed amount of fertilizer applied.

[0090] By adopting the above technical solution, the compensation fertilizer discharge adopts the same transportation tracking, location attribution and effective soil entry confirmation process as the normal fertilizer discharge. The compensation amount is only converted into the confirmed fertilizer amount after it actually falls into the target area and completes effective soil entry, which prevents the compensation fertilizer from being regarded as completed even if there is a delay in transportation, cross-regional release or ineffective soil entry.

[0091] In a preferred embodiment, after the compensation amount is converted, the fertilization difference is re-determined. When the fertilization difference is within the preset allowable fertilization deviation range, the compensation task is terminated and the corresponding work area unit is marked as fertilization completed. When the fertilization difference still exceeds the preset allowable fertilization deviation but still meets the automatic compensation conditions, the compensation task is regenerated. When there are no candidate fertilization units that meet the automatic compensation conditions, or when the fertilization amount after compensation will exceed the pre-set fertilization limit, the generation of new automatic compensation tasks is prohibited, and the remaining fertilization amount and the area to be manually supplemented are recorded.

[0092] By adopting the above technical solution, the actual fertilization deficit status can be reassessed after each compensation is completed and the compensation result is confirmed. The compensation process is executed sequentially according to the latest fertilization amount account and terminated in a timely manner. When automatic compensation cannot continue or there is a risk of over-fertilization, it is switched to manual processing, thus forming a complete closed loop of compensation generation, compensation locking, compensation execution, result confirmation and reassessment.

[0093] This invention has at least the following technical effects and advantages: 1. The present invention sets the amount of fertilizer that has been output by the fertilizer discharge mechanism but has not yet been confirmed as the actual fertilizer landing location and effective soil entry as the amount of fertilizer to be assigned, and establishes a connection between it and the fertilizer output time period, fertilizer delivery branch and fertilizer application unit, so that the output amount of the fertilizer discharge mechanism is no longer directly included in the confirmed fertilizer amount of the current position corresponding to the work area, which can avoid misjudging normal delivery delay as insufficient application and repeatedly increasing the fertilizer discharge amount. 2. This invention forms an attribution confirmation window based on the length of the fertilizer conveying branch, the rotation speed of the fertilizer discharge shaft, the type of fertilizer, and the historical normal conveying time. It also determines the time range for the fertilizer to arrive at the end of the fertilizer application based on the actual outlet time of the fertilizer outlet. This invention can adapt to different fertilizer conveying branches and different fertilizer flow states, and reduce the error caused by the fixed delay time in judging the fertilizer drop position. 3. This invention extracts the unit movement trajectory based on the exit time corresponding to the actual arrival of fertilizer at the end of the fertilization unit, and determines the fertilizer amount according to the relationship between the actual fertilizer drop trajectory and the boundary of the work area. It can perform zoned measurement of fertilizer amount across multiple work area units, reducing cross-regional miscalculation caused by inconsistency between fertilizer output position and actual fertilizer drop position. 4. After assigning the actual fertilizer application location, this invention further determines the effective and ineffective fertilizer application amounts based on the lifting position and soil depth of the fertilizer application unit, thus avoiding the incorrect inclusion of fertilizer released during periods of unit lifting, insufficient soil depth, or abnormal operation into the effective fertilizer application amount. 5. The present invention determines the occupied fertilizer amount by combining the confirmed fertilizer amount, the fertilizer amount expected to be assigned to the corresponding work area unit, and the compensation lock amount. The remaining allowable fertilizer amount is calculated based on the occupied fertilizer amount. This can include the amount of fertilizer that is still in the process of transportation, assignment confirmation, or compensation execution in advance into the fertilizer quota control, thereby reducing duplicate fertilizer application and local over-application. 6. This invention distinguishes between normal fertilizer delivery, insufficient fertilizer delivery, idling fertilizer delivery, fertilizer blockage, and failure status by the correspondence between the fertilizer discharge shaft speed, drive load, and fertilizer throughput. It can take corresponding measures for different abnormal causes, avoiding treating all cases of insufficient fertilizer throughput as ordinary fertilizer deficiency and blindly increasing the fertilizer discharge. 7. This invention freezes the amount of fertilizer to be assigned during the period of location anomaly that has not yet been assigned or effectively confirmed in the soil, and reconstructs the unit movement trajectory during the period of anomaly after the location is restored, so that the amount of fertilizer formed during the anomaly can still be re-assigned and effectively confirmed in the soil, reducing the loss or incorrect assignment of fertilizer caused by location anomaly. 8. When fertilizer delivery blockage occurs, this invention only isolates the corresponding fertilizer delivery branch and keeps other normal fertilizer delivery branches running. After the blockage is cleared, the fertilizer output is regenerated as the amount to be assigned and the fertilizer delivery status determination, actual fertilizer assignment, and effective soil entry confirmation are re-executed. This can prevent the fertilizer released in a concentrated manner after abnormal recovery from being incorrectly assigned, and at the same time improve the stability of continuous fertilization operations. 9. This invention determines the confirmed amount of fertilizer shortage only after all the fertilizer to be assigned, the frozen fertilizer to be assigned, and the amount of abnormality to be confirmed related to the corresponding work area unit have been processed. This can avoid incorrectly identifying fertilizer that is still in the process of being transported or waiting for abnormality as fertilizer shortage. 10. The present invention writes the generated compensation amount into the compensation lock amount field, and re-executes the generation of the fertilizer amount to be assigned, fertilizer delivery status determination, actual fertilizer assignment and effective soil entry confirmation when the actual fertilizer output formed by the compensation fertilizer discharge is executed. This ensures that the compensation amount is converted into the confirmed fertilizer amount only after the actual fertilizer application and effective soil entry confirmation are completed, thus forming a complete closed loop of deficiency identification, compensation locking, compensation execution, compensation confirmation and re-judgment. Attached Figure Description

[0094] Figure 1 This is a schematic diagram illustrating the composition and data transmission relationship of the fertilizer application vehicle operation status monitoring and variable fertilization control system of the present invention.

[0095] Figure 2 This is a schematic diagram of the variable fertilization control and anomaly compensation closed-loop process of the present invention.

[0096] Figure 3 for Figure 2 Diagram of the mid-location anomaly recovery process.

[0097] Figure 4 for Figure 2 A schematic diagram of the automatic compensation closed-loop process.

[0098] Figure 5 for Figure 2 Schematic diagram of the abnormal repair process for fertilizer transported from China. Detailed Implementation

[0099] The embodiments of the present invention will be clearly and completely described below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the protection scope of the present invention. In order to facilitate understanding of the data flow relationship between the functional units of the present invention and the overall control process, the present invention will be described step by step below in conjunction with specific embodiments.

[0100] First, to illustrate the basic components of the entire variable fertilization control system, this embodiment provides a fertilizer vehicle operation status monitoring and variable fertilization control system. The system is installed or integrated on a fertilizer vehicle with multiple fertilization units. The fertilizer vehicle may include a vehicle body, a fertilizer tank, a fertilizer discharge mechanism, multiple fertilizer conveying branches, and fertilization units corresponding to each fertilizer conveying branch. The fertilizer discharge mechanism is used to meter and output fertilizer from the fertilizer tank, and each fertilizer conveying branch is used to transport the fertilizer output by the fertilizer discharge mechanism to the corresponding fertilization unit. The fertilization unit is used to release the fertilizer that has reached the end point into the soil, thereby constituting the basic hardware foundation of the entire fertilization operation system and providing support for the subsequent coordinated operation of various functional units.

[0101] Furthermore, based on the overall structure described above, the fertilization unit in this embodiment can be a trenching fertilization unit, the end of a fertilizer discharge pipe, a fertilizer shovel, a fertilizer knife, or other working components capable of introducing fertilizer into the soil; each fertilization unit has a corresponding fertilizer delivery branch and fertilizer discharge execution relationship, enabling the system to implement fertilizer output, fertilizer delivery status monitoring, actual fertilizer placement location attribution, and variable fertilization control for each fertilization unit, thereby forming a data foundation for independent management and unified coordinated control of each fertilization unit.

[0102] Subsequently, in order to achieve unified control of the above-mentioned fertilization operation process, the system in this embodiment includes an operation task processing unit, an operation status acquisition unit, a data validity determination unit, a fertilizer amount to be assigned unit, a fertilizer delivery status determination unit, an actual fertilizer application assignment unit, an effective fertilizer amount confirmation unit, a variable fertilization control unit, and an abnormal closed-loop processing unit. Each unit can be centrally implemented by a controller on the fertilization vehicle, or it can be set in the vehicle controller, fertilizer discharge controller, positioning controller, and remote operation terminal respectively, and transmit data through the vehicle communication bus or wireless communication link, so that each functional unit can collaboratively complete the variable fertilization control according to the unified data link.

[0103] After the above functional units are established, refer to Figure 1 In this embodiment, each unit forms a closed loop for fertilization operations in the following order: the task processing unit first establishes the work area unit and the fertilization amount account; the work status acquisition unit continuously generates the movement trajectory and operating status of the fertilization vehicle and each fertilization unit; the fertilization amount to be assigned unit records the amount of fertilizer that has been output by the fertilizer discharge mechanism but has not yet completed the confirmation of the actual fertilizer drop position as the fertilization amount to be assigned; the fertilizer transport status determination unit determines whether the fertilization amount to be assigned has reached the end of the corresponding fertilization unit normally; the actual fertilizer drop assignment unit determines the actual work area into which the fertilizer has fallen based on the movement trajectory of the unit corresponding to the end of the fertilizer; the effective fertilizer amount confirmation unit confirms whether the fertilizer has effectively entered the soil based on the lifting position and soil depth of the fertilization unit; the variable fertilization control unit generates a new fertilizer discharge control command based on the fertilization amount account; the abnormal closed loop processing unit recovers and reconfirms the positioning abnormality, fertilizer transport abnormality, assignment failure, and missing application compensation. For details, please refer to the detailed description of each unit in the following embodiment, thereby forming a complete closed loop control process covering fertilizer output, transport tracking, actual assignment, effective confirmation, variable control, and abnormal recovery.

[0104] Example 1: Division of work area units and establishment of fertilizer application accounts First, in order to establish a unified regional management foundation for subsequent variable fertilization control, before starting fertilization operations, the task processing unit acquires the regional boundary location data of the fertilization operation area, fertilization prescription data, the planned operation direction of the fertilization vehicle, and the operation width and installation location data of each fertilization unit, providing basic input data for subsequent operation area division and fertilization volume account establishment.

