CN107155833B - Control method and device for combined planting system - Google Patents

Control method and device for combined planting system Download PDF

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CN107155833B
CN107155833B CN201710405654.6A CN201710405654A CN107155833B CN 107155833 B CN107155833 B CN 107155833B CN 201710405654 A CN201710405654 A CN 201710405654A CN 107155833 B CN107155833 B CN 107155833B
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CN107155833A (en
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王永刚
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Wopsun Beijing Agricultural Science And Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/007—Metering or regulating systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
    • A01C23/042—Adding fertiliser to watering systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
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    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract

The embodiment of the invention provides a control method and a control device of a combined planting system. The method comprises the following steps: receiving real-time measured values of a plurality of parameters respectively acquired and sent by a plurality of real-time acquisition devices; receiving control information sent by control equipment, wherein the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period; and controlling an irrigation device of the planting system according to the real-time measured value, the area to be controlled and the irrigation strategy, and performing feedback control processing on the irrigation device of the planting system according to the real-time measured value. The device is used for executing the method. The method and the device provided by the invention can quickly realize the change adjustment and the accurate control of the EC value and the pH value of the irrigation liquid, and improve the flexibility of the automatic control of a planting system.

Description

Control method and device for combined planting system
Technical Field
The embodiment of the invention relates to the technical field of agriculture, in particular to a control method and device of a combined planting system.
Background
With the rapid development of scientific and technological technology, the change of turning over the earth and covering the earth is brought to the agricultural field of China, the emergence of modern agriculture is promoted, the requirement of people on the automation degree of the control of a crop planting system is higher and higher, and the research of the automation control based on the crop planting system is more and more emphasized by people.
In the prior art, the automation degree and the visualization degree of a crop planting system are very low, only independent parts (such as valves, switches and the like) of a part can be controlled through an existing control circuit, the automation control flexibility is poor, the dependence on workers is very high, and certain resource waste is caused; the existing irrigation and fertilization has low efficiency and lag of control, after the irrigation requirement and strategy adjustment, the working solution in the pipeline cannot quickly reach a target value, and accurate fertilization cannot be realized; particularly, the existing irrigation system advocates energy conservation, intensive environment protection, the irrigation system needs to recycle return water, and the EC value (used for measuring the concentration of soluble salts in a solution and also used for measuring the concentration of soluble ions in a liquid fertilizer or a planting medium) and the pH value content in the return water also influence the control precision.
In summary, it is an important issue to be solved in the industry to provide a method and a device for improving the flexibility of the automatic control of the crop planting system and the high efficiency and accuracy of the fertilization.
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the invention provides a control method and a control device of a combined planting system.
In one aspect, an embodiment of the present invention provides a control method for a combined planting system, including:
receiving real-time measured values of a plurality of parameters respectively acquired and sent by a plurality of real-time acquisition devices;
receiving control information sent by control equipment, wherein the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period;
controlling an irrigation device of the planting system according to the real-time measured value, the area to be controlled and the irrigation strategy;
and carrying out combined feedback control processing on an irrigation device of the planting system according to the real-time measured value.
Wherein the plurality of irrigation condition parameters comprise a fold-diluted EC setting, a scaled-diluted pH setting, a single irrigation duration, and a single irrigation volume; the real-time measured values of the parameters comprise current accumulated irrigation time and current actual irrigation quantity measured values; correspondingly, the controlling and processing of the irrigation device of the planting system according to the real-time measurement value, the area to be controlled and the irrigation strategy comprises:
in each time period, controlling the irrigation device to prepare irrigation liquid according to the EC setting value diluted according to the multiple and the pH setting value diluted according to the proportion, and starting an irrigation machine to irrigate the area to be controlled;
and if judging that the current accumulated irrigation time reaches the set value of the single irrigation time and/or the current measured irrigation quantity value reaches the set value of the single irrigation quantity, closing the irrigation machine and stopping irrigating the area to be controlled.
Wherein, carry out combination formula feedback control according to real-time measurement value to the irrigation equipment of planting system and handle, include:
after an irrigation machine is started, acquiring an EC real-time measurement value and a pH real-time measurement value of the irrigation liquid, and taking the EC real-time measurement value as an EC feedback value and the pH real-time measurement value as a pH feedback value;
according to the formula: r = S 0 -S calculating an EC compensation value, where R is the EC compensation value, S 0 Setting an EC value for the irrigation liquid diluted by multiple times, wherein S is the EC feedback value of the irrigation liquid;
according to the formula: q = P 0 -P calculating a pH offset, wherein Q is the pH offset, P 0 Setting a pH value for the irrigation liquid diluted in proportion, wherein P is the pH feedback value of the irrigation liquid;
and controlling the flow of the EC mother liquor according to the EC compensation value, and controlling the flow of the pH mother liquor according to the pH compensation value.
The irrigation device of the planting system is subjected to combined feedback control processing according to the real-time measured value, and the method further comprises the following steps:
if the time difference from the moment of starting the irrigation machine to the current moment is larger than a preset threshold value, according to a formula: f 1 ＝k 1 (S 0 -S)+b 1 Calculating the frequency of a fertilizer pump; wherein, F 1 Is the frequency, k, of the fertilizer pump 1 、b 1 Is a first predetermined constant number, S 0 Setting an EC value for the irrigation liquid diluted by multiple times, wherein S is the EC feedback value of the irrigation liquid;
according to the formula: f 2 ＝k 2 (P 0 -P)+b 2 Calculating the frequency of the acid pump; wherein, F 2 Is the acid pump frequency, k 2 、b 2 Is a second predetermined constant number, P 0 The pH value is set for proportional dilution,p is the pH feedback value of the irrigation liquid;
according to the frequency F of the fertilizer pump 1 Controlling the frequency of the fertilizer pump such that the real-time measured value of EC for the irrigation liquid is equal to or close to the EC setting value diluted by multiple, and according to the acid pump frequency F 1 Controlling the frequency of the acid pump such that the real-time pH measurement is at or near the scaled-down pH setting.
In another aspect, an embodiment of the present invention provides a planting system control apparatus, including:
the first receiving unit is used for receiving the real-time measured values of the parameters which are respectively acquired and sent by the plurality of real-time acquisition devices;
a second receiving control information sent by the control equipment, wherein the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period;
the irrigation control unit is used for controlling and processing an irrigation device of the planting system according to the real-time measured value, the area to be controlled and the irrigation strategy;
and the feedback control unit is used for carrying out feedback control processing on the irrigation device of the planting system according to the real-time measured value.
According to the control method and the control device for the combined planting system, provided by the embodiment of the invention, the real-time measured values of the parameters respectively acquired and sent by the plurality of real-time acquisition devices are received, the control information sent by the control equipment is received, the control information carries the area to be controlled and the irrigation strategy corresponding to the area to be controlled, the irrigation device of the planting system is controlled according to the real-time measured values, the area to be controlled and the irrigation strategy, the combined feedback control processing is carried out on the irrigation device of the planting system according to the real-time measured values, the fast topdressing is carried out, the improper fertilization of crops caused by the delayed topdressing is avoided, and the flexibility and the accuracy of the automatic control of the planting system are also improved.
The combined feedback control treatment specifically comprises compensation control and closed-loop feedback control, and on the basis of proportional fertilizer supply, the change of the EC value and the pH value of the irrigation liquid can be quickly realized by coarsely adjusting a frequency converter and controlling a metering pump through the compensation control, and the change rapidly approaches to a set target value; after the supplementary control and the irrigation device are stabilized, the problem that the EC value and the pH value content in the return water influence the control precision can be solved by adopting the PID closed-loop feedback control and adopting the real-time monitoring feedback and the variable frequency control of the EC value and the pH value when the return water is used, and the accurate control of the EC value and the pH value can be further realized, so that the accurate fertilization can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method of a combined planting system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a planting system control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a planting system control device according to another embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a planting system control device according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a planting system control device according to still another embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a planting system control device according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of a planting system control device according to still another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a control method of a combined planting system according to an embodiment of the present invention, and as shown in fig. 1, the embodiment provides a control method of a combined planting system, including:
s101, receiving real-time measured values of a plurality of parameters, which are respectively acquired and sent by a plurality of real-time acquisition devices;
specifically, the planting system control device receives real-time measured values of a plurality of parameters respectively acquired and sent by a plurality of real-time acquisition devices. The real-time measurement values may include a current accumulated irrigation time and a current irrigation quantity actual measurement value, an accumulated illumination actual measurement value, a current substrate humidity actual measurement value, a current ambient temperature actual measurement value, a current CO actual measurement value 2 The measured concentration value may also include real-time measured values of other parameters, which may be specifically adjusted according to actual conditions, and is not specifically limited herein.
