CN102132669A - Accurate drip irrigation and fertilization system - Google Patents
Accurate drip irrigation and fertilization system Download PDFInfo
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- CN102132669A CN102132669A CN2011100087139A CN201110008713A CN102132669A CN 102132669 A CN102132669 A CN 102132669A CN 2011100087139 A CN2011100087139 A CN 2011100087139A CN 201110008713 A CN201110008713 A CN 201110008713A CN 102132669 A CN102132669 A CN 102132669A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract
The invention relates to an accurate drip irrigation and fertilization system which comprises a monitoring system, a fertilizer and liquid mixing system and a drip irrigation system, wherein the fertilizer and liquid mixing system is connected with the drip irrigation system by a pipeline, the monitoring system is connected with the fertilizer and liquid mixing system and the drip irrigation system respectively by lines, the monitoring system consists of an industrial control computer that is connected with a programmable logic controller by a Zigbee wireless transceiving module, and the programmable logic controller is connected with an AD input module and a DA output module. With the accurate drip irrigation and fertilization system, an agricultural producer can realize full-automatic operation during the drip irrigation and fertilization processes, not only can know information of producing process in real time, but also can accurately carry out fertilization decision so as to achieve the effects of avoiding fertilizer waste and saving labor; and as data transmission adopts a wireless mode, the monitoring computer and a field controller are separated, and the problem that a communication cable of the system is not easy to be laid in the field can be effectively solved.
Description
Technical field
The present invention relates to fertilization system, especially relate to a kind of accurate fertigation system.
Background technology
Fertigation belongs to a kind of of liquid fertilization, and it is by existing drip irrigation system, will be splashed into a kind of method of crop root soil by the solution that solid fertilizer or liquid fertilizer dissolve together in drip irrigation.The fertilizer that crop needed in vegetative period is after water-soluble separating, drip equably with the water of drip irrigation and to execute near crop root, being made for the thing root system directly absorbs, can improve the management of moisture and nutrient, improve water and fertilizer coupling effect and liquid manure utilization ratio greatly, reduce change of production, improve output and increase repayment, also can reduce the seepage of moisture and nutrient, alleviate the pollution of fertilising environment.Constantly enlarge along with China adopts the cultivated area of under-film drip irrigation technology in agricultural production, fertigation more and more receives publicity, and carrying out the precision operation by automatic monitored control system on this basis will be the inevitable requirement that promotes China's agricultural technology equipment level.Precisely the fertilizer practice system is the important component part of precision agriculture, and it is according to the crop actual needs, based on the fertilizing method of science, determines the variable input to crop.Precisely in the fertilising work flow implication of " precisely " have two, one be meant that variable fertilization is made a strategic decision can be accurately, the nutrient demand of the reflection crop of science; Two are meant that the enforcement of variable fertilization can be accurate.Under prerequisite was made a strategic decision accurately in fertilising, the effect of fertilising was mainly by the precision decision of device for carrying out said.
People such as the Yang Wanlong of Tianjin Water Conservancy Inst., Zhang Xianrui, Song Shiliang the patent of invention of " drip-irrigation fertilising intelligent control system " (application number: proposed 03104695.9) a kind of can be according to the required nutrient solution concentration of crop, acid-base value, automatically mother liquor and the water with high concentration carries out intelligent mixed configuration, can carry out the fertilising automatic control system of the essence amount adjusting of PH, EC value, the composition of this control system as shown in Figure 1.When carrying out the nutrient solution fertilising, prescription that the computer system basis is selected and the nutrient solution PH that has configured, EC value, utilizing venturi fertilizer injector 1 to carry out liquid manure mixes, PH, the EC value of while on-line real time monitoring mixotrophism liquid, adjust the fertile frequency of the notes that mix fertile valve according to the deviation between PH, EC setting value and the detected value, the detected value of nutrient solution and the difference of setting value are reached in the scope of permission.When one group of field valve fertilising finishes, open next group valve earlier, close the valve that is moving again, when the field valve fertilising that all need apply fertilizer finishes, close fertilizing pump 2 and water pump 3 earlier, close all valves of opening again, finish fertilising control.The shortcoming of this system is not have the overall monitor of realization to state parameter in the fertilising process; Control system adopts wired mode, is not suitable for the wiring at agricultural production scene, and especially the production scene of field crop is grown apart from wiring and can be brought cost to increase, and system works stability is influenced, problems such as aging circuit; Only be applicable to the mixed configuration of chamber crop nutrient solution mother liquor and water,, can't realize smart amount control for the required solid fertilizer of field crop and the configuration of water.