[0105] Furthermore, in order to clarify the boundaries of the fertilization area and the target fertilization requirements, the area boundary location data is used to represent the outer boundary of the plot to be fertilized and the exclusion area within the plot where fertilization is not allowed; the exclusion area may include field ridges, roads, ditches, obstacle areas or areas where fertilization has already been completed; the fertilization prescription data includes multiple prescription location ranges and the target fertilization amount per unit area corresponding to each prescription location range, thereby establishing the basis for target fertilization for different areas.

[0106] Meanwhile, in order to determine the actual operating range of each fertilization unit, the installation position data of each fertilization unit includes the lateral and longitudinal installation distances of the fertilization unit relative to the positioning reference point of the fertilization vehicle; the positioning reference point can be set at the center of the fertilization vehicle body, the installation position of the satellite positioning antenna, or other pre-marked positions; the operating width indicates the lateral fertilization range covered by the corresponding fertilization unit in one pass, thus providing a positional basis for the subsequent division of the operating zone.

[0107] Subsequently, after completing the acquisition of the aforementioned basic data, the task processing unit first forms multiple work zones in a direction perpendicular to the predetermined work direction according to the work width of each fertilization unit; each work zone corresponds to at least one fertilization unit; for fertilization vehicles with multiple fertilization units arranged side by side in the transverse direction, multiple adjacent work zones can be formed according to the center position and work width of each fertilization unit, thereby forming the transverse basis for the subsequent division of regional units.

[0108] After the work zone is formed, in order to further refine the fertilization management area, the work task processing unit continuously divides each work zone along the predetermined work direction according to the preset area length, forming multiple work area units. The preset area length can be determined in advance based on the positioning accuracy, the speed of the fertilizer vehicle, the adjustment response time of the fertilizer discharge mechanism, and the fertilization control accuracy. The higher the positioning accuracy and the faster the fertilizer discharge adjustment response, the shorter the preset area length can be, thereby establishing work area units of uniform or adapted size.

[0109] Furthermore, to facilitate subsequent area identification and fertilization control, each work area unit is equipped with at least an area unit number, boundary location data, the work zone number to which it belongs, and the corresponding fertilization unit number. The area unit number is used to distinguish different work area units, the work zone number to which it belongs is used to determine which horizontal work zone the area is located in, and the corresponding fertilization unit number is used to determine the fertilization unit that performs the fertilization task in that area, thereby establishing the correspondence between area units and fertilization units.

[0110] In addition, to ensure the accuracy of fertilization in the boundary area, for operation area units located near the plot boundary, when part of the operation zone extends beyond the boundary of the fertilization operation area, the operation task processing unit only retains the part inside the boundary of the fertilization operation area, and redetermines the actual area of ​​the operation area unit based on the retained part, so as to avoid deviations in the calculation of the target fertilization amount in the boundary area.

[0111] After completing the regional division, in order to establish the target fertilization amount for each region, the task processing unit overlaps and matches the boundary location data of each task region with the prescription location range in the fertilization prescription data. When a task region is entirely within a prescription location range, the target fertilization amount per unit area corresponding to that prescription location range is directly read, and the target fertilization amount per unit area is matched with the area of ​​the task region to form the target fertilization amount, thereby completing the calculation of the target fertilization amount for a single region.

[0112] Furthermore, for cases spanning multiple prescription areas, when a work area unit overlaps with two or more prescription location ranges, the work task processing unit determines the overlap area between the work area unit and each prescription location range, and forms multiple zone target amounts based on each overlap area and the corresponding target fertilizer amount per unit area. Then, the multiple zone target amounts are accumulated to form the target fertilizer amount for the work area unit, making the target fertilizer amount more consistent with the actual prescription distribution.

[0113] For example, to facilitate understanding of the above calculation process, the total area of ​​a work area unit is ten square meters, of which six square meters are located in the first prescription range and four square meters are located in the second prescription range. The first prescription range and the second prescription range have different target fertilizer application amounts per unit area. The work task processing unit determines the corresponding zone target amount based on the six square meters and four square meters respectively, and then adds the two zone target amounts to form the target fertilizer application amount of the work area unit, thereby realizing the comprehensive calculation of the target fertilizer application amount across prescription areas.

[0114] After the target fertilization amount is determined, in order to establish a full-process fertilization management mechanism, the task processing unit establishes independent fertilization amount accounts for each work area unit. Each fertilization amount account includes at least the target fertilization amount field, the confirmed fertilization amount field, the fertilization amount to be assigned field, the abnormal fertilization amount field, the compensation locked amount field, and the remaining allowed fertilization amount field, providing an account basis for subsequent full-process fertilization amount management.

[0115] Subsequently, in order to complete the account initialization, before the fertilization operation begins, the target fertilization amount field is written with the target fertilization amount of the corresponding operation area unit, the confirmed fertilization amount field, the fertilization amount to be assigned field, the abnormal fertilization amount field and the compensation lock amount field are initialized to zero, and the remaining allowed fertilization amount is initialized to the target fertilization amount, so that each fertilization amount account enters the executable state.

[0116] Furthermore, to clarify the functional meaning of each account field, the target fertilization amount represents the total amount of fertilizer that should be applied to the work area unit according to the fertilization prescription; the confirmed fertilization amount represents the amount of fertilizer that has been confirmed to have actually fallen into the work area unit and has been effectively confirmed to have entered the soil; the fertilization amount to be assigned represents the amount of fertilizer that has been output by the fertilizer discharging agency but has not yet been confirmed to have actually fallen into the soil or been effectively confirmed to have entered the soil; the abnormal fertilization amount represents the amount of fertilizer that has been confirmed not to have effectively entered the target soil location; the compensation lock amount represents the amount of fertilizer that has been generated as a compensation task but has not yet been confirmed to have the compensation result; and the remaining allowed fertilization amount represents the amount of fertilizer that the account is still allowed to continue discharging to the work area unit based on the current fertilization amount. This establishes the distinction between various fertilization amounts and their subsequent conversion relationships.

[0117] Meanwhile, in order to manage the amount of fertilizer that has not yet been assigned, this embodiment also sets up a general ledger of fertilizer to be assigned, which is used to record the amount of fertilizer to be assigned that has not yet been confirmed as the actual fertilization area. The general ledger of fertilizer to be assigned stores the amount of fertilizer to be assigned, fertilizer output time period, fertilizer delivery branch number, fertilization unit number, data source identifier, assignment status identifier and expected assignment operation area unit according to the assignment record number, thereby forming a full-process tracking mechanism for fertilizer to be assigned.

[0118] After generating the amount of fertilizer to be assigned, in order to avoid duplicate fertilizer discharge, the system determines one or more operating area units that the fertilizer unit is expected to pass through during the period when the fertilizer may reach the outlet, based on the current unit movement trajectory, fertilizer output time period and assignment confirmation window of the corresponding fertilization unit, and establishes a temporary occupancy record in the fertilizer amount account of the corresponding operating area unit. The temporary occupancy record is only used to calculate the occupied fertilizer amount and does not indicate that the fertilizer amount to be assigned has been actually assigned to an area, reserving management space for subsequent real assignment confirmation.

[0119] Finally, after completing the actual area assignment, the system cancels the temporary occupancy records in the originally expected assigned work area units, and transfers the fertilizer to be assigned to the corresponding work area units to the subsequent confirmation process based on the actual assigned fertilizer amount obtained by each work area unit. Thus, the general ledger of fertilizer to be assigned is used to track fertilizer output entities, the temporary occupancy records of each work area unit are used to limit repeated fertilizer application, and the actual assignment results are used to complete the final partition accounting. This completes the entire process of work area establishment, fertilizer amount account construction, and fertilizer to be assigned management, laying the foundation for work status acquisition, time alignment, and data validity determination in Example 2.

[0120] Example 2: Acquisition of job status data, time alignment, and validity determination First, after establishing the work area unit and fertilizer application account in Example 1, in order to continuously obtain real-time work information during the operation of the fertilizer application vehicle, the work status acquisition unit continuously acquires work status data according to a preset sampling period after the fertilizer application vehicle starts working. The work status data includes position coordinates, positioning time, driving speed, driving direction, steering status, fertilizer discharge mechanism start / stop status, fertilizer discharge shaft speed, drive load, fertilizer passage status and fertilizer passage amount of each fertilizer delivery branch, lifting position and soil penetration depth of each fertilizer application unit, thereby forming the basic data source required for subsequent trajectory generation, status determination and variable fertilization control.

[0121] Furthermore, to clarify the sources of various operational status data, location coordinates and positioning time can be output by satellite positioning devices; driving speed, driving direction, and steering status can be output by vehicle controllers, wheel speed sensors, angle sensors, or inertial measurement devices; the start / stop status of the fertilizer discharge mechanism, the speed of the fertilizer discharge shaft, and the drive load can be output by the fertilizer discharge controller, speed sensor, and motor current detection device; the fertilizer passage status and fertilizer throughput can be output by photoelectric detection devices, mass flow detection devices, or impact detection devices installed at the end of the fertilizer conveying branch or the entrance of the fertilization unit; and the lifting position and soil penetration depth of the fertilization unit can be output by stroke sensors, angle sensors, displacement sensors, or depth detection devices, thereby ensuring that the system can continuously obtain complete operational status information covering the entire vehicle, fertilizer discharge mechanism, fertilizer conveying branch, and fertilization unit.

[0122] Subsequently, in order to eliminate the data timing deviation caused by the inconsistent sampling frequencies of different detection devices, since the sampling frequencies and data transmission delays of different detection devices may be different, the operation status acquisition unit associates the data within the same preset sampling period with the same sampling time mark according to the collection time of each data. In the case of multiple similar detection values ​​within a sampling period, the detection value closest to the sampling time mark can be selected, or multiple detection values ​​can be averaged, thereby completing the unified time alignment of various operation status data.

[0123] Furthermore, to ensure that all subsequent judgments are based on real and valid data, for a detection channel that has not received new data within a sampling period, the detection value of the previous sampling period is not directly regarded as the current valid data. Instead, a corresponding data missing identifier is generated. The data validity determination unit determines whether the detection channel is experiencing a short delay or a sampling interruption based on the duration of the data missing, thereby avoiding the impact on subsequent trajectory analysis and fertilization control results due to the simple use of historical data.

[0124] After completing the time alignment, in order to establish the continuous movement process of the vehicle, the operation status acquisition unit connects the continuous position coordinates according to the sampling time scale to form the vehicle movement trajectory. The vehicle movement trajectory includes the position coordinates, trajectory direction, trajectory length and movement status corresponding to each sampling time scale, providing a unified reference for the subsequent calculation of the movement position of each fertilization unit.