S102, receiving control information sent by control equipment, wherein the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period;
specifically, the device receives control information sent by control equipment, wherein the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period. It can be understood that the plurality of irrigation condition parameters include an EC setting value, a pH setting value, a single irrigation duration and a single irrigation quantity, a longest time interval, a shortest time interval, accumulated illumination, a maximum substrate humidity value, a minimum substrate humidity value, and may further include other irrigation condition parameters, which may be specifically adjusted according to actual conditions, and are not specifically limited herein; the setting values of the plurality of irrigation condition parameters can be set and adjusted according to actual conditions. And the proportional supply of a fertilizer way, an acid way and a water way is formed by combining the supply of raw water in the water way according to the EC dilution multiple and the pH dilution proportion, so that the irrigation liquid meeting the preset target is provided.
S103, controlling an irrigation device of the planting system according to the real-time measured value, the area to be controlled and the irrigation strategy.
Specifically, the device controls and processes the irrigation device of the planting system according to the real-time measured value, the area to be controlled and the irrigation strategy.
And S104, performing combined feedback control processing on an irrigation device of the planting system according to the real-time measured value so as to realize faster additional fertilization and more accurate fertilization.
Specifically, the device takes the real-time measured value as a feedback value according to the acquired real-time measured value, calculates a difference value between the feedback value and a setting value of a corresponding irrigation condition parameter, and performs combined feedback control processing on an irrigation device of the planting system according to the difference value; including compensation feedback control and real-time monitoring feedback control.
According to the control method of the combined planting system provided by the embodiment of the invention, the real-time measured values of the parameters respectively acquired and sent by the plurality of real-time acquisition devices are received, the control information sent by the control equipment is received, the control information carries the area to be controlled and the irrigation strategy corresponding to the area to be controlled, the irrigation device of the planting system is controlled according to the real-time measured values, the area to be controlled and the irrigation strategy, and particularly, the combined feedback control processing is carried out on the irrigation device of the planting system according to the real-time measured values, so that the flexibility of automatic control of the planting system is improved, and faster topdressing and more accurate fertilization are realized.
On the basis of the above embodiment, further, the plurality of irrigation condition parameters include a multiple diluted EC setting, a proportional diluted pH setting, a single irrigation duration and a single irrigation quantity; the real-time measured values of the parameters comprise the current accumulated irrigation time and the current actual irrigation quantity measured value; correspondingly, the controlling and processing of the irrigation device of the planting system according to the real-time measurement value, the area to be controlled and the irrigation strategy comprises:
in each time period, controlling the irrigation device to prepare irrigation liquid according to the EC setting value diluted according to the multiple and the pH setting value diluted according to the proportion, and starting an irrigation machine to irrigate the area to be controlled;
and if judging that the current accumulated irrigation time reaches the set value of the single irrigation time and/or the current measured irrigation quantity value reaches the set value of the single irrigation quantity, closing the irrigation machine and stopping irrigating the area to be controlled.
Specifically, the irrigation condition parameters include an EC setting value diluted by multiple, a pH setting value diluted by proportion, a single irrigation duration and a single irrigation quantity, the real-time measurement values of the parameters include a current accumulated irrigation time and a current irrigation quantity measured value, the device controls the irrigation device to configure irrigation liquid according to the EC setting value diluted by multiple and the pH setting value diluted by proportion in each time period, starts an irrigation machine to irrigate the area to be controlled, triggers a timer to start timing, triggers a flowmeter to start counting accumulated irrigation quantity, and if the device judges that the current accumulated irrigation time reaches the setting value of the single irrigation duration, and/or if the current irrigation quantity measured value reaches the setting value of the single irrigation quantity, the irrigation machine is turned off, and the area to be controlled is stopped from being irrigated.
On the basis of the above embodiment, further, the irrigation device of the planting system is subjected to feedback control processing according to the real-time measurement value, including compensation feedback control (implemented by a compensation control module as shown in fig. 3):
after an irrigation machine is started, acquiring an EC real-time measurement value and a pH real-time measurement value of the irrigation liquid, and taking the EC real-time measurement value as an EC feedback value and the pH real-time measurement value as a pH feedback value;
according to the formula: r = S 0 -S calculating an EC compensation value, where R is the EC compensation value, S 0 Setting an EC value for the irrigation liquid diluted by multiple times, wherein S is the EC feedback value of the irrigation liquid;
according to the formula: q = P 0 -P calculating a pH offset, wherein Q is the pH offset, P 0 Setting the pH value of the irrigation liquid diluted in proportion, wherein P is the pH feedback value of the irrigation liquid;
and controlling the flow of the EC mother liquor according to the EC compensation value, and controlling the flow of the pH mother liquor according to the pH compensation value.
Specifically, after an irrigation machine is started, an EC real-time measurement value and a pH real-time measurement value of the irrigation liquid are accurately obtained in a manual measurement mode, the EC real-time measurement value of the irrigation liquid is used as an EC feedback value, and the pH real-time measurement value is used as a pH feedback value. The control device is according to the formula: r = S 0 -S calculating an EC compensation value, where R is the EC compensation value, S 0 Setting an EC value for the irrigation liquid diluted by multiple times, wherein S is the EC feedback value of the irrigation liquid; and, according to the formula: q = P 0 -P calculating a pH offset value, wherein Q is the pH offset value, P 0 Setting the pH value of the irrigation liquid diluted in proportion, wherein P is the pH feedback value of the irrigation liquid. And then, according to the EC compensation value, the frequency converter is coarsely adjusted to adjust a metering pump (a fertilizer pump) and control the flow of the EC mother solution, and according to the pH compensation value, the frequency converter is coarsely adjusted to adjust the metering pump (an acid pump) and control the flow of the pH mother solution.
On the basis of proportional fertilizer supply, the change of the EC value and the pH value of the irrigation liquid can be quickly realized by roughly adjusting the frequency converter and controlling the metering pump through the compensation control, so that the irrigation liquid quickly approaches to a set target value.
On the basis of the above embodiment, further, the method further includes monitoring feedback control in real time (implemented by a closed-loop feedback control module), specifically:
if the time difference from the moment of starting the irrigation machine to the current moment is larger than the preset threshold value, the judgment result shows that the time difference is larger than the preset threshold valueA value, then according to the formula: f 1 ＝k 1 (S 0 -S)+b 1 Calculating the frequency of a fertilizer pump; wherein, F 1 Is the frequency of the fertilizer pump, k 1 、b 1 Is a first predetermined constant number, S 0 Setting the EC value of the irrigation liquid diluted by multiple times, wherein S is the real-time measured value of the EC of the irrigation liquid;
according to the formula: f 2 ＝k 2 (P 0 -P)+b 2 Calculating the frequency of the acid pump; wherein, F 2 Is the acid pump frequency, k 2 、b 2 Is a second predetermined constant number, P 0 Setting a pH value for proportional dilution, wherein P is a real-time measured value of the pH dilution proportion;
according to the frequency F of the fertilizer pump 1 Controlling the frequency of the fertilizer pump such that the real-time measured value of EC for the irrigation liquid is equal to or close to the EC setting value diluted by multiple, and according to the acid pump frequency F 1 Controlling the frequency of the acid pump such that the real-time pH measurement is at or near the scaled-down pH setting.
