Liquid organic fertilizer ditch injection intelligent monitoring system and method

Abstract

The application provides a liquid organic fertilizer ditch injection intelligent monitoring system and method, and relates to the technical field of intelligent agricultural equipment control, wherein the system comprises an input module for obtaining a working width and a target fertilization amount; a working condition monitoring module for collecting working state parameters; a signal acquisition and processing unit for pre-processing the working state parameters; a main controller for calculating a target flow according to the working width, the target fertilization amount and a real-time running speed, and generating a flow deviation signal; a feedback adjustment module for adjusting the opening of a flow regulating valve on a main pipeline according to the flow deviation signal; and a vehicle-mounted display terminal for centralized display of injection data. The system and method provided by the application dynamically calculate the target flow by obtaining the working width, the target fertilization amount and the real-time running speed, and adjust the opening of the flow regulating valve, so as to realize precise application of the liquid organic fertilizer. The terminal centralized display structure improves the operation convenience and safety.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural equipment control technology, and in particular to an intelligent monitoring system and method for trenching and injecting liquid organic fertilizer. Background Technology

[0002] The liquid organic fertilizer trenching and injection machine is a fertilization equipment suitable for field strip application. It forms fertilization trenches in the soil through the trenching component, and delivers liquid organic fertilizer from the liquid fertilizer tank to the trenches through the fertilization pipeline according to the predetermined location and application amount. Then, it completes the strip application operation with the help of covering soil and other steps.

[0003] Currently, research and application of liquid organic fertilizer trenching and injection machines mainly focus on trenching mechanisms, fertilizer distribution devices, and overall machine structure, while research on online sensing and intelligent monitoring technologies for field strip application is relatively weak. Because liquid organic fertilizers generally have many suspended particles and are prone to clogging, they easily cause problems such as unstable delivery, large fluctuations in fertilizer application rate, and localized interruptions in application during actual operation.

[0004] Therefore, how to achieve dynamic and precise control of liquid organic fertilizer and identification of pipeline anomalies to ensure the accuracy of liquid organic fertilizer application has become a technical problem that the industry urgently needs to solve. Summary of the Invention

[0005] This invention provides an intelligent monitoring system and method for trenching and applying liquid organic fertilizer, which solves the problems in the prior art where liquid organic fertilizers generally have many suspended particles and are prone to clogging, which can easily cause unstable delivery, large fluctuations in fertilizer application, and local interruptions in actual operation. The system enables dynamic and precise control of liquid organic fertilizer and identification of pipeline anomalies, thereby ensuring the accuracy of liquid organic fertilizer application.

[0006] This invention provides an intelligent monitoring system for trenching and injection of liquid organic fertilizer, comprising an input module, a working condition monitoring module, a signal acquisition and processing unit, a main controller, a vehicle-mounted display terminal, and a feedback adjustment module; The input module is used to obtain the preset operating width and target fertilizer application amount; The operating condition monitoring module is used to collect the operating status parameters of the trenching and grouting machine in real time. The operating status parameters include the real-time travel speed of the trenching and grouting machine, the current valve opening degree of the flow regulating valve on the main pipeline of the liquid organic fertilizer delivery pipeline, and the real-time flow rate of the main pipeline. The operating status parameters also include at least one of the following: the real-time branch pipeline flow rate of multiple branch pipelines connected to the main pipeline, the tank pressure, the tank liquid level, the real-time operating temperature of the vacuum pump, the trenching depth, and the real-time rotation speed of the vacuum pump. The signal acquisition and processing unit is used to preprocess the operation status parameters and send the preprocessed data to the main controller; the preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion; The main controller is used to calculate the target flow rate based on the working width, the target fertilizer application amount, and the pre-processed real-time travel speed, and to generate a flow rate deviation signal by comparing the target flow rate with the pre-processed real-time main road flow rate. The feedback adjustment module is used to adjust the opening of the flow regulating valve on the main pipeline according to the flow deviation signal output by the main controller and the preprocessed current valve opening. The vehicle-mounted display terminal is used to centrally display the application data; the application data includes the preprocessed operation status parameters and / or the cumulative fertilizer application amount.

[0007] In some embodiments, the input module is further configured to obtain alarm threshold parameters; The main controller is also used to identify abnormal operating conditions of the trenching and grouting machine based on the preprocessed operation status parameters and the alarm threshold parameters; the abnormal operating conditions include at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature. The vehicle-mounted display terminal is also used to issue alarm prompts based on the identification results of the abnormal operating conditions.

[0008] In some embodiments, the input module, the operating condition monitoring module, the signal acquisition and processing unit, the main controller, the vehicle display terminal, and the feedback adjustment module are connected via a communication network; wherein, the communication network includes one or more of CAN bus, RS-485, RS-232, Ethernet, or wireless communication.

[0009] In some embodiments, the operating condition monitoring module includes multiple sensors; the sensors include at least one of the following: A pressure sensor is installed in the liquid fertilizer tank to obtain the tank pressure; A liquid level sensor is installed above the liquid fertilizer tank to obtain the liquid level in the tank; A main pipe flow sensor is installed on a straight section of the main pipeline to obtain the real-time flow of the main pipeline. Multiple branch flow sensors are installed on the straight pipe sections of each branch pipe after the distributor to obtain the real-time branch flow. A valve opening sensor is installed at the flow regulating valve on the main pipeline to obtain the current valve opening. A vacuum pump speed sensor is installed on the vacuum pump shaft to obtain the real-time speed. A vacuum pump temperature sensor is installed on the surface of the vacuum pump or the side of the housing to obtain the real-time operating temperature; A depth sensor, mounted on the trenching mechanism, is used to obtain the trenching depth; A positioning and speed measurement module is installed at an unobstructed position on the top of the trenching and grouting machine to obtain the real-time travel speed and the position of the trenching and grouting machine.