[0125] Subsequently, in order to further determine the actual operating position of each fertilization unit, the operation status acquisition unit reads the lateral and longitudinal installation distances of each fertilization unit relative to the positioning reference point of the fertilization vehicle. Based on the vehicle body position coordinates and driving direction under each sampling time point, the lateral and longitudinal installation distances are converted to the current vehicle body coordinate direction to form the unit position coordinates of each fertilization unit under the corresponding sampling time point, thereby realizing the dynamic calculation of the fertilization unit position as the vehicle moves.

[0126] Furthermore, after obtaining the position coordinates corresponding to each sampling time point, the position coordinates of each unit in the same fertilization unit are connected in the order of sampling time points to form the unit movement trajectory of the corresponding fertilization unit. Thus, even if there is a longitudinal and lateral distance between the fertilization unit and the positioning reference point, the system can determine the actual movement position of each fertilization unit, providing an accurate positional basis for the subsequent generation of actual fertilization trajectory and regional attribution.

[0127] After the unified trajectory data is formed, in order to further ensure that the subsequent control logic is based on reliable data, the data validity determination unit performs sampling continuity determination, numerical range determination and multi-source correspondence determination on the time-aligned operation status data in sequence, thereby gradually filtering valid operation status data according to the unified determination process.

[0128] First, during the sampling continuity determination process, the data validity determination unit compares the time interval between adjacent sampling time markers with the preset upper limit of the sampling interval; when the time interval is not greater than the preset upper limit of the sampling interval, the corresponding data meets the sampling continuity condition; when the time interval exceeds the preset upper limit of the sampling interval, the corresponding data is marked as sampling interrupted data, thereby identifying whether the sampling is continuous and stable.

[0129] Furthermore, after completing the sampling continuity determination, in the numerical range determination, the data validity determination unit judges whether the position coordinate change, driving speed, fertilizer discharge shaft speed, drive load, fertilizer throughput and soil penetration depth are within their respective preset valid ranges. The preset valid range can be determined based on the fertilizer vehicle structural parameters, fertilizer discharge mechanism rated parameters, fertilizer unit maximum lifting stroke and normal fertilizer test data, thereby excluding abnormal detection data that obviously exceed the normal working range.

[0130] Subsequently, in order to further verify whether the detection data correspond to each other, in the multi-source correspondence determination, the data validity determination unit judges whether the direction of position coordinate change is consistent with the detected driving direction; it forms the position change speed based on the distance and time interval between adjacent position coordinates and judges whether the position change speed corresponds to the vehicle's detected driving speed; it judges whether the drive load changes accordingly when the fertilizer discharge shaft speed changes; and it judges whether the fertilizer throughput reaches the preset throughput lower limit when the fertilizer passage status is that fertilizer is passing through, thereby comprehensively confirming the authenticity and consistency of the operation status data from multiple detection sources.

[0131] After the above judgments are completed, data is determined as valid operation status data only if it simultaneously meets the sampling continuity condition, numerical range condition, and multi-source correspondence condition; data that does not meet any of the conditions is determined as abnormal operation status data, and the abnormal data type, abnormal start time, and abnormal duration are recorded, thereby completing the classification and processing of valid and abnormal data.

[0132] Finally, after data classification is completed, in order to support the coordinated operation of subsequent functional units, valid operation status data is sent to the fertilizer application amount generation unit to be assigned, the fertilizer delivery status determination unit, the actual fertilizer application assignment unit, and the variable fertilizer application control unit; abnormal operation status data is sent to the abnormal closed-loop processing unit to determine whether to freeze the fertilizer application amount to be assigned, restrict fertilizer discharge control, or reconstruct the unit movement trajectory during the abnormal period. This completes the entire process of operation status data acquisition, unified time alignment, and validity determination, and provides a reliable data foundation for fertilizer output period identification and fertilizer application amount generation in Example 3.

[0133] Example 3: Identification of fertilizer output time period and generation of fertilizer application amount to be assigned First, after completing the acquisition of operational status data, time alignment, and validity determination in Embodiment 2, in order to continuously track and manage the amount of fertilizer that has been output by the fertilizer discharging mechanism but has not yet been actually assigned, the fertilizer amount generation unit continuously reads the start-stop status of the fertilizer discharging mechanism, the speed of the fertilizer discharging shaft, the drive load, and the amount of fertilizer passing through each fertilizer conveying branch, thereby obtaining the basic operating data required to identify the fertilizer output period and generate the fertilizer amount to be assigned.

[0134] Furthermore, in order to accurately identify the moment when fertilizer begins to form effective output, when the fertilizer discharge mechanism switches from the stopped state to the started state, the fertilizer discharge shaft speed enters the preset effective speed range, and the driving load enters the preset effective load range and is maintained continuously for a first preset duration, the fertilizer amount generation unit to be assigned determines the start time of the continuous maintenance as the start time of the fertilizer output period, thereby establishing the time starting point for tracking the entire subsequent fertilizer output process.

[0135] Meanwhile, to avoid misjudgment caused by changes in the state at the moment of startup, by using the start / stop state, fertilizer discharge shaft speed and drive load simultaneously, it is possible to avoid incorrectly determining the moment when the fertilizer discharge mechanism receives the start command but has not yet actually driven the fertilizer to move as the start time of fertilizer output; the first preset duration is used to filter out mechanical shocks and short-term signal fluctuations at the moment of startup, thereby ensuring that the start time of fertilizer output has high accuracy and stability.

[0136] Subsequently, after determining the start time of fertilizer output, in order to further determine the end position of a complete fertilizer output process, the fertilizer application rate generation unit continues to monitor the operating status of the fertilizer discharge mechanism; when the fertilizer discharge mechanism switches to the stop state, the switching time is determined as the end time of the fertilizer output period; when the fertilizer discharge shaft speed is lower than the preset effective speed range, or the driving load is lower than the preset effective load range and is continuously maintained for a second preset duration, the start time of the corresponding continuous state is determined as the end time of the fertilizer output period, thus forming a complete fertilizer output period.

[0137] After identifying the fertilizer output period, in order to obtain the actual output fertilizer amount, for cases where the fertilizer throughput of the corresponding fertilizer delivery branch during the fertilizer output period is valid operational status data, the fertilizer amount generation unit to be assigned accumulates the fertilizer throughput according to the sampling time scale to form the actual output amount, which serves as an important basis for the subsequent generation of fertilizer amount to be assigned.

[0138] Furthermore, in order to clarify the statistical object of the actual output, in this embodiment, the fertilizer throughput represents the amount of fertilizer that has entered the corresponding fertilizer conveying branch by the fertilizer discharge mechanism; when the fertilizer throughput detection device is set at the entrance of the fertilizer conveying branch, the detection quantity at the entrance of the fertilizer conveying branch can be directly accumulated; when the detection device is set at the exit of the fertilizer discharge mechanism, the detection quantity can be allocated to the corresponding fertilizer conveying branch according to the correspondence between the exit of the fertilizer discharge mechanism and each fertilizer conveying branch, thereby ensuring that different detection structures can form the actual output of the corresponding fertilizer conveying branch.

[0139] However, in actual operation, in order to ensure that fertilizer quantity tracking can continue even under abnormal conditions, when the fertilizer throughput is marked as abnormal operation status data, but the fertilizer discharge shaft speed and drive load are still valid operation status data, the fertilizer quantity generation unit to be assigned calls the pre-established correspondence between the fertilizer discharge shaft speed, drive load and output quantity per unit time, thereby using the normal operation parameters to perform a substitute calculation on the output fertilizer quantity.

[0140] Furthermore, in order to establish the basis for the above-mentioned alternative calculation, the correspondence can be established through calibration tests before the fertilizer applicator is in normal operation; during the calibration process, the actual output per unit time of the fertilizer applicator is measured under different fertilizer discharge shaft speeds and different fertilizer loading conditions, and the corresponding drive load is recorded; the correspondence between the fertilizer discharge shaft speed range, the drive load range and the output per unit time is established, thereby forming the calibration model required for subsequent alternative output calculation.

[0141] After establishing the correspondence, in order to obtain the output results under abnormal conditions, the fertilizer application amount generation unit matches the fertilizer discharge shaft speed and drive load corresponding to each sampling time point during the fertilizer output period with the above correspondence, reads the corresponding unit time output, and then accumulates the unit time output to form a substitute output, thereby ensuring that the fertilizer application amount can still be continuously generated when the fertilizer throughput is abnormal.

[0142] Subsequently, after obtaining the actual output or alternative output, in order to unify the subsequent fertilizer quantity management method, the actual output or alternative output is determined as the fertilizer quantity to be assigned. The fertilizer quantity to be assigned is supplemented with fertilizer output period, fertilizer delivery branch number, fertilizer unit number, data source identifier and assignment status identifier. The data source identifier is used to distinguish between the actual detected output and the alternative output, and the assignment status identifier is initialized to the pending confirmation status, thus forming a complete record of the fertilizer quantity to be assigned.

[0143] Furthermore, in order to demonstrate that the fertilizer application management method of this invention is different from that of the prior art, after the fertilizer application amount to be assigned is generated, only the fertilizer application amount to be assigned field is written, and the confirmed fertilizer application amount field is not written; the fertilizer application amount to be assigned will always remain in the pending confirmation state until the actual fertilizer application location and effective soil entry confirmation are completed, thereby avoiding the premature inclusion of the fertilizer amount that has been output but has not yet been actually assigned into the actual fertilizer application amount corresponding to the current location.

[0144] Finally, when the detection data cannot meet the alternative calculation conditions, in order to avoid forming erroneous statistical results, when the fertilizer throughput, fertilizer discharge shaft speed and drive load are all abnormal operating state data, the fertilizer application amount generation unit does not generate an alternative output amount, but marks the corresponding fertilizer output period as an output amount uncertain state and sends it to the abnormal closed-loop processing unit. Thus, the entire process of fertilizer output period identification, actual output amount statistics, alternative output amount generation and fertilizer application amount establishment is completed, and a unified data input basis is provided for the generation of the attribution confirmation window and fertilizer delivery status determination in Example 4.

[0145] Example 4: Generation of Ownership Confirmation Window and Determination of Fertilizer Delivery Status First, after generating the amount of fertilizer to be assigned in Example 3, in order to continuously track whether the fertilizer corresponding to the amount of fertilizer to be assigned has actually arrived at the end of the fertilization unit and to provide a time basis for subsequent actual fertilizer assignment, the fertilizer delivery status determination unit receives the amount of fertilizer to be assigned and reads the fertilizer output time period, fertilizer delivery branch number, fertilizer delivery branch length, fertilizer discharge shaft speed and fertilizer type identifier corresponding to the amount of fertilizer to be assigned, thereby obtaining the basic parameters required to generate the assignment confirmation window and determine the fertilizer delivery status.

