阅读说明：本技术 一种基于温度补偿的变量施肥方法及系统 (Variable rate fertilization method and system based on temperature compensation ) 是由 梅军辉 张吉 郭向明 于 2021-09-16 设计创作，主要内容包括：本发明涉及农业机械自动化技术领域,提供一种基于温度补偿的变量施肥方法及系统,其方法包括：获取土壤的初始电导率和耕深层的时空分布差异；当所述初始电导率与基准温度下的电导率不匹配时,将所述初始电导率校准到所述基准温度下的电导率；根据所述耕深层的时空分布差异和所述基准温度下的电导率,确定施肥量,以进行变量施肥。通过温度补偿将电导率校准到基准温度下的电导率,并根据电导率与耕深层确定施肥量施肥,并对施肥量进行补偿校准,从而控制下肥机构进行精确变量施肥,提高变量施肥准确性和水稻产量。(The invention relates to the technical field of agricultural machinery automation, and provides a variable fertilization method and a variable fertilization system based on temperature compensation, wherein the method comprises the following steps: acquiring the difference between the initial conductivity of the soil and the space-time distribution of a ploughing depth layer; calibrating the initial conductivity to a conductivity at a reference temperature when the initial conductivity does not match the conductivity at the reference temperature; and determining the fertilizing amount according to the space-time distribution difference of the deep ploughing layer and the conductivity at the reference temperature so as to perform variable fertilization. The conductivity is calibrated to the conductivity at the reference temperature through temperature compensation, the fertilizing amount is determined according to the conductivity and the ploughing depth layer for fertilizing, and the fertilizing amount is compensated and calibrated, so that the fertilizing mechanism is controlled to perform accurate variable fertilizing, and the variable fertilizing accuracy and the rice yield are improved.)

1. A variable fertilization method based on temperature compensation is characterized by comprising the following steps:

acquiring the difference between the initial conductivity of the soil and the space-time distribution of a ploughing depth layer;

calibrating the initial conductivity to a conductivity at a reference temperature when the initial conductivity does not match the conductivity at the reference temperature;

and determining the fertilizing amount according to the space-time distribution difference of the deep ploughing layer and the conductivity at the reference temperature so as to perform variable fertilization.

2. The variable fertilization method based on temperature compensation according to claim 1, wherein the obtaining of the difference of the space-time distribution of the soil at the initial conductivity and the ploughing depth layer specifically comprises:

the GNSS antenna of the transplanter is used for receiving the satellite signal and outputting the positioning information of the transplanter to the vehicle-mounted computer, so that the difference between the initial conductivity of the soil and the space-time distribution of the ploughing depth layer is generated.

3. The temperature compensation based variable fertilizing method as claimed in claim 2, further comprising, before said calibrating the initial conductivity to the conductivity at the reference temperature when the initial conductivity does not match the conductivity at the reference temperature, the steps of:

setting a compensation coefficient for mu fertilization, wherein the determination method of the compensation coefficient specifically comprises the following steps:

the fertilizing amount of a target mu is m₀Measuring the fertilizer amount of the fertilizer mechanism to be m₁The compensation coefficient of the fertilization per mu is as follows:

the method for compensating the conductivity under the set reference temperature specifically comprises the following steps:

obtaining a relationship between the initial conductivity and the initial temperature, specifically as follows:

η＝a﹡T﹢b；

the constants a and b are measured to be linearly related under different salinity, and the method comprises the following steps: (k, c are constants):

b＝k﹡a﹢c；

the constants k and c are constant in different media, and the relationship between the initial conductivity and the initial temperature is as follows:

η＝a﹡T﹢a﹡k﹢c；

wherein η is the conductivity, T is the initial temperature, and a, b, c, k are constants.

4. The temperature compensation-based variable rate fertilization method of claim 3, wherein the determining of the fertilization amount according to the difference in the spatial-temporal distribution of the deep ploughing layer and the conductivity at the reference temperature for variable rate fertilization comprises:

setting target mu fertilizing amount, weight-losing rate of deep ploughing layers, weight-losing rate of conductivity and mu fertilizing compensation coefficient;

acquiring the conductivity and the ploughing deep layer at the reference temperature;

determining the fertilizing amount according to the deep ploughing layer, the conductivity at the reference temperature, the target mu fertilizing amount, the weight reducing rate of the deep ploughing layer, the weight reducing rate of the conductivity and the compensation coefficient of mu fertilizing;

and performing variable fertilization based on the fertilization amount.

