CN116420487A - Soil fertilizer preparation method, system, equipment and storage medium based on artificial intelligence - Google Patents

Soil fertilizer preparation method, system, equipment and storage medium based on artificial intelligence Download PDF

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CN116420487A
CN116420487A CN202310340355.4A CN202310340355A CN116420487A CN 116420487 A CN116420487 A CN 116420487A CN 202310340355 A CN202310340355 A CN 202310340355A CN 116420487 A CN116420487 A CN 116420487A
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罗兰娇
梁丁
包甘盛
周东
许智城
郭清俊
吴小明
杨明
邓杰友
滕涛
陈鹏
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Guangxi Digital Supply And Marketing Technology Co ltd
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    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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    • A01C21/00Methods of fertilising, sowing or planting
    • A01C21/007Determining fertilization requirements
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Abstract

The invention discloses a soil fertilizer preparation method, a system, equipment and a storage medium based on artificial intelligence, wherein the method comprises the following steps: acquiring humidity H, temperature T, illumination intensity L, soil pH value PH, nutrient content SNC, trace elements and crop growth conditions of a designated area for multiple times in the growth period of crops; storing the data matrix into a database as original sample data according to the time period; pruning optimization processing is carried out on the original sample data, and a characteristic value with the largest influence is screened out to obtain training sample data; training and learning the training sample data by using a random forest algorithm to obtain a growth model; inputting the humidity H, the temperature T, the illumination intensity L, the pH value of soil, the nutrient content SNC, microelements and the growth situation of a region to be fertilized into a growth model to obtain the optimal soil content NR, pH, temperature, humidity and actual soil content SNC of crops for nutrients; calculating the fertilizer dosage according to the nutrient content FNC of the fertilizer and the fertilizer formula.

Description

Soil fertilizer preparation method, system, equipment and storage medium based on artificial intelligence
Technical Field
The invention relates to the technical field of soil fertilizer preparation, in particular to a soil fertilizer preparation method, a system, equipment and a storage medium based on artificial intelligence.
Background
With the rapid development of the agricultural industry in China, soil nutrient balance and soil fertility management have become important links in agricultural production. And the precise fertilization is realized, the growth and development of crops and the high-efficiency increase of the yield are ensured, and the support of a modern soil fertilizer preparation technology is needed. However, the traditional manual fertilizer preparation method has the following defects: low production efficiency, high cost, difficulty in adapting to different soil types and crop requirements, incapability of quickly adapting to environmental changes and the like.
Patent CN108684278B discloses an intelligent fertilizer preparation method, device and system, which obtains soil nutrient detection value, PH value, topography, soil property, fertilization habit and/or historical yield according to position information; calculating the soil nutrient supply according to the soil nutrient detection value; acquiring nutrient demand according to crop information; and calculating the nutrient application amount according to the nutrient demand and the soil nutrient supply amount.
The intelligent fertilizer preparation method is based on fertilizer application habit and historical yield, ignores influence of climate on crops, and also has the problem of incapability of quickly adapting to environmental changes.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and aims to provide a soil fertilizer preparation method based on artificial intelligence, so as to solve the pain points and problems of the traditional soil fertility detection method, enable soil fertilization to be more accurate and efficient and improve crop yield and quality.
The invention aims at providing a soil fertilizer distribution system based on artificial intelligence.
The third object of the present invention is to provide a computer device.
A fourth object of the present invention is to provide a computer storage medium.