[0146] Furthermore, to improve the accuracy of judgment under different fertilizer delivery branches and different fertilizer conditions, the length of the fertilizer delivery branch can be pre-written into the system during equipment installation; fertilizer type identification is used to distinguish fertilizers with different particle sizes, densities, or flowability; for different fertilizer types, their delivery time in the same fertilizer delivery branch may be different, thus providing a basis for the subsequent dynamic generation of attribution confirmation windows.

[0147] Subsequently, after obtaining the above basic parameters, in order to form a confirmation window that is more in line with the actual situation by combining historical operation patterns, the fertilizer delivery status determination unit reads the historical shortest delivery time and the historical longest delivery time that match the current fertilizer discharge shaft speed range and fertilizer type identifier from the historical normal fertilizer delivery data of the corresponding fertilizer delivery branch, thereby establishing a reference range of delivery time corresponding to the current fertilizer amount to be assigned.

[0148] Furthermore, in order to limit the time interval during which fertilizer may arrive at the end of the fertilization unit, the initial detection time is formed by superimposing the start time of the fertilizer output period with the shortest historical delivery time; the initial window end time is formed by superimposing the end time of the fertilizer output period with the longest historical delivery time; the initial attribution confirmation window is formed by the initial detection time and the initial window end time, thereby determining the time range for subsequent continuous monitoring of the fertilizer arrival status.

[0149] Meanwhile, to avoid judgment errors caused by using a fixed delivery delay, this confirmation window eliminates the need for the system to assume that the fertilizer will arrive at the fertilization end after a fixed time. Instead, it determines the corresponding arrival time range based on the current fertilizer delivery branch, the rotation speed of the fertilizer discharge shaft, and the type of fertilizer. This allows the assignment confirmation window to change dynamically according to different operating conditions, improving the accuracy of subsequent actual fertilizer assignment.

[0150] After the attribution confirmation window is established, in order to determine whether the fertilizer has actually arrived at the fertilizer application unit outlet, the fertilizer delivery status determination unit continuously reads the fertilizer passage status and fertilizer passage amount of the corresponding fertilizer delivery branch within the initial attribution confirmation window. When the fertilizer passage status changes from no fertilizer passage status to fertilizer passage status, and the fertilizer passage amount reaches the preset lower limit of passage amount and is continuously maintained for a third preset duration, the start time of continuous maintenance is determined as the outlet arrival time, thereby determining the time position at which the fertilizer begins to actually arrive at the end of the fertilizer application unit.

[0151] Furthermore, in order to determine the end position of a complete fertilizer discharge process, after the arrival time at the outlet, when the fertilizer passage state changes from a state with fertilizer passage to a state without fertilizer passage, or when the fertilizer passage amount is lower than the preset lower limit and remains continuously for a fourth preset duration, the start time of the corresponding continuous state is determined as the outlet end time. The arrival time at the outlet and the end time at the outlet together form the outlet time period, thereby establishing the complete time interval corresponding to the actual fertilizer discharge.

[0152] Subsequently, after completing the identification of the export period, in order to further determine whether the fertilizer transport process is normal, the fertilizer transport status determination unit compares the speed of the discharge shaft, the drive load and the amount of fertilizer passing through during the fertilizer output period with the amount of fertilizer passing through during the export period, and then combines the fertilizer discharge process and the export detection results to comprehensively determine the fertilizer transport status.

[0153] First, when all operating parameters meet normal conditions, when the fertilizer discharge shaft speed and drive load are within the corresponding stable range, and when the fertilizer throughput is within the preset normal throughput range, the normal fertilizer delivery status is output, indicating that the fertilizer has reached the end of the fertilizer application unit according to the normal delivery process.

[0154] Furthermore, when the fertilizer discharge mechanism is working normally but the amount of fertilizer discharged is insufficient, when the speed of the fertilizer discharge shaft and the drive load are both within the corresponding stable range, and the fertilizer throughput is lower than the preset normal throughput range but higher than the preset lower limit, the output fertilizer delivery is insufficient. This state indicates that the fertilizer discharge mechanism is in normal operation, but the actual amount of fertilizer reaching the end of the fertilizer application is lower than the normal range. There may be fertilizer residue in the fertilizer delivery branch, reduced fertilizer flowability, or slight bridging, thus identifying a slight fertilizer delivery abnormality.

[0155] Meanwhile, when the fertilizer discharge mechanism does not generate an effective fertilizer discharge load, when the fertilizer discharge shaft speed is within the preset effective speed range, the drive load is below the preset effective load range, and no outlet period is formed, the fertilizer discharge idling state is output; this state indicates that the fertilizer discharge shaft is rotating, but no mechanical load corresponding to normal fertilizer discharge is generated, and the fertilizer has not reached the outlet, thus identifying the fertilizer discharge mechanism as idling abnormal.

[0156] Furthermore, when the fertilizer conveying resistance increases significantly, and when the driving load is higher than the preset upper limit of the load and the fertilizer throughput is lower than the preset lower limit of the throughput, the fertilizer conveying blockage status is output. This status indicates that the fertilizer discharge mechanism or the fertilizer conveying branch is subject to greater resistance, but the fertilizer does not pass through the end normally, thereby identifying the abnormal blockage of the fertilizer conveying branch.

[0157] In addition, when the fertilizer has not yet reached the outlet within the initial attribution confirmation window, but the fertilizer discharge process still meets the actual output conditions, in order to avoid premature attribution failure, when the initial attribution confirmation window ends without forming an outlet period, and the fertilizer discharge shaft speed and drive load meet the actual fertilizer output conditions, the fertilizer delivery status determination unit extends the initial attribution confirmation window to the preset maximum attribution confirmation window and continues to track and confirm the arrival of fertilizer.

[0158] Finally, after completing the extended confirmation, in order to form the final fertilizer delivery status result, when an exit period is formed within the preset maximum assignment confirmation window, the actual fertilizer delivery assignment continues; when the preset maximum assignment confirmation window ends and no exit period is formed, the assignment failure status is output, and the corresponding fertilizer amount to be assigned is marked as an unlocated abnormal amount. Thus, the entire process of generating the assignment confirmation window, identifying the exit period, and determining the fertilizer delivery status such as normal fertilizer delivery, insufficient fertilizer delivery, fertilizer discharge idling, fertilizer delivery blockage, and assignment failure is completed, and accurate time boundaries and status basis are provided for the actual fertilizer delivery trajectory generation and cross-regional fertilizer amount assignment in Example 5.

[0159] Example 5: Generation of actual fertilizer application trajectory and attribution of cross-regional fertilizer application amount First, after completing the generation of the attribution confirmation window and the determination of the fertilizer delivery status in Example 4, in order to determine the actual fertilization area corresponding to the amount of fertilizer to be assigned, when the fertilizer delivery status determination unit outputs a normal fertilizer delivery status or a fertilizer delivery insufficiency status and an exit period has been formed, the actual fertilizer attribution unit extracts the unit position coordinates of the sampling time within the exit period from the unit movement trajectory of the corresponding fertilization unit, thereby obtaining the position data corresponding to the actual release of fertilizer from the end of the fertilization unit, providing a basis for the subsequent generation of the actual fertilizer delivery trajectory.

[0160] Furthermore, after obtaining the unit position coordinates during the export period, in order to truly reflect the movement process of the fertilization unit during the actual fertilizer discharge period, the actual fertilizer discharge unit is connected with the extracted unit position coordinates according to the sampling time scale sequence to form the actual fertilizer discharge trajectory; the actual fertilizer discharge trajectory represents the spatial position traversed by the fertilization unit during the actual release of fertilizer from the end of the fertilization unit, thereby establishing a continuous spatial trajectory corresponding to the actual fertilizer discharge process.

[0161] Subsequently, after the actual fertilizer application trajectory is formed, in order to determine the actual application area of ​​the fertilizer, the actual fertilizer application unit spatially compares the trajectory segments of the actual fertilizer application trajectory with the boundary position data of the application area unit, thereby establishing the spatial correspondence between the actual fertilizer application trajectory and each application area unit.

[0162] First, when the actual fertilizer application trajectory is always within the same work area, in order to simplify the attribution process, when the actual fertilizer application trajectory is entirely within the same work area unit, the entire exit time period is determined as one attribution time period, and the corresponding fertilizer application amount to be attributed is assigned to that work area unit, thereby completing the attribution of fertilizer application amount in a single area.

[0163] Furthermore, when the actual fertilizer application trajectory crosses multiple work areas, in order to ensure the accurate attribution of fertilizer application amount in each area, when the actual fertilizer application trajectory crosses the boundary of one or more work area units, the intersection points between the actual fertilizer application trajectory and each boundary are extracted, and the sampling time or interpolation time corresponding to each intersection point is determined, thereby identifying the specific time position of the actual fertilizer application trajectory entering different work areas.

[0164] Subsequently, after determining the intersection points of each boundary, in order to further divide the fertilizer application time periods corresponding to different areas, the actual fertilizer application unit is divided into multiple application time periods according to the order of exit arrival time, corresponding time of each intersection point, and exit end time. Each application time period is then associated with the work area unit number where the actual fertilizer application trajectory is located, thus forming a one-to-one correspondence between the exit time period and each work area unit.

[0165] For example, to facilitate understanding of the cross-regional attribution process, if the actual fertilizer application trajectory is first located in the first operating area unit during a certain exit time period, and then crosses the boundary to enter the second operating area unit, the exit time period is divided into the first attribution time period and the second attribution time period according to the time corresponding to the boundary intersection, thereby achieving accurate division between different operating areas during a continuous fertilization process.

[0166] After the time period division is completed, in order to determine the actual amount of fertilizer applied to each work area unit, when the fertilizer throughput in each time period is valid work status data, the actual fertilizer application unit accumulates the fertilizer throughput in each time period to form the corresponding fertilizer application amount for the work area unit, thereby completing the regional fertilizer application statistics based on actual detection data.

[0167] However, in actual operation, when the detection data corresponding to some assigned time periods is abnormal, in order to still complete the regional fertilizer application allocation, when the fertilizer throughput in one or more assigned time periods is abnormal, the actual fertilizer application unit first forms a first allocation basis based on the proportion of the duration of each assigned time period to the total duration of the exit time period; then, it forms a second allocation basis based on the changes in the fertilizer discharge shaft speed and drive load in each assigned time period relative to the average fertilizer discharge shaft speed and average drive load of the entire exit time period, thereby establishing a comprehensive allocation rule for the assigned fertilizer application amount under abnormal conditions.