5. The temperature compensation based variable rate fertilization method of claim 1, wherein the determining of the amount of fertilization based on the depth of field and the conductivity at the reference temperature comprises:

if the deep ploughing layer is larger than or equal to the average deep ploughing layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*(1-α)*ε；

if the ploughing depth layer is larger than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-(β+α)/2)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-β)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*ε；

wherein m is₀The fertilizing amount per mu is a target fertilizing amount per mu, alpha is the weight-losing rate of a deep ploughing layer, beta is the weight-losing rate of conductivity, and epsilon is a compensation coefficient of the fertilizing per mu.

6. A temperature compensation based variable rate fertilization system, wherein the temperature compensation based variable rate fertilization method according to any one of claims 1-5 is applied, and the method comprises the following steps:

the vehicle-mounted computer is used for acquiring the initial conductivity of the soil and the space-time distribution difference of a ploughing depth layer;

the on-board computer to calibrate the initial conductivity to a conductivity at a reference temperature when the initial conductivity does not match the conductivity at the reference temperature;

the vehicle-mounted computer is used for determining the fertilizing amount according to the space-time distribution difference of the deep ploughing layer and the conductivity at the reference temperature;

and the controller is connected with the vehicle-mounted computer and is used for controlling the fertilizer discharging device to perform variable rate fertilization according to the fertilizing amount.

7. The temperature compensation based variable fertilizing system as claimed in claim 6, further comprising:

the GNSS antenna is connected with the vehicle-mounted computer and is used for receiving satellite signals and outputting positioning information of the rice transplanter to the vehicle-mounted computer;

the conductivity sensor is connected with the controller and is used for collecting the conductivity of the soil;

the vehicle-mounted computer is used for generating the initial conductivity of the soil and the space-time distribution difference of the plough depth layer.

8. The temperature compensation based variable fertilization system of claim 7, wherein the on-board computer is further configured to:

setting a compensation coefficient for mu fertilization, wherein the determination method of the compensation coefficient specifically comprises the following steps:

the fertilizing amount of a target mu is m₀Measuring the fertilizer amount of the fertilizer mechanism to be m₁The compensation coefficient of the fertilization per mu is as follows:

the method for compensating the conductivity under the set reference temperature specifically comprises the following steps:

obtaining a relationship between the initial conductivity and the initial temperature, specifically as follows:

η＝a﹡T﹢b；

the constants a and b are measured to be linearly related under different salinity, and the method comprises the following steps: (k, c are constants):

b＝k﹡a﹢c；

the constants k and c are constant in different media, and the relationship between the initial conductivity and the initial temperature is as follows:

η＝a﹡T﹢a﹡k﹢c；

wherein η is the conductivity, T is the initial temperature, and a, b, c, k are constants.

9. The temperature compensation based variable rate fertilization system of claim 8, wherein:

the on-board computer further configured to: setting target mu fertilizing amount, weight-losing rate of deep ploughing layers, weight-losing rate of conductivity and mu fertilizing compensation coefficient; acquiring the conductivity and the ploughing deep layer at the reference temperature; determining the fertilizing amount according to the deep ploughing layer, the conductivity at the reference temperature, the target mu fertilizing amount, the weight reducing rate of the deep ploughing layer, the weight reducing rate of the conductivity and the compensation coefficient of mu fertilizing;

and the controller is used for controlling the fertilizer discharging device to perform variable rate fertilization based on the fertilizing amount.

10. The temperature compensation based variable fertilization system of claim 6, wherein the on-board computer is further configured to:

if the deep ploughing layer is larger than or equal to the average deep ploughing layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*(1-α)*ε；

if the ploughing depth layer is larger than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-(β+α)/2)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-β)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*ε；

wherein m is₀Fertilizing amount for target mu, losing weight rate of alpha and beta in deep ploughing layer, and fertilizing epsilon for muCompensation factor of fertilizer.

Technical Field

The invention relates to the technical field of agricultural machinery automation, in particular to a variable fertilization method and system based on temperature compensation.

Background

According to the large country as rice planting grain, rice needs to be fertilized during rice production operation in order to improve the rice grain yield, most of the current rice planting and fertilizing technologies adopt quantitative fertilization, so that excessive fertilization is easily caused, the fertilizer utilization rate is low, the soil salinity is increased year by year, the phenomena of soil acidification and secondary salinization are generated, and the improvement of the rice crop yield is not facilitated for a long time. The precision agriculture is an important trend of the current agricultural development, and differential fertilization decision is carried out in the operation process by realizing variable fertilization control, so that the fertilization is more precise, and the method has important significance for realizing the precision of the agriculture in China.