Specifically, after the control device starts the irrigation machine, a timer is started at the same time, and if the time difference from the moment of starting the irrigation machine to the current moment is greater than a preset threshold value, according to a formula: f 1 ＝k 1 (S 0 -S)+b 1 Calculating the frequency of a fertilizer pump; wherein, F 1 Is the frequency, k, of the fertilizer pump 1 、b 1 Is a first predetermined constant number, S 0 And the EC setting value is the EC setting value of the irrigation liquid diluted according to multiple times, S is the real-time measurement value of the irrigation liquid EC, and the real-time measurement value of the EC is measured in real time through an EC sensor arranged on an irrigation liquid pipeline. And, the apparatus according to the formula: f 2 ＝k 2 (P 0 -P)+b 2 Calculating the frequency of the acid pump; wherein, F 2 Is the acid pump frequency, k 2 、b 2 Is a second predetermined constant number, P 0 And P is the pH real-time measured value which is the pH set value diluted in proportion, and the pH real-time measured value is measured in real time through a pH sensor arranged on an irrigation liquid pipeline. Then, the control device controls the pump according to the frequency F 1 Can be adjusted byA frequency converter is used for controlling the frequency of a fertilizer pump to control the fertilizing amount so that the EC real-time measured value of the irrigation liquid is equal to the EC set value diluted by multiple, and the device is used for controlling the fertilizing amount according to the frequency F of the acid pump 1 The frequency of the acid pump is controlled by adjusting a frequency converter to control the amount of acid applied so that the real-time measured value of pH equals the pH setting for proportional dilution.
In the scheme, the EC sensor and the pH sensor are adopted for monitoring the irrigation liquid in real time, and the influence of backwater utilization on the control of the EC setting value (target value) and the pH setting value (target value) in the irrigation liquid is mainly considered to be reduced, so that the control precision is enhanced conveniently; therefore, a proportional fertilizer supply mode cannot be simply adopted under the condition of backwater utilization.
The real-time monitoring feedback control specifically adopts PID closed-loop feedback control, and the PID closed-loop feedback control adopts PID integral coefficient and PID time delay. Because the feedback of the EC sensor needs time, the PID closed-loop feedback control is not started because the EC sensor is unstable when the system is just started; and when the EC feedback value is stable, PID conversion is started. Then the frequency of the frequency converter decreases if the feedback value is greater than the actually set value and increases if the feedback value is less than the actually set value, by so fluctuating the EC is accurately controlled.
After the supplementary control, the EC value and the pH value can be further accurately controlled by closed-loop feedback control and adopting real-time monitoring feedback and variable frequency control of the EC value and the pH value, so that the problem that the EC value and the pH value content in the return water influence the control precision when the return water is used is solved, and accurate fertilization is achieved.
On the basis of the above embodiment, further, the plurality of irrigation condition parameters further include a longest time interval, a shortest time interval, cumulative illumination, a maximum substrate humidity value, a minimum substrate humidity value; the real-time measured values of the parameters further comprise an accumulated illumination actual value and a current substrate humidity actual value; accordingly, the method further comprises:
calculating the time interval between the end time of the last irrigation and the current time in each time period;
if the time interval is judged and known to be not smaller than the shortest time interval but smaller than the longest time interval, and the accumulated illumination measured value is not smaller than the set value of the accumulated illumination, and/or the current substrate humidity measured value is not larger than the set value of the substrate humidity minimum value, starting the irrigation machine to irrigate the area to be controlled;
or if the time interval is judged and known to be not smaller than the longest time interval, the irrigation machine is started to irrigate the area to be controlled;
or if the measured value of the current substrate humidity is judged and obtained to be not less than the set value of the maximum substrate humidity, the irrigation machine is closed, and the irrigation of the area to be controlled is stopped.
Specifically, the plurality of irrigation condition parameters further include a longest time interval, a shortest time interval, cumulative illumination, a maximum substrate humidity, a minimum substrate humidity; the real-time measured values of the plurality of parameters further comprise an accumulated actual illumination value and a current actual substrate humidity value. Calculating a time interval between the last irrigation ending time and the current time by the device in each time period, and if the device judges that the time interval is not smaller than the shortest time interval but smaller than the longest time interval, and the accumulated illumination measured value is not smaller than the set value of the accumulated illumination, and/or the current substrate humidity measured value is not larger than the set value of the substrate humidity minimum value, starting the irrigation machine to irrigate the area to be controlled; if the judgment shows that the time interval is not smaller than the longest time interval, starting the irrigation machine to irrigate the area to be controlled; or if the measured value of the current substrate humidity is judged and obtained to be not less than the set value of the maximum substrate humidity, the irrigation machine is closed, and the irrigation of the area to be controlled is stopped.
On the basis of the foregoing embodiment, further, the control information further carries an environment control policy corresponding to the area to be controlled, where the environment control policy includes the multiple time periods and setting values of environment control condition parameters corresponding to the time periods; accordingly, the method further comprises:
and controlling an environment control device of the planting system according to the real-time measured value, the area to be controlled and the environment control strategy.
Specifically, the control information further carries an environment control policy corresponding to the area to be controlled, where the environment control policy includes the multiple time periods and setting values of environment control condition parameters corresponding to the time periods; and the device controls and processes the environment control device of the planting system according to the real-time measured value, the area to be controlled and the environment control strategy.
On the basis of the above embodiment, further, the environmental control condition parameters include a lowest heating temperature, a highest heating temperature, a lowest cooling temperature, a highest cooling temperature, and a highest CO 2 Concentration, lowest CO 2 Concentration and sulfur fumigator on-time; the real-time measured values of the parameters comprise a current environment temperature measured value and a current CO 2 The measured value of the concentration; correspondingly, the controlling the environmental control device of the planting system according to the real-time measured value, the area to be controlled and the environmental control strategy comprises:
in each time period, if the measured value of the current environment temperature is judged and obtained to be not higher than the set value of the lowest heating temperature, heating equipment is started to heat the area to be controlled; if the measured value of the current environment temperature is judged and obtained to be not lower than the set value of the highest heating temperature, the heating equipment is closed, and the heating of the area to be controlled is stopped;
if the measured value of the current environment temperature is judged and acquired to be not lower than the set value of the highest cooling temperature, starting cooling equipment to cool the area to be controlled; if the measured value of the current environment temperature is judged and known to be not higher than the set value of the lowest cooling temperature, the cooling equipment is closed, and the cooling in the area to be controlled is stopped;
if the current CO is judged and obtained 2 The measured value of the concentration is not higher than the lowest CO 2 The set value of the concentration is that CO is started 2 A release device for carrying out CO treatment in the area to be controlled 2 Releasing and simultaneously starting an internal circulation fan; and if the current CO is obtained through judgment 2 Measured concentration value not lower than the highest CO 2 The set value of the concentration, the CO is closed 2 A release device for stopping CO in the area to be controlled 2 Releasing;
and if the judgment shows that the current time reaches the starting time of the sulfur fumigator, starting the sulfur fumigator.
Specifically, the environmental control condition parameters include a minimum heating temperature, a maximum heating temperature, a minimum cooling temperature, a maximum cooling temperature, and a maximum CO 2 Concentration, lowest CO 2 Concentration and sulfur fumigator on-time; the real-time measured values of the parameters comprise a current environment temperature measured value and a current CO 2 The measured value of the concentration; correspondingly, in each time period, if the device judges that the measured value of the current environment temperature is not higher than the set value of the lowest heating temperature, the device starts heating equipment to heat the area to be controlled; and if the device judges that the measured value of the current environment temperature is not lower than the set value of the highest heating temperature, the heating equipment is closed, and the heating of the area to be controlled is stopped. If the device judges that the measured value of the current environment temperature is not lower than the set value of the highest cooling temperature, the device starts cooling equipment to cool the area to be controlled; and if the device judges that the measured value of the current environment temperature is not higher than the set value of the lowest cooling temperature, the cooling equipment is closed, and the cooling in the area to be controlled is stopped. If the device judges to acquire the current CO 2 The measured value of the concentration is not higher than the lowest CO 2 The set value of the concentration is that CO is turned on 2 A releasing device for carrying out CO treatment in the area to be controlled 2 Releasing and simultaneously starting an internal circulation fan; and if the current CO is obtained through judgment 2 Measured concentration value not lower than the highest CO 2 The set value of the concentration, the CO is closed 2 A release device for stopping CO in the area to be controlled 2 And (4) releasing. And if the device judges that the current time reaches the starting time of the sulfur fumigator, starting the sulfur fumigator.