In order to achieve the purpose, the invention provides a soil fertilizer preparation method based on artificial intelligence, which comprises the following steps:
s1, acquiring climate parameters, soil parameters and growth situation images of crops in a designated area for multiple times in a growth period of the crops, wherein the climate parameters comprise humidity H, temperature T and illumination intensity L, the soil parameters comprise soil pH value PH, nutrient content SNC and microelements, and the growth situation is obtained according to the growth situation images;
s2, storing the humidity H, the temperature T, the illumination intensity L, the soil pH value PH, the nutrient content SNC, the microelements and the growth conditions which are obtained each time into a database in a data matrix according to a time period, and taking the data as original sample data;
s3, pruning optimization processing is carried out on the original sample data obtained each time, and characteristic values with the largest influence are screened out to obtain training sample data;
s4, training and learning the training sample data by using a random forest algorithm to obtain related reasoning rules, and establishing a growth model of the relationship among soil nutrients, environmental factors and crop growth;
s5, acquiring humidity H, temperature T, illumination intensity L, soil pH value PH, nutrient content SNC, trace elements and growth conditions of a region to be fertilized, and inputting a growth model to obtain optimal soil content NR, PH, temperature, humidity and actual soil content SNC of crops on the nutrients;
s6, detecting nutrient contents FNC of various fertilizers;
s7, calculating the fertilizer dosage according to a fertilizer preparation formula, and customizing proper fertilizer types and dosage for crops in a to-be-prepared fertilizer area;
the formula of the fertilizer is as follows: the amount of fertilizer needed to be added nn= (the amount of crop demand for nutrients nr—the nutrient content SNC in the soil)/the nutrient content FNC in the fertilizer.
As a further improvement, in step S1, the temperature T, the humidity H, the illumination intensity L of a certain period of time are detected by means of a weather environment monitoring station;
the method comprises the steps of performing bottom-up layered sampling on soil, measuring the pH value of a soil sample solution by adopting a pH automatic detector, detecting the nutrient content of the soil by using a fertilizer detector, and inputting sampling detection data into a cloud computing platform to obtain nutrient content SNC and trace elements, wherein the nutrient content SNC comprises three elements: nitrogen N%, phosphorus P%, potassium K%, microelements including calcium Ca, iron Fe, magnesium Mg, boron B, zinc Zn;
the growth conditions include 1-non-vegetation, 2-poor growth, 3-normal growth, 4-good growth and 5-weed.
Further, step S3 includes:
s31, loading original sample data, and evaluating a characteristic value by adopting a decision tree algorithm by means of a scikit-learn third party library;
s32, training a decision tree model by using a DecisionTreeRegresor;
and S33, calculating the mean square error according to the feature importance sequence, and determining the good growth characteristics.
Further, step S4 includes:
s41, classifying training sample data by utilizing a random forest algorithm by means of a scikit-learn third party library to obtain a prediction model;
s42, testing the obtained prediction model according to training sample data, verifying the accuracy of the prediction model, optimizing the model, and inputting the data of each test into a maintenance classifier;
and S43, repeating the steps S41 to S42, and repeatedly maintaining and correcting the prediction model until the output growth prediction accuracy reaches 95%.
Further, step S5 includes:
s51, respectively sucking 2mL of distilled water by using a suction pipe as a blank, sucking 2mL+1 drops of fertilizer nutrient mixed standard stock solution of the distilled water by using the suction pipe as a standard, and sucking 2mL of a water sample to be detected by using the suction pipe;
s52, respectively dripping a drop of a reagent to be tested of the fertilizer into the three test tubes in the step S51, and shaking uniformly;
and S53, transferring the liquid in the three test tubes in the step S52 into a cuvette after five minutes, and detecting by using a fertilizer nutrient detector to obtain the nutrient content FNC (nitrogen, phosphorus and potassium content) of the fertilizer.
In order to achieve the second purpose, the invention provides a soil fertilizer preparation system based on artificial intelligence, comprising:
the acquisition module is used for acquiring climate parameters, soil parameters and growth situation images of crops of a designated area, wherein the climate parameters comprise humidity H, temperature T and illumination intensity L, the soil parameters comprise soil pH value PH, nutrient content SNC and trace elements, and the growth situation is obtained according to the growth situation images;
the storage module is used for storing the humidity H, the temperature T, the illumination intensity L, the soil pH value PH, the nutrient content SNC, the microelements and the growth conditions which are acquired each time into a database in a data matrix according to a time period and taking the data as original sample data;
the pruning optimization module is used for carrying out pruning optimization on the original sample data obtained each time, screening out the characteristic value with the largest influence, and obtaining training sample data;
the training module is used for training and learning the training sample data by applying a random forest algorithm to obtain related reasoning rules and establishing a growth model of the relationship among soil nutrients, environmental factors and crop growth;
the judging module is used for inputting the humidity H, the temperature T, the illumination intensity L, the pH value PH of soil, the nutrient content SNC, the microelements and the growth situation of the area to be fertilized into the growth model to obtain the optimal soil content NR, PH, temperature, humidity and the actual soil content SNC of crops for the nutrients;
the fertilizer preparation module is used for calculating the fertilizer dosage according to the nutrient content FNC of the fertilizer and a fertilizer preparation formula and customizing the proper fertilizer type and dosage for the crops in the area to be prepared.