The rice planting and fertilizing technology is mainly characterized in that a rice transplanter uniformly applies fertilizer to the bottom of rice roots while transplanting rice seedlings, and the fertilizer utilization rate can be effectively improved. The existing variable rate fertilization technology is to perform differential fertilization according to different influences of soil conductivity and a ploughing depth layer. Usually, the soil conductivity is affected by the temperature, and meanwhile, the fertilizing amount is affected by calibration scale errors, so that variable fertilizing is affected to a certain extent. Therefore, how to further improve the variable rate fertilization accuracy is a problem to be solved by the technical personnel in the field.

Disclosure of Invention

In order to solve the problems, the invention provides a variable fertilization method and a variable fertilization system based on temperature compensation.

In order to achieve the above object of the present invention, the present invention is achieved by the following techniques:

the invention provides a variable fertilization method based on temperature compensation, which comprises the following steps:

acquiring the difference between the initial conductivity of the soil and the space-time distribution of a ploughing depth layer;

calibrating the initial conductivity to a conductivity at a reference temperature when the initial conductivity does not match the conductivity at the reference temperature;

and determining the fertilizing amount according to the space-time distribution difference of the deep ploughing layer and the conductivity at the reference temperature so as to perform variable fertilization.

Further preferably, the acquiring the difference of the space-time distribution of the soil in the initial conductivity and the ploughing depth layer specifically comprises:

the GNSS antenna of the transplanter is used for receiving the satellite signal and outputting the positioning information of the transplanter to the vehicle-mounted computer, so that the difference between the initial conductivity of the soil and the space-time distribution of the ploughing depth layer is generated.

Further preferably, before calibrating the initial conductivity to the conductivity at the reference temperature when the initial conductivity does not match the conductivity at the reference temperature, the method further comprises:

setting a compensation coefficient for mu fertilization, wherein the determination method of the compensation coefficient specifically comprises the following steps:

the fertilizing amount of a target mu is m₀Measuring the fertilizer amount of the fertilizer mechanism to be m₁The compensation coefficient of the fertilization per mu is as follows:

the method for compensating the conductivity under the set reference temperature specifically comprises the following steps:

obtaining a relationship between the initial conductivity and the initial temperature, specifically as follows:

η＝a﹡T﹢b；

the constants a and b are measured to be linearly related under different salinity, and the method comprises the following steps: (k, c are constants):

b＝k﹡a﹢c；

the constants k and c are constant in different media, and the relationship between the initial conductivity and the initial temperature is as follows:

η＝a﹡T﹢a﹡k﹢c；

wherein η is the conductivity, T is the initial temperature, and a, b, c, k are constants.

Further preferably, the determining of the fertilizing amount according to the spatial-temporal distribution difference of the deep ploughing layer and the conductivity at the reference temperature for variable fertilization comprises:

setting target mu fertilizing amount, weight-losing rate of deep ploughing layers, weight-losing rate of conductivity and mu fertilizing compensation coefficient;

acquiring the conductivity and the ploughing deep layer at the reference temperature;

determining the fertilizing amount according to the deep ploughing layer, the conductivity at the reference temperature, the target mu fertilizing amount, the weight reducing rate of the deep ploughing layer, the weight reducing rate of the conductivity and the compensation coefficient of mu fertilizing;

and performing variable fertilization based on the fertilization amount.

Further preferably, the determining the fertilizing amount according to the electric conductivity of the deep ploughing layer and the reference temperature comprises:

if the deep ploughing layer is larger than or equal to the average deep ploughing layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*(1-α)*ε；

if the ploughing depth layer is larger than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-(β+α)/2)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-β)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*ε；

wherein m is₀The fertilizing amount per mu is a target fertilizing amount per mu, alpha is the weight-losing rate of a deep ploughing layer, beta is the weight-losing rate of conductivity, and epsilon is a compensation coefficient of the fertilizing per mu.

A variable fertilization system based on temperature compensation, which applies the variable fertilization method based on temperature compensation, comprises:

the vehicle-mounted computer is used for acquiring the initial conductivity of the soil and the space-time distribution difference of a ploughing depth layer;

the on-board computer to calibrate the initial conductivity to a conductivity at a reference temperature when the initial conductivity does not match the conductivity at the reference temperature;

the vehicle-mounted computer is used for determining the fertilizing amount according to the space-time distribution difference of the deep ploughing layer and the conductivity at the reference temperature;

and the controller is connected with the vehicle-mounted computer and is used for controlling the fertilizer discharging device to perform variable rate fertilization according to the fertilizing amount.

Further preferably, the method further comprises the following steps:

the GNSS antenna is connected with the vehicle-mounted computer and is used for receiving satellite signals and outputting positioning information of the rice transplanter to the vehicle-mounted computer;

the conductivity sensor is connected with the controller and is used for collecting the conductivity of the soil;

the vehicle-mounted computer is used for generating the initial conductivity of the soil and the space-time distribution difference of the plough depth layer.