[0010] This invention provides an intelligent monitoring method for trench application of liquid organic fertilizer, characterized by comprising: Obtain the preset operating width and target fertilizer application rate; The operation status parameters of the trenching and injection fertilizer are collected in real time. The operation status parameters include the real-time travel speed of the trenching and injection fertilizer, the current valve opening degree of the flow regulating valve on the main pipeline of the liquid organic fertilizer delivery pipeline, and the real-time flow rate of the main pipeline. The operation status parameters also include at least one of the following: the real-time branch pipeline flow rate of multiple branch pipelines connected to the main pipeline, the tank pressure, the tank liquid level, the real-time operating temperature of the vacuum pump, the trenching depth, and the real-time rotation speed of the vacuum pump. The operation status parameters are preprocessed; the preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion. Based on the operating width, the target fertilizer application amount, and the pre-processed real-time travel speed, the target flow rate is calculated, and a flow deviation signal is generated by comparing the target flow rate with the pre-processed real-time main road flow rate. Based on the flow deviation signal and the pre-processed current valve opening, adjust the opening of the flow regulating valve on the main pipeline; The application data is displayed centrally; the application data includes the pre-processed operation status parameters and / or the cumulative amount of fertilizer applied.

[0011] In some embodiments, the method further includes: Obtain the preset alarm threshold parameters; Based on the preprocessed operation status parameters and alarm threshold parameters, abnormal operating conditions of the trenching and grouting machine are identified; the abnormal operating conditions include at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature. An alarm will be triggered based on the identification results of the abnormal operating conditions.

[0012] In some embodiments, the fluid supply anomaly includes main line fluid supply anomaly, branch flow imbalance, compound anomaly, and / or branch blockage.

[0013] In some embodiments, the identification of abnormal operating conditions of the trenching and grouting machine based on the preprocessed operation status parameters and the alarm threshold parameters includes: Calculate the absolute deviation between the target flow rate and the preprocessed real-time main flow rate; If the absolute deviation exceeds the preset liquid supply tolerance range, it is determined that the main liquid supply of the delivery pipeline is abnormal; When the preprocessed real-time main flow rate is greater than the preset minimum effective flow rate, and the number of branch pipelines is greater than or equal to 2, the average flow rate of each branch pipeline and the coefficient of variation of the branch flow rate are calculated based on the real-time branch flow rate of each branch pipeline. The coefficient of variation of the branch flow rate is obtained by calculating the ratio of the standard deviation of each real-time branch flow rate to the average value of each real-time branch flow rate. If the branch flow variation coefficient is greater than or equal to a preset variation threshold, it is determined that the branch flow imbalance has occurred in the delivery pipeline. When the branch flow imbalance occurs, if the real-time branch flow of at least one branch pipeline is lower than the product of the average branch flow and a preset ratio, the corresponding branch pipeline is identified as a suspected blocked branch, and the delivery pipeline is determined to be blocked. When the main pipeline fluid supply abnormality occurs, if the branch flow variation coefficient is greater than or equal to the preset variation threshold, it is determined that the delivery pipeline has a compound abnormality.

[0014] The present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to realize the intelligent monitoring method for trenching and injecting liquid organic fertilizer.

[0015] The present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the intelligent monitoring method for trenching and injecting liquid organic fertilizer.

[0016] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the intelligent monitoring method for trenching and injecting liquid organic fertilizer.

[0017] The intelligent monitoring system and method for trenching and applying liquid organic fertilizer provided by this invention dynamically calculates the target flow rate by acquiring the working width, target fertilizer application amount, and real-time travel speed. It then compares the pre-processed real-time main road flow rate to generate a flow deviation signal to adjust the opening of the flow regulating valve. This overcomes interference caused by fluctuations in agricultural machinery travel speed or changes in pipeline pressure, achieving closed-loop dynamic feedback control of the total fertilizer application and ensuring accurate and uniform application of liquid organic fertilizer. Simultaneously, the centralized display structure in the driver's cab allows for real-time display of various monitoring parameters and operating status information, enabling operators to monitor equipment operation without leaving the driver's position, thus improving operational convenience and safety. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention.

[0021] Figure 2 This is a control schematic diagram of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention.

[0022] Figure 3 This is a terminal display diagram of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention.

[0023] Figure 4 This is an architecture diagram of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention.

[0024] Figure 5 This is a flowchart illustrating the intelligent monitoring method for trenching and injecting liquid organic fertilizer provided by the present invention.

[0025] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps, units, or modules is not necessarily limited to those explicitly listed, but may include other steps, units, or modules not explicitly listed or inherent to such processes, methods, products, or devices.

[0028] Figure 1 This is a schematic diagram of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention, as shown below. Figure 1 As shown, the system includes an input module 110, a working condition monitoring module 120, a signal acquisition and processing unit 130, a main controller 140, a feedback adjustment module 150, and an on-board display terminal 160. The input module 110 is used to obtain the preset operating width and target fertilizer application amount; The operating condition monitoring module 120 is used to collect the operating status parameters of the trenching and grouting machine in real time. The operating status parameters include the real-time travel speed of the trenching and grouting machine, the current valve opening degree of the flow regulating valve on the main pipeline of the liquid organic fertilizer delivery pipeline, and the real-time flow rate of the main pipeline. The operating status parameters also include at least one of the following: the real-time branch pipeline flow rate of multiple branch pipelines connected to the main pipeline, tank pressure, tank liquid level, real-time operating temperature of the vacuum pump, trenching depth, and real-time rotation speed of the vacuum pump. The signal acquisition and processing unit 130 is used to preprocess the operation status parameters and send the preprocessed data to the main controller; the preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting and communication format conversion; The main controller 140 is used to calculate the target flow rate based on the working width, the target fertilizer application amount, and the pre-processed real-time travel speed, and to generate a flow rate deviation signal by comparing the target flow rate with the pre-processed real-time main road flow rate. The feedback adjustment module 150 is used to adjust the opening of the flow regulating valve on the main pipeline according to the flow deviation signal output by the main controller and the pre-processed current valve opening. The vehicle-mounted display terminal 160 is used to centrally display the application data; the application data includes the pre-processed operation status parameters and / or the cumulative amount of fertilizer applied.

[0029] Specifically, the intelligent monitoring system for trenching and injection of liquid organic fertilizer provided in this embodiment of the invention is mainly used for online monitoring, closed-loop control, and anomaly alarm of liquid fertilizer injection. The intelligent monitoring system for trenching and injection of liquid organic fertilizer can run on a computer. Each module in the intelligent monitoring system for trenching and injection of liquid organic fertilizer can be either hardware devices installed to perform the corresponding functions, or software programs that perform the corresponding functions.