In order to achieve the third purpose, the invention provides a computer device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the soil fertilization method based on artificial intelligence when executing the computer program.
In order to achieve the fourth object, the present invention provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the artificial intelligence-based soil fertilizing method described above.
Advantageous effects
Compared with the prior art, the invention has the advantages that:
the invention can efficiently and rapidly analyze soil, automatically prepare the optimal fertilizer formula according to plant demands, and has the following advantages:
1. the soil fertility is improved, and various fertilizers required by crops can better meet the growth needs of plants through reasonable formula collocation, so that the soil fertility is improved.
2. The plant growth capacity is enhanced, the nutrient components required by the plants are more accurate, and the requirements of the plants can be better met, so that the plant growth capacity is enhanced.
3. The soil fertilizer preparation method based on the artificial intelligence algorithm saves time and cost, realizes quick and automatic fertilizer preparation, saves labor and material costs, and improves working efficiency.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention will be further described with reference to specific embodiments in the drawings.
Referring to fig. 1, an artificial intelligence-based soil fertilizer preparation method comprises the following steps:
s1, acquiring climate parameters, soil parameters and growth situation images of crops in a designated area for multiple times in a growth period of the crops, wherein the climate parameters comprise humidity H, temperature T and illumination intensity L, the soil parameters comprise soil pH value PH, nutrient content SNC and microelements, and the growth situation is obtained according to the growth situation images;
s2, storing the humidity H, the temperature T, the illumination intensity L, the soil pH value PH, the nutrient content SNC, the microelements and the growth conditions which are obtained each time into a database in a data matrix according to a time period, and taking the data as original sample data;
s3, pruning optimization processing is carried out on the original sample data obtained each time, and characteristic values with the largest influence are screened out to obtain training sample data;
s4, training and learning training sample data by using a random forest algorithm to obtain related reasoning rules, and establishing a growth model of the relationship between soil nutrients, environmental factors and crop growth;
s5, acquiring humidity H, temperature T, illumination intensity L, soil pH value PH, nutrient content SNC, trace elements and growth conditions of a region to be fertilized, and inputting a growth model to obtain optimal soil content NR, PH, temperature, humidity and actual soil content SNC of crops for nutrients;
s6, detecting nutrient contents FNC of various fertilizers;
s7, calculating the fertilizer dosage according to a fertilizer preparation formula, and customizing proper fertilizer types and dosage for crops in a to-be-prepared fertilizer area;
the formula of the fertilizer is as follows: the amount of fertilizer needed to be added nn= (the amount of crop demand for nutrients nr—the nutrient content SNC in the soil)/the nutrient content FNC in the fertilizer.
In step S1, the temperature T, the humidity H, the illumination intensity L of a certain period of time may be detected by means of a weather environment monitoring station.
Soil samples can be manually collected, soil is subjected to bottom-up layered sampling, the PH value of a soil sample solution is measured by a PH automatic detector, the nutrient content of the soil is detected by a fertilizer detector, sampling detection data are input into a cloud computing platform, and nutrient content SNC and trace elements are obtained, wherein the nutrient content SNC comprises three elements: nitrogen N%, phosphorus P%, potassium K%, and microelements including calcium Ca%, iron Fe%, magnesium Mg%, boron B% and zinc Zn%.
Of course, the method can also be installed in soil by means of various sensors to automatically detect the pH value PH of the soil, the nutrient content SNC and trace elements.
The growth conditions can be divided into 5 types, including 1-non-vegetation, 2-poor growth, 3-normal growth, 4-good growth and 5-weed.