Further preferably, the vehicle mount computer is further configured to:

setting a compensation coefficient for mu fertilization, wherein the determination method of the compensation coefficient specifically comprises the following steps:

the fertilizing amount of a target mu is m₀Measuring the fertilizer amount of the fertilizer mechanism to be m₁The compensation coefficient of the fertilization per mu is as follows:

the method for compensating the conductivity under the set reference temperature specifically comprises the following steps:

obtaining a relationship between the initial conductivity and the initial temperature, specifically as follows:

η＝a﹡T﹢b；

the constants a and b are measured to be linearly related under different salinity, and the method comprises the following steps: (k, c are constants):

b＝k﹡a﹢c；

the constants k and c are constant in different media, and the relationship between the initial conductivity and the initial temperature is as follows:

η＝a﹡T﹢a﹡k﹢c；

wherein η is the conductivity, T is the initial temperature, and a, b, c, k are constants.

Further preferably:

the on-board computer further configured to: setting target mu fertilizing amount, weight-losing rate of deep ploughing layers, weight-losing rate of conductivity and mu fertilizing compensation coefficient; acquiring the conductivity and the ploughing deep layer at the reference temperature; determining the fertilizing amount according to the deep ploughing layer, the conductivity at the reference temperature, the target mu fertilizing amount, the weight reducing rate of the deep ploughing layer, the weight reducing rate of the conductivity and the compensation coefficient of mu fertilizing;

and the controller is used for controlling the fertilizer discharging device to perform variable rate fertilization based on the fertilizing amount.

Further preferably, the vehicle mount computer is further configured to:

if the deep ploughing layer is larger than or equal to the average deep ploughing layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*(1-α)*ε；

if the ploughing depth layer is larger than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-(β+α)/2)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-β)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*ε；

wherein m is₀The fertilizing amount per mu is a target fertilizing amount per mu, alpha is the weight-losing rate of a deep ploughing layer, beta is the weight-losing rate of conductivity, and epsilon is a compensation coefficient of the fertilizing per mu.

The variable fertilization method and the system based on temperature compensation provided by the invention at least have the following beneficial effects: the conductivity is calibrated to the conductivity at the reference temperature through temperature compensation, the fertilizing amount is determined according to the conductivity and the ploughing depth layer for fertilizing, and the fertilizing amount is compensated and calibrated, so that the fertilizing mechanism is controlled to perform accurate variable fertilizing, and the variable fertilizing accuracy and the rice yield are improved.

Drawings

The above features, technical features, advantages and implementations of a temperature compensation based variable rate fertilization method and system will be further described in the following detailed description of preferred embodiments in a clearly understandable manner, in conjunction with the accompanying drawings.

FIG. 1 is a schematic diagram of an embodiment of a temperature compensation based variable rate fertilization method of the present invention;

FIG. 2 is a schematic of conductivity measurements in the present invention;

FIG. 3 is a schematic diagram of the conductivity compensation process at a reference temperature in accordance with the present invention;

FIG. 4 is a schematic diagram of a temperature compensation based variable rate fertilization system of the present invention;

fig. 5 is a schematic diagram of a temperature compensation based variable rate fertilization system of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

Example one

One embodiment of the present invention, as shown in fig. 1, provides a variable fertilization method based on temperature compensation, including:

s100, acquiring the initial conductivity of the soil and the space-time distribution difference of the plough depth layer.

S200, when the initial conductivity is not matched with the conductivity at the reference temperature, calibrating the initial conductivity to the conductivity at the reference temperature.

S300, determining the fertilizing amount according to the space-time distribution difference of the deep ploughing layer and the conductivity at the reference temperature so as to perform variable fertilization.

In the embodiment, the conductivity is calibrated to the conductivity at the reference temperature through temperature compensation, the fertilizing amount is determined according to the conductivity and the ploughing depth layer, and the fertilizing amount is compensated and calibrated, so that the fertilizing mechanism is controlled to perform accurate variable fertilizing, and the variable fertilizing accuracy and the rice yield are improved.

Example two

Based on the foregoing embodiment, parts of the present embodiment that are the same as the foregoing embodiment are not repeated, and this embodiment provides a variable fertilization method based on temperature compensation, which specifically includes:

step S100, acquiring the space-time distribution difference of the soil in the initial conductivity and the ploughing depth layer, specifically comprising the following steps:

the GNSS antenna of the transplanter is used for receiving the satellite signal and outputting the positioning information of the transplanter to the vehicle-mounted computer, so that the difference between the initial conductivity of the soil and the space-time distribution of the ploughing depth layer is generated.