[0030] The operating width refers to the total width of the ground that the bottom fertilization component can effectively cover when the trenching and fertilizing machine moves in a single straight line in the field.

[0031] The target fertilization rate refers to the baseline volume of liquid organic fertilizer that needs to be applied per unit area, as set according to agronomic requirements.

[0032] Real-time travel speed represents the instantaneous physical speed at which fertilizer application equipment moves during field operations.

[0033] The target flow rate refers to the instantaneous flow rate that liquid organic fertilizer should theoretically achieve in the main pipeline to meet the target fertilization amount under dynamic operating conditions of current working width and real-time travel speed. In this embodiment of the invention, the target flow rate, i.e., the target total pipeline flow rate per unit area, is positively correlated with the target fertilization amount, working width, and travel speed.

[0034] Real-time main road flow refers to the instantaneous flow of liquid organic fertilizer that actually flows through the cross-section of the main road.

[0035] In this embodiment of the invention, the intelligent monitoring system for trenching and injection of liquid organic fertilizer includes an input module, a working condition monitoring module, a signal acquisition and processing unit, a main controller, a vehicle-mounted display terminal, and a feedback adjustment module.

[0036] The input module inputs information such as the target fertilization rate and operating width to the main controller. The input system, configured manually, provides the main controller with baseline data for fertilization control.

[0037] The operational status monitoring module, as the underlying sensing unit, is responsible for collecting real-time operational status parameters of the trenching and fertilizing machine in complex field environments. These operational status parameters include not only the real-time travel speed, which is a variable affecting the fertilization baseline, but also the current valve opening of the flow regulating valve on the main pipeline, which characterizes the current state of the actuator, and the real-time main pipeline flow rate, which characterizes the actual fertilizer output. In some specific application scenarios, these operational status parameters can further include at least one of the following: real-time branch pipeline flow rate, tank pressure, tank liquid level, real-time operating temperature of the vacuum pump, trenching depth, and real-time rotational speed of the vacuum pump, to meet the needs of more comprehensive operational status monitoring.

[0038] The signal acquisition and processing unit is used to preprocess the operation status parameters output by the operation condition monitoring module and send the preprocessed data to the main controller. Preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion. For example, it isolates, filters, amplifies, converts, and uniformly acquires millivolt signals, voltage signals, current signals, pulse signals, or digital signals, and then transmits the processed signals to the main controller.

[0039] The main controller is used to calculate the target flow rate based on the working width, target fertilizer application amount, and pre-processed real-time travel speed, and to generate a flow deviation signal by comparing the target flow rate with the pre-processed real-time main road flow rate.

[0040] In this embodiment of the invention, the target traffic volume can be calculated based on the following formula: in, Represents the target flow rate, in L / min; Represents the operating speed, in km / h; This represents the width of the work area, in mm. This represents the target fertilizer application rate, in cubic meters (m³). 3 / hm 2 .

[0041] Figure 2 This is a control schematic diagram of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention, as shown below. Figure 2 As shown, in the main controller, the target flow rate is calculated by setting the operating width, the target fertilizer application rate, and the speed sensor for monitoring the operation; by comparing the target flow rate with the flow rate measured by the actual flow sensor, the electromagnetic proportional valve is controlled to adjust the liquid fertilizer flow rate, thereby performing feedback regulation.

[0042] The feedback adjustment module is used to adjust the opening of the flow regulating valve on the main pipeline based on the flow deviation signal output by the main controller and the pre-processed current valve opening. According to the deviation, the module outputs control commands to the solenoid valve proportional opening adjustment unit to adjust the solenoid valve opening, thereby changing the delivery rate of liquid organic fertilizer. This achieves closed-loop regulation of the fertilization process, which continues in a continuous cycle, allowing the fertilizer application rate to automatically adjust with changes in operating speed.

[0043] It should be noted that the opening degree of the flow regulating valve is limited to between the preset minimum opening degree and the preset maximum opening degree.

[0044] The vehicle-mounted display terminal is used to centrally display the injection data; the injection data includes the pre-processed operation status parameters and / or cumulative fertilizer application amount, such as displaying the target fertilizer application amount, cumulative flow rate, actual flow rate of the main pipe, actual flow rate of the branch pipe, flow variation coefficient of each branch pipe, valve opening degree, tank pressure, tank liquid level, vacuum pump speed, vacuum pump temperature, and solenoid valve proportional opening degree and other parameter information.

[0045] The intelligent monitoring system for trenching and injecting liquid organic fertilizer provided in this invention dynamically calculates the target flow rate by acquiring the working width, target fertilizer application amount, and real-time travel speed. It then compares the pre-processed real-time main road flow rate to generate a flow deviation signal to adjust the opening of the flow regulating valve. This overcomes interference caused by fluctuations in agricultural machinery travel speed or changes in pipeline pressure, achieving closed-loop dynamic feedback control of the total fertilizer application and ensuring accurate and uniform application of liquid organic fertilizer. Simultaneously, the system employs a centralized display structure in the driver's cab, allowing real-time display of various monitoring parameters and operating status information. This enables operators to monitor the equipment's operating status without leaving the driver's position, improving operational convenience and safety.

[0046] In some embodiments, the input module is further configured to obtain alarm threshold parameters; The main controller is also used to identify abnormal operating conditions of the trenching and grouting machine based on the preprocessed operation status parameters and the alarm threshold parameters; the abnormal operating conditions include at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature. The vehicle-mounted display terminal is also used to issue alarm prompts based on the identification results of the abnormal operating conditions.

[0047] Specifically, in this embodiment of the invention, the system also has an online monitoring and early warning mechanism for equipment operation safety and work quality.

[0048] Alarm threshold parameters refer to the safety limits or triggering conditions that are preset for system pressure, liquid level, temperature, trench depth, and flow deviation.

[0049] Abnormal operating conditions refer to situations where equipment deviates from its normal operating state during operation, which may affect the fertilization effect or cause mechanical failure.

[0050] The input module is also used to obtain pre-set alarm threshold parameters.