[0168] Furthermore, after establishing the above two allocation criteria, in order to rationally allocate fertilizer application based on actual operating conditions, when the rotational speed of the fertilizer discharge shaft and the drive load are basically stable within each assigned time period, the fertilizer application amount to be assigned is mainly allocated according to the duration ratio; when the rotational speed of the fertilizer discharge shaft or the drive load within a certain assigned time period is significantly higher than other assigned time periods, the allocation ratio of that assigned time period is increased; when it is significantly lower than other assigned time periods, the allocation ratio of that assigned time period is decreased, so that the fertilizer application allocation under abnormal conditions is more in line with the actual fertilizer discharge status.

[0169] Finally, after completing the calculation of the assigned fertilizer amount, in order to send the assignment result to the subsequent effective soil entry confirmation process, the actual fertilizer application assignment unit outputs the assigned fertilizer amount, the work area unit number, the fertilizer unit number, the assignment time period, and the assignment data source identifier, and updates the assignment status identifier of the corresponding fertilizer amount to be assigned from the pending confirmation status to the located status. This completes the entire process of generating the actual fertilizer application trajectory, assigning fertilizer amount across regions, and updating the assignment status, enabling the fertilizer amount to be assigned to complete the actual regional location, and providing accurate assignment results for the effective soil entry status confirmation and fertilizer amount account conversion in Example 6.

[0170] Example 6: Confirmation of Effective Soil Penetration Status and Conversion of Fertilizer Application Account First, after completing the actual fertilizer application trajectory generation and cross-regional fertilizer application amount attribution in Example 5, in order to further confirm whether the attributed fertilizer application amount has truly formed an effective fertilizer application result and complete the fertilizer application amount account status conversion, the effective fertilizer application amount confirmation unit receives the attributed fertilizer application amount corresponding to each work area unit, reads the rising and falling position and soil penetration depth of the fertilizer application unit within each attribution period, thereby obtaining the basic work status data required to determine whether the fertilizer has formed an effective soil penetration.

[0171] Furthermore, in order to determine the effective fertilization time range corresponding to the fertilizer, when the fertilization unit is in the operation descent position and the soil penetration depth is continuously within the preset effective depth range, the corresponding continuous time period is determined as the effective soil penetration sub-time period, thereby establishing the actual location correspondence of effective fertilization.

[0172] Meanwhile, in order to identify the location range where effective fertilization has not been formed, when the fertilization unit is in an elevated position or the soil depth is lower than the preset effective depth range, the corresponding continuous time period is determined as an invalid soil entry sub-time period, thereby distinguishing the fertilization process that does not meet the effective soil entry conditions from the normal fertilization process.

[0173] Subsequently, after completing the classification of effective soil entry status, in order to simplify the overall attribution confirmation process, when the entire attribution period is an effective soil entry sub-period, all attribution fertilization amounts are determined as effective attribution fertilization amounts, thereby directly confirming that the corresponding attribution fertilization amounts have formed effective fertilization results.

[0174] Furthermore, when no effective soil penetration occurs during the entire fertilization period, in order to avoid incorrectly counting the actual amount of fertilizer applied, when the entire fertilization period is an ineffective soil penetration sub-period, the entire amount of fertilizer applied is determined as ineffective fertilization amount. This clarifies that although the fertilizer has completed the regional fertilization, it has not resulted in effective soil penetration.

[0175] However, in actual operation, in order to adapt to the constantly changing state of the fertilization unit, when the assigned time period includes both effective soil entry sub-time periods and ineffective soil entry sub-time periods, the effective fertilization amount confirmation unit divides the assigned time period into multiple sub-time periods according to the time when the rising or falling position or soil entry depth changes, thereby further refining the effective soil entry state corresponding to the assigned fertilization amount.

[0176] After completing the sub-period division, in order to accurately count the amount of fertilizer applied, when the amount of fertilizer passing through each sub-period is the effective operation status data, the amount of fertilizer passing through the effective soil entry sub-period and the ineffective soil entry sub-period are accumulated respectively to form the effective fertilization amount and the ineffective fertilization amount, thereby obtaining the amount of fertilizer that truly formed effective fertilization and the amount of fertilizer that did not form effective fertilization respectively.

[0177] Furthermore, when the detection data corresponding to some sub-time periods is abnormal, in order to still be able to complete the confirmation of effective fertilization amount, when the fertilizer throughput in any sub-time period is abnormal operation status data, the corresponding fertilization amount is divided into effective fertilization amount and invalid fertilization amount according to the duration ratio of the sub-time period to the assigned time period, so as to ensure that the fertilization amount confirmation process can still be completed under abnormal conditions.

[0178] Subsequently, after the division of valid and invalid fertilization amounts is completed, in order to update the fertilization amount account status synchronously, after confirmation, the valid fertilization amount confirmation unit deducts the valid and invalid fertilization amounts from the pending fertilization amount field of the corresponding work area unit, adds the valid fertilization amount to the confirmed fertilization amount field, and adds the invalid fertilization amount to the abnormal fertilization amount field, thereby completing the formal conversion of the pending fertilization amount to different account fields.

[0179] Meanwhile, in order to ensure that variable fertilization control can respond to changes in fertilization amount in a timely manner, a fertilization amount account update identifier is sent to the variable fertilization control unit after each fertilization amount state transition, so that the variable fertilization control unit can reread the fertilization amount account, thereby ensuring that subsequent fertilization control is always calculated based on the latest fertilization amount account.

[0180] Furthermore, to clarify the differences between different abnormal fertilization amounts and their subsequent handling methods, in this embodiment, abnormal fertilization amount, pending confirmation abnormal amount, and unlocated abnormal amount have different meanings: abnormal fertilization amount is the amount of fertilizer that has been determined not to have formed an effective soil-applied result, and can be written into the abnormal fertilization amount field of the corresponding work area unit; pending confirmation abnormal amount is the amount of fertilizer that cannot be confirmed temporarily due to the abnormal state, but still retains the possibility of subsequent recovery processing; unlocated abnormal amount is the amount of fertilizer that cannot be determined in the actual fertilization area after exceeding the preset maximum attribution confirmation window; pending confirmation abnormal amount and unlocated abnormal amount are not directly written into the confirmed fertilization amount field or abnormal fertilization amount field of any work area unit, but are stored in the abnormal pending confirmation record until the attribution is restored, converted into abnormal fertilization amount, or manually confirmed and processed, thereby establishing an independent management mechanism between different abnormal fertilization amounts.

[0181] Finally, after completing the above-mentioned fertilizer application status transition and anomaly classification, in order to implement different processing strategies for different fertilizer delivery anomaly states, the corresponding fertilizer application amounts to be assigned are processed in the following ways for different fertilizer delivery anomaly states: When the fertilizer delivery status determination unit outputs a fertilizer discharge idling status, it means that although the fertilizer discharge shaft is rotating, no effective fertilizer output has been formed. The fertilizer application amount to be assigned for the corresponding fertilizer output period is corrected to zero, and an idling anomaly record is generated; when the fertilizer delivery blockage status is output, the fertilizer amount for the effective outlet period before the blockage occurs is continued to be sent to the actual fertilizer application assignment unit for normal processing. The process of assigning fertilizer amounts to areas that have not yet formed an outlet after a blockage occurs is marked as unconfirmed abnormal amounts. When the assignment fails, the corresponding fertilizer amounts to be assigned are marked as unlocated abnormal amounts. These unlocated abnormal amounts are not included in the confirmed fertilizer amounts of any work area unit. This completes the entire process of confirming the effective soil entry status, converting fertilizer amount accounts, and classifying and managing different abnormal fertilizer amounts. This allows the fertilizer amounts to be assigned to complete the formal conversion from the output status to the actual fertilization status, and provides an accurate and reliable fertilizer amount account data foundation for the calculation of occupied fertilizer amounts and variable fertilizer discharge control in Example 7.

[0182] Example 7: Calculation of Fertilizer Application Amount and Variable Fertilizer Discharge Control First, after completing the acquisition of work status, generation of fertilizer application amount to be assigned, determination of fertilizer delivery status, assignment of actual fertilizer application, and conversion of fertilizer application account in Examples 2 to 6, in order to further realize variable fertilization control, anomaly recovery handling, and automatic compensation closed-loop control, refer to Figure 3-5 Based on the operational status data, fertilizer amount to be assigned, fertilizer delivery status results, assigned fertilizer amount and fertilizer amount account formed in Examples 2 to 6, this embodiment further illustrates the variable fertilization control, abnormal recovery processing and automatic compensation closed-loop process. Figure 3 The process shown covers the main process of variable fertilization control, as well as three branch processes: location anomaly recovery, fertilizer delivery anomaly recovery, and automatic compensation closed loop. These branch processes together constitute a complete closed loop for variable fertilization control and anomaly compensation of the fertilizer delivery vehicle, thereby establishing the data foundation and execution framework for the entire variable fertilization control stage.

[0183] Furthermore, in order to determine the current working area of ​​each fertilization unit in real time, the variable fertilization control unit determines the current working area unit of each fertilization unit and the working area unit to be entered along the driving direction based on the current unit position coordinates, driving direction and boundary position data of the working area unit, thereby establishing the correspondence between the current position of the fertilization unit and the target working area.

[0184] Subsequently, in order to accurately calculate the remaining fertilization distance in the current area, the variable fertilization control unit also determines the remaining movement distance of the fertilization unit in the corresponding work area unit based on the distance between the current unit position coordinates and the corresponding work area unit exit boundary, providing a basis for the movement distance for subsequent fertilizer discharge permit calculation.

[0185] After determining the current location and remaining distance, in order to fully understand the fertilization completion status of the current work area, for each current or soon-to-be-entered work area unit, the variable fertilization control unit reads the target fertilization amount, confirmed fertilization amount, compensation lock amount, and fertilization amount still in the attribution confirmation window, thereby obtaining all the account data required to calculate the current fertilization quota usage.

[0186] Furthermore, in order to accurately identify the amount of fertilizer that will actually occupy the current fertilization quota in the current work area, since not all fertilization amounts to be assigned will fall into the same work area unit, the variable fertilization control unit filters the fertilization amounts to be assigned that are expected to fall into the corresponding work area unit based on the current movement trajectory of the fertilization unit corresponding to the fertilization amount to be assigned, the fertilizer output time period, the assignment confirmation window, and the current fertilizer delivery status, thereby avoiding the incorrect inclusion of fertilization amounts to be assigned that will not actually fall into the current area in the current area.

[0187] Subsequently, after completing the screening of the fertilizer application amount to be assigned, in order to form control parameters that can truly reflect the occupancy of fertilizer quota, the confirmed fertilizer application amount, the screened fertilizer application amount to be assigned, and the compensation lock amount are added together to form the occupied fertilizer application amount; then the occupied fertilizer application amount is subtracted from the target fertilizer application amount to form the remaining allowable fertilizer application amount, thereby establishing the occupied fertilizer application amount calculation mechanism of this invention, which is different from the prior art.

