CN114391454B

CN114391454B - Crop spray irrigation operation system and method

Info

Publication number: CN114391454B
Application number: CN202111290596.XA
Authority: CN
Inventors: 胡泽锋; 韩臣
Original assignee: Runtai Zero Carbon Inner Mongolia Agricultural Technology Co ltd
Current assignee: Runtai Zero Carbon Inner Mongolia Agricultural Technology Co ltd
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2023-06-27
Anticipated expiration: 2041-11-02
Also published as: CN114391454A

Abstract

The invention discloses a system and a method for crop spray irrigation operation; the system comprises a movable main support, main water pipes, a plurality of operation area water pipes which are arranged on each main water pipe and the extending direction of which is perpendicular to the laying direction of the main water pipes, a laser scanning camera arranged on the movable main support and a video image collector; the system also comprises a remote control center, a controller arranged on the movable main support and a network communication switch; the controller specifically comprises an image processing module, a soil detection processing module, a calculation processing module, an initial control processing module, an optimized iteration control module and a stop control module; the operation system fully considers the whole water delivery operation time, the whole watering water quantity saving and the slow permeation condition, and provides a solution for large-scale water delivery operation.

Description

Crop spray irrigation operation system and method

Technical Field

The invention relates to the field of industrial intelligent