On the basis of the above embodiment, further, the method further includes:
receiving an alarm control strategy sent by the control equipment, wherein the alarm control strategy comprises a plurality of preset value ranges corresponding to preset parameters;
if the real-time measured value of the preset parameter is judged and obtained to meet the preset value range corresponding to the preset parameter, an alarm is automatically started; and/or if the fertilizer suction pump and/or the acid suction pump are judged to be in failure, automatically starting an alarm.
Specifically, the device receives an alarm control strategy sent by the control equipment, wherein the alarm control strategy comprises a corresponding preset value range of a plurality of preset parameters; if the device judges that the real-time measured value of the preset parameter meets the preset value range corresponding to the preset parameter, an alarm is automatically started; and/or if judging that the fertilizer suction pump and/or the acid suction pump are in failure, automatically starting an alarm.
For example, when the irrigation machine is started, the pressure of the pipeline reaches the maximum value, which may far exceed the working pressure, the irrigation machine needs to work for a period of time to perform a normal pressure state, and when the measured pressure of the pipeline is greater than the maximum value or less than the minimum value and exceeds a set value, the alarm is automatically started; namely when a certain position of the pipeline leaks water, the measured value of the pipeline pressure is smaller than the normal pressure, and the device automatically starts an alarm when detecting the minimum value of the pressure; or when a certain position of the pipeline is blocked, the measured value of the pipeline pressure is larger than the normal pressure, and when the maximum value of the pressure is detected, the alarm is automatically started to send out an alarm prompt. For another example, the upper limit and the lower limit of the environmental temperature are set, and when the measured environmental temperature is smaller than the minimum value or higher than the maximum value, the alarm is automatically turned on. For another example, the upper limit and the lower limit of the environmental humidity are set, and when the actually measured environmental humidity is smaller than the minimum value or higher than the maximum value, the alarm is automatically started. As another example, upper and lower substrate temperature limits are set, and an alarm is automatically activated when the measured substrate temperature is less than a minimum value or greater than a maximum value. For another example, the upper limit and the lower limit of the substrate humidity are set, and when the measured substrate humidity is smaller than the minimum value or higher than the maximum value, the alarm is automatically turned on. For another example, when the irrigation machine works, if the difference value between the EC measured value and the EC set value in the current time is larger than the tolerance value set, the alarm is automatically turned on. For another example, when the irrigation machine is working, if the difference between the actual pH value and the pH value set within the current time is larger than the tolerance value set, the alarm is automatically turned on. For another example, if the difference between the measured value of CO2 and the set value of CO2 within the current time is greater than the tolerance value, the alarm is automatically turned on.
Based on the above embodiment, further, the measured values of the parameters include real-time EC value, real-time pH value, and real-time CO 2 Concentration, real-time ambient temperature, real-time ambient humidity, real-time matrix temperature, real-time matrix humidity, real-time luminous flux, irrigation interval cumulative illumination, cumulative illumination on the day, real-time irrigation quantity, irrigation quantity on the day, total irrigation quantity, current return water quantity and cumulative return water quantity; correspondingly, the method further comprises:
and displaying the received real-time measured values of the plurality of parameters in real time.
Specifically, the device displays the received real-time measured values of the parameters in real time, wherein the real-time measured values of the parameters comprise real-time EC value, real-time pH value and real-time CO value 2 The system comprises a concentration sensor, a real-time environment temperature sensor, a real-time environment humidity sensor, a real-time substrate temperature sensor, a real-time substrate humidity sensor, a real-time luminous flux sensor, irrigation interval accumulated illumination, current day accumulated illumination, a real-time irrigation quantity sensor, a current day irrigation quantity sensor, a total irrigation quantity sensor, a current water return quantity sensor and an accumulated water return quantity sensor, and can also comprise measured values of other parameters, can be specifically adjusted according to actual conditions, and is not specifically limited here.
According to the control method of the combined planting system, provided by the embodiment of the invention, the real-time measured values of the parameters, which are respectively acquired and sent by the real-time acquisition devices, are received, the control information sent by the control equipment is received, the control information carries the area to be controlled and the irrigation strategy corresponding to the area to be controlled, and then the irrigation devices of the planting system are controlled according to the real-time measured values, the area to be controlled and the irrigation strategy, so that the flexibility of automatic control of the planting system is improved.
Fig. 2 is a schematic structural diagram of a planting system control device according to an embodiment of the present invention, and as shown in fig. 2, the planting system control device according to the embodiment of the present invention includes: a first receiving unit 201, a second receiving unit 202, an irrigation control unit 203 and a feedback control unit 204, wherein:
the first receiving unit 201 is configured to receive real-time measurement values of a plurality of parameters respectively acquired and sent by a plurality of real-time acquisition devices; the second receiving unit 202 is configured to receive control information sent by a control device, where the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period; the irrigation control unit 203 is configured to control an irrigation device of the planting system according to the real-time measurement value, the area to be controlled, and the irrigation strategy. And the feedback control unit 204 performs feedback control processing on the irrigation device of the planting system according to the real-time measurement value.
Specifically, the first receiving unit 201 receives real-time measurement values of a plurality of parameters respectively acquired and transmitted by a plurality of real-time acquisition devices. A second receiving unit 202 receives control information sent by a control device, where the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period. And the irrigation control unit 203 controls and processes the irrigation devices of the planting system according to the real-time measured values, the area to be controlled and the irrigation strategy. It will be appreciated that the real-time measurements may include the current accumulated irrigation time and the current actual irrigation quantity, the accumulated actual illuminationValue, current substrate humidity measured value, current ambient temperature measured value, current CO 2 The actual concentration value may also include real-time measurement values of other parameters, which may be specifically adjusted according to actual conditions, and is not specifically limited herein; the plurality of irrigation condition parameters comprise an EC value, a pH value, a single irrigation duration and a single irrigation quantity, a longest time interval, a shortest time interval, accumulated illumination, a matrix humidity maximum value and a matrix humidity minimum value, and can also comprise other irrigation condition parameters, and the parameters can be specifically adjusted according to actual conditions, and are not specifically limited herein; the setting values of the plurality of irrigation condition parameters can be set and adjusted according to actual conditions. The feedback control unit 204 takes the obtained real-time measurement value as a feedback value according to the obtained real-time measurement value, calculates a difference value between the feedback value and a setting value of a corresponding irrigation condition parameter, and performs feedback control processing on an irrigation device of the planting system according to the difference value.
According to the planting system control device provided by the embodiment of the invention, the real-time measured values of a plurality of parameters respectively acquired and sent by a plurality of real-time acquisition devices are received, the control information sent by the control equipment is received, the control information carries the area to be controlled and the irrigation strategy corresponding to the area to be controlled, and then the irrigation device of the planting system is controlled according to the real-time measured values, the area to be controlled and the irrigation strategy, so that the flexibility of automatic control of the planting system is improved.
On the basis of the above embodiment, further, the plurality of irrigation condition parameters include a multiple diluted EC setting, a proportional diluted pH setting, a single irrigation duration and a single irrigation quantity; the real-time measured values of the parameters comprise the current accumulated irrigation time and the current actual irrigation quantity measured value; correspondingly, fig. 3 is a schematic structural diagram of a planting system control device according to another embodiment of the present invention, and as shown in fig. 3, the planting system control device according to the embodiment of the present invention includes a first receiving unit 301, a second receiving unit 302, an irrigation control unit 303, and a feedback control unit 304, where the first receiving unit 301, the second receiving unit 302, and the feedback control unit 304 are consistent with the first receiving unit 201, the second receiving unit 202, and the feedback control unit 204 in the above embodiments, and the irrigation control unit 303 includes a first control subunit 305 and a second control subunit 306, where:
the first control subunit 305 is configured to control the irrigation system to configure irrigation liquid according to the EC setting value and the setting value of the pH in each time period, and start an irrigation machine to irrigate the area to be controlled; the second control subunit 306 is configured to, if it is determined that the current accumulated irrigation time reaches the set value of the single irrigation duration, and/or the current measured irrigation amount value reaches the set value of the single irrigation amount, turn off the irrigation machine, and stop irrigating the area to be controlled.