Before calibrating the initial conductivity to the conductivity at the reference temperature when the initial conductivity does not match the conductivity at the reference temperature in step S200, the method further includes:

setting a compensation coefficient for mu fertilization, wherein the determination method of the compensation coefficient specifically comprises the following steps:

the fertilizing amount of a target mu is m₀Measuring the fertilizer amount of the fertilizer mechanism to be m₁The compensation coefficient of the fertilization per mu is as follows:

the method for compensating the conductivity under the set reference temperature specifically comprises the following steps:

obtaining a relationship between the initial conductivity and the initial temperature, specifically as follows:

η＝a﹡T﹢b；

the constants a and b are measured to be linearly related under different salinity, and the method comprises the following steps: (k, c are constants):

b＝k﹡a﹢c；

the constants k and c are constant in different media, and the relationship between the initial conductivity and the initial temperature is as follows:

η＝a﹡T﹢a﹡k﹢c；

wherein η is the conductivity, T is the initial temperature, and a, b, c, k are constants.

Step S300, determining a fertilizing amount according to the space-time distribution difference of the deep ploughing layer and the conductivity at the reference temperature so as to perform variable fertilization, wherein the step S300 comprises the following steps:

setting target mu fertilizing amount, weight-losing rate of deep ploughing layers, weight-losing rate of conductivity and mu fertilizing compensation coefficient;

and acquiring the conductivity and the ploughing depth layer at the reference temperature.

And determining the fertilizing amount according to the deep ploughing layer, the conductivity at the reference temperature, the target mu fertilizing amount, the weight reducing rate of the deep ploughing layer, the weight reducing rate of the conductivity and the compensation coefficient of mu fertilizing.

And performing variable fertilization based on the fertilization amount.

The determining the fertilizing amount according to the electric conductivity of the deep ploughing layer and the reference temperature in the step S300 comprises the following steps:

if the deep ploughing layer is larger than or equal to the average deep ploughing layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*(1-α)*ε；

if the ploughing depth layer is larger than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-(β+α)/2)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-β)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*ε；

wherein m is₀The fertilizing amount per mu is a target fertilizing amount per mu, alpha is the weight-losing rate of a deep ploughing layer, beta is the weight-losing rate of conductivity, and epsilon is a compensation coefficient of the fertilizing per mu.

Illustratively, the embodiment provides a method for compensating the conductivity reference temperature and the fertilizing amount error, which comprises the following steps:

setting a mu fertilization compensation coefficient by the vehicle-mounted computer, wherein the compensation coefficient is determined by the following method;

the fertilization compensation coefficient per mu is measured by an experiment and specifically comprises the following steps:

the fertilizing amount of a target mu is m₀And the actual fertilizer amount of the fertilizer feeding mechanism is measured to be m₁The available fertilization compensation coefficient is:

the conductivity compensation method at the reference temperature is as follows:

acquiring the conductivity eta of the paddy field soil at the temperature T;

the method is characterized in that the relationship between different temperatures and conductivities is measured under the same soil environment, the conductivity eta and the temperature T are in a linear relationship, the conductivity is larger as the temperature is higher, and the relationship between the conductivity and the temperature is assumed as follows: (a, b are constants)

η＝a﹡T﹢b (2)

Under the condition of measuring different salinity, the constants a and b in the formula (2) are recorded to be linearly related, and the relationship is assumed as follows: (k, c are constants):

b＝k﹡a﹢c (3)

the constants k and c are kept unchanged in the formula (3) measured in different media, so that the calibration of the temperature to the conductivity can be realized;

substituting equation (3) into equation (2) can obtain:

η＝a﹡T﹢a﹡k﹢c (4)

the conductivity of the temperature t may be calibrated to the conductivity at the reference temperature by (4);

the embodiment of the invention also provides a side depth variable fertilizing method, which comprises the following steps:

setting target mu fertilizing amount X, tilling depth layer weight reducing rate alpha, conductivity weight reducing rate beta and mu fertilizing compensation coefficient sigma.

And acquiring the conductivity and the ploughing depth layer at the reference temperature.

Determining the fertilizing amount according to the conductivity of the deep ploughing layer and the reference temperature, and specifically comprises the following steps:

if the plowing depth layer is larger than or equal to the average plowing depth layer, the conductivity is smaller than the average conductivity, and the fertilizing amount is equal to the target fertilizing amount per mu (1-plowing depth layer weight losing rate) and the fertilizing compensation coefficient.