The step S3 includes:
s31, loading original sample data, and evaluating characteristic values by adopting a decision tree algorithm by means of a scikit-learn third party library. The following is implemented in programming:
# load data.
data=pd.read_csv('agriculture_data.csv')
Twelve characteristics of # temperature, humidity, illumination intensity L, PH, nitrogen, phosphorus, potassium, calcium, iron, magnesium, boron, zinc were taken as input characteristics.
X=data[['H','T','L','PH','SNC','N%','P%','K%','Ca%','Fe%','Mg%','B%','Zn%']]
# growth vigour and yield as output tags.
y=data['yield']。
Step S32, training a decision tree model by using a DecisionTreeRegresor. The following is implemented in programming:
# the depth of the tree is controlled by setting the max_depth parameter.
tree=DecisionTreeRegressor(max_depth=3)
tree.fit(X,y)
# model was predicted and evaluated.
y_pred=tree.predict(X)。
And S33, calculating the mean square error according to the feature importance sequence, and determining the good growth characteristics. The following is implemented in programming:
and (5) sorting the importance of the features, calculating the mean square error, and finally arranging the importance of the features in a descending order and printing the result.
feature_importances=dict(zip(X.columns,
tree.feature_importances_))
sorted_feature_importances=sorted(feature_importances.items(),
key=lambda x:x[1],reverse=True)
for feature,importance in sorted_feature_importances:
print(f"{feature}:{importance}")。
The step S4 includes:
s41, classifying training sample data by utilizing a random forest algorithm by means of a scikit-learn third party library to obtain a prediction model. The following is implemented in programming:
import numpy as np
from sklearn.naive_bayes
import GaussianNB,MultinomialNB,BernoulliNB
training data #
X=np.array([[1,2,3,4],[1,3,4,4],[2,4,5,5],[2,5,6,5],[3,4,5,6])
# growth vigor label (1: non-vegetation, 2: poor growth vigor, 3: normal growth vigor, 4: good growth vigor, 5: weed)
y=np.array([1,1,4,2,3,5])
clf=GaussianNB()
clf.fit(X,y)
# receives imaging hotspot X set data and y label, trains non-vegetation, has poor growth vigor, common growth vigor, better growth vigor and weed model
clf.transform(x,y)
# predicts crop growth.
S42, testing the obtained prediction model according to the training sample data, verifying the accuracy of the prediction model, optimizing the model, and inputting the data of each test into a maintenance classifier. The following is implemented in programming:
CSV file for# loading soil nutrient and crop growth data set
data=np.loadtxt('crop_growth_data.csv',delimiter=',')
Splitting a data set into a training set and a testing set using a train_test_split function #
X_train,X_test,y_train,y_test=train_test_split(data[:,:-1],data[:,-1],test_size=0.3,random_state=42)
# a Support Vector Machine (SVM) classifier object was created and trained for 10 iterations
clf=SVC(kernel='linear')
Training classifier # and calculating precision on test set by using accuracy_score function after each iteration and outputting to control console
for i in range (10): # 10 training runs
clf.fit(X_train,y_train)
y_pred=clf.predict(X_test)
acc=accuracy_score(y_test,y_pred)
print(f'Accuracy of iteration{i}:{acc:.4f}')
Optimal soil content NR, PH, temperature and humidity and actual soil content SNC of# output crops for nutrients
print(f"Final Nutrient requirements:{acc:.4f}")。
And S43, repeating the steps S41 to S42, and repeatedly maintaining and correcting the prediction model until the output growth prediction accuracy reaches 95%.
In the step S5, a colorimetric method is adopted, and a fertilizer nutrient detector is used for detection. Comprising the following steps:
s51, respectively sucking 2mL of distilled water by using a suction pipe as a blank, sucking 2mL+1 drops of fertilizer nutrient mixed standard stock solution of the distilled water by using the suction pipe as a standard, and sucking 2mL of a water sample to be detected by using the suction pipe;
s52, respectively dripping a drop of a reagent to be tested of the fertilizer into the three test tubes in the step S51, and shaking uniformly;
and S53, transferring the liquid in the three test tubes in the step S52 into a cuvette after five minutes, and detecting by using a fertilizer nutrient detector to obtain the nutrient content FNC (nitrogen phosphorus potassium content) (unit: mg/L) of the fertilizer.