People such as Wang Xiu, the Zhao Chunjiang of country's IT application to agriculture Technical Research Center, Meng Zhijun have studied a kind of and tractor uses, can be under the help of GPS navigation system according to the fertilising prescription map, adjust the fertilizer amount by the velocity of rotation of adjusting the fertilizer metering device, to realize the automation control of variable fertilization process.People such as the Zhang Shuhui of Jilin University have developed a kind of variable fertilization control system based on CPLD (CPLD).The characteristics of this class variable fertilizer distributor are, drive supporting variable-rate fertilization with tractor, the tractor cab top is fixed with gps satellite reception antenna and radio differential signal reception antenna, and inside is equipped with and is shown the plot flow diagram when field calculator is used to receive outside prescription map of importing and field navigation; Control system changes the rotating speed of fertilizer expelling shaft automatically according to the fertilising data on speed and the prescription map, finally reaches the purpose of control fertilizing amount.This control system must be used with tractor, only is applicable to sprinkling fertilization field, field, is not suitable for farmland fertigation operation; Reliability requirement to system is higher, so the cost height.
Summary of the invention
The purpose of this invention is to provide a kind of accurate fertigation system, in the operation process of fertigation, make the producer can be according to the fertilising decision-making, use native system to assign the fertilizer application formula instruction, accurately determine fertilizing amount, carry out the whole-course automation operation, and can monitor in real time production process information.
The technical scheme that the present invention is adopted for its technical problem of solution is,
Precisely the fertigation system comprises monitoring system, solution hybrid system and drip irrigation system, and the solution hybrid system is connected in drip irrigation system by pipeline, and monitoring system connects solution hybrid system and drip irrigation system respectively by circuit,
Described monitoring system includes industrial control computer, industrial control computer connects programmable logic controller (PLC) by Zigbee (being IEEE 802.15.4 communication protocol) radio receiving transmitting module, and programmable logic controller (PLC) is connected with AD input module and DA output module;
Described solution hybrid system comprises fertilizer storage tank, acid solution storage tank and alkali lye storage tank, and fertilizer storage tank, acid solution storage tank and alkali lye storage tank are connected in by magnetic valve respectively and mix the solution storage tank, mix the inlet channel that the solution storage tank also is connected with magnetic valve;
Described drip irrigation system comprises the solution pump that is connected in programmable logic controller (PLC) by relay, the import of solution pump is connected in and mixes the solution storage tank, outlet is connected in the fertilizer mixing pipe road, the fertilizer mixing pipe road is provided with control valve, the fertilizer mixing pipe road is connected in the irrigation trunk line by this control valve, irrigates the bypass line that trunk line is connected with magnetic valve;
Described control valve and magnetic valve are connected in programmable logic controller (PLC).
Further, described fertilizer storage tank, acid solution storage tank and alkali lye storage tank are respectively arranged with the weight sensor that is connected in the AD input module.
Further, described mixing solution storage tank is provided with liquid level sensor and the pressure sensor that is connected in the AD input module.
Further, the control valve on the described fertilizer mixing pipe road is provided with the flow sensor that is connected in the AD input module.
Further, the control valve on the described fertilizer mixing pipe road is connected in programmable logic controller (PLC) by the DA output module.
Further, described irrigation trunk line also is connected with sampling apparatus, and sampling apparatus is provided with EC sensor and the PH sensor that is connected in the AD input module.
Further, the magnetic valve on the described bypass line is provided with the flow sensor that is connected in the AD input module.
The invention has the beneficial effects as follows, this accurate fertigation system makes the agricultural producer in the operation process of fertigation, realizes the whole-course automation operation, not only can understand production process information in real time, and can accurately carry out the fertilising decision-making, reach the effect of avoiding the fertilizer waste, saving recruitment; Because transfer of data has adopted wireless mode, and supervisory control comuter is separated with field controller, effectively the resolution system communication cable is difficult for the problem of wiring in the field.