[0051] Based on these alarm threshold parameters, the main controller continuously compares and makes logical judgments with various pre-processed operation status parameters transmitted in real time by the signal acquisition and processing unit. Based on this data comparison, the main controller can identify abnormal operating conditions in the current operating status of the trenching and grouting machine. In this embodiment of the invention, the abnormal operating conditions that the system can identify mainly cover key factors affecting the application of liquid organic fertilizer and equipment health, including at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature.

[0052] The main controller performs real-time calculations, threshold comparisons, and status identification based on the collected data such as pressure, liquid level, rotation speed, main pipe flow rate, branch pipe flow rate, position, trench depth, and temperature to determine whether the equipment has abnormal pressure, abnormal liquid supply, pipe blockage, low liquid level, high temperature, abnormal trench depth, or abnormal operating status. When the equipment is identified as being in any of the above abnormal operating conditions, the corresponding identification result will be quickly sent to the vehicle display terminal.

[0053] After receiving the identification results, the vehicle-mounted display terminal will issue an alarm prompt based on the type of anomaly, intuitively conveying warning information to the operator in the cockpit so that the operator can take timely intervention measures.

[0054] Figure 3 This is a schematic diagram of the terminal display of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention, as shown in the figure. Figure 3 As shown, the system displays real-time operating status parameters, valve opening, target main pipe flow rate, actual main pipe flow rate, actual flow rate of each branch pipe, branch pipe flow rate variation coefficient, cumulative fertilizer application, abnormal alarm information, and fault location on the vehicle-mounted display terminal, and provides alarm prompts based on the abnormal operating condition identification results.

[0055] The intelligent monitoring system for trenching and injecting liquid organic fertilizer provided in this invention improves the reliability of equipment operation and the convenience of human-machine interaction in complex operating environments by identifying and centrally alarming abnormalities in liquid supply, pressure, liquid level or temperature based on pre-processed operation status parameters and alarm threshold parameters.

[0056] In some embodiments, the input module, the operating condition monitoring module, the signal acquisition and processing unit, the main controller, the vehicle display terminal, and the feedback adjustment module are connected via a communication network; wherein, the communication network includes one or more of CAN bus, RS-485, RS-232, Ethernet, or wireless communication.

[0057] Specifically, in this embodiment of the invention, a low-level communication network connection is established between the input module, the operating condition monitoring module, the signal acquisition and processing unit, the main controller, the vehicle-mounted display terminal, and the feedback adjustment module. Based on the actual networking requirements and hardware interface standards of agricultural machinery, this communication network can flexibly employ one or more of the following: Controller Area Network (CAN) bus, Balanced Voltage Digital Interface (RS-485), Interface Between Data Terminal Equipment and Data Circuit-terminating Equipment Employing Serial Binary Data Interchange (RS-232), Ethernet, or wireless communication. For example, in the traction combination of a tractor and agricultural implements, a CAN bus is often used to ensure long-distance anti-interference transmission, while wireless communication can be used to achieve flexible synchronization of terminal data.

[0058] The intelligent monitoring system for trenching and injecting liquid organic fertilizer provided in this embodiment of the invention achieves multi-dimensional safety monitoring and high-speed data interaction by connecting various hardware modules through multiple communication networks.

[0059] In some embodiments, the operating condition monitoring module includes multiple sensors; the sensors include at least one of the following: A pressure sensor is installed in the liquid fertilizer tank to obtain the tank pressure; A liquid level sensor is installed above the liquid fertilizer tank to obtain the liquid level in the tank; A main pipe flow sensor is installed on a straight section of the main pipeline to obtain the real-time flow of the main pipeline. Multiple branch flow sensors are installed on the straight pipe sections of each branch pipe after the distributor to obtain the real-time branch flow. A valve opening sensor is installed at the flow regulating valve on the main pipeline to obtain the current valve opening. A vacuum pump speed sensor is installed on the vacuum pump shaft to obtain the real-time speed. A vacuum pump temperature sensor is installed on the surface of the vacuum pump or the side of the housing to obtain the real-time operating temperature; A depth sensor, mounted on the trenching mechanism, is used to obtain the trenching depth; A positioning and speed measurement module is installed at an unobstructed position on the top of the trenching and grouting machine to obtain the real-time travel speed and the position of the trenching and grouting machine.

[0060] Specifically, in this embodiment of the invention, the operating condition monitoring module includes multiple sensors, specifically at least one of a pressure sensor, a main pipe flow sensor, a branch pipe flow sensor, a liquid level sensor, a valve opening sensor, a vacuum pump temperature sensor, a vacuum pump speed sensor, and a depth sensor. By employing a multi-parameter collaborative monitoring structure, key operating condition parameters of the liquid organic fertilizer trenching and injection machine, such as tank pressure, liquid level, vacuum pump speed, main pipe flow, branch pipe flow, tool position, and vacuum pump temperature, are continuously monitored online.

[0061] The pressure sensor, installed in the liquid fertilizer tank, is used to detect the pressure information in the liquid fertilizer tank and obtain the tank pressure.

[0062] The liquid level sensor is installed above the liquid fertilizer tank to detect changes in the liquid fertilizer level inside the tank and obtain the tank level.

[0063] The main pipe flow sensor is installed on the straight section of the main pipeline to detect the instantaneous flow information of liquid organic fertilizer in the main pipeline and obtain the real-time main pipeline flow.

[0064] Multiple branch flow sensors are installed on the straight sections of each branch pipe after the distributor to detect the flow distribution status in each branch pipe and obtain the real-time branch flow. By adopting a combined monitoring method of the main pipe and branch pipes, abnormal liquid supply in the main pipe, branch blockage, flow imbalance, etc. can be effectively identified.

[0065] The valve opening sensor is installed at the flow regulating valve on the main pipeline to detect the valve opening and closing and the opening degree, and to obtain the current valve opening degree.

[0066] A vacuum pump speed sensor is installed on the vacuum pump shaft to detect the real-time speed information of the vacuum pump and obtain the real-time speed.

[0067] A vacuum pump temperature sensor is installed on the surface or side of the vacuum pump housing to detect the operating temperature of the vacuum pump and obtain the real-time operating temperature.