If the ploughing depth layer is larger than the average ploughing depth layer, the conductivity is larger than the average conductivity, and the fertilizing amount is equal to the target fertilizing amount per mu (1- (conductivity weight-reducing rate + ploughing depth layer weight-reducing rate)/2) fertilizing compensation coefficient.

If the ploughing depth layer is smaller than the average ploughing depth layer, the conductivity is larger than the average conductivity, and the fertilizing amount is equal to the target fertilizing amount per mu (1-conductivity weight-reducing rate) and the fertilizing compensation coefficient.

If the ploughing depth layer is smaller than the average ploughing depth layer, the conductivity is smaller than the average conductivity, and the fertilizing amount is equal to the target fertilizing amount per mu and the fertilizing compensation coefficient.

According to the side depth variable fertilization control method provided by the embodiment of the invention, the conductivity is calibrated to the conductivity under the reference temperature through temperature compensation, the fertilization amount is determined according to the conductivity and the ploughing depth layer for fertilization, and the compensation calibration is carried out on the fertilization amount, so that the fertilization mechanism is controlled to carry out accurate variable fertilization, and the variable fertilization accuracy and the rice yield are improved.

For example, as shown in fig. 2 and 3, the GNSS-based side deep variable fertilization control method provided by the embodiment of the present invention includes the following steps:

110. and setting operation parameters.

Setting operation parameters such as fertilizing amount per mu, weight-reducing rate of a deep ploughing layer, weight-reducing rate of conductivity, fertilizing compensation coefficient per mu and the like through a vehicle-mounted computer interface;

210. and (5) calibrating the fertilizer application amount.

The vehicle-mounted computer and the controller realize CAN communication, the controller drives the fertilizer feeding motor to a calibrated fertilizer feeding scale line, the vehicle-mounted computer records the angle sensor value corresponding to the current scale, the operation is repeated, and a plurality of groups of fertilizer feeding scale values are recorded to finish fertilizer feeding calibration.

310. Collecting the reference values of the conductivity of the land and the deep ploughing layer.

And acquiring the average values of the conductivity and the ploughing depth of different areas of the target land block by a conductivity sensor and a height sensor of the control system as reference values of the conductivity and the ploughing depth of the land block.

The soil conductivity measurement procedure is described in figure 3 below:

311. the conductivity was measured.

The conductivity electrode coefficient is the ratio of the area A of the electrode plate in the soil to the distance L between the two electrode plates, and K is equal to L/A, wherein the distance L between the two electrode plates is constant, the area A is influenced by the height of the electrode plate in the soil, and the height H is measured by the height sensor.

312. And measuring the equivalent resistance value of the soil between the electrode plates.

Specifically, the effective voltage measuring unit of the controller can measure the voltage of the equivalent resistance of the soil, the fixed value resistor in the measuring circuit is connected with the effective resistance of the soil in series, and the effective value of the output voltage is known, so that the equivalent resistance value of the soil can be calculated. The calculation formula is as follows.

The effective value of the output voltage is U, and the voltage of the effective resistance of the soil is U₁The constant value resistance of the measuring circuit is R, and the equivalent resistance of the soil is R₀Then, then

313. The conductivity of the soil.

The resistance R and the coefficient K of the electric conduction electrode when the two electrode plates are inserted into the paddy field are measured, and the resistance R is measured at a certain temperature₀And (4) the conductivity of the soil to be measured can be obtained in inverse proportion to the conductivity Q, namely R is equal to K/Q.

Calculating the conductivity, and collecting the conductivity for a certain time as the average conductivity of the operation land;

410. conductivity compensation at a reference temperature. The conductivity under the temperature T can be calculated through a formula (4), the influence of the temperature on the conductivity is eliminated, and the target fertilization precision under the conductivity reference is improved.

510. And determining the target fertilizing amount and the target fertilizing compensation.

Generally, the depth of a ploughed layer is helpful for rice to absorb fertilizer, the fertilizing amount can be reduced compared with the depth of a ploughed layer, the soil conductivity is used as a judgment index of soil fertilizer, the conductivity corresponding to soil fertility is high, and therefore the fertilizing amount can be determined according to the fertilizing depth and the soil conductivity.