Specifically, the plurality of irrigation condition parameters include an EC setting value, a pH setting value, a single irrigation duration and a single irrigation quantity, the real-time measurement values of the plurality of parameters include a current accumulated irrigation time and a current actual irrigation quantity value, the first control subunit 305 controls the irrigation device to configure irrigation liquid according to the EC setting value diluted by multiple and the pH setting value diluted by proportion in each time period, and starts the irrigation machine to irrigate the area to be controlled, triggers the timer to start timing, and triggers the flow meter to start counting the accumulated irrigation quantity, and the second control subunit 306 turns off the irrigation machine to stop irrigating the area to be controlled if it is judged that the current accumulated irrigation time reaches the setting value of the single irrigation duration and/or the current actual irrigation quantity value reaches the setting value of the single irrigation quantity.
On the basis of the foregoing embodiment, further, the feedback control unit 304 is specifically configured to:
after an irrigation machine is started, acquiring an EC real-time measurement value and a pH real-time measurement value of the irrigation liquid, and taking the EC real-time measurement value as an EC feedback value and the pH real-time measurement value as a pH feedback value;
according to the formula: r = S 0 -S calculating an EC compensation value, where R is the EC compensation value, S 0 EC setting value for dilution of the irrigation liquid by multiple, S isThe EC feedback value of the irrigation liquid;
according to the formula: q = P 0 -P calculating a pH offset value, wherein Q is the pH offset value, P 0 Setting the pH value of the irrigation liquid diluted in proportion, wherein P is the pH feedback value of the irrigation liquid;
and controlling the flow of the EC mother liquor according to the EC compensation value, and controlling the flow of the pH mother liquor according to the pH compensation value.
Specifically, after the irrigation machine is started, the feedback control unit 304 obtains the EC real-time measurement value and the pH real-time measurement value of the irrigation liquid, and takes the EC real-time measurement value of the irrigation liquid as an EC feedback value and the pH real-time measurement value as a pH feedback value. The feedback control unit 304 follows the formula: r = S 0 -S calculating an EC compensation value, wherein R is the EC compensation value, S 0 Setting an EC value for diluting the irrigation liquid according to multiple times, wherein S is an EC feedback value of the irrigation liquid; and, feedback control section 304 performs: q = P 0 -P calculating a pH offset, wherein Q is the pH offset, P 0 And setting the pH value of the irrigation liquid diluted in proportion, wherein P is the pH feedback value of the irrigation liquid. Then, the feedback control unit 304 coarsely adjusts the frequency converter to adjust the metering pump according to the EC compensation value, and controls the flow rate of the EC mother liquor, and coarsely adjusts the frequency converter to adjust the metering pump according to the pH compensation value, and controls the flow rate of the pH mother liquor.
On the basis of the above embodiment, further, the feedback control unit 304 is further configured to:
if the time difference from the moment of starting the irrigation machine to the current moment is larger than a preset threshold value, according to a formula: f 1 ＝k 1 (S 0 -S)+b 1 Calculating the frequency of a fertilizer pump; wherein, F 1 Is the frequency, k, of the fertilizer pump 1 、b 1 Is a first predetermined constant number, S 0 Setting the EC value of the irrigation liquid diluted by multiple times, wherein S is the real-time measured value of the EC of the irrigation liquid;
according to the formula: f 2 ＝k 2 (P 0 -P)+b 2 Calculating the frequency of the acid pump; wherein, F 2 Is the acid pump frequency, k 2 、b 2 Is a second predetermined constantAmount, P 0 Setting the pH value for proportional dilution, wherein P is the pH feedback value of the irrigation liquid;
according to the frequency F of the fertilizer pump 1 Controlling the frequency of the fertilizer pump such that the real-time measured value of EC for the irrigation liquid is equal to or close to the EC setting value diluted by multiple, and according to the acid pump frequency F 1 Controlling the frequency of the acid pump such that the real-time pH measurement is at or near the scaled-down pH setting.
Specifically, after the irrigation machine is started, a timer is started at the same time, and if it is determined that the time difference from the time when the irrigation machine is started to the current time is greater than the preset threshold, the feedback control unit 304, according to the formula: f 1 ＝k 1 (S 0 -S)+b 1 Calculating the frequency of a fertilizer pump; wherein, F 1 Is the frequency of the fertilizer pump, k 1 、b 1 Is a first predetermined constant number, S 0 Setting the EC value of the irrigation liquid diluted by multiple times, and setting S as the EC feedback value of the irrigation liquid. And, feedback control section 304 performs: f 2 ＝k 2 (P 0 -P)+b 2 Calculating the frequency of the acid pump; wherein, F 2 Is the acid pumping frequency, k 2 、b 2 Is a second predetermined constant number, P 0 The pH value is set according to the dilution ratio, and P is the pH feedback value of the irrigation liquid. The feedback control unit 304 then depends on the fertilizer pump frequency F 1 The rate of fertilizer application may be controlled by adjusting the frequency of the frequency converter to control the frequency of the fertilizer pump such that the real-time measured value of EC for the irrigation liquid equals the EC set value, and feedback control unit 304 is responsive to the acid pump frequency F 1 Controlling the frequency of the acid pump by adjusting a frequency converter to control the amount of acid applied such that the real-time measured value of pH equals the pH setting.
On the basis of the above embodiment, further, the plurality of irrigation condition parameters further include a longest time interval, a shortest time interval, cumulative illumination, a maximum substrate humidity value, a minimum substrate humidity value; the real-time measured values of the parameters further comprise accumulated illumination measured values and current substrate humidity measured values; correspondingly, fig. 4 is a schematic structural diagram of a planting system control device according to still another embodiment of the present invention, as shown in fig. 4, the planting system control device according to the embodiment of the present invention further includes a calculating unit 407 and a judging unit 408 on the basis of the first receiving unit 401, the second receiving unit 402, the irrigation control unit 403 and the feedback control unit 404, the irrigation control unit 403 includes a first control subunit 405 and a second control subunit 406, and the first receiving unit 401, the second receiving unit 402, the irrigation control unit 403 and the feedback control unit 404 are identical to the first receiving unit 301, the second receiving unit 302, the irrigation control unit 303 and the feedback control unit 304 in the above embodiment, wherein:
the calculating unit 407 is configured to calculate a time interval between the last irrigation ending time and the current time in each time period; the judging unit 408 is configured to start the irrigation machine to irrigate the area to be controlled if it is determined that the time interval is not less than the shortest time interval but less than the longest time interval, the actual value of the accumulated illumination is not less than the set value of the accumulated illumination, and/or the actual value of the current substrate humidity is not greater than the set value of the minimum substrate humidity; or if the time interval is judged to be not smaller than the longest time interval, starting the irrigation machine to irrigate the area to be controlled; or if the measured value of the current substrate humidity is judged and known to be not less than the set value of the maximum substrate humidity, the irrigation machine is closed, and the irrigation of the area to be controlled is stopped.
Specifically, the plurality of irrigation condition parameters further include a longest time interval, a shortest time interval, cumulative illumination, a maximum substrate humidity, a minimum substrate humidity; the real-time measured values of the plurality of parameters further comprise an accumulated actual illumination value and a current actual substrate humidity value. The calculating unit 407 calculates a time interval between the ending time of the last irrigation and the current time within each time period, and if it is determined that the time interval is not less than the shortest time interval but less than the longest time interval, and the accumulated actual illumination value is not less than the set value of the accumulated illumination, and/or the current actual substrate humidity value is not greater than the set value of the minimum substrate humidity value, the determining unit 408 controls to start the irrigation machine to irrigate the area to be controlled; if the judging unit 408 judges that the time interval is not smaller than the longest time interval, the irrigation machine is controlled to be started to irrigate the area to be controlled; or, if it is determined that the current measured substrate humidity value is not smaller than the set value of the maximum substrate humidity value, the determining unit 408 controls to turn off the irrigation machine, and stops irrigating the area to be controlled.