[0068] A depth sensor, mounted on the trenching mechanism, is used to monitor and acquire the trenching depth.

[0069] The positioning and speed measurement module is installed in an unobstructed position on the top of the trenching and grouting machine to obtain the real-time travel speed and the position of the trenching and grouting machine.

[0070] Figure 4 This is an architecture diagram of the intelligent monitoring system for trenching and injecting liquid organic fertilizer provided by the present invention, as shown below. Figure 4 As shown in the diagram, the system architecture is illustrated. After the fertilizer applicator is started, the on-board display terminal establishes a two-way communication connection with the vehicle controller. Sensors begin collecting data in real time, including tank pressure, main pipe flow rate, branch pipe flow rate, tank liquid level, valve opening, vacuum pump speed, vacuum pump temperature, and trenching depth. Some signals enter the signal acquisition and processing unit for acquisition, amplification, and conversion before being transmitted to the main controller. The main controller outputs to the on-board terminal, displaying the current operating location and status on the interface. The current operating status includes the target fertilizer application rate, cumulative flow rate, actual main pipe flow rate, actual branch pipe flow rate, flow variation coefficient of each branch pipe, valve opening, tank pressure, tank liquid level, vacuum pump speed, vacuum pump temperature, and fault alarms. It should be noted that the vacuum pump speed can be directly transmitted to the main controller without preprocessing.

[0071] The intelligent monitoring system for trenching and injecting liquid organic fertilizer provided in this invention can construct a low-level hardware sensing network covering the entire machine by arranging various types of physical sensors such as pressure, liquid level, flow rate, rotation speed, temperature, depth, and positioning at key locations such as the liquid fertilizer tank, main pipeline, branch pipeline, and actuator. This provides accurate and comprehensive physical data support for the closed-loop control and anomaly diagnosis of the system.

[0072] The intelligent monitoring method for trenching and injecting liquid organic fertilizer provided by the present invention is described below. The intelligent monitoring method for trenching and injecting liquid organic fertilizer described below can be referred to in correspondence with the intelligent monitoring system for trenching and injecting liquid organic fertilizer described above.

[0073] Figure 5 This is a flowchart illustrating the intelligent monitoring method for trenching and injecting liquid organic fertilizer provided by the present invention, as shown below. Figure 5 As shown, the method includes steps 510, 520, 530, 540, 550 and 560.

[0074] Step 510: Obtain the preset operating width and target fertilizer application rate; Step 520: Real-time acquisition of the operating status parameters of the trenching and injection machine; the operating status parameters include the real-time travel speed of the trenching and injection machine, the current valve opening degree of the flow regulating valve on the main pipeline of the liquid organic fertilizer delivery pipeline, and the real-time flow rate of the main pipeline; the operating status parameters also include at least one of the following: real-time branch pipeline flow rate of multiple branch pipelines connected to the main pipeline, tank pressure, tank liquid level, real-time operating temperature of the vacuum pump, trenching depth, and real-time rotation speed of the vacuum pump; Step 530: Preprocess the operation status parameters; the preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion; Step 540: Calculate the target flow rate based on the working width, the target fertilizer application amount, and the pre-processed real-time travel speed, and generate a flow rate deviation signal by comparing the target flow rate with the pre-processed real-time main road flow rate. Step 550: Adjust the opening of the flow regulating valve on the main pipeline according to the flow deviation signal and the pre-processed current valve opening; Step 560: Centrally display the application data; the application data includes the pre-processed operation status parameters and / or cumulative fertilizer application amount.

[0075] Specifically, existing equipment mostly uses fixed parameter outputs for fertilizer control, lacking the ability to collaboratively perceive and dynamically control parameters such as machine operating speed, liquid level, flow rate, pressure, fertilizer discharge status, and the working status of key actuators. Currently, the equipment also generally lacks integrated information display and early warning functions in the driver's cab, and various operating parameters and abnormal states cannot be centrally presented and alerted in real time. It is difficult for drivers to make timely and effective adjustments, which in turn makes it difficult to guarantee the continuity, stability, and accuracy of field strip application operations, and makes it difficult to meet the needs of precision fertilization operations.

[0076] Therefore, this invention provides an intelligent monitoring method for trenching and injecting liquid organic fertilizer to address the problems in existing technologies, such as insufficient real-time monitoring of key operational parameters, difficulty in timely detection of abnormal states, inability to dynamically adjust fertilizer application based on changes in operational status, and lack of centralized display and early warning in the driver's cab. A multi-parameter collaborative monitoring structure is employed to continuously monitor key operating parameters of the liquid organic fertilizer trenching and injecting machine online, including tank pressure, liquid level, vacuum pump speed, main pipe flow rate, branch pipe flow rate, implement position, and vacuum pump temperature. This method provides real-time online monitoring of the tank, vacuum pump, main pipe, each fertilizer branch pipe, and the operating status of the implement, and enables centralized parameter display and abnormal early warning in the driver's cab. It also allows for real-time monitoring of the fertilizer applicator's operating status and adjustment of the main pipe valve opening to achieve precise fertilization.

[0077] The flow deviation signal refers to the difference between the expected flow rate calculated by the system based on dynamic operating conditions and the actual physical flow rate measured in the pipeline.

[0078] In this embodiment of the invention, a preset operating width and target fertilizer application rate are obtained. These two parameters are typically used as initial setting indicators for a single field strip application operation, providing basic agronomic data support for subsequent fertilization regulation.

[0079] The system collects real-time operational status parameters of the trenching and grouting machine. During the machine's movement, the underlying system continuously acquires real-time travel speed, current valve opening, and real-time main pipeline flow rate. Additionally, the collected operational status parameters may include at least one of the following: real-time branch pipeline flow rate connected to the main pipeline, tank pressure, tank liquid level, real-time operating temperature of the vacuum pump, trenching depth, and real-time rotational speed of the vacuum pump.

[0080] Considering that the raw parameters acquired in harsh field environments are mostly weak analog quantities or pulse signals with background noise, preprocessing of the collected operational status parameters is necessary. In this embodiment of the invention, preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion. By filtering out glitch signals and completing analog-to-digital conversion through preprocessing, the multi-source heterogeneous underlying sensor signals are uniformly converted into standardized digital quantities that the controller can directly parse.