The method comprises the following specific steps:

if the ploughing depth layer is greater than or equal to the reference ploughing depth layer and the conductivity is greater than or equal to the conductivity at the reference temperature, the fertilizing amount is X₁：

X₁＝X﹡(1-α)﹡σ

If the ploughing depth is greater than or equal to the reference ploughing depth and the conductivity is less than the reference temperatureThe specific conductivity of the fertilizer is X₂：

X₂＝X﹡(1-(α+β)/2)﹡σ

If the ploughing depth layer is smaller than the reference ploughing depth layer and the conductivity is larger than that at the reference temperature, the fertilizing amount is X₃：

X₃＝X﹡(1-β)﹡σ

If the ploughing depth layer is smaller than the reference ploughing depth layer and the conductivity is smaller than the conductivity at the reference temperature, the fertilizing amount is X₄：

X₄＝X﹡σ

Wherein, the weight-reducing rate of the tilling depth layer and the conductivity weight-reducing rate are obtained by the experience of operators.

510 target fertilizing.

And according to the calculated target fertilizing amount, the vehicle-mounted computer issues the target fertilizing amount to the controller, and the controller drives the motor to run to the target fertilizing scale for fertilizer arrangement.

In the embodiment, the conductivity is calibrated to the conductivity at the reference temperature through temperature compensation, the fertilizing amount is determined according to the conductivity and the ploughing depth layer, and the fertilizing amount is compensated and calibrated, so that the fertilizing mechanism is controlled to perform accurate variable fertilizing, and the variable fertilizing accuracy and the rice yield are improved.

EXAMPLE III

The embodiment provides a variable fertilization system based on temperature compensation, and an application of the variable fertilization method based on temperature compensation is shown in fig. 4, where the method includes:

and the vehicle-mounted computer 401 is used for acquiring the initial conductivity of the soil and the space-time distribution difference of the plough depth layer.

The on-board computer is configured to calibrate the initial conductivity to a conductivity at a reference temperature when the initial conductivity does not match the conductivity at the reference temperature.

And the vehicle-mounted computer is used for determining the fertilizing amount according to the space-time distribution difference of the ploughing deep layer and the conductivity at the reference temperature.

And the controller 402 is connected with the vehicle-mounted computer and is used for controlling the fertilizer discharging device 403 to perform variable rate fertilization according to the fertilizing amount.

Example four

Based on the foregoing embodiment, the same parts as those in the foregoing embodiment are not repeated in detail in this embodiment, and this embodiment provides a variable fertilization system based on temperature compensation, which specifically includes:

and the GNSS antenna is connected with the vehicle-mounted computer and is used for receiving satellite signals and outputting the positioning information of the rice transplanter to the vehicle-mounted computer.

And the conductivity sensor is connected with the controller and is used for collecting the conductivity of the soil.

The vehicle-mounted computer is used for generating the initial conductivity of the soil and the space-time distribution difference of the plough depth layer.

The on-board computer further configured to:

setting a compensation coefficient for mu fertilization, wherein the determination method of the compensation coefficient specifically comprises the following steps:

the fertilizing amount of a target mu is m₀Measuring the fertilizer amount of the fertilizer mechanism to be m₁The compensation coefficient of the fertilization per mu is as follows:

the method for compensating the conductivity under the set reference temperature specifically comprises the following steps:

obtaining a relationship between the initial conductivity and the initial temperature, specifically as follows:

η＝a﹡T﹢b；

the constants a and b are measured to be linearly related under different salinity, and the method comprises the following steps: (k, c are constants):

b＝k﹡a﹢c；

the constants k and c are constant in different media, and the relationship between the initial conductivity and the initial temperature is as follows:

η＝a﹡T﹢a﹡k﹢c；

wherein η is the conductivity, T is the initial temperature, and a, b, c, k are constants.

The on-board computer further configured to: setting target mu fertilizing amount, weight-losing rate of deep ploughing layers, weight-losing rate of conductivity and mu fertilizing compensation coefficient; acquiring the conductivity and the ploughing deep layer at the reference temperature; and determining the fertilizing amount according to the deep ploughing layer, the conductivity at the reference temperature, the target mu fertilizing amount, the weight reducing rate of the deep ploughing layer, the weight reducing rate of the conductivity and the compensation coefficient of mu fertilizing.

And the controller is used for controlling the fertilizer discharging device to perform variable rate fertilization based on the fertilizing amount.

The on-board computer further configured to:

if the deep ploughing layer is larger than or equal to the average deep ploughing layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*(1-α)*ε；

if the ploughing depth layer is larger than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-(β+α)/2)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is larger than the average conductivity, the fertilizing amount is as follows:

m₀*(1-β)*ε；

if the ploughing depth layer is smaller than the average ploughing depth layer and the conductivity is smaller than the average conductivity, the fertilizing amount is as follows:

m₀*ε；

wherein m is₀The fertilizing amount per mu is a target fertilizing amount per mu, alpha is the weight-losing rate of a deep ploughing layer, beta is the weight-losing rate of conductivity, and epsilon is a compensation coefficient of the fertilizing per mu.