On the basis of the above embodiment, further, the control information also carries an environment control policy corresponding to the area to be controlled, where the environment control policy includes the multiple time periods and setting values of environment control condition parameters corresponding to the time periods; correspondingly, fig. 5 is a schematic structural diagram of a planting system control device according to still another embodiment of the present invention, and as shown in fig. 5, the planting system control device according to the embodiment of the present invention further includes an environment control unit 505 on the basis of the first receiving unit 501, the second receiving unit 502, the irrigation control unit 503 and the feedback control unit 504, and the first receiving unit 501, the second receiving unit 502, the irrigation control unit 503 and the feedback control unit 504 are the same as the first receiving unit 201, the second receiving unit 202, the irrigation control unit 203 and the feedback control unit 204 in the above embodiments, where:
the environment control unit 505 is configured to control an environment control device of the planting system according to the real-time measurement value, the area to be controlled, and the environment control policy in a time period corresponding to the environment control policy.
Specifically, the control information further carries an environment control policy corresponding to the area to be controlled, where the environment control policy includes the multiple time periods and setting values of environment control condition parameters corresponding to the time periods; the environment control unit 505 controls the environment control device of the planting system according to the real-time measurement value, the area to be controlled and the environment control strategy.
At the basis of the above-described embodimentsAnd further, the environmental control condition parameters include a minimum heating temperature, a maximum heating temperature, a minimum cooling temperature, a maximum cooling temperature, and a maximum CO 2 Concentration, lowest CO 2 Concentration and sulfur fumigator on-time; the real-time measured values of the parameters comprise a current environment temperature measured value and a current CO 2 The measured value of the concentration; accordingly, the environment control unit 505 is specifically configured to:
in each time period, if the measured value of the current environment temperature is judged and obtained to be not higher than the set value of the lowest heating temperature, heating equipment is started to heat the area to be controlled; if the measured value of the current environment temperature is judged and obtained to be not lower than the set value of the highest heating temperature, the heating equipment is closed, and the heating of the area to be controlled is stopped;
if the measured value of the current environment temperature is judged and acquired to be not lower than the set value of the highest cooling temperature, starting cooling equipment to cool the area to be controlled; if the measured value of the current environment temperature is judged and known to be not higher than the set value of the lowest cooling temperature, the cooling equipment is closed, and the area to be controlled is stopped to be cooled;
if the current CO is judged and obtained 2 Measured concentration not higher than the minimum CO 2 The set value of the concentration is that CO is turned on 2 A releasing device for carrying out CO treatment in the area to be controlled 2 Releasing and simultaneously starting an internal circulation fan; and if the current CO is obtained through judgment 2 Measured concentration value not lower than the highest CO 2 The set value of the concentration, the CO is closed 2 A releasing device for stopping CO treatment in the area to be controlled 2 Releasing;
and if the judgment shows that the current time reaches the starting time of the sulfur fumigator, starting the sulfur fumigator.
Specifically, the environmental control condition parameters include a minimum heating temperature, a maximum heating temperature, a minimum cooling temperature, a maximum cooling temperature, and a maximum CO 2 Concentration, lowest CO 2 Concentration and sulphur fumigationThe opening time of the steamer; the real-time measured values of the parameters comprise a current environment temperature measured value and a current CO 2 The measured value of the concentration; correspondingly, the environment control unit 504 controls to start the heating device to heat the area to be controlled if it is determined that the actual measured value of the current environment temperature is not higher than the set value of the lowest heating temperature in each time period; and if the environment control unit 505 determines that the measured value of the current environment temperature is not lower than the set value of the highest heating temperature, the heating device is controlled to be turned off, and the heating of the area to be controlled is stopped. If the environment control unit 505 determines that the current environment temperature measured value is not lower than the set value of the highest cooling temperature, it controls to start cooling equipment to cool the area to be controlled; and if the environment control unit 505 determines that the measured value of the current environment temperature is not higher than the set value of the minimum cooling temperature, the cooling device is controlled to be turned off, and the cooling in the area to be controlled is stopped. If the environment control unit 505 judges to acquire the current CO 2 Measured concentration not higher than the minimum CO 2 The set value of the concentration controls to start CO 2 A releasing device for carrying out CO treatment in the area to be controlled 2 Releasing and simultaneously starting an internal circulation fan; and, the environment control unit 505 acquires the current CO if it determines 2 Measured concentration value not lower than the highest CO 2 The set value of the concentration controls to close the CO 2 A releasing device for stopping CO treatment in the area to be controlled 2 And (4) releasing. If the environment control unit 505 judges that the current time reaches the start time of the sulfur fumigator, the start of the sulfur fumigator is controlled.
Fig. 6 is a schematic structural diagram of a planting system control device according to another embodiment of the present invention, and as shown in fig. 6, the planting system control device according to the embodiment of the present invention further includes a third receiving unit 605 and an alarm control unit 606 on the basis of the first receiving unit 601, the second receiving unit 602, the irrigation control unit 603, and the feedback control unit 604, and the first receiving unit 601, the second receiving unit 602, the irrigation control unit 603, and the feedback control unit 604 are identical to the first receiving unit 201, the second receiving unit 202, the irrigation control unit 203, and the feedback control unit 204 in the above embodiments, where:
the third receiving unit 605 is configured to receive an alarm control policy sent by the control device, where the alarm control policy includes a preset value range corresponding to a plurality of preset parameters; the alarm control unit 606 is configured to automatically turn on an alarm if it is determined that the real-time measured value of the preset parameter meets a preset value range corresponding to the preset parameter; and/or if judging that the fertilizer suction pump and/or the acid suction pump are in failure, automatically starting an alarm.
Specifically, the third receiving unit 605 receives an alarm control policy sent by the control device, where the alarm control policy includes a preset value range corresponding to a plurality of preset parameters; if the alarm control unit 606 judges that the real-time measured value of the preset parameter meets the preset value range corresponding to the preset parameter, an alarm is automatically started; and/or if the alarm control unit 606 judges that the fertilizer suction pump and/or the acid suction pump are/is in failure, the alarm is automatically started.
Based on the above embodiments, further, the parameters include real-time EC value, real-time pH value, and real-time CO 2 Concentration, real-time ambient temperature, real-time ambient humidity, real-time matrix temperature, real-time matrix humidity, real-time luminous flux, irrigation interval cumulative illumination, cumulative illumination on the day, real-time irrigation quantity, irrigation quantity on the day, total irrigation quantity, current return water quantity and cumulative return water quantity; correspondingly, fig. 7 is a schematic structural diagram of a planting system control device according to still another embodiment of the present invention, and as shown in fig. 7, the planting system control device according to the embodiment of the present invention further includes a display 705 on the basis of the first receiving unit 701, the second receiving unit 702, the irrigation control unit 703 and the feedback control unit 404, and the first receiving unit 701, the second receiving unit 702, the irrigation control unit 703 and the feedback control unit 704 are consistent with the first receiving unit 201, the second receiving unit 202, the irrigation control unit 203 and the feedback control unit 204 in the above embodiments, where:
the display 705 is configured to display the received real-time measured values of the plurality of parameters in real-time.
Specifically, display 705 displays the received real-time measurements of the plurality of parameters in real-time. The measured values of the plurality of parameters include real-time EC, pH, and CO 2 The system comprises a concentration sensor, a real-time environment temperature sensor, a real-time environment humidity sensor, a real-time substrate temperature sensor, a real-time substrate humidity sensor, a real-time luminous flux sensor, irrigation interval accumulated illumination, current day accumulated illumination, a real-time irrigation quantity sensor, a current day irrigation quantity sensor, a total irrigation quantity sensor, a current water return quantity sensor and an accumulated water return quantity sensor, and can also comprise measured values of other parameters, can be specifically adjusted according to actual conditions, and is not specifically limited here.
Further, the fertilizer applicator used for irrigation comprises a water pump, a main pipeline, a fertilizer supply branch channel and an acid supply branch channel, wherein the water pump, the fertilizer supply branch channel and the acid supply branch channel are respectively connected with the main pipeline; and a working fluid flow meter is arranged at the mixed working fluid outlet of the main pipeline to monitor the flow of the working fluid at the corresponding position, and a return water pipeline is also connected near the inlet of the main pipeline.