[0081] In actual field ditching and strip application operations, the speed of the machinery often fluctuates dynamically due to undulating terrain, changes in soil resistance, or differences in driver operating habits. If a fixed flow rate is used for fertilizer application in existing technologies, it will inevitably lead to uneven fertilization.

[0082] In this embodiment of the invention, after obtaining purified digital chemical condition parameters, the target flow rate at the current moment is dynamically calculated based on the operating width, target fertilizer application rate, and pre-processed real-time travel speed. After calculating the target flow rate, the system compares it with the pre-processed real-time main road flow rate, which characterizes the actual fertilizer discharge situation, and generates a flow deviation signal based on the difference between the two.

[0083] The system adjusts the opening of the flow control valve on the main pipeline based on the generated flow deviation signal and the pre-processed current valve opening reference. If the actual measured flow rate on the main pipeline is lower than the dynamically calculated target flow rate, the system will output a control command to drive the control valve to open further; if the actual flow rate is higher than the target flow rate, the control valve will be closed appropriately, thus forming a dynamically corrected fluid control closed loop.

[0084] In addition, the system centrally displays the application data. At this time, the on-board interface will visualize the pre-processed relevant operation status parameters and information such as the cumulative fertilizer application amount calculated through flow integration, allowing the operator in the cab to monitor the equipment status at any time.

[0085] The intelligent monitoring method for trenching and injecting liquid organic fertilizer provided in this invention dynamically calculates the target flow rate by acquiring the working width, target fertilizer application amount, and real-time travel speed. It then compares the pre-processed real-time main road flow rate to generate a flow deviation signal to adjust the opening of the flow regulating valve. This overcomes interference caused by fluctuations in agricultural machinery travel speed or changes in pipeline pressure, achieving closed-loop dynamic feedback control of the total fertilizer application and ensuring accurate and uniform application of liquid organic fertilizer. Simultaneously, the adoption of a centralized display structure in the cab allows for real-time display of various monitoring parameters and operating status information, enabling operators to monitor equipment operation status without leaving the driver's position, thus improving operational convenience and safety.

[0086] In some embodiments, the method further includes: Obtain the preset alarm threshold parameters; Based on the preprocessed operation status parameters and alarm threshold parameters, abnormal operating conditions of the trenching and grouting machine are identified; the abnormal operating conditions include at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature. An alarm will be triggered based on the identification results of the abnormal operating conditions.

[0087] Specifically, alarm threshold parameters refer to the safety limits or triggering conditions that are preset for system operating conditions such as pressure, liquid level, temperature, and flow deviation.

[0088] In this embodiment of the invention, based on the preprocessed operation status parameters and alarm threshold parameters, abnormal operating conditions of the trenching and grouting machine are identified; the abnormal operating conditions include at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature; and an alarm is triggered based on the identification results of the abnormal operating conditions.

[0089] For example, if the tank pressure exceeds the preset pressure range, an abnormal pressure alarm will be output; if the tank liquid level is lower than the preset minimum liquid level, an abnormal liquid level alarm will be output; if the vacuum pump speed is lower or higher than the preset speed range, an abnormal vacuum pump speed alarm will be output; if the vacuum pump temperature is higher than the preset temperature threshold, an abnormal temperature alarm will be output; if the trenching depth is lower or higher than the preset trenching depth range, an abnormal trenching depth alarm will be output.

[0090] The intelligent monitoring method for trenching and injecting liquid organic fertilizer provided in this invention can automatically identify and alarm various abnormal working conditions of the trenching and injecting machine by acquiring preset alarm threshold parameters and combining them with pre-processed multi-dimensional operation status parameters. This can promptly detect potential operational hazards of the equipment during operation and avoid mechanical damage or decline in fertilizer quality caused by equipment malfunctions.

[0091] In some embodiments, the fluid supply anomaly includes main line fluid supply anomaly, branch flow imbalance, compound anomaly, and / or branch blockage.

[0092] Specifically, abnormal main pipeline liquid supply refers to a situation where the overall liquid supply of the main pipeline fails to meet the expected target, which may be caused by reasons such as evacuation of the liquid fertilizer tank, vacuum pump failure, or jamming of the main valve.

[0093] Branch flow imbalance refers to a situation where the flow distribution between different branch pipelines is significantly inconsistent, indicating that there may be a local problem in the system.

[0094] Branch blockage refers to a situation where, under conditions of branch flow imbalance, one or more branch pipelines become partially blocked due to the accumulation of suspended particles, resulting in a flow rate significantly lower than normal.

[0095] A compound anomaly refers to a combined abnormal state in which the main pipeline fluid supply is abnormal and the branch flow is unbalanced or blocked.

[0096] In this embodiment of the invention, fluid supply abnormalities include main line fluid supply abnormalities, branch flow imbalances, combined abnormalities, and / or branch blockages.

[0097] The intelligent monitoring method for trenching and injection of liquid organic fertilizer provided by this invention refines the abnormal liquid supply into main road abnormal liquid supply, branch flow imbalance, compound abnormality, and branch blockage, distinguishing different types and degrees of abnormal liquid supply, thereby providing operators with fault location and targeted alarm prompts, improving the efficiency of fault diagnosis and the level of intelligent equipment operation and maintenance.

[0098] In some embodiments, the identification of abnormal operating conditions of the trenching and grouting machine based on the preprocessed operation status parameters and the alarm threshold parameters includes: Calculate the absolute deviation between the target flow rate and the preprocessed real-time main flow rate; If the absolute deviation exceeds the preset liquid supply tolerance range, it is determined that the main liquid supply of the delivery pipeline is abnormal; When the preprocessed real-time main flow rate is greater than the preset minimum effective flow rate, and the number of branch pipelines is greater than or equal to 2, the average flow rate of each branch pipeline and the coefficient of variation of the branch flow rate are calculated based on the real-time branch flow rate of each branch pipeline. The coefficient of variation of the branch flow rate is obtained by calculating the ratio of the standard deviation of each real-time branch flow rate to the average value of each real-time branch flow rate. If the branch flow variation coefficient is greater than or equal to a preset variation threshold, it is determined that the branch flow imbalance has occurred in the delivery pipeline. When the branch flow imbalance occurs, if the real-time branch flow of at least one branch pipeline is lower than the product of the average branch flow and a preset ratio, the corresponding branch pipeline is identified as a suspected blocked branch, and the delivery pipeline is determined to be blocked. When the main pipeline fluid supply abnormality occurs, if the branch flow variation coefficient is greater than or equal to the preset variation threshold, it is determined that the delivery pipeline has a compound abnormality.