[0188] Furthermore, to prevent repeated or excessive fertilization in local areas, when the calculated remaining allowable fertilization amount is less than zero, the remaining allowable fertilization amount is corrected to zero, and the addition of ordinary fertilizer discharge to that work area unit is prohibited, thereby ensuring that each work area unit never exceeds the allowable fertilization amount.

[0189] When the remaining allowable fertilization amount meets the conditions for continued fertilization, in order to generate the corresponding variable fertilizer discharge control amount, when the remaining allowable fertilization amount is greater than zero, the corresponding fertilization unit is in the operation descent position, the soil penetration depth is within the preset effective depth range, the fertilization vehicle is in a forward driving state and there is no abnormal operation status data that affects fertilizer discharge control, the allowable fertilizer discharge amount per unit distance is formed based on the remaining allowable fertilization amount and the remaining movement distance, thereby establishing the correspondence between the remaining fertilization amount and the actual operation distance.

[0190] Furthermore, after determining the allowable fertilizer discharge per unit distance, in order to generate control parameters that the fertilizer discharge mechanism can directly execute, the variable fertilizer control unit then determines the allowable fertilizer discharge per unit time based on the allowable fertilizer discharge per unit distance and the current driving speed of the fertilizer vehicle, and determines the current allowable fertilizer discharge speed based on the pre-established correspondence between the fertilizer discharge per unit time and the fertilizer discharge shaft speed, thereby completing the conversion from the fertilizer target to the fertilizer discharge execution parameters.

[0191] Subsequently, after completing the calculation of the current permissible fertilization speed, in order to drive the fertilization mechanism to implement variable fertilization, the variable fertilization control unit outputs a fertilization control command containing the fertilization unit number and the current permissible fertilization speed to the corresponding fertilization mechanism, so that the fertilization mechanism can carry out fertilization operations according to the current variable fertilization requirements.

[0192] Furthermore, in order to avoid continuing to supply fertilizer to areas that have already reached their fertilization targets, when the remaining allowable fertilization amount is less than or equal to zero, the current permitted fertilization speed is set to zero and a stop fertilization command is output, thereby terminating the normal fertilization process in the corresponding work area.

[0193] Meanwhile, in order to ensure that fertilizer discharge control is always consistent with the actual operation status, normal fertilizer discharge is suspended when the fertilizer truck stops or reverses; when the fertilizer unit is in the raised position or the soil depth is lower than the preset effective depth range, the fertilizer discharge output of the corresponding fertilizer unit is stopped, thereby avoiding the continued formation of ineffective fertilization under abnormal operation conditions.

[0194] In addition, during the turning process of the fertilizer applicator, in order to avoid the fertilizer discharge control being based on the trajectory before the turn and thus causing a deviation in the fertilizer application position, when the turning state of the fertilizer applicator exceeds the preset turning threshold, the variable fertilizer application control unit suspends the use of the current permitted speed for fertilizer discharge before the turn and waits for the operation status acquisition unit to re-form the unit motion trajectory of each fertilizer application unit based on the vehicle position and driving direction after the turn, thereby ensuring that the fertilizer discharge control is always executed according to the latest trajectory.

[0195] Furthermore, after the new motion trajectory is formed, in order to restore the variable fertilization control process, after the new unit motion trajectory is formed, the current location and the work area unit to be entered by each fertilization unit are re-determined, the remaining motion distance and the current fertilizer discharge permissible speed are re-determined, so that the variable fertilization control is re-established on the basis of the updated motion trajectory.

[0196] Finally, after the fertilizer application account changes, in order to ensure that the fertilizer discharge control always remains consistent with the latest fertilizer application status, when any fertilizer application to be assigned is assigned, converted to an abnormal fertilizer application, or exits the expected assignment range of the corresponding work area unit, the variable fertilizer control unit rereads the updated fertilizer application account, recalculates the occupied fertilizer application, the remaining allowable fertilizer application, and the current fertilizer discharge permitted speed, and does not directly use the fertilizer discharge control instructions before the fertilizer application account was updated. Thus, the entire process of calculating the occupied fertilizer application, generating the remaining allowable fertilizer application, and variable fertilizer discharge control is completed, so that the variable fertilizer control always dynamically adjusts the fertilizer discharge strategy based on the latest fertilizer application account, and provides a real-time and reliable control basis for the location anomaly recovery, fertilizer delivery blockage recovery, and shortfall compensation closed loop in Example 8.

[0197] Example 8: Closed-loop system for location anomalies, fertilizer delivery blockage recovery, and nutrient deficiency compensation First, after completing the calculation of the amount of fertilizer applied and the variable fertilizer discharge control in Example 7, in order to ensure that the variable fertilizer control can continue to maintain the accuracy of fertilizer application and the continuity of control in the case of abnormal positioning, abnormal fertilizer delivery and lack of application, when the data validity determination unit outputs the position coordinate sampling interrupted, the position coordinate value goes out of bounds or the position change speed does not correspond to the detected driving speed, the abnormal closed-loop processing unit determines that a positioning abnormality has occurred, and thus enters the positioning abnormality recovery processing flow.

[0198] Furthermore, after a location anomaly is confirmed, in order to prevent the abnormal location data from continuing to participate in the actual fertilizer application attribution calculation, the anomaly closed-loop processing unit stops using the abnormal location coordinates to generate new actual fertilizer application trajectories. The amount of fertilizer to be assigned that is still in the pending confirmation state or has been located but has not yet completed effective soil entry confirmation at the time of the anomaly is determined as the frozen amount of fertilizer to be assigned, thereby ensuring that the relevant amount of fertilizer to be assigned remains frozen during the anomaly period and awaits recovery processing.

[0199] Meanwhile, in order to limit the generation of new positioning errors during the abnormal period, the abnormal closed-loop processing unit sends a positioning abnormality restriction flag to the variable fertilization control unit, so that the current permitted fertilization speed of the corresponding fertilization unit is not higher than the permitted speed corresponding to the most recent normal sampling time before the abnormality occurred; if the duration of the positioning abnormality exceeds the preset stop time, the current permitted fertilization speed can be further set to zero, thereby reducing the fertilization deviation caused by the continued fertilization during the abnormal positioning period.

[0200] Subsequently, after the positioning anomaly is resolved, in order to restore the normal operation process, after the positioning anomaly occurs, when the number of position coordinates continuously obtained reaches the preset recovery number, and the position coordinates simultaneously satisfy the sampling continuity condition, the numerical range condition, and the multi-source correspondence condition, the anomaly closed-loop processing unit determines the positioning recovery, thereby entering the trajectory reconstruction stage.

[0201] Furthermore, after confirming that the location has been restored, in order to restore the motion trajectory corresponding to the abnormal period, the abnormal closed-loop processing unit reads the last valid location coordinates before the abnormality occurred, the driving speed and driving direction during the abnormality period, and the restored valid location coordinates, so as to provide basic data for trajectory reconstruction during the abnormal period.

[0202] Subsequently, in order to re-establish the actual movement process of each fertilization unit during the anomaly, multiple intermediate predicted position coordinates were formed starting from the last valid position coordinate before the anomaly occurred, according to the driving speed and driving direction corresponding to each sampling time point during the anomaly. Then, the intermediate predicted position coordinates were corrected according to the recovered valid position coordinates, so that the starting point of the reconstructed trajectory corresponds to the valid position before the anomaly occurred, and the ending point corresponds to the recovered valid position, thereby forming a continuous and recoverable movement trajectory.

[0203] After the trajectory reconstruction is completed, in order to continue the confirmation process of the frozen fertilizer amount, the vehicle movement trajectory and the unit movement trajectory of each fertilizer unit during the abnormal period are reconstructed based on the corrected intermediate position coordinates. Then, the frozen fertilizer amount to be assigned is resent to the actual fertilizer assignment unit and the effective fertilizer amount confirmation unit, and the actual fertilizer assignment and effective soil entry confirmation are re-executed, so that the fertilizer amount to be assigned that was suspended during the abnormal period can continue to complete the subsequent confirmation.

[0204] Furthermore, after confirming the frozen fertilization amount to be assigned, in order to restore the variable fertilization control process, after confirming the assignment and soil entry of the frozen fertilization amount to be assigned, the variable fertilization control unit recalculates the occupied fertilization amount, the remaining allowable fertilization amount, and the current permitted fertilization speed according to the updated fertilization amount account, thereby restoring normal variable fertilization control.

[0205] Meanwhile, in actual operation, when fertilizer blockage occurs, in order to prevent the blockage from expanding and affecting the operation of other fertilization units, when the fertilizer delivery status determination unit outputs the fertilizer blockage status, the abnormal closed-loop processing unit outputs a stop fertilizer discharge command to the fertilizer discharge mechanism of the corresponding fertilizer delivery branch, marking the corresponding fertilizer delivery branch as prohibited from discharging fertilizer, thereby first isolating the blocked fertilizer delivery branch.

[0206] Furthermore, in order to ensure that the entire vehicle can continue to complete normal fertilization operations, for other fertilizer delivery branches that are not blocked, variable fertilization will continue to be carried out according to their respective current permitted speed for fertilization, thereby avoiding the cessation of operation of all fertilization units due to blockage of a single fertilizer delivery branch, and achieving continuous operation of the whole despite local abnormalities.

[0207] Subsequently, during the blockage handling process, in order to continuously monitor the blockage recovery status, the abnormal closed-loop processing unit continuously reads the driving load, fertilizer passage status, and fertilizer throughput of the corresponding fertilizer delivery branch. When the driving load recovers to the preset effective load range, the fertilizer outlet re-establishes the fertilizer passage status, and the fertilizer throughput reaches the preset lower limit and is continuously maintained for the preset recovery duration, the blockage is determined to be resolved, thereby completing the blockage recovery status confirmation.

[0208] Furthermore, after the blockage is cleared, in order to ensure that the amount of fertilizer restored is still confirmed according to the complete process, the prohibition of fertilizer discharge on the corresponding fertilizer delivery branch is lifted after the blockage is cleared; the actual fertilizer output formed after the blockage is cleared is not directly included in the confirmed fertilizer amount, but is resent to the fertilizer amount generation unit to be assigned, and is generated as a new fertilizer amount to be assigned, so that the restored fertilizer re-enters the complete confirmation process.

[0209] Subsequently, in order to ensure that the fertilization control remains consistent after the recovery, the new fertilization amount to be assigned is re-verified through fertilization status determination, actual fertilization assignment, and effective soil entry confirmation. After confirmation, the variable fertilization control unit re-reads the fertilization amount account and forms a new current fertilization discharge allowable speed. The fertilization discharge control command before the blockage occurs is not used as the control command after recovery, thereby avoiding the continued use of the control parameters before the anomaly after recovery.