According to the planting system control device provided by the embodiment of the invention, the real-time measurement values of a plurality of parameters respectively collected and sent by a plurality of real-time collecting devices are received, the control information sent by the control equipment is received, the control information carries the area to be controlled and the irrigation strategy corresponding to the area to be controlled, and then the irrigation device of the planting system is controlled according to the real-time measurement values, the area to be controlled and the irrigation strategy, so that the control flexibility of the planting system is improved; on the basis of proportional fertilizer supply, the change of the EC value and the pH value of the irrigation liquid can be quickly realized by roughly adjusting a frequency converter and controlling a metering pump through compensation control, and the change rapidly approaches to a set target value; after the supplementary control and the stable irrigation, the accurate control of the EC value and the pH value can be further realized by PID closed-loop control and adopting the real-time monitoring feedback and the variable-frequency control of the EC value and the pH value, thereby achieving the accurate fertilization.
The embodiment of the apparatus provided in the present invention may be specifically configured to execute the processing flows of the above method embodiments, and the functions of the apparatus are not described herein again, and refer to the detailed description of the above method embodiments.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A method for controlling a modular planting system, comprising:
receiving real-time measured values of a plurality of parameters respectively acquired and sent by a plurality of real-time acquisition devices;
receiving control information sent by control equipment, wherein the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period;
controlling an irrigation device of the planting system according to the real-time measured value, the area to be controlled and the irrigation strategy;
carrying out combined feedback control processing on an irrigation device of the planting system according to the real-time measurement value;
the plurality of irrigation condition parameters comprise a multiple diluted EC setting value, a proportional diluted pH setting value, a single irrigation duration and a single irrigation quantity; the real-time measured values of the parameters comprise current accumulated irrigation time and current actual irrigation quantity measured values; correspondingly, the controlling and processing of the irrigation device of the planting system according to the real-time measurement value, the area to be controlled and the irrigation strategy comprises:
in each time period, controlling the irrigation device to prepare irrigation liquid according to the EC setting value diluted according to the multiple and the pH setting value diluted according to the proportion, and starting an irrigation machine to irrigate the area to be controlled;
if the judgment shows that the current accumulated irrigation time reaches the set value of the single irrigation time and/or the current measured irrigation quantity value reaches the set value of the single irrigation quantity, closing the irrigation machine and stopping irrigating the area to be controlled;
carrying out combined feedback control treatment on an irrigation device of the planting system according to the real-time measured value, and the combined feedback control treatment comprises the following steps:
after an irrigation machine is started, acquiring an EC real-time measurement value and a pH real-time measurement value of the irrigation liquid, and taking the EC real-time measurement value as an EC feedback value and the pH real-time measurement value as a pH feedback value;
according to the formula: r = S 0 -S calculating an EC compensation value, wherein R is the EC compensation value, S 0 Setting an EC value for diluting the irrigation liquid according to multiple times, wherein S is an EC feedback value of the irrigation liquid;
according to the formula: q = P 0 -P calculating a pH offset value, wherein Q is the pH offset value, P 0 Setting a pH value for the irrigation liquid diluted in proportion, wherein P is the pH feedback value of the irrigation liquid;
and controlling the flow of the EC mother liquor according to the EC compensation value, and controlling the flow of the pH mother liquor according to the pH compensation value.
2. The method of claim 1, wherein said performing a combined feedback control process on irrigation equipment of said planter system based on said real-time measurements further comprises:
if the time difference from the moment of starting the irrigation machine to the current moment is larger than a preset threshold value, according to a formula: f 1 ＝k 1 (S 0 -S)+b 1 Calculating the frequency of a fertilizer pump; wherein, F 1 Is the frequency, k, of the fertilizer pump 1 、b 1 Is a first predetermined constant number, S 0 Setting an EC value for the irrigation liquid diluted by multiple times, wherein S is the EC feedback value of the irrigation liquid;
according to the formula: f 2 ＝k 2 (P 0 -P)+b 2 Calculating the frequency of the acid pump; wherein, F 2 Is the acid pump frequency, k 2 、b 2 Is a second predetermined constant number, P 0 Setting a pH value for proportional dilution, wherein P is the pH feedback value of the irrigation liquid;
according to the frequency F of the fertilizer pump 1 Controlling the frequency of the fertilizer pump such that the real-time measured value of EC for the irrigation liquid is equal to or close to the EC setting value diluted by multiple, and according to the acid pump frequency F 1 Controlling the frequency of the acid pump such that the real-time pH measurement is at or near the scaled-down pH setting.
3. The method of claim 1, wherein the plurality of irrigation condition parameters further comprises a maximum time interval, a minimum time interval, cumulative lighting, a maximum substrate moisture, a minimum substrate moisture; the real-time measured values of the parameters further comprise accumulated illumination measured values and current substrate humidity measured values; accordingly, the method further comprises:
calculating the time interval between the last irrigation ending time and the current time in each time period;
if the time interval is judged and known to be not less than the shortest time interval but less than the longest time interval, and the actual value of the accumulated illumination is not less than the set value of the accumulated illumination, and/or the actual value of the current substrate humidity is not more than the set value of the minimum substrate humidity, starting the irrigation machine to irrigate the area to be controlled;
or if the time interval is judged to be not smaller than the longest time interval, starting the irrigation machine to irrigate the area to be controlled;
or if the measured value of the current substrate humidity is judged and obtained to be not less than the set value of the maximum substrate humidity, the irrigation machine is closed, and the irrigation of the area to be controlled is stopped.
4. The method according to claim 1, wherein the control information further carries an environment control policy corresponding to the area to be controlled, and the environment control policy includes the multiple time periods and setting values of environment control condition parameters corresponding to the time periods; correspondingly, the method further comprises:
and controlling and processing an environment control device of the planting system according to the real-time measured value, the area to be controlled and the environment control strategy.
5. The method of claim 4, wherein the environmental control condition parameters include a minimum heating temperature, a maximum heating temperature, a minimum cool down temperature, a,Maximum cooling temperature and maximum CO 2 Concentration, lowest CO 2 Concentration and sulfur fumigator on-time; the real-time measured values of the parameters comprise a current environment temperature measured value and a current CO 2 The measured value of the concentration; correspondingly, the controlling the environmental control device of the planting system according to the real-time measured value, the area to be controlled and the environmental control strategy comprises:
in each time period, if the measured value of the current environment temperature is judged and known to be not higher than the set value of the lowest heating temperature, heating equipment is started to heat the area to be controlled; if the current environment temperature measured value is judged and obtained to be not lower than the set value of the highest heating temperature, the heating equipment is closed, and the heating in the area to be controlled is stopped;
if the measured value of the current environment temperature is judged and obtained to be not lower than the set value of the highest cooling temperature, cooling equipment is started to cool the area to be controlled; if the measured value of the current environment temperature is judged and known to be not higher than the set value of the lowest cooling temperature, the cooling equipment is closed, and the cooling in the area to be controlled is stopped;
if the current CO is judged and obtained 2 The measured value of the concentration is not higher than the lowest CO 2 The set value of the concentration is that CO is turned on 2 A releasing device for carrying out CO treatment in the area to be controlled 2 Releasing and simultaneously starting an internal circulation fan; and if the current CO is obtained through judgment 2 Measured concentration value not lower than the highest CO 2 The set value of the concentration, the CO is closed 2 A release device for stopping CO in the area to be controlled 2 Releasing;
and if the judgment shows that the current time reaches the starting time of the sulfur fumigator, starting the sulfur fumigator.
6. The method of claim 1, further comprising:
receiving an alarm control strategy sent by the control equipment, wherein the alarm control strategy comprises a plurality of preset value ranges corresponding to preset parameters;
if the real-time measured value of the preset parameter is judged and obtained to meet the preset value range corresponding to the preset parameter, an alarm is automatically started; and/or if judging that the fertilizer suction pump and/or the acid suction pump are/is in failure, automatically starting an alarm;
the plurality of parameters include real-time EC value, real-time pH value, and real-time CO 2 Concentration, real-time ambient temperature, real-time ambient humidity, real-time matrix temperature, real-time matrix humidity, real-time luminous flux, irrigation interval cumulative illumination, cumulative illumination on the day, real-time irrigation quantity, irrigation quantity on the day, total irrigation quantity, current return water quantity and cumulative return water quantity; correspondingly, the method further comprises:
and displaying the received real-time measured values of the plurality of parameters in real time.