Description of drawings
Fig. 1 is the structural representation of drip-irrigation fertilising intelligent control system;
Fig. 2 is the structural representation of the accurate fertigation of the present invention system.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with diagram and specific embodiment, further set forth the present invention.
As shown in Figure 2, the accurate fertigation system that the present invention proposes comprises monitoring system, solution hybrid system and drip irrigation system, the solution hybrid system is connected in drip irrigation system by pipeline, monitoring system connects solution hybrid system and drip irrigation system respectively by circuit, monitoring system includes industrial control computer, industrial control computer connects programmable logic controller (PLC) by Zigbee (IEEE 802.15.4 communication protocol) radio receiving transmitting module, and programmable logic controller (PLC) is connected with AD input module and DA output module; The solution hybrid system comprises fertilizer storage tank, acid solution storage tank and alkali lye storage tank, as shown in Figure 2, be provided with three fertilizer storage tanks in the present embodiment, fertilizer storage tank, acid solution storage tank and alkali lye storage tank are connected in by magnetic valve respectively and mix the solution storage tank, mix the inlet channel that the solution storage tank also is connected with magnetic valve; Drip irrigation system comprises the solution pump that is connected in programmable logic controller (PLC) by relay, the import of solution pump is connected in and mixes the solution storage tank, outlet is connected in the fertilizer mixing pipe road, the fertilizer mixing pipe road is provided with control valve, the fertilizer mixing pipe road is connected in the irrigation trunk line by this control valve, irrigates the bypass line that trunk line is connected with magnetic valve; Control valve and magnetic valve are connected in programmable logic controller (PLC).
Fertilizer storage tank, acid solution storage tank and alkali lye storage tank are respectively arranged with the weight sensor that is connected in the AD input module.Mix the solution storage tank and be provided with liquid level sensor and the pressure sensor that is connected in the AD input module.Control valve on the fertilizer mixing pipe road is provided with the flow sensor that is connected in the AD input module.Control valve on the fertilizer mixing pipe road is connected in programmable logic controller (PLC) by the DA output module.Irrigate trunk line and also be connected with sampling apparatus, sampling apparatus is provided with EC sensor and the PH sensor that is connected in the AD input module.Magnetic valve on the described bypass line is provided with the flow sensor that is connected in the AD input module.
Native system selects industrial control computer as host computer, selects programmable logic controller (PLC) as slave computer, mainly is to consider the reliability of system under abominable agricultural production conditions.Operating personnel are by the quality of the monitoring interface in the host computer according to the required every kind of fertilizer (as alkali-hydrolyzable nitrogen, rapid available phosphorus, available potassium etc.) of fertilizer application formula input fertilising plot crop, assign solution and dissolve instruction, after slave computer receives instruction, drive executing agency's action, finish solution and dissolve process.Host computer is patrolled and examined controlled parameter by slave computer in the fertilising process, try to achieve deviation after comparing with setting value on the one hand, control law by prior regulation is controlled computing, sends control signal to slave computer, by handling executing agency controlled device is controlled; Production process information is understood in the real-time demonstration that makes operating personnel pass through parameter on the other hand, and can carry out data storage and inquiry.Transfer of data between host computer and the slave computer realizes the wireless data transmission with the Zigbee radio receiving transmitting module.
The solution that mixes in the solution storage tank is made up of fertilizer lysates such as alkali-hydrolyzable nitrogen, rapid available phosphorus, available potassium and trace elements, is aided with suitable acid solution and alkali lye.Solution dissolve the fertilising prescribed parameters table according to crop by operating personnel, assign solution by the monitoring programme interface and dissolve instruction, the quality of every kind of fertilizer is detected by weight sensor and shows by monitoring interface, thereby accurately carries out the order of fertilising prescription.The magnetic valve that slave computer drives single fertilizer storage tank and water inlet pipe is finished solution and is dissolved, and by liquid level, pressure information in the sensor collection mixing solution storage tank, is uploaded to host computer and shows in real time by monitoring interface, is monitored in real time by operating personnel.Pump into the fertilizer mixing pipe road and then enter the irrigation trunk line by fertilizing pump after solution dissolves and finishes, be applied to crop, have control valve and magnetic valve to connect in each grade process, all can monitor flow information in real time by operating personnel by bypass line.