[0210] Furthermore, after all the fertilizer quantities to be confirmed have been processed, in order to determine whether there is still an actual shortage, when a work area unit does not have any fertilizer quantities to be assigned, frozen fertilizer quantities to be assigned, abnormal quantities to be confirmed, or unlocated abnormal quantities that are still in the assignment confirmation window, the abnormal closed-loop processing unit begins to determine whether there is a confirmed shortage in the work area unit, thus entering the automatic compensation judgment stage.

[0211] Subsequently, in order to calculate the actual degree of fertilization deficiency, the abnormal closed-loop processing unit reads the target fertilization amount and the confirmed fertilization amount, subtracts the confirmed fertilization amount from the target fertilization amount to form the fertilization difference, which serves as the basis for whether automatic compensation needs to be activated.

[0212] Furthermore, when the fertilization difference is within the allowable range, in order to end the fertilization process in the current area, when the fertilization difference is not greater than the preset allowable fertilization deviation, the corresponding work area unit is marked as fertilization completed, no compensation task is generated, and the fertilization control in that area is ended.

[0213] However, when there is still a significant shortfall in fertilization, in order to restore the fertilization target, when the fertilization difference is greater than the preset allowable fertilization deviation, the fertilization difference is determined as the confirmed shortfall, and the movement trajectory of the subsequent units of each fertilization unit is read to screen the candidate fertilization units that can still enter the operation area, thereby determining the execution object with automatic compensation capability.

[0214] Furthermore, after the candidate fertilization units are determined, in order to ensure that over-fertilization will not occur after compensation, for each candidate fertilization unit, it is determined whether the confirmed fertilization amount of the corresponding work area unit after compensation exceeds the pre-set fertilization limit; when at least one candidate fertilization unit does not exceed the fertilization limit after compensation, the result of allowing automatic compensation is output, thereby determining that automatic compensation can be started.

[0215] Subsequently, after the compensation conditions are met, in order to form a formal compensation task, the abnormal closed-loop processing unit determines the fertilization unit to be executed from the candidate fertilization units, determines the smaller value between the confirmed shortfall amount and the allowable additional fertilization amount as the compensation amount, and generates a compensation task containing the unit number of the operation area to be compensated, the compensation amount, and the fertilization unit number to be executed, thereby completing the establishment of the compensation task.

[0216] Furthermore, after a compensation task is established, in order to avoid generating the same compensation task repeatedly, the compensation amount is written into the compensation lock amount field of the fertilizer amount account of the corresponding work area unit after the compensation task is generated; the compensation lock amount is immediately included in the calculation of the occupied fertilizer amount after being written, so as to prevent the generation of a compensation task corresponding to the same amount of missing fertilizer when the current compensation task has not been completed, thereby establishing a compensation lock mechanism.

[0217] Subsequently, after the compensation execution conditions are met, in order to implement automatic compensation fertilization, when the fertilization unit enters the compensation operation area unit, is in the operation descent position, and the soil penetration depth is within the preset effective depth range and there is no abnormal operation status data affecting fertilization control, the variable fertilization control unit forms the compensation fertilization allowable speed based on the compensation amount and the compensable movement distance of the fertilization unit in the compensation operation area unit, and outputs the compensation fertilization command, thereby officially executing automatic compensation.

[0218] Furthermore, after the compensation fertilizer discharge is completed, in order to ensure that the compensation fertilizer still undergoes a complete confirmation process, the actual fertilizer output generated by the compensation fertilizer discharge instruction is resent to the fertilizer amount to be assigned unit to generate the fertilizer amount to be assigned corresponding to the compensation. The fertilizer amount to be assigned is then subjected to fertilizer delivery status determination, actual fertilizer assignment and effective soil entry confirmation in sequence, so as to realize the reconfirmation of the entire compensation fertilizer process.

[0219] Subsequently, after the compensation fertilizer is confirmed, in order to update the fertilizer application account synchronously, when the fertilizer amount corresponding to the compensation is finally converted into the confirmed fertilizer amount, the same amount is deducted from the compensation locked amount field according to the actual amount of fertilizer converted into the confirmed fertilizer amount, and the fertilizer amount is added to the confirmed fertilizer amount field; when the fertilizer amount corresponding to the compensation is converted into the abnormal fertilizer amount, the same amount is deducted from the compensation locked amount field according to the actual amount of fertilizer converted into the abnormal fertilizer amount, and the fertilizer amount is added to the abnormal fertilizer amount field, thereby completing the account update corresponding to the compensation result.

[0220] Furthermore, when a compensation operation fails to complete all compensation objectives in one attempt, in order to maintain the continuity of compensation, if the actual output of a compensation operation is less than the compensation amount recorded in the compensation task record, the portion that has not generated actual output remains in the compensation lock value field and waits for the next compensation execution condition to be met before continuing execution, ensuring that the compensation task can be completed continuously.

[0221] In addition, when a compensation task cannot be continued, in order to release the corresponding fertilization quota in a timely manner, when the compensation task is terminated due to the absence of a candidate fertilization unit that meets the conditions, the continued compensation will exceed the fertilization limit, or an unrecoverable operational anomaly occurs, the locked amount corresponding to the unexecuted portion in the compensation locked amount field is released, and the remaining un-applied amount is re-determined based on the fertilization amount account after the release, thereby restoring the normal status of the fertilization amount account.

[0222] Subsequently, after completing one compensation, in order to determine whether further compensation is still needed, after the compensation amount is converted, the abnormal closed-loop processing unit rereads the updated fertilizer amount account, subtracts the confirmed fertilizer amount from the target fertilizer amount again, and forms a new fertilizer difference; when the new fertilizer difference is within the preset allowable fertilizer deviation range, the compensation task is terminated, and the corresponding work area unit is marked as fertilizer completed; when the new fertilizer difference is still greater than the preset allowable fertilizer deviation, and there are still fertilizer units that can re-enter the work area unit and meet the fertilizer upper limit conditions, the next compensation task is regenerated, thus forming an automatic compensation closed loop.

[0223] Finally, when automatic compensation cannot continue, in order to retain the basis for subsequent manual processing, if there are no candidate fertilization units that meet the conditions for automatic compensation, or if continuing compensation would cause the confirmed fertilization amount to exceed the pre-set fertilization limit, automatic compensation is terminated, and the remaining amount of fertilization deficit and the area to be manually supplemented are output. In this embodiment, the fertilization limit can be determined based on the target fertilization amount and the allowable excess deviation, and the allowable additional fertilization amount can be determined based on the maximum amount of fertilizer allowed to be output in a single compensation, the remaining working distance of the fertilization unit, and the allowable fertilization intensity of the soil. Each preset parameter can be determined before the fertilization vehicle is put into operation through equipment parameters, calibration tests, and historical normal operation. Once the industry data is determined, the first preset duration, second preset duration, third preset duration, fourth preset duration, preset throughput lower limit, preset normal throughput range, preset effective speed range, preset effective load range, preset load upper limit, preset steering threshold, preset recovery quantity, and preset allowable fertilization deviation can all be determined or updated based on the corresponding equipment parameters, calibration results, historical operation data, fertilizer type, fertilizer vehicle structure, and operating environment. This completes the entire process of positioning anomaly recovery, fertilizer delivery blockage recovery, and automatic compensation for insufficient application, forming a complete anomaly recovery and compensation closed loop in the entire variable fertilization control process.

[0224] Overall working principle In summary, under the combined effect of the above embodiments, in a complete variable fertilization operation, the task processing unit first divides the continuous plot into multiple operation area units according to the fertilization area boundary, fertilization prescription, and operation width of each fertilization unit, and establishes an independent fertilization amount account for each operation area unit; after the fertilization vehicle starts driving, the operation status acquisition unit continuously acquires data on vehicle movement, fertilizer discharge mechanism, fertilizer conveying branch road, and soil entry status of fertilization units, and forms the vehicle movement trajectory and the unit movement trajectory of each fertilization unit; the data validity determination unit judges the continuity, numerical range, and multi-source correspondence of the above data, and distinguishes between valid operation status data and abnormal operation status data; after the fertilizer discharge mechanism generates actual fertilizer output, the fertilizer amount to be assigned is not directly included in the confirmed fertilizer amount corresponding to the current location, but is set as the fertilizer amount to be assigned, and the fertilizer output time period, fertilizer conveying branch road, and fertilization unit are recorded, thereby establishing a continuous tracking mechanism after fertilizer output.

[0225] Furthermore, after the amount of fertilizer to be assigned is formed, in order to complete the actual fertilization confirmation process, the fertilizer delivery status determination unit generates an assignment confirmation window based on the length of the fertilizer delivery branch, the rotation speed of the fertilizer discharge shaft, the type of fertilizer, and the historical normal fertilizer delivery time. Within the window, it identifies the outlet time when the fertilizer arrives at the end of the fertilization process and distinguishes between normal fertilization, insufficient fertilization, idling of the discharge shaft, fertilization blockage, and assignment failure. The actual fertilizer assignment unit extracts the unit movement trajectory of the corresponding fertilization unit based on the outlet time, forms the actual fertilizer trajectory, and allocates the amount of fertilizer to be assigned to one or more work area units according to the correspondence between the actual fertilizer trajectory and the boundary of the work area unit. The effective fertilization quantity confirmation unit further divides the assigned fertilization quantity into effective assigned fertilization quantity and invalid assigned fertilization quantity based on the rising and falling position and soil penetration depth of the fertilization unit in each assignment time period, and converts them into confirmed fertilization quantity and abnormal fertilization quantity, respectively, thereby completing the formal conversion of fertilizer from the output state to the effective fertilization state.

[0226] Subsequently, to achieve full-process variable fertilization control and anomaly recovery, the variable fertilization control unit no longer determines the subsequent fertilizer discharge amount solely based on the target fertilizer amount and the confirmed fertilizer amount. Instead, it uses the expected fertilizer amount to be assigned to the corresponding area and the already generated compensation lock amount as the occupied fertilizer amount. The remaining allowable fertilizer amount is determined based on the difference between the target fertilizer amount and the occupied fertilizer amount, and a new fertilizer discharge control instruction is generated. When a positioning anomaly or fertilizer delivery blockage occurs, the anomaly closed-loop processing unit freezes or isolates the relevant fertilizer amounts to be assigned. After the anomaly is recovered, trajectory reconstruction, actual fertilizer assignment, effective soil entry confirmation, and fertilizer discharge control recalculation are re-executed. Once all the fertilizer amounts to be confirmed in a work area unit have been processed, the target fertilizer amount and the confirmed fertilizer amount are then used as the basis for determining the fertilizer discharge amount. The system determines whether there is a confirmed shortfall in fertilizer application. For shortfalls that meet the conditions for automatic compensation, a compensation task is generated and a compensation lock value is written. The fertilizer generated by the compensation discharge is then treated as a fertilizer application quantity to be assigned again. The process is then re-confirmed through fertilizer delivery status determination, actual fertilizer assignment, and effective soil entry confirmation until the corresponding work area unit meets the fertilization completion conditions or no longer meets the automatic compensation conditions. This forms a complete closed-loop control process of "fertilizer output - temporary storage for assignment - fertilizer delivery status tracking - actual fertilizer assignment - effective soil entry confirmation - fertilizer quantity account update - variable discharge control - anomaly recovery - shortfall compensation - compensation reconfirmation". This ensures that the data flow relationship, control relationship, and technical effects in the invention can be continuously realized in the actual fertilization operation.