Illustratively, as shown in fig. 4, the present embodiment provides a GNSS based variable fertilization control system, including: conductivity sensor, controller, fertile device, on-vehicle computer, GNSS antenna, altitude sensor, temperature sensor, fertile volume detection sensor, interpolation detection sensor and temperature sensor.

The conductivity sensor is used for collecting conductivity data of soil.

The controller is used for collecting sensor data and controlling the variable rate fertilization of the fertilizer discharging mechanism according to the difference of the collected conductivity and the ploughing deep layer.

The controller is arranged in the transplanter body.

Specifically, the conductivity of deep ploughed and paddy soil is used as an important index for variable rate fertilization. The ploughing depth layer directly influences the absorption of the rice to the fertilizer, and the soil conductivity is an important index for judging the soil fertility. Wherein, the deeper the cultivation depth is, the more beneficial the rice to absorb the fertilizer; higher conductivity indicates better soil fertility.

The controller is respectively connected with the conductivity sensor, the height sensor, the fertilizer amount detection sensor, the interpolation sensor and the temperature sensor.

The fertilizer applying device comprises a fertilizer applying motor, an angle sensor and a fertilizer applying device arranged on the rice transplanter.

The vehicle-mounted computer is used for setting target fertilizing amount, weight reducing rate, compensating target fertilizing errors, recording and displaying the collected target plot conductivity and plowing depth data, monitoring target fertilizing amount and fertilizing amount exhaustion, importing a working plot conductivity prescription chart, and calibrating the conductivity and plowing depth data of the imported known prescription chart.

The GNSS antennas are symmetrically arranged on two sides of the transplanter body and used for receiving satellite signals and outputting positioning information of the transplanter to the vehicle-mounted computer, and the GNSS antennas are used for generating space-time distribution difference of soil conductivity and plough layer depth.

The height sensor is used for measuring the depth of the deep ploughing layer of the transplanter.

The temperature sensor is fixedly arranged at the interpolation mechanism position of the seedling table and used for measuring the temperature of the paddy field, and carrying out temperature compensation calibration on the reference value of the conductivity according to the influence of the temperature of the paddy field on the conductivity, thereby improving the precision of variable fertilization.

The fertilizer detection sensor is arranged at the bottom of the fertilizer box and used for detecting whether fertilizer is used up.

The interpolation detection sensor detects the transplanting operation and is used for carrying out variable rate fertilization.

Specifically, the conductivity sensor comprises a sensor 1 and a sensor 2 which are respectively arranged on the left side and the right side of a front wheel of the rice transplanter or on the two sides of the bottom of a seedling table.

The processor of the controller is Cortex-M4. And is not limited to this processor model. The system is connected with a vehicle-mounted computer, the conductivity and the plowing depth data collected by the controller are sent to the vehicle-mounted computer, the vehicle-mounted computer records the time-space distribution of the conductivity and the plowing depth through a Global Navigation Satellite System (GNSS), the vehicle-mounted computer determines the current target fertilizing amount according to the comparison of the average value of the conductivity and the plowing depth of a target land block with the real-time conductivity and the plowing depth, and the controller controls the fertilizing mechanism to fertilize according to the target fertilizing amount.

The fertilizer feeding motor comprises a fertilizer feeding motor 1 and a fertilizer feeding motor 2, the fertilizer feeding motor is a direct-current brushless or direct-current brush motor, the fertilizer feeding motor is used for controlling the fertilizer feeding amount, the angle sensor comprises an angle sensor 1 and an angle sensor 2, and the angle sensor is used for feeding back the fertilizer feeding amount to form fertilizer feeding closed-loop control.

The height sensor is an ultrasonic sensor with an insulated shell, and comprises a height sensor 1 and a height sensor 2 which are respectively arranged on the left side and the right side of the head of the rice transplanter and are vertical to the ground.

The vehicle-mounted computer is connected with the controller and the GNSS system and is used for receiving data acquired by the controller and data of the sensors, receiving GNSS positioning data to display soil conductivity space-time distribution, and controlling the fertilizer discharging motor to perform variable fertilizer application by recording the sampled conductivity of the paddy field and comparing the sampled conductivity with an average value.

The conductivity is calibrated to the conductivity at the reference temperature through temperature compensation, the fertilizing amount is determined according to the conductivity and the ploughing depth layer for fertilizing, and the fertilizing amount is compensated and calibrated, so that the fertilizing mechanism is controlled to perform accurate variable fertilizing, and the variable fertilizing accuracy and the rice yield are improved.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely exemplary, and the division of the modules or units is merely an example of a logical division, and there may be other divisions when the actual implementation is performed, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.