During the fertilising operation rich water of irrigating in the trunk line is sampled, the parameter (the EC/PH value of fertilising liquid) of control object is patrolled and examined by slave computer by host computer, according to the supplemental characteristic that detects is the center with the setting value, regulate output control signal amount by slave computer, affact control valve, thereby realize automatic adjusting, form closed-loop control, improve accuracy controlled parameter.
Host computer is realized by user interface input control order, monitoring system work, inquiry system information etc. in the system; Slave computer is realized collection and the processing to sensor signal, feeds back to host computer, can receive and export simultaneously the control instruction of host computer, drives executing agency's action.The on-the-spot various sensor informations of fertilising are gathered to slave computer by the AD input module, are uploaded to host computer through the Zigbee radio receiving transmitting module again, realize that bi-directional data transmits and data are handled.
The function of ipc monitor program mainly comprises: human-computer interaction interface, and data communication, three parts are handled in input and output.Man-machine interface will realize the input of controlled quentity controlled variable, and the collection of control procedure state variable shows and preservation (real-time curve, history curve, database manipulation etc.) output of data processed result, printing; The transmission of data is finished by the Zigbee radio receiving transmitting module, and system carries out data acquisition in real time, allows the operator to control parameter by software set, changes state of a control; Input and output are handled and to be meant that host computer handles the initial data that collects by PORT COM, the form that can understand with the user shows, the data that collect are preserved by database earlier, simultaneously with figure or tabulation etc. more intuitively form be presented in face of the user.
Above embodiment and accompanying drawing with reference to qualification describes the present invention, but the present invention is defined in this, in the impartial scope of technological thought of the present invention and appending claims, the those skilled in the art under the present invention can carry out multiple modification and distortion.
Claims (7)
1. accurate fertigation system comprises monitoring system, solution hybrid system and drip irrigation system, and the solution hybrid system is connected in drip irrigation system by pipeline, and monitoring system connects solution hybrid system and drip irrigation system respectively by circuit, it is characterized in that,
Described monitoring system includes industrial control computer, and industrial control computer connects programmable logic controller (PLC) by the Zigbee radio receiving transmitting module, and programmable logic controller (PLC) is connected with AD input module and DA output module;
Described solution hybrid system comprises fertilizer storage tank, acid solution storage tank and alkali lye storage tank, and fertilizer storage tank, acid solution storage tank and alkali lye storage tank are connected in by magnetic valve respectively and mix the solution storage tank, mix the inlet channel that the solution storage tank also is connected with magnetic valve;
Described drip irrigation system comprises the solution pump that is connected in programmable logic controller (PLC) by relay, the import of solution pump is connected in and mixes the solution storage tank, outlet is connected in the fertilizer mixing pipe road, the fertilizer mixing pipe road is provided with control valve, the fertilizer mixing pipe road is connected in the irrigation trunk line by this control valve, irrigates the bypass line that trunk line is connected with magnetic valve;
Described control valve and magnetic valve are connected in programmable logic controller (PLC).
2. accurate fertigation according to claim 1 system is characterized in that described fertilizer storage tank, acid solution storage tank and alkali lye storage tank are respectively arranged with the weight sensor that is connected in the AD input module.
3. accurate fertigation according to claim 1 system is characterized in that described mixing solution storage tank is provided with liquid level sensor and the pressure sensor that is connected in the AD input module.
4. accurate fertigation according to claim 1 system is characterized in that the control valve on the described fertilizer mixing pipe road is provided with the flow sensor that is connected in the AD input module.
5. accurate fertigation according to claim 1 system is characterized in that the control valve on the described fertilizer mixing pipe road is connected in programmable logic controller (PLC) by the DA output module.
6. accurate fertigation according to claim 1 system is characterized in that described irrigation trunk line also is connected with sampling apparatus, and sampling apparatus is provided with EC sensor and the PH sensor that is connected in the AD input module.
7. accurate fertigation according to claim 1 system is characterized in that the magnetic valve on the described bypass line is provided with the flow sensor that is connected in the AD input module.