[0227] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fertilizer applicator operation status monitoring and variable fertilization control system, characterized in that, It includes a task processing unit, a status acquisition unit, a fertilizer application amount generation unit, a fertilizer delivery status determination unit, an actual fertilizer application assignment unit, an effective fertilizer application amount confirmation unit, a variable fertilizer application control unit, and an abnormal closed-loop processing unit. The task processing unit is used to acquire fertilization operation area data, fertilization prescription data and fertilization unit parameters, divide the fertilization operation area into multiple operation area units, and establish a fertilization amount account for each operation area unit. The fertilization amount account includes at least the target fertilization amount, confirmed fertilization amount, fertilization amount to be assigned, abnormal fertilization amount, compensation lock amount and remaining allowed fertilization amount. The operation status acquisition unit is used to acquire the position, movement status, fertilizer discharge mechanism status, fertilizer transport status and operation status of the fertilizer vehicle, form corresponding operation status data, and form the vehicle body movement trajectory and the unit movement trajectory corresponding to each fertilizer unit based on the movement status of the fertilizer vehicle. The fertilizer amount to be assigned generation unit is used to determine the fertilizer amount to be assigned based on the fertilizer output formed by the fertilizer discharge mechanism, and to establish a connection between the fertilizer amount to be assigned and the corresponding fertilizer unit, fertilizer output time period and fertilizer delivery branch, and to maintain the pending confirmation state before the actual fertilizer assignment and effective soil entry confirmation are completed. The fertilizer delivery status determination unit is used to determine the export time period corresponding to the fertilizer outlet based on the fertilizer delivery process corresponding to the fertilizer amount to be assigned, identify the fertilizer delivery status corresponding to the fertilizer amount to be assigned, and output the corresponding fertilizer delivery status result. The actual fertilizer application unit is used to determine the actual fertilizer application trajectory based on the unit movement trajectory corresponding to the exit time period, and to match the actual fertilizer application trajectory with each work area unit to form the fertilizer application amount corresponding to each work area unit. The effective fertilization amount confirmation unit is used to perform effective soil entry confirmation on the fertilization amount according to the soil entry operation status corresponding to the fertilization unit, convert the fertilization amount into confirmed fertilization amount or abnormal fertilization amount respectively, and update the fertilization amount account of the corresponding operation area unit. The variable fertilization control unit is used to determine the remaining allowable fertilization amount of the corresponding work area unit based on the target fertilization amount, the confirmed fertilization amount, the fertilization amount to be assigned, and the compensation lock amount, and to generate a fertilization discharge control command based on the remaining allowable fertilization amount to execute variable fertilization control on the corresponding fertilization unit. The abnormal closed-loop processing unit is used to perform closed-loop processing on positioning abnormalities, fertilizer delivery abnormalities, attribution abnormalities, and compensation operations. After the abnormality is recovered, the unit re-executes the generation of fertilizer amount to be assigned, fertilizer delivery status determination, actual fertilizer attribution and effective soil entry confirmation, and updates the fertilizer amount account according to the compensation results.

2. The fertilizer applicator operation status monitoring and variable fertilization control system according to claim 1, characterized in that, The task processing unit acquires the boundary location data of the fertilization operation area, the fertilizer prescription data, the predetermined operation direction of the fertilization vehicle, and the operation width and installation location data of each fertilization unit; divides the fertilization operation area into multiple operation area units according to the operation width and predetermined operation direction; and forms the target fertilization amount according to the fertilizer prescription corresponding to each operation area unit. Fertilizer accounts are established for each category, including target fertilization amount, confirmed fertilization amount, fertilization amount to be assigned, abnormal fertilization amount, compensation locked amount, and remaining allowable fertilization amount.

3. The fertilizer application vehicle operation status monitoring and variable fertilization control system according to claim 2, characterized in that, The operation status acquisition unit acquires position coordinates, positioning time, driving speed, driving direction, steering status, fertilizer discharge mechanism start / stop status, fertilizer discharge shaft speed, drive load, fertilizer passage status, fertilizer throughput, and the lifting position and soil penetration depth of the fertilizer application unit; completes time alignment according to the sampling time; forms the vehicle movement trajectory; and converts the unit movement trajectory corresponding to each fertilizer application unit according to the installation position of the fertilizer application unit; at the same time, it performs sampling continuity, numerical range and multi-source correspondence determination on each operation status data to form valid operation status data and abnormal operation status data.

4. The fertilizer application vehicle operation status monitoring and variable fertilization control system according to claim 3, characterized in that, The fertilizer output generation unit determines the fertilizer output period based on the start / stop status of the fertilizer discharge mechanism, the rotation speed of the fertilizer discharge shaft, and the drive load; and determines the actual output amount based on the amount of fertilizer passing through the corresponding fertilizer delivery branch during the fertilizer output period. When the fertilizer throughput is abnormal, an alternative output is generated based on the fertilizer discharge shaft speed and drive load. The actual output or alternative output is determined as the fertilizer amount to be assigned, and associated with the fertilizer output period, fertilizer unit number, fertilizer delivery branch number, and data source identifier.

5. The fertilizer application vehicle operation status monitoring and variable fertilization control system according to claim 4, characterized in that, The fertilizer delivery status determination unit forms an assignment confirmation window corresponding to the amount of fertilizer to be assigned based on the length of the fertilizer delivery branch and historical normal fertilizer delivery data; determines the fertilizer arrival status based on the exit time period formed by the fertilizer outlet; and, in combination with the fertilizer discharge shaft speed, drive load and fertilizer throughput, determines the amount of fertilizer to be assigned as normal fertilizer delivery status, insufficient fertilizer delivery status, fertilizer discharge idling status, fertilizer delivery blockage status or assignment failure status.

6. The fertilizer applicator operation status monitoring and variable fertilization control system according to claim 5, characterized in that, The actual fertilizer application unit is assigned a trajectory based on the unit movement trajectory of the corresponding fertilizer application unit extracted during the exit time period. The actual fertilizer application trajectory is then matched with the boundaries of each work area unit. When the actual fertilizer application trajectory crosses multiple work area units, multiple assignment time periods are formed based on the trajectory crossing the boundaries, and the assigned fertilizer amount for each work area unit is determined.

7. The fertilizer applicator operation status monitoring and variable fertilization control system according to claim 6, characterized in that, The effective fertilization amount confirmation unit divides the effective soil entry period and the ineffective soil entry period according to the rising and falling position and soil entry depth of the fertilization unit within the assigned time period, forming effective assigned fertilization amount and ineffective assigned fertilization amount, which are respectively converted into confirmed fertilization amount or abnormal fertilization amount, and the fertilization amount account is updated. When the fertilizer delivery status determination unit outputs the fertilizer discharge idling status, the amount of fertilizer to be assigned for the corresponding fertilizer output period is corrected to zero. When the fertilizer delivery is blocked, the amount of fertilizer that has already formed an outlet period before the blockage occurs will continue to be assigned to the actual fertilizer application, and the amount of fertilizer that has not yet formed an outlet period after the blockage occurs will be marked as an abnormal amount to be confirmed. When the output of the assignment failure status is displayed, the corresponding fertilizer amount to be assigned is marked as an unassigned abnormal amount and is not included in the confirmed fertilizer amount of any work area unit.

8. The fertilizer application vehicle operation status monitoring and variable fertilization control system according to claim 7, characterized in that, The variable fertilization control unit determines the current and upcoming work area unit based on the unit movement trajectory corresponding to each fertilization unit; determines the occupied fertilization amount and the remaining allowable fertilization amount based on the target fertilization amount, the confirmed fertilization amount, the expected fertilization amount to be assigned, and the compensation lock amount; generates the fertilization discharge permit amount and fertilization discharge control command based on the remaining allowable fertilization amount; and recalculates the fertilization discharge control command when the fertilization vehicle stops, reverses, turns, or the fertilization amount account is updated.

9. The fertilizer applicator operation status monitoring and variable fertilization control system according to claim 8, characterized in that, When a positioning anomaly occurs, the abnormal closed-loop processing unit freezes the amount of fertilizer to be assigned that has not yet been assigned or confirmed to be effectively buried in the soil. After the positioning is restored, the unit's movement trajectory during the period of the anomaly is reconstructed, and the actual assignment and effective burial confirmation are re-executed for the frozen amount of fertilizer to be assigned. When fertilizer transport blockage occurs, the corresponding fertilizer transport branch is isolated and the corresponding fertilizer discharge mechanism is stopped from continuing to discharge fertilizer. After the blockage is cleared, the actual fertilizer output that has been restored is regenerated as the amount of fertilizer to be assigned, and the fertilizer transport status determination, actual fertilizer assignment and effective soil entry confirmation are executed in sequence. After the abnormal location or fertilizer blockage is restored, the occupied fertilizer amount, remaining allowable fertilizer amount, and fertilizer discharge control instructions for the corresponding work area unit are recalculated based on the updated fertilizer amount account.

10. The fertilizer applicator operation status monitoring and variable fertilization control system according to claim 9, characterized in that, The abnormal closed-loop processing unit, after determining that there are no pending fertilization amounts, frozen pending fertilization amounts, pending abnormal amounts, or unlocated abnormal amounts still within the attribution confirmation window in the corresponding work area unit, generates a fertilization difference based on the target fertilization amount and the confirmed fertilization amount. When the fertilization difference exceeds the preset allowable fertilization deviation, the fertilization difference is determined as a confirmed shortfall. When the automatic compensation conditions are met, a compensation task is generated and a compensation lock amount is formed. The fertilizer generated by the compensation is used to regenerate the pending fertilization amount, and the fertilizer delivery status determination, actual fertilizer attribution, and effective soil entry confirmation are executed sequentially. The fertilization amount account is updated according to the compensation result, and the remaining allowable fertilization amount is re-determined until the fertilization completion conditions are met or the automatic compensation is terminated.

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