7. A planting system control device, comprising:
the first receiving unit is used for receiving the real-time measured values of the parameters which are respectively acquired and sent by the plurality of real-time acquisition devices;
the second receiving unit is used for receiving control information sent by the control equipment, wherein the control information carries an area to be controlled and an irrigation strategy corresponding to the area to be controlled; the irrigation strategy comprises a plurality of time periods and setting values of a plurality of irrigation condition parameters corresponding to each time period;
the irrigation control unit is used for controlling and processing an irrigation device of the planting system according to the real-time measured value, the area to be controlled and the irrigation strategy;
the feedback control unit is used for carrying out feedback control processing on an irrigation device of the planting system according to the real-time measurement value;
the plurality of irrigation condition parameters comprise an EC setting value, a pH setting value, a single irrigation duration and a single irrigation quantity; the real-time measured values of the parameters comprise current accumulated irrigation time and current actual irrigation quantity measured values; accordingly, the irrigation control unit comprises:
the first control subunit is used for controlling the irrigation device to prepare irrigation liquid according to the EC setting value diluted by multiple times and the pH setting value diluted by proportion in each time period, and starting an irrigation machine to irrigate the area to be controlled;
the second control subunit is used for turning off the irrigation machine and stopping irrigating the area to be controlled if the judgment result shows that the current accumulated irrigation time reaches the set value of the single irrigation duration and/or the current measured irrigation amount reaches the set value of the single irrigation amount;
the feedback control unit is specifically configured to:
after an irrigation machine is started, acquiring an EC real-time measurement value and a pH real-time measurement value of the irrigation liquid, and taking the EC real-time measurement value as an EC feedback value and the pH real-time measurement value as a pH feedback value;
according to the formula: r = S 0 -S calculating an EC compensation value, where R is the EC compensation value, S 0 Setting an EC value for diluting the irrigation liquid according to multiple times, wherein S is an EC feedback value of the irrigation liquid;
according to the formula: q = P 0 -P calculating a pH offset, wherein Q is the pH offset, P 0 Setting the pH value of the irrigation liquid diluted in proportion, wherein P is the pH feedback value of the irrigation liquid;
controlling the flow of the EC mother liquor according to the EC compensation value, and controlling the flow of the pH mother liquor according to the pH compensation value;
the feedback control unit is further configured to:
if the time difference from the moment of starting the irrigation machine to the current moment is larger than a preset threshold value, according to a formula: f 1 ＝k 1 (S 0 -S)+b 1 Calculating the frequency of a fertilizer pump; wherein, F 1 Is the frequency, k, of the fertilizer pump 1 、b 1 Is a first predetermined constant number, S 0 Setting the EC value of the irrigation liquid diluted according to multiple times, and taking S as the real-time measurement value of the EC of the irrigation liquid;
according to the formula: f 2 ＝k 2 (P 0 -P)+b 2 Calculating the frequency of the acid pump; wherein, F 2 Is the acid pump frequency, k 2 、b 2 Is a second predetermined constant number, P 0 Setting a pH value for proportional dilution, wherein P is a real-time measured value of the pH;
according to the frequency F of the fertilizer pump 1 Controlling the frequency of the fertilizer pump such that the real-time measured value of EC for the irrigation liquid is equal to or close to the EC setting value diluted by multiple, and according to the acid pump frequency F 1 Controlling the frequency of the acid pump such that the real-time pH measurement is at or near the scaled-down pH setting.
8. The apparatus of claim 7, wherein the plurality of irrigation condition parameters further comprises a maximum time interval, a minimum time interval, cumulative lighting, a maximum substrate humidity, a minimum substrate humidity; the real-time measured values of the parameters further comprise accumulated illumination measured values and current substrate humidity measured values; correspondingly, the device further comprises:
the calculating unit is used for calculating the time interval between the last irrigation ending time and the current time in each time period;
a judging unit, configured to start the irrigation machine to irrigate the area to be controlled, if it is determined that the time interval is not less than the shortest time interval but less than the longest time interval, the accumulated actual illumination value is not less than the set value of the accumulated illumination, and/or the current actual substrate humidity value is not greater than the set value of the minimum substrate humidity value;
or if the time interval is judged to be not smaller than the longest time interval, starting the irrigation machine to irrigate the area to be controlled;
or if the measured value of the current substrate humidity is judged and known to be not less than the set value of the maximum substrate humidity, the irrigation machine is closed, and the irrigation of the area to be controlled is stopped.
9. The apparatus according to claim 7, wherein the control information further carries an environment control policy corresponding to the area to be controlled, the environment control policy including the plurality of time periods and setting values of environment control condition parameters corresponding to each of the time periods; correspondingly, the device further comprises:
the environment control unit is used for controlling and processing an environment control device of the planting system according to the real-time measurement value, the area to be controlled and the environment control strategy in a time period corresponding to the environment control strategy;
the environmental control condition parameters comprise lowest heating temperature, highest heating temperature, lowest cooling temperature, highest cooling temperature, and highest CO 2 Concentration, lowest CO 2 Concentration and sulfur fumigator on-time; the real-time measured values of the parameters comprise a current environment temperature measured value and a current CO 2 The measured value of the concentration; correspondingly, the environment control unit is specifically configured to:
in each time period, if the measured value of the current environment temperature is judged and known to be not higher than the set value of the lowest heating temperature, heating equipment is started to heat the area to be controlled; if the measured value of the current environment temperature is judged and obtained to be not lower than the set value of the highest heating temperature, the heating equipment is closed, and the heating of the area to be controlled is stopped;
if the measured value of the current environment temperature is judged and obtained to be not lower than the set value of the highest cooling temperature, cooling equipment is started to cool the area to be controlled; if the measured value of the current environment temperature is judged and known to be not higher than the set value of the lowest cooling temperature, the cooling equipment is closed, and the cooling in the area to be controlled is stopped;
if the current CO is obtained through judgment 2 Measured concentration not higher than the minimum CO 2 The set value of the concentration is that CO is turned on 2 A releasing device for carrying out CO treatment in the area to be controlled 2 Releasing and simultaneously starting an internal circulation fan; and if the current CO is obtained through judgment 2 Measured value of concentrationBelow the maximum CO 2 The set value of the concentration, the CO is closed 2 A releasing device for stopping CO treatment in the area to be controlled 2 Releasing;
and if the judgment shows that the current time reaches the starting time of the sulfur fumigator, starting the sulfur fumigator.
10. The apparatus of claim 7, further comprising:
a third receiving unit, configured to receive an alarm control policy sent by the control device, where the alarm control policy includes a preset value range corresponding to a plurality of preset parameters;
the alarm control unit is used for automatically starting an alarm if the real-time measured value of the preset parameter is judged and acquired to meet the preset value range corresponding to the preset parameter; and/or if judging that the fertilizer suction pump and/or the acid suction pump are/is in failure, automatically starting an alarm;
the plurality of parameters include real-time EC value, real-time pH value, and real-time CO 2 Concentration, real-time ambient temperature, real-time ambient humidity, real-time matrix temperature, real-time matrix humidity, real-time luminous flux, irrigation interval cumulative illumination, cumulative illumination on the day, real-time irrigation quantity, irrigation quantity on the day, total irrigation quantity, current return water quantity and cumulative return water quantity; correspondingly, the device further comprises:
and the display is used for displaying the received real-time measured values of the plurality of parameters in real time.
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CN108668583B (en) * 2018-03-21 2021-06-22 南昌大学 Intensive intelligent seedling raising method and system
CN108901528A (en) * 2018-03-21 2018-11-30 江苏省中国科学院植物研究所 A kind of summer water management method of substrate culture blueberry
CN108739303A (en) * 2018-04-28 2018-11-06 深圳春沐源控股有限公司 A kind of automatic irrigation control method, server and computer readable storage medium
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