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| CN103404288A (en) * | 2013-07-11 | 2013-11-27 | 江苏大学 | Full-automatic greenhouse nutrient solution preparing and spraying method and system thereof |
| CN103798103A (en) * | 2014-02-27 | 2014-05-21 | 唐山润农节水科技有限公司 | Drip irrigation system and control method thereof |
| CN103977719A (en) * | 2014-05-14 | 2014-08-13 | 南京农业大学 | High-efficiency accurate mixing method of fertilized groundwater on the basis of soilless culture fertilized groundwater irrigation system |
| CN104094722A (en) * | 2014-07-30 | 2014-10-15 | 周岩 | Water and fertilizer integrated fertilizer-distributing system |
| CN104285579A (en) * | 2014-08-26 | 2015-01-21 | 浙江工业大学 | Jet-type variable rate fertilization system |
| CN104350860A (en) * | 2014-11-14 | 2015-02-18 | 宁夏共享集团有限责任公司 | Liquid fertilizer feeding device |
| CN104412765A (en) * | 2013-08-26 | 2015-03-18 | 李文虎 | Automatic watering and fertilizing integration machine for home gardening plantation |
| CN104429277A (en) * | 2014-12-05 | 2015-03-25 | 沈阳远大科技园有限公司 | Split type fertilization device and using method thereof |
| CN105373054A (en) * | 2015-11-17 | 2016-03-02 | 重庆市万盛区军均林业开发有限公司 | Lemon cultivation management system capable of monitoring soil trace elements |
| CN105393877A (en) * | 2015-11-18 | 2016-03-16 | 重庆市万盛区军均林业开发有限公司 | Lemon planting and producing device having high-efficiency water-saving performance |
| CN105815136A (en) * | 2015-01-09 | 2016-08-03 | 吴任平 | Roof strawberry planting facility |
| CN106561133A (en) * | 2016-10-20 | 2017-04-19 | 北京云洋数据科技有限公司 | Multi-material mixing application system and application method thereof |
| CN106879291A (en) * | 2017-01-17 | 2017-06-23 | 张家港市永联菜篮农业专业合作社 | Water-fertilizer integral under-film drip irrigation system |
| CN106888662A (en) * | 2017-01-17 | 2017-06-27 | 张家港市永联菜篮农业专业合作社 | Intelligent irrigation system |
| CN107135916A (en) * | 2017-05-12 | 2017-09-08 | 刘萍萍 | A kind of accurate remote Irrigation and fertilization system |
| CN107155840A (en) * | 2017-05-02 | 2017-09-15 | 中国农业大学 | A kind of fish and vegetable symbiotic Capsicum yield system and method |
| CN107247442A (en) * | 2017-07-13 | 2017-10-13 | 河南科技大学 | A kind of speed of fertilizing equipment and fertilizer amount synchronous control system and its control method |
| CN107251699A (en) * | 2017-07-06 | 2017-10-17 | 北京市农林科学院 | A kind of organic liquid fertilizer Tree Precise Fertilization machine |
| CN107580924A (en) * | 2017-10-16 | 2018-01-16 | 唐山新时电气有限公司 | A kind of integrated water fertilizer box and application method |
| CN107624326A (en) * | 2017-10-26 | 2018-01-26 | 山东大学 | A kind of water-fertilizer integral irrigation system and control method |
| CN108076771A (en) * | 2018-01-24 | 2018-05-29 | 山东农业大学 | A kind of facility water-fertilizer integrated intelligent irrigation equipment and control method |
| CN108268006A (en) * | 2018-01-22 | 2018-07-10 | 安徽东华农业科技开发股份有限公司 | A kind of full-automatic fertilizer applicator |
| CN108575678A (en) * | 2018-03-20 | 2018-09-28 | 中国水利水电科学研究院 | A kind of metering irrigation rig based on crop water requirement |
| CN108668583A (en) * | 2018-03-21 | 2018-10-19 | 南昌大学 | A kind of intensive intelligent seedling raising method and system |
| CN109906739A (en) * | 2017-12-13 | 2019-06-21 | 京蓝沐禾节水装备有限公司 | Standby fertilizer device and irrigation sprinkler and fertilizing method including this for fertilizer device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103404288A (en) * | 2013-07-11 | 2013-11-27 | 江苏大学 | Full-automatic greenhouse nutrient solution preparing and spraying method and system thereof |