Step S7 is implemented in programming as follows:
calculating the amount of fertilizer to be added
NN=(NR-SNC)/FNC
# output result
print (f "the amount of fertilizer to be added is: { NN:.2f } mg/L").
An artificial intelligence based soil fertilizing system comprising:
the acquisition module is used for acquiring climate parameters, soil parameters and growth situation images of crops of a designated area, wherein the climate parameters comprise humidity H, temperature T and illumination intensity L, the soil parameters comprise soil pH value PH, nutrient content SNC and trace elements, and the growth situation is obtained according to the growth situation images;
the storage module is used for storing the humidity H, the temperature T, the illumination intensity L, the soil pH value PH, the nutrient content SNC, the microelements and the growth conditions which are acquired each time into a database in a data matrix according to a time period and taking the data as original sample data;
the pruning optimization module is used for carrying out pruning optimization on the original sample data obtained each time, screening out the characteristic value with the largest influence, and obtaining training sample data;
the training module is used for training and learning training sample data by applying a random forest algorithm to obtain related reasoning rules and establishing a growth model of the relationship among soil nutrients, environmental factors and crop growth;
the judging module is used for inputting the humidity H, the temperature T, the illumination intensity L, the pH value PH of soil, the nutrient content SNC, the microelements and the growth conditions of the to-be-fertilized area into the growth model to obtain the optimal soil content NR, the PH, the temperature, the humidity and the actual soil content SNC of crops for the nutrients;
the fertilizer preparation module is used for calculating the fertilizer dosage according to the nutrient content FNC of the fertilizer and a fertilizer preparation formula and customizing the proper fertilizer type and dosage for the crops in the area to be prepared.
The computer equipment comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the soil fertilizing method based on artificial intelligence when executing the computer program.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the artificial intelligence based soil fertilizing method described above.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these do not affect the effect of the implementation of the present invention and the utility of the patent.

Claims (8)

1. The soil fertilizer preparation method based on artificial intelligence is characterized by comprising the following steps of:
s1, acquiring climate parameters, soil parameters and growth situation images of crops in a designated area for multiple times in a growth period of the crops, wherein the climate parameters comprise humidity H, temperature T and illumination intensity L, the soil parameters comprise soil pH value PH, nutrient content SNC and microelements, and the growth situation is obtained according to the growth situation images;
s2, storing the humidity H, the temperature T, the illumination intensity L, the soil pH value PH, the nutrient content SNC, the microelements and the growth conditions which are obtained each time into a database in a data matrix according to a time period, and taking the data as original sample data;
s3, pruning optimization processing is carried out on the original sample data obtained each time, and characteristic values with the largest influence are screened out to obtain training sample data;
s4, training and learning the training sample data by using a random forest algorithm to obtain related reasoning rules, and establishing a growth model of the relationship among soil nutrients, environmental factors and crop growth;
s5, acquiring humidity H, temperature T, illumination intensity L, soil pH value PH, nutrient content SNC, trace elements and growth conditions of a region to be fertilized, and inputting a growth model to obtain optimal soil content NR, PH, temperature, humidity and actual soil content SNC of crops on the nutrients;
s6, detecting nutrient contents FNC of various fertilizers;
s7, calculating the fertilizer dosage according to a fertilizer preparation formula, and customizing proper fertilizer types and dosage for crops in a to-be-prepared fertilizer area;
the formula of the fertilizer is as follows: the amount of fertilizer needed to be added nn= (the amount of crop demand for nutrients nr—the nutrient content SNC in the soil)/the nutrient content FNC in the fertilizer.
2. The artificial intelligence based soil fertility method according to claim 1, wherein in step S1, the temperature T, the humidity H, the illumination intensity L of a certain period of time are detected by means of a meteorological environment monitoring station;
the method comprises the steps of performing bottom-up layered sampling on soil, measuring the pH value of a soil sample solution by adopting a pH automatic detector, detecting the nutrient content of the soil by using a fertilizer detector, and inputting sampling detection data into a cloud computing platform to obtain nutrient content SNC and trace elements, wherein the nutrient content SNC comprises three elements: nitrogen N%, phosphorus P%, potassium K%, microelements including calcium Ca, iron Fe, magnesium Mg, boron B, zinc Zn;
the growth conditions include 1-non-vegetation, 2-poor growth, 3-normal growth, 4-good growth and 5-weed.