[0099] Specifically, the system calculates the absolute deviation between the target flow rate and the pre-processed real-time main pipeline flow rate. If this absolute deviation exceeds the preset liquid supply tolerance range, it indicates that the overall liquid supply of the main pipeline has failed to meet expectations, and the system directly determines that a main pipeline liquid supply anomaly has occurred. This situation may be caused by reasons such as evacuation of the fertilizer tank, vacuum pump failure, or jamming of the main valve.

[0100] Before performing branch-level diagnostics, the system first confirms whether the current state meets the effective conditions for branch diagnostics. Specifically, the pre-processed real-time main flow rate must be greater than a preset minimum effective flow rate to ensure sufficient liquid flow in the pipeline, and the number of branch pipelines must be greater than or equal to two; otherwise, the calculation of the coefficient of variation loses statistical significance. After meeting these conditions, the system calculates the average flow rate of each branch pipeline and the coefficient of variation of the branch flow rate based on the real-time branch flow rate. The coefficient of variation of the branch flow rate is obtained by calculating the ratio of the standard deviation of each real-time branch flow rate to the average value of each real-time branch flow rate.

[0101] In this embodiment of the invention, the branch flow variation coefficient can be calculated using the following formula: in, Represents the coefficient of variation of branch flow; The standard deviation of the flow rate in each branch pipeline; This represents the average real-time flow rate under management. For each real-time traffic segment; This represents the number of branch pipes.

[0102] If the coefficient of variation of the branch flow is greater than or equal to the preset variation threshold, it indicates that the flow consistency between the branch pipelines has been disrupted, and the system determines that a branch flow imbalance has occurred.

[0103] Based on the determination of branch flow imbalance, the system will further locate the root cause of the problem. If the real-time branch flow of at least one branch is lower than the product of the average flow of the branch and a preset ratio, for example, lower than 50% of the average flow, then the branch is identified as a suspected blocked branch, and the delivery pipeline is ultimately determined to be blocked, providing operators with clear troubleshooting directions.

[0104] Furthermore, if the system has determined that a main line fluid supply anomaly has occurred, and the branch flow variation coefficient is greater than or equal to the preset variation threshold, it indicates that the system suffers from both overall insufficient fluid supply and uneven local distribution, thus triggering a combined anomaly. It should be noted that if the branch flow variation coefficient cannot be obtained due to unmet calculation conditions (e.g., real-time main line flow is not greater than the preset minimum effective flow, or the number of branch lines is less than 2), it is considered that the branch flow variation coefficient is less than the preset variation threshold, and the combined anomaly determination is not triggered.

[0105] The intelligent monitoring method for trenching and injecting liquid organic fertilizer provided by this invention accurately distinguishes different types and degrees of liquid supply abnormalities through multi-level diagnostic logic, providing operators with fault location and alarm prompts, and significantly improving the operation and maintenance efficiency and operational reliability of the equipment.

[0106] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 6 As shown, the electronic device may include a processor 610, a communications interface 620, a memory 630, and a communications bus 640, wherein the processor 610, the communications interface 620, and the memory 630 communicate with each other via the communications bus 640. The processor 610 can call logical commands stored in the memory 630 to execute the methods described in the above embodiments, for example: The system acquires the preset operating width and target fertilizer application rate; it collects the operating status parameters of the trenching and injection applicator in real time; these parameters include the real-time travel speed of the trenching and injection applicator, the current valve opening of the flow regulating valve on the main pipeline of the liquid organic fertilizer delivery pipeline, and the real-time flow rate of the main pipeline; the operating status parameters also include at least one of the following: real-time branch pipeline flow rate, tank pressure, tank liquid level, real-time operating temperature of the vacuum pump, trenching depth, and real-time rotation speed of the vacuum pump; and it preprocesses the operating status parameters. The preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion; the target flow rate is calculated based on the operating width, the target fertilizer application rate, and the preprocessed real-time travel speed, and a flow deviation signal is generated by comparing the target flow rate with the preprocessed real-time main road flow rate; the opening of the flow regulating valve on the main road is adjusted based on the flow deviation signal and the preprocessed current valve opening; the injection data is centrally displayed; the injection data includes the preprocessed operating status parameters and / or the cumulative fertilizer application rate.

[0107] Furthermore, when the logical commands in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several commands to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0108] The processor in the electronic device provided in this embodiment of the invention can call logical instructions in the memory to implement the above method. Its specific implementation method is the same as the aforementioned method implementation method and can achieve the same beneficial effects, which will not be repeated here.

[0109] This invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the methods provided in the above embodiments.

[0110] The specific implementation method is the same as the aforementioned method implementation method and can achieve the same beneficial effects, so it will not be repeated here.

[0111] This invention provides a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0112] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A smart monitoring system for trenching and injecting liquid organic fertilizer, characterized in that, It includes an input module, a working condition monitoring module, a signal acquisition and processing unit, a main controller, an on-board display terminal, and a feedback adjustment module; The input module is used to obtain the preset operating width and target fertilizer application amount; The operating condition monitoring module is used to collect the operating status parameters of the trenching and grouting machine in real time. The operating status parameters include the real-time travel speed of the trenching and grouting machine, the current valve opening degree of the flow regulating valve on the main pipeline of the liquid organic fertilizer delivery pipeline, and the real-time flow rate of the main pipeline. The operating status parameters also include at least one of the following: the real-time branch pipeline flow rate of multiple branch pipelines connected to the main pipeline, the tank pressure, the tank liquid level, the real-time operating temperature of the vacuum pump, the trenching depth, and the real-time rotation speed of the vacuum pump. The signal acquisition and processing unit is used to preprocess the operation status parameters and send the preprocessed data to the main controller; The preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion; The main controller is used to calculate the target flow rate based on the working width, the target fertilizer application amount, and the pre-processed real-time travel speed, and to generate a flow rate deviation signal by comparing the target flow rate with the pre-processed real-time main road flow rate. The feedback adjustment module is used to adjust the opening of the flow regulating valve on the main pipeline according to the flow deviation signal output by the main controller and the preprocessed current valve opening. The vehicle-mounted display terminal is used to centrally display the application data; the application data includes the preprocessed operation status parameters and / or the cumulative fertilizer application amount.