| CN104412765A (en) * | 2013-08-26 | 2015-03-18 | 李文虎 | Automatic watering and fertilizing integration machine for home gardening plantation |
| CN103798103A (en) * | 2014-02-27 | 2014-05-21 | 唐山润农节水科技有限公司 | Drip irrigation system and control method thereof |
| CN103977719A (en) * | 2014-05-14 | 2014-08-13 | 南京农业大学 | High-efficiency accurate mixing method of fertilized groundwater on the basis of soilless culture fertilized groundwater irrigation system |
| CN103977719B (en) * | 2014-05-14 | 2015-11-11 | 南京农业大学 | The efficient precisely mixed method of rich water based on soilless culture manuring irrigation system |
| CN104094722A (en) * | 2014-07-30 | 2014-10-15 | 周岩 | Water and fertilizer integrated fertilizer-distributing system |
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| CN104350860A (en) * | 2014-11-14 | 2015-02-18 | 宁夏共享集团有限责任公司 | Liquid fertilizer feeding device |
| CN104429277A (en) * | 2014-12-05 | 2015-03-25 | 沈阳远大科技园有限公司 | Split type fertilization device and using method thereof |
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| CN105373054A (en) * | 2015-11-17 | 2016-03-02 | 重庆市万盛区军均林业开发有限公司 | Lemon cultivation management system capable of monitoring soil trace elements |
| CN105393877A (en) * | 2015-11-18 | 2016-03-16 | 重庆市万盛区军均林业开发有限公司 | Lemon planting and producing device having high-efficiency water-saving performance |
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| CN106879291A (en) * | 2017-01-17 | 2017-06-23 | 张家港市永联菜篮农业专业合作社 | Water-fertilizer integral under-film drip irrigation system |
| CN106888662A (en) * | 2017-01-17 | 2017-06-27 | 张家港市永联菜篮农业专业合作社 | Intelligent irrigation system |
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| CN107135916A (en) * | 2017-05-12 | 2017-09-08 | 刘萍萍 | A kind of accurate remote Irrigation and fertilization system |
| CN107251699A (en) * | 2017-07-06 | 2017-10-17 | 北京市农林科学院 | A kind of organic liquid fertilizer Tree Precise Fertilization machine |
| CN107247442A (en) * | 2017-07-13 | 2017-10-13 | 河南科技大学 | A kind of speed of fertilizing equipment and fertilizer amount synchronous control system and its control method |
| CN107580924A (en) * | 2017-10-16 | 2018-01-16 | 唐山新时电气有限公司 | A kind of integrated water fertilizer box and application method |
| CN107624326A (en) * | 2017-10-26 | 2018-01-26 | 山东大学 | A kind of water-fertilizer integral irrigation system and control method |
| CN109906739A (en) * | 2017-12-13 | 2019-06-21 | 京蓝沐禾节水装备有限公司 | Standby fertilizer device and irrigation sprinkler and fertilizing method including this for fertilizer device |
| CN108268006A (en) * | 2018-01-22 | 2018-07-10 | 安徽东华农业科技开发股份有限公司 | A kind of full-automatic fertilizer applicator |
| CN108076771A (en) * | 2018-01-24 | 2018-05-29 | 山东农业大学 | A kind of facility water-fertilizer integrated intelligent irrigation equipment and control method |
| CN108575678A (en) * | 2018-03-20 | 2018-09-28 | 中国水利水电科学研究院 | A kind of metering irrigation rig based on crop water requirement |
| CN108575678B (en) * | 2018-03-20 | 2023-11-24 | 中国水利水电科学研究院 | Metering irrigation device based on crop water demand |
| CN108668583A (en) * | 2018-03-21 | 2018-10-19 | 南昌大学 | A kind of intensive intelligent seedling raising method and system |
| CN111754060A (en) * | 2019-10-18 | 2020-10-09 | 广州极飞科技有限公司 | Variable rate fertilization method and device, electronic equipment and storage medium |
| CN111771500A (en) * | 2020-06-05 | 2020-10-16 | 广州大学 | Rapid and accurate fertilization system and method |
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Application publication date: 20110727 |