3. The artificial intelligence based soil fertilizing method as set forth in claim 1, wherein the step S3 includes:
s31, loading original sample data, and evaluating a characteristic value by adopting a decision tree algorithm by means of a scikit-learn third party library;
s32, training a decision tree model by using a DecisionTreeRegresor;
and S33, calculating the mean square error according to the feature importance sequence, and determining the good growth characteristics.
4. The artificial intelligence based soil fertilizing method as set forth in claim 1, wherein the step S4 includes:
s41, classifying training sample data by utilizing a random forest algorithm by means of a scikit-learn third party library to obtain a prediction model;
s42, testing the obtained prediction model according to training sample data, verifying the accuracy of the prediction model, optimizing the model, and inputting the data of each test into a maintenance classifier;
and S43, repeating the steps S41 to S42, and repeatedly maintaining and correcting the prediction model until the output growth prediction accuracy reaches 95%.
5. The artificial intelligence based soil fertilizing method as set forth in claim 1, wherein the step S5 includes:
s51, respectively sucking 2mL of distilled water by using a suction pipe as a blank, sucking 2mL+1 drops of fertilizer nutrient mixed standard stock solution of the distilled water by using the suction pipe as a standard, and sucking 2mL of a water sample to be detected by using the suction pipe;
s52, respectively dripping a drop of a reagent to be tested of the fertilizer into the three test tubes in the step S51, and shaking uniformly;
and S53, transferring the liquid in the three test tubes in the step S52 into a cuvette after five minutes, and detecting by using a fertilizer nutrient detector to obtain the nutrient content FNC (nitrogen, phosphorus and potassium content) of the fertilizer.
6. Soil is joined in marriage fertile system based on artificial intelligence, its characterized in that includes:
the acquisition module is used for acquiring climate parameters, soil parameters and growth situation images of crops of a designated area, wherein the climate parameters comprise humidity H, temperature T and illumination intensity L, the soil parameters comprise soil pH value PH, nutrient content SNC and trace elements, and the growth situation is obtained according to the growth situation images;
the storage module is used for storing the humidity H, the temperature T, the illumination intensity L, the soil pH value PH, the nutrient content SNC, the microelements and the growth conditions which are acquired each time into a database in a data matrix according to a time period and taking the data as original sample data;
the pruning optimization module is used for carrying out pruning optimization on the original sample data obtained each time, screening out the characteristic value with the largest influence, and obtaining training sample data;
the training module is used for training and learning the training sample data by applying a random forest algorithm to obtain related reasoning rules and establishing a growth model of the relationship among soil nutrients, environmental factors and crop growth;
the judging module is used for inputting the humidity H, the temperature T, the illumination intensity L, the pH value PH of soil, the nutrient content SNC, the microelements and the growth situation of the area to be fertilized into the growth model to obtain the optimal soil content NR, PH, temperature, humidity and the actual soil content SNC of crops for the nutrients;
the fertilizer preparation module is used for calculating the fertilizer dosage according to the nutrient content FNC of the fertilizer and a fertilizer preparation formula and customizing the proper fertilizer type and dosage for the crops in the area to be prepared.
7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the artificial intelligence based soil fertilizing method of any one of claims 1-5 when executing the computer program.
8. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the artificial intelligence based soil fertilizing method of any one of claims 1 to 5.
CN202310340355.4A 2023-03-31 2023-03-31 Soil fertilizer preparation method, system, equipment and storage medium based on artificial intelligence Pending CN116420487A (en)

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CN117976081A (en) * 2024-04-02 2024-05-03 北京市农林科学院 Composting formula method, system, equipment and medium based on model predictive optimization

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* Cited by examiner, † Cited by third party
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CN117322214B (en) * 2023-11-30 2024-02-09 余姚市农业技术推广服务总站 Crop fertilizer accurate application method and system based on neural network
CN117976081A (en) * 2024-04-02 2024-05-03 北京市农林科学院 Composting formula method, system, equipment and medium based on model predictive optimization

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