2. The intelligent monitoring system for trenching and injecting liquid organic fertilizer according to claim 1, characterized in that, The input module is also used to obtain alarm threshold parameters; The main controller is also used to identify abnormal operating conditions of the trenching and grouting machine based on the preprocessed operation status parameters and the alarm threshold parameters; the abnormal operating conditions include at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature. The vehicle-mounted display terminal is also used to issue alarm prompts based on the identification results of the abnormal operating conditions.

3. The intelligent monitoring system for trenching and injecting liquid organic fertilizer according to claim 1, characterized in that, The input module, the operating condition monitoring module, the signal acquisition and processing unit, the main controller, the vehicle display terminal, and the feedback adjustment module are connected via a communication network; wherein, the communication network includes one or more of CAN bus, RS-485, RS-232, Ethernet, or wireless communication.

4. The intelligent monitoring system for trenching and injecting liquid organic fertilizer according to claim 1, characterized in that, The operating condition monitoring module includes multiple sensors; the sensors include at least one of the following: A pressure sensor is installed in the liquid fertilizer tank to obtain the tank pressure; A liquid level sensor is installed above the liquid fertilizer tank to obtain the liquid level in the tank; A main pipe flow sensor is installed on a straight section of the main pipeline to obtain the real-time flow of the main pipeline. Multiple branch flow sensors are installed on the straight pipe sections of each branch pipe after the distributor to obtain the real-time branch flow. A valve opening sensor is installed at the flow regulating valve on the main pipeline to obtain the current valve opening. A vacuum pump speed sensor is installed on the vacuum pump shaft to obtain the real-time speed. A vacuum pump temperature sensor is installed on the surface of the vacuum pump or the side of the housing to obtain the real-time operating temperature; A depth sensor, mounted on the trenching mechanism, is used to obtain the trenching depth; The positioning and speed measurement module is installed at an unobstructed position on the top of the trenching and grouting machine to obtain the real-time travel speed and the position of the trenching and grouting machine.

5. A method for intelligent monitoring of trench application of liquid organic fertilizer, characterized in that, include: Obtain the preset operating width and target fertilizer application rate; The operation status parameters of the trenching and injection fertilizer are collected in real time. The operation status parameters include the real-time travel speed of the trenching and injection fertilizer, the current valve opening degree of the flow regulating valve on the main pipeline of the liquid organic fertilizer delivery pipeline, and the real-time flow rate of the main pipeline. The operation status parameters also include at least one of the following: the real-time branch pipeline flow rate of multiple branch pipelines connected to the main pipeline, the tank pressure, the tank liquid level, the real-time operating temperature of the vacuum pump, the trenching depth, and the real-time rotation speed of the vacuum pump. The operation status parameters are preprocessed; the preprocessing includes at least one of isolation, filtering, amplification, analog-to-digital conversion, pulse counting, and communication format conversion. Based on the operating width, the target fertilizer application amount, and the pre-processed real-time travel speed, the target flow rate is calculated, and a flow deviation signal is generated by comparing the target flow rate with the pre-processed real-time main road flow rate. Based on the flow deviation signal and the pre-processed current valve opening, adjust the opening of the flow regulating valve on the main pipeline; The application data is displayed centrally; the application data includes the pre-processed operation status parameters and / or the cumulative amount of fertilizer applied.

6. The intelligent monitoring method for trenching and injecting liquid organic fertilizer according to claim 5, characterized in that, The method further includes: Obtain the preset alarm threshold parameters; Based on the preprocessed operation status parameters and alarm threshold parameters, abnormal operating conditions of the trenching and grouting machine are identified; the abnormal operating conditions include at least one of abnormal liquid supply, abnormal pressure, abnormal liquid level, abnormal trenching depth, and abnormal temperature. An alarm will be triggered based on the identification results of the abnormal operating conditions.

7. The intelligent monitoring method for trenching and injecting liquid organic fertilizer according to claim 6, characterized in that, The fluid supply abnormalities include main road fluid supply abnormalities, branch flow imbalances, combined abnormalities, and / or branch blockages.

8. The intelligent monitoring method for trenching and injecting liquid organic fertilizer according to claim 7, characterized in that, The identification of abnormal operating conditions of the trenching and grouting machine based on the preprocessed operation status parameters and the alarm threshold parameters includes: Calculate the absolute deviation between the target flow rate and the preprocessed real-time main flow rate; If the absolute deviation exceeds the preset liquid supply tolerance range, it is determined that the main liquid supply of the delivery pipeline is abnormal; When the preprocessed real-time main flow rate is greater than the preset minimum effective flow rate, and the number of branch pipelines is greater than or equal to 2, the average flow rate of each branch pipeline and the coefficient of variation of the branch flow rate are calculated based on the real-time branch flow rate of each branch pipeline. The coefficient of variation of the branch flow rate is obtained by calculating the ratio of the standard deviation of each real-time branch flow rate to the average value of each real-time branch flow rate. If the branch flow variation coefficient is greater than or equal to a preset variation threshold, it is determined that the branch flow imbalance has occurred in the delivery pipeline. When the branch flow imbalance occurs, if the real-time branch flow of at least one branch pipeline is lower than the product of the average branch flow and a preset ratio, the corresponding branch pipeline is identified as a suspected blocked branch, and the delivery pipeline is determined to be blocked. When the main pipeline fluid supply abnormality occurs, if the branch flow variation coefficient is greater than or equal to the preset variation threshold, it is determined that the delivery pipeline has a compound abnormality.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the intelligent monitoring method for trenching and injecting liquid organic fertilizer as described in any one of claims 5 to 8.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the intelligent monitoring method for trenching and injecting liquid organic fertilizer as described in any one of claims 5 to 8.

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