A double material layered application and ploughing linkage device and method for saline-alkali vegetable field

Abstract

The application relates to agricultural machinery and precision application technology, and discloses a salt-alkali vegetable field double-material layered application and plowing linkage device and method. The device is sequentially provided with a multi-parameter soil detection assembly, a functional fertilizer first discharging end, a plowing mechanism, a salt-tolerant microbial agent second discharging end and a soil covering and pressing assembly along a traveling direction, and is provided with a displacement detection assembly and a controller. The controller binds soil conductivity, water content and temperature with a detection position, carries out spatial displacement compensation according to the longitudinal spacing of the two discharging ends and the detection assembly, the response delay of the application mechanism and the real-time speed, and respectively controls the application amounts of the functional fertilizer and the microbial agent. The functional fertilizer is applied into and mixed into a deep soil layer before plowing, the microbial agent is applied into a shallow soil layer and covered with soil after plowing, and the two materials are independently stored, metered and conveyed. The application can reduce detection and application dislocation, reduce the influence of rotary plowing and high-concentration fertilizer contact on the activity of the microbial agent, and realize zoned, metered, layered and timed application.

Description

Technical Field

[0001] This invention relates to the fields of agricultural machinery, in-situ soil salinity sensing, and precision application of agricultural inputs. Specifically, it relates to a linkage device and method that can complete soil salinity status detection, variable application of functional fertilizers, tillage and mixing, and shallow application of salt-tolerant microbial agents in a single operation. Background Technology

[0002] In intensive vegetable production, factors such as long-term high-intensity fertilization, insufficient irrigation and salt removal, and high multiple cropping index can easily lead to the accumulation of soluble salts in the topsoil, manifesting as increased soil electrical conductivity, degraded aggregate structure, decreased root vitality, and reduced nutrient utilization efficiency. This type of secondary salinization often exhibits significant spatial heterogeneity in greenhouse vegetable fields, with considerable differences in salinity and water content at different locations within the same greenhouse.

[0003] Functional fertilizers containing humic acid, biochar, stable organic matter, or low-salt mineral components can participate in salt regulation through adsorption, ion exchange, slow release, and improvement of soil structure. Salt-tolerant microbial agents can improve soil microecology through organic acids, extracellular polysaccharides, growth-promoting metabolites, and rhizosphere colonization. These two types of inputs are complementary, but their suitable application conditions differ: functional fertilizers usually need to be thoroughly mixed with deeper tillage layers, while live microbial agents are more suitable for application into shallow soils with suitable temperature and humidity after rotary tillage disturbance, and should avoid direct contact with high-concentration fertilizers during storage, transportation, or discharge.

[0004] Existing variable displacement fertilization systems typically adjust the application rate of a single material based on a prescription chart or onboard sensors. When the soil sensor is positioned in front of the discharge end, there is a geometric gap between the sensor detection position and the actual material landing point; furthermore, there are response delays in the discharge motor, screw conveyor, pump, and pipelines. If the controller changes the discharge rate immediately after receiving the detection value, the soil unit corresponding to the detection value and the actual receiving soil unit are prone to longitudinal misalignment, and the degree of misalignment changes with the operating speed.

[0005] On the other hand, in-situ soil electrical conductivity is affected not only by soluble salts, but also by soil moisture content, temperature, texture, and probe contact conditions. Directly determining the application rate based solely on a single, uncorrected conductivity reading can easily lead to misjudgments in areas with significant differences in moisture levels.

[0006] In addition, placing functional fertilizers and microbial agents together in the same silo, the same conveying route, or applying them together before rotary tillage may reduce the activity of the microbial agents under high osmotic pressure, mechanical shearing, and disturbance from rotary tillage blades; applying the two types of materials at the same depth and at the same time also makes it difficult to achieve both deep soil improvement and shallow colonization.

[0007] Therefore, there is a need for a coordinated operation device and method that uses the same soil location data as a basis, can correct for spatial misalignment between detection and application, and can separately meter, trigger, and apply functional fertilizers and salt-tolerant microbial agents in layers. Summary of the Invention

[0008] The purpose of this invention is to solve the problems in the prior art, such as the inconsistency between soil detection location and material landing point, the interference of moisture and temperature on single conductivity readings, the mutual influence between functional fertilizers and live bacteria agents when applied in the same path, and the difficulty in achieving different application layers and application sequences for two types of materials in the same path. To achieve the above objectives, the present invention provides a dual-material layered application and tillage linkage device for saline-alkali vegetable fields, including a frame, a walking drive mechanism, a multi-parameter soil detection component, a displacement detection component, a controller, a first metering application mechanism, a tillage mechanism, a second metering application mechanism, a shallow ditch opener, and a soil covering and compaction component.

[0009] Along the direction of travel of the device, the multi-parameter soil testing component, the first discharge end, the tillage mechanism, the second discharge end, and the soil covering and compaction component are arranged in sequence. The first metering and application mechanism is used to apply functional fertilizers, and the second metering and application mechanism is used to apply salt-tolerant microbial agents; both have mutually isolated hoppers, metering components, and conveying passages.

[0010] The controller binds the soil conductivity, moisture content, and temperature obtained by the multi-parameter soil detection component with the cumulative travel displacement during detection to form a position data unit. Based on the longitudinal geometric distance between the first and second discharge ends and the detection component, and combined with the execution response time and material conveying time of the two application mechanisms, the controller calculates two trigger displacements for the same position data unit.

[0011] When the device moves to the first trigger displacement, the first metering and application mechanism releases the functional fertilizer required for the corresponding soil unit in front of the tillage mechanism, and the tillage mechanism then mixes the functional fertilizer into the first target soil layer; when the device continues to move to the second trigger displacement, the second metering and application mechanism releases the salt-tolerant microbial agent required for the corresponding soil unit behind the tillage mechanism, the shallow trencher allows the agent to enter the second target soil layer with a smaller average depth, and the soil covering and compaction component then seals the trench.

[0012] The multi-parameter soil detection component preferably includes a conductivity sensor, a moisture content sensor, a temperature sensor, a contour-following depth limiting mechanism, a depth limiting wheel, an elastic loading component, and a soil scraping component. The displacement detection component preferably includes a non-driven distance measuring wheel and a displacement encoder, and can be combined with a velocity sensor and an attitude sensor to correct for displacement errors caused by slippage, jumping, or slope.

[0013] The first metering and application mechanism preferably adopts a weighing silo and a closed-loop metering structure with a screw conveyor, and is equipped with arch-breaking, stirring, and blockage-clearing functions. The second metering and application mechanism can adopt a low-shear metering pump structure for liquid bacterial agents, or a replaceable micro-discharge module for solid bacterial agents.

[0014] The controller adjusts the electrical conductivity based on temperature, moisture content, and soil texture, and calls up the functional fertilizer application rate mapping relationship and the microbial agent application rate mapping relationship respectively. When the temperature or moisture content does not meet the conditions for microbial agent application, the controller pauses the microbial application action of the corresponding data unit and marks it as pending, without affecting the functional fertilizer and tillage operations.

[0015] The present invention also provides a method for performing coordinated operations using the above-mentioned device, including parameter setting, sampling by travel distance, soil parameter correction, establishment of location data unit, independent calculation of dual material target quantities, calculation of two trigger displacements, fertilization before tillage, tillage mixing, application of bacteria after tillage, shallow soil covering and compaction, and recording of operation data. This invention uses position data units as the control object and simultaneously considers geometric spacing and execution response delay, so that the front-end detection data can be respectively mapped to the same soil unit passed by the two rear discharge ends, reducing the application misalignment caused by changes in machine speed and conveying lag.

[0016] Functional fertilizers and salt-tolerant microbial agents are stored in separate silos, metered separately, and transported separately, which can reduce the premature contact between the two types of materials at high concentrations. Functional fertilizers are applied before rotary tillage and mixed into deeper soil layers, while microbial agents are applied shallowly after rotary tillage and covered with soil, which can reduce the adverse effects of rotary tillage blades, soil throwing, and deep burial on live bacteria.

[0017] By combining soil electrical conductivity, moisture content, and temperature, along with soil geological conditions, the interference of a single electrical conductivity reading on application decisions can be reduced; and by interlocking the temperature and humidity of the inoculant, ineffective application of inoculants under obviously unsuitable soil conditions can be avoided.

[0018] The device completes detection, fertilization, tillage, inoculum application, and soil covering and compaction in a single pass, which can reduce repeated field visits and manual reordering operations, and is suitable for improving saline-alkali vegetable fields before vegetable planting, during crop rotation, or during fallow periods. Attached Figure Description

[0019] Figure 1 This is a schematic side view of the overall structure of the device of the present invention; Figure 2 This is a schematic diagram of the control system and closed-loop feedback connection; Figure 3 A schematic diagram of a multi-parameter soil detection component and a contour-following depth-limiting structure; Figure 4 This is a cross-sectional structural diagram of the first metering application mechanism; Figure 5 A schematic diagram of the second metering and application mechanism for liquid bacterial agents and the shallow burial structure. Figure 6 A schematic diagram illustrating the spatial displacement compensation between the detection location and the two discharge ends; Figure 7 A schematic diagram illustrating the layered application of functional fertilizers and salt-tolerant microbial agents; Figure 8 This is a flowchart illustrating the linkage operation method of the present invention; Figure 9 This is a top view of the overall structure of the device of the present invention; Figure 10 This is a schematic diagram of the replaceable metering module for solid microbial agents.

[0020] Reference numerals: 10-Frame; 12-Foldable side beam; 20-Walking drive mechanism; 21-Track; 22-Non-drive ranging wheel; 23-Displacement encoder; 24-Speed ​​sensor; 25-Attitude sensor; 30-Multi-parameter soil detection component; 31-Soil conductivity sensor; 32-Moisture content sensor; 33-Temperature sensor; 34-Probe; 35-Contour-following depth-limiting mechanism; 36-Depth-limiting wheel; 37-Elastic loading component; 38-Soil scraper; 40-Controller; 41-Position data queue; 42-Human-machine interface unit; 43-Data recording and communication unit; 50-First metering and application mechanism; 5 1-First hopper; 52-Arch-breaking mixer; 53-Screw conveyor; 54-First drive motor; 55-Weighing sensor; 56-First discharge end; 57-Distributor; 58-Stall detector; 60-Tilling mechanism; 61-Rotary tillage blade shaft; 62-Rotary tillage blade assembly; 63-Tilling depth adjustment mechanism; 64-Soil retaining cover; 70-Second metering and application mechanism; 71-Inoculant container; 72-Low shear metering pump; 73-Flow sensor; 74-Pressure sensor; 75-Second discharge end; 76-Shallow furrow opener; 77-Soil covering and compaction assembly; 78-Recirculating mixing pipe; 79-Solid inoculant metering module. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are used to illustrate the structural relationships and control processes of the present invention and are not intended to limit the scope of protection; without departing from the overall concept of the present invention, the specific form, size and driving method of each component can be adjusted according to the work object.

[0022] In this application, "functional fertilizer" refers to a solid input primarily intended for salt regulation, slow nutrient release, structural improvement, or soil fertility enhancement, and may include one or more of humic acid, biochar, stable organic matter, mineral conditioning materials, and low-salt nutrient components; "salt-tolerant microbial agent" refers to a liquid suspension or solid carrier preparation containing surviving salt-tolerant functional microorganisms; "two-material isolation" means that the two types of materials do not share the same silo, metering chamber, and main conveying path before entering the soil; "longitudinal spacing" refers to the distance from the detection reference point measured along the direction of device travel to the corresponding discharge reference point.

[0023] This device is preferably used for land preparation and improvement operations before vegetable transplanting, during crop rotation, or during fallow periods. The first target soil layer can correspond to the predetermined topsoil layer or a deeper root layer, and the second target soil layer can correspond to the shallow moist soil layer where the root system preferentially expands after transplanting.

[0024] Example 1: Overall Structure of the Device like Figure 1 and Figure 9 As shown, the frame 10 is equipped with a walking drive mechanism 20, a multi-parameter soil detection component 30, a controller 40, a first metering and application mechanism 50, a tillage mechanism 60, a second metering and application mechanism 70, and a soil covering and compaction component 77. The walking drive mechanism 20 can adopt a self-propelled track, a wheeled chassis, or a tractor-connected towing structure; in greenhouse vegetable fields, differential tracks 21 are preferred to reduce the turning radius and improve the passability on soft ground.

[0025] A multi-parameter soil detection component 30 is located at the front of the frame 10, with its detection reference point positioned before the first discharge end 56 and the second discharge end 75. A first hopper 51 is located at the front of the frame 10, and the first discharge end 56 is located in front of the tillage mechanism 60. The tillage mechanism 60 includes a rotary tiller shaft 61, a rotary tiller blade assembly 62, a tillage depth adjustment mechanism 63, and a soil retaining cover 64.

[0026] The second metering and application mechanism 70 is located behind the tillage mechanism 60, and the second discharge end 75 is adjacent to the shallow furrow opener 76. The soil covering and compaction assembly 77 is located behind the second discharge end 75 and can be a single compaction wheel, multiple narrow wheels arranged along the working width, a drag plate, or a set of soil covering wheels. The second discharge end 75 is preferably arranged behind or inside the shallow furrow opener 76 so that the inoculant immediately enters the bottom or wall of the furrow after it is formed and is sealed by the soil covering and compaction assembly 77.

[0027] The rear edge of the retaining cover 64 extends to the front of the second discharge end 75 to prevent soil clods thrown by the rotary tiller blade assembly 62 from directly impacting the second discharge end 75. The second discharge end 75 and the conveying pipeline can be connected to the frame 10 through a vibration damping bracket to reduce the impact of rotary tillage vibration on the flow sensor 73 and the pipeline joint.

[0028] like Figure 9 As shown, the frame 10 can be equipped with foldable side beams 12, allowing the first discharge end 56, the second discharge end 75, the shallow trencher 76, and the soil covering and compaction assembly 77 to be folded or disassembled in the same working unit. The working width can be set to 0.8–2.0 m according to the width of the greenhouse beds, and can also be expanded according to the needs of open field operations.

[0029] Example 2: Multi-parameter detection and salinity index correction like Figure 3As shown, the probe 34 is mounted on the frame 10 via a contour-following depth-limiting mechanism 35. The contour-following depth-limiting mechanism 35 can adopt a parallel four-bar structure, so that the probe 34 basically maintains its soil-penetrating posture when the ground surface is uneven. The depth-limiting wheel 36 rolls in contact with the ground surface and limits the detection depth of the probe 34. The elastic loading element 37 adopts a compression spring, a gas spring, or an adjustable hydraulic component to apply a stable downward contact force to the probe 34.

[0030] The soil conductivity sensor 31, moisture content sensor 32, and temperature sensor 33 are located in the same or adjacent detection sections of the probe 34, so that the three parameters correspond to essentially the same soil volume. The scraper 38 can be an elastic scraper blade or a scraper sleeve. The probe 34 moves relative to the scraper 38 during contour lifting or field head lifting, thereby removing soil adhering to the electrode and housing surface.

[0031] The controller 40 preferably samples based on the distance traveled rather than at fixed time intervals. The non-driven ranging wheel 22 triggers a sampling once every accumulated travel Delta x, which can be set to 0.05–0.50 m. Thus, the longitudinal length of each position data unit remains relatively stable when the operating speed changes.

[0032] The soil electrical conductivity EC_T measured at temperature T can be converted to a reference temperature of 25℃ using the following formula: EC25 = EC_T / [1 + alpha × (T - 25)] In the formula, alpha is the temperature correction coefficient, which can be determined according to the sensor type or soil sample calibration. Subsequently, the controller 40 combines EC25 and soil moisture content theta to form the salinity index I_s based on the calibration coefficient corresponding to the soil texture zeta. I_s = a0,zeta + a1,zeta × EC25 + a2,zeta × theta + a3,zeta × EC25× theta The above model is only one feasible form; piecewise linear functions, two-dimensional lookup tables, or validated regression models can also be used. Multiple soil samples with different salinity and moisture content gradients can be prepared for sandy loam, loam, and clay loam, respectively. Using the conductivity of the standard extract or the total soluble salt content as reference values, calibration coefficients corresponding to different soil textures can be obtained.

[0033] The controller 40 determines the application rate of functional fertilizer per unit area q_F based on the salinity index I_s, the target salinity I_tar, the crop type, and the pre-calibrated first application rate mapping relationship F_zeta; and determines the application rate of basic microbial agent q_B based on the second application rate mapping relationship B_zeta. The two mapping relationships are independent of each other to avoid mechanically interpreting high-salinity areas as both types of materials being increased in the same proportion.

[0034] The suitability coefficient eta(T,theta) of the microbial agent is determined by the suitable temperature and moisture content range of the microbial agent product. In one example, the suitability coefficient is 1 within the suitable range, 0-1 within the buffer zone, and 0 within the prohibited application range. The controller 40 multiplies the basic microbial agent application amount q_B with eta(T,theta) to obtain the actual target application amount.

[0035] Example 3: Spatial Displacement Compensation and Position Queuing like Figure 6 As shown, taking the detection reference point of the multi-parameter soil detection component 30 as a reference, the longitudinal distance between the first discharge end 56 and the detection reference point is L1, and the longitudinal distance between the second discharge end 75 and the detection reference point is L2. For the k-th position data unit, the controller 40 records the cumulative travel displacement s_k, salinity index I_s,k, target application amount q_F,k, and q_B,k during sampling, and writes them into the position data queue 41.

[0036] The first metering and application mechanism 50 experiences a total response delay of tau_1 from receiving the control command to the arrival of the functional fertilizer at the first discharge end 56; the second metering and application mechanism 70 experiences a total response delay of tau_2 from receiving the control command to the arrival of the microbial agent at the second discharge end 75. The total response delay includes the motor or pump start-up time, the time for the metering components to establish a stable flow rate, and the propagation time of the material in the conveyor or pipeline.

[0037] Within a time window where the travel speed is approximately stable, the two trigger displacements can be determined by the following formulas: D1 = L1 - v1 × tau_1 D2 = L2 - v2 × tau_2 In the formula, v1 and v2 are the average travel speeds before the corresponding trigger. When the current cumulative travel displacement s satisfies s-s_k not less than D1, the controller 40 sends a control command to the first metering and application mechanism 50 in advance, so that the functional fertilizer reaches the first discharge end 56 after passing tau_1. At this time, the first discharge end 56 is basically located above the kth soil unit; the second metering and application mechanism 70 is triggered according to the same principle when s-s_k is not less than D2.

[0038] When the travel speed changes beyond a preset threshold, the controller 40 re-estimates v1 and v2 based on the most recent time window or displacement window, and updates D1 and D2 of the position data units that have not yet been triggered. If L1 or L2 is less than the product of the corresponding speed and response delay, it indicates that there is insufficient advance control distance at the current speed. The controller 40 may reduce the travel speed, prompt adjustment of the pipeline length, or incorporate the application action of the soil unit into the adjacent unit.

[0039] Response delay can be obtained through step calibration. A step command from zero flow to the target flow is applied to the metering device, and the response curve of the weighing or flow sensor is recorded. The moment when the actual flow reaches 50% of the stable target value, or the moment of the center of mass of the response curve, is taken as tau_i. During operation, tau_i can also be slightly updated with limited amplitude using the actual discharge start time.

[0040] In an example used solely to illustrate control conversions, the work width W is 1.20 m, the sampling distance Delta x is 0.20 m, L1 is 0.75 m, L2 is 1.55 m, tau_1 is 0.45 s, tau_2 is 0.25 s, and the travel speed is 0.50 m / s. Therefore, D1 is 0.525 m and D2 is 1.425 m. If the q_F of a certain location data unit is 750 kg / ha and the liquid microbial agent q_B is 150 L / ha, then the target mass of the functional fertilizer for that unit is 18 g, and the target volume of the microbial agent is 3.6 mL. These values ​​are for illustrative purposes only and do not constitute a limitation on agronomic dosages.

[0041] Example 4: Independent metering and stratified application of two materials like Figure 4 As shown, the first hopper 51 is mounted on the frame 10 via multiple weighing sensors 55. The arch-breaking agitator 52 operates intermittently or continuously at low speed, and the screw conveyor 53 is driven by the first drive motor 54. The controller 40 controls the speed and running time of the first drive motor 54 according to the target mass, and performs closed-loop correction based on the mass decrease of the first hopper 51 within the corresponding time period.

[0042] The first drive motor 54 may be equipped with an encoder and a stall detector 58. If the motor current or torque continues to be higher than the threshold for a preset time, the controller 40 stops forward rotation and performs a short-term reverse rotation and agitator enhancement action; if the abnormality persists after clearing the blockage, the first metering application mechanism 50 is stopped and manual intervention is prompted.

[0043] The first discharge end 56 can form multiple discharge ports spaced along the working width through the distributor 57. The discharge ports are located in front of the rotary tiller assembly 62. The functional fertilizer first enters the surface or the shallow trench formed by the trenching component, and is then mixed into the first target soil layer of 8-25 cm by the rotary tiller assembly 62.

[0044] like Figure 5 As shown, when the salt-tolerant microbial agent is a liquid preparation, the agent container 71 is connected to the low-shear metering pump 72. A peristaltic pump is preferred to prevent direct contact between the bacterial solution and the moving parts of the pump; a low-pressure diaphragm pump can also be used. A flow sensor 73 is used for closed-loop metering, and a pressure sensor 74 is used to identify pipe blockage, nozzle closure, or pipe detachment.

[0045] The reflux stirring tube 78 circulates the bacterial solution at a low speed during the non-inoculation or low flow stage to reduce sedimentation; just before the second discharge end 75 is triggered, the reflux flow rate can be stopped or reduced to stabilize the metering pump output. The bacterial agent container 71 is preferably equipped with a light-shielding layer, a heat-insulating layer, and a temperature detection element.

[0046] The second discharge end 75 can be a drip nozzle, a low-pressure fan-shaped nozzle, or an in-ditch injection pipe. The shallow furrow opener 76 forms a shallow furrow of 2-8 cm in the loosened soil after tilling. The second discharge end 75 applies the microbial agent into the furrow. The soil covering and compaction component 77 then covers the soil and lightly compacts it, so that the microbial agent is in the second target soil layer that is protected from light, relatively moist, and has minimal mechanical disturbance.

[0047] The distance from the first discharge end 56 to the rotary tiller blade assembly 62 can be 0.10–0.40 m, and the distance from the second discharge end 75 to the rotary tiller blade assembly 62 can be 0.15–0.60 m. The rotary tillage depth adjustment mechanism 63 ensures that the average depth of the first target soil layer is greater than that of the second target soil layer.

[0048] When the soil temperature or moisture content exceeds the threshold for prohibiting the application of the microbial agent, the controller 40 will not trigger the second metering application mechanism 70. Simultaneously, it retains the salinity index, estimated microbial agent dosage, and pending treatment mark from the location data unit for subsequent supplementary application after irrigation or improved temperature conditions. This mark is only for operational management and does not require this device to be linked with external irrigation equipment.

[0049] Example 5: Collaborative Operation Method like Figure 8 As shown, before the operation, the soil texture, crop type, target salinity, operation width W, sampling distance Delta x, tillage depth, first target soil layer depth, second target soil layer depth, L1, L2, tau_1 and tau_2 are entered in the controller 40, and the liquid inoculant module or solid inoculant module is selected.

[0050] After the device enters the working row, the non-drive ranging wheel 22 and the displacement encoder 23 provide the cumulative travel displacement. For each cumulative Delta x, the multi-parameter soil detection component 30 collects EC_T, theta, and T; the controller 40 performs temperature and moisture content correction, calculates the salinity index I_s, and obtains q_F and q_B based on two sets of mapping relationships.

[0051] The controller 40 combines s_k, I_s, q_F, q_B, inoculant suitability coefficient, and crop parameters into the k-th location data unit. Based on W and Delta x, the application rate per unit area is converted into the target mass or target volume of this location data unit and written into the location data queue 41.

[0052] The device continues to move forward, and when it reaches the first trigger displacement of the k-th position data unit, the first metering and application mechanism 50 begins to discharge material; after the actual mass fed back by the weighing sensor 55 reaches the target mass, it stops or switches to the target flow rate of the next unit. The functional fertilizer falls in front of the rotary tiller set 62 and mixes into the first target soil layer within the same stroke.

[0053] When the second trigger displacement of the kth position data unit is reached, the controller 40 first determines whether the suitability coefficient of the microbial agent is greater than zero; if it is greater than zero, the second metering and application mechanism 70 applies the microbial agent according to the target amount, and the shallow trencher 76 and the soil covering and compaction component 77 complete the shallow burial application; if it is equal to zero, the application of microbial agent is skipped and the pending treatment mark is recorded.

[0054] The data recording and communication unit 43 records the original soil parameters, corrected salinity index, target amount, actual amount, travel speed, trigger displacement, and fault status for each location data unit, which can be used to generate an operation quality map or a subsequent calibration dataset. To avoid unverified data directly changing the application rules, the update of the mapping relationship is preferably written to the controller after manual review or experimental verification after the operation is completed.

[0055] Example 6: Solid Microbial Agent Module like Figure 10 As shown, when the salt-tolerant microbial agent is a solid carrier formulation, the agent container 71, low-shear metering pump 72, and liquid pipeline of the liquid agent can be removed, and a solid agent metering module 79 can be installed. The solid agent metering module 79 includes a sealed second hopper, a micro discharge roller or a small screw feeder, a second drive motor, and a mass flow detection element.

[0056] The solid microbial agent is delivered to the second discharge end 75 via an independent hose and applied to the second target soil layer behind the tillage mechanism 60. The controller 40 performs area conversion and closed-loop control based on the target application rate of the solid microbial agent expressed in kg / ha. The spatial displacement compensation logic is the same as that for the liquid microbial agent, requiring only recalibration of tau_2.

[0057] To reduce the caking of solid bacterial agents due to moisture absorption, the second hopper may be equipped with a replaceable desiccant chamber, a sealing cap, and a low-speed arch-breaking component; the desiccant chamber does not directly mix with the bacterial agent.

[0058] Calibration, maintenance and other implementation methods After the device is used for the first time or after the material is changed, the sensor calibration, the discharge rate per unit speed calibration, the response delay calibration, and the application depth calibration should be performed respectively. Changes in the bulk density, moisture content, and particle size of functional fertilizers may affect the screw conveying capacity; the viscosity, temperature, and pipeline length of liquid microbial agents may affect the pumping delay. Therefore, recalibration should be performed when changing material batches or altering major structural parameters.

[0059] After the operation is completed, the first metering and application unit 50 should remove any residual solid material; the liquid bacterial agent pipeline can be flushed under low pressure with a cleaning solution compatible with the bacterial agent, and the residual liquid should be drained. Components involving live bacteria should be protected from prolonged exposure to high temperatures.

[0060] The controller 40 can be equipped with a human-machine interaction unit 42, a data recording and communication unit 43, and a UWB, GNSS or shed row identification module to record the coordinates or row numbers of the work area; however, the basic control of spatial displacement compensation can be achieved solely by the non-drive distance measuring wheel 22 and the displacement encoder 23.

[0061] Without changing the overall concept of detection location binding, independent metering of dual materials, fertilization before tillage, application of bacteria after tillage, and two trigger displacement compensations, the tillage mechanism 60 can be replaced by a deep loosening and mixing mechanism, a vertical rotary tillage mechanism, or other soil operation mechanisms that can mix the first material into a deeper soil layer; the soil covering and compaction component 77 can be replaced by a soil covering plate or a toothed soil covering device.

[0062] The above embodiments are merely preferred embodiments of the present invention. Equivalent substitutions, combinations, or parameter adjustments made by those skilled in the art based on the disclosure of the present invention shall all fall within the protection scope defined by the claims.

Claims

1. A dual-material layered application and tillage linkage device for saline-alkali vegetable fields, comprising a frame (10), a walking drive mechanism (20), a multi-parameter soil detection component (30), a first metering application mechanism (50), a tillage mechanism (60), a second metering application mechanism (70), a displacement detection component, and a controller (40), characterized in that: Along the direction of travel of the device, the multi-parameter soil detection component (30), the first discharge end (56) of the first metering application mechanism (50), the tillage mechanism (60), the second discharge end (75) of the second metering application mechanism (70), and the soil covering and compaction component (77) are arranged in sequence; the multi-parameter soil detection component (30) is used to obtain the soil conductivity, moisture content, and temperature of the target tillage layer, and the displacement detection component is used to obtain the cumulative travel displacement of the frame (10) relative to the ground; the first metering application mechanism (50) and the second metering application mechanism (70) have mutually isolated storage spaces, metering components, and conveying passages, respectively used for applying functional fertilizers and salt-tolerant microbial agents; the controller (40) is configured to: associate the soil conductivity, moisture content, and temperature obtained each time with the cumulative travel displacement at the time of acquisition to form a position data unit; based on the first discharge end (56) and the second discharge end (75), the soil conductivity, moisture content, and temperature obtained each time are measured with the cumulative travel displacement at the time of acquisition to form a position data unit; based on the first discharge end (56) and the second discharge end (75), the soil conductivity, moisture content, and temperature ... first discharge end (56) and the second discharge end (75) of the tillage mechanism (60) are measured with the first discharge end (56) and the second discharge end (75) of the tillage mechanism (60) The material end (75) determines the first trigger displacement and the second trigger displacement of each position data unit based on the longitudinal spacing of the multi-parameter soil detection component (30), the response delay of the corresponding metering and application mechanism, and the real-time travel speed. When the travel displacement of the device relative to the acquisition position of the position data unit reaches the first trigger displacement, the first metering and application mechanism (50) is controlled to discharge material according to the first target application amount. When the second trigger displacement is reached, the second metering and application mechanism (70) is controlled to discharge material according to the second target application amount. The first discharge end (56) is located in front of the tillage mechanism (60), so that the functional fertilizer is mixed into the first target soil layer through the tillage mechanism (60). The second discharge end (75) is located behind the tillage mechanism (60) and cooperates with the shallow furrow opener (76) and the soil covering and compaction component (77) so that the salt-tolerant microbial agent is applied to the second target soil layer with an average depth less than the average depth of the first target soil layer.

2. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The multi-parameter soil detection component (30) includes a soil conductivity sensor (31), a moisture content sensor (32), and a temperature sensor (33) mounted on the probe (34); the probe (34) is connected to the frame (10) through a contour-guided depth limiting mechanism (35), which includes a depth limiting wheel (36) and an elastic loading member (37) that applies a downward contact force to the probe (34). A scraper (38) is provided on the outside of the probe (34) to remove the attached soil when the probe is raised or lowered or moves relative to it.

3. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The first trigger displacement D1 and the second trigger displacement D2 are determined according to Di=Li-v_i×tau_i, where i is 1 or 2, Li is the longitudinal distance between the corresponding discharge end and the multi-parameter soil detection component (30) along the direction of travel, tau_i is the total response delay of the corresponding metering and application mechanism from receiving the control command to the material reaching the corresponding discharge end, and v_i is the average travel speed within the preset time window or preset displacement window before triggering; the controller (40) updates Di when the travel speed changes beyond the preset threshold, and reduces the operating speed or outputs an abnormal parameter prompt when Li is not greater than v_i×tau_i.

4. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The first metering and application mechanism (50) includes a first hopper (51), an arch-breaking agitator (52), a screw conveyor (53), a first drive motor (54), a weighing sensor (55), a first discharge end (56), and a distributor (57) arranged along the working width; the first hopper (51) is supported on the weighing sensor (55), and the controller (40) adjusts the first drive motor (54) according to the deviation between the mass reduction of the first hopper (51) and the first target application amount, and judges the stall according to the current or torque of the first drive motor (54), and performs at least one of the following unblocking actions when stalled: stopping, reversing, and re-forwarding.

5. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The second metering and application mechanism (70) is a liquid microbial agent application mechanism, including a microbial agent container (71), a low-shear metering pump (72), a flow sensor (73), a pressure sensor (74), an independent delivery pipeline, and a second discharge end (75); the low-shear metering pump (72) is a peristaltic pump or a diaphragm pump, the microbial agent container (71) is equipped with a low-speed reflux stirring tube (78) and a temperature detection element, the controller (40) adjusts the low-shear metering pump (72) according to the feedback of the flow sensor (73), and performs pump stop or pipeline flushing prompts according to the pressure abnormality of the pressure sensor (74).

6. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The second metering and application mechanism (70) includes a replaceable solid microbial agent metering module (79), which includes a second hopper, a micro discharge roller or a small spiral discharger, a second drive motor and a mass flow detection element, and is connected to the second discharge end (75) through an independent conveying channel.

7. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The first discharge end (56) is located 0.10 to 0.40 m in front of the tillage mechanism (60), and the second discharge end (75) is located 0.15 to 0.60 m behind the tillage mechanism (60); the average depth of the first target soil layer is 8 to 25 cm, and the average depth of the second target soil layer is 2 to 8 cm; a retaining cover (64) is provided between the tillage mechanism (60) and the second discharge end (75) to reduce the impact of tillage and soil throwing on the second discharge end (75) and the microbial agent delivery pipeline.

8. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The controller (40) corrects the soil conductivity based on soil temperature, moisture content and pre-recorded soil texture, and determines the first target application amount and the second target application amount through mutually independent first application amount mapping relationship and second application amount mapping relationship; when the soil temperature or moisture content exceeds the prohibited application threshold of the microbial agent, the controller (40) sets the second target application amount of the corresponding location data unit to zero and records the pending processing mark; when the soil temperature or moisture content is in the buffer zone between the suitable range of the microbial agent and the prohibited application threshold, the second target application amount is reduced according to the microbial agent suitability coefficient.

9. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The controller (40) forms position data units at a preset sampling distance of 0.05 to 0.50 m. The working area corresponding to each position data unit is W×Delta x, where W is the working width and Delta x is the sampling distance. When the first target application amount is expressed in kg / ha, the functional fertilizer target mass of the corresponding position data unit is M_F=q_F×W×Delta x / 10000. When the second target application amount is expressed in kg / ha or L / ha, the microbial agent target mass or target volume of the corresponding position data unit is determined according to the same area conversion relationship.

10. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The displacement detection component includes a non-driven measuring wheel (22) that rolls in contact with the ground and a displacement encoder (23) connected thereto, and includes a speed sensor (24) for acquiring the travel speed and an attitude sensor (25) for acquiring the frame attitude; the controller (40) performs slip or jump correction based on the displacement of the non-driven measuring wheel (22), the speed of the walking drive mechanism (20) and the frame attitude.

11. The dual-material layered application and tillage linkage device for saline-alkali vegetable fields according to claim 1, characterized in that, The frame (10) includes a foldable side beam (12), and the first discharge end (56), the second discharge end (75), the shallow trencher (76) and the soil covering and compaction assembly (77) are modularly arranged along the working width; the walking drive mechanism (20) is a tracked walking mechanism with differential steering, and the tillage mechanism (60) is provided with a tillage depth adjustment mechanism (63).

12. A method for combined application of two materials in a layered manner and tillage in saline-alkali vegetable fields using the apparatus described in any one of claims 1 to 11, characterized in that, Includes the following steps: S1, Input the working width, soil texture, target salinity, longitudinal spacing between the first and second discharge ends relative to the multi-parameter soil detection components, and response delays of the first and second metering and application mechanisms; S2, During the device's movement, acquire the soil conductivity, moisture content, and temperature of the target topsoil layer at a preset sampling distance, and bind the soil parameters with the cumulative movement displacement at the time of acquisition to form a position data unit; S3, Correct the soil conductivity for temperature and moisture content, determine the target application amount of functional fertilizer and salt-tolerant microbial agent for each position data unit, and control the corresponding parameters accordingly. S4. Write the control data into the position queue; S5. Determine the first and second trigger displacements based on the longitudinal spacing, response delay, and real-time travel speed; S6. When the first trigger displacement is reached, apply the functional fertilizer in a closed-loop metering manner to the front of the tillage mechanism, and have the tillage mechanism mix it into the first target soil layer; S7. When the second trigger displacement is reached and the soil temperature and moisture content meet the conditions for microbial agent application, apply the salt-tolerant microbial agent in a closed-loop metering manner to the second target soil layer behind the tillage mechanism, and complete the covering and compaction; S8. Record the soil parameters, target application amount, actual application amount, and operation parameters corresponding to the position data unit.

13. The method according to claim 12, characterized in that, In step S3, the soil electrical conductivity EC_T measured at temperature T is converted to the soil electrical conductivity EC25 at 25℃ according to EC25=EC_T / [1+alpha×(T-25)]. Based on the calibration coefficient corresponding to the soil texture zeta, the salinity index I_s is calculated according to I_s=a_0,zeta+a_1,zeta×EC25+a_2,zeta×theta+a_3,zeta×EC25×theta, where theta is the soil moisture content. The calibration coefficient is obtained by calibrating soil samples with different salinity gradients and moisture content gradients.

14. The method according to claim 12, characterized in that, In step S3, the first application rate mapping relationship F_zeta and the second application rate mapping relationship B_zeta, which were calibrated by pot experiments or field plot experiments, are used to determine the application rate of functional fertilizer q_F and the basic microbial agent application rate q_B per unit area based on the salinity index, target salinity and crop type, respectively; the actual target application rate of microbial agent is the product of q_B and the microbial agent suitability coefficient eta(T,theta).

15. The method according to claim 12, characterized in that, Before operation, step control commands are applied to the first metering and application mechanism and the second metering and application mechanism respectively. The response delay tau_1 and tau_2 are obtained by taking the moment when the actual material flow rate reaches 50% of the stable target flow rate or the moment when the mass center of the material response curve is used as the response delay calibration point. During operation, the response delay is updated with a limit based on the start time and the stable time of the actual material discharge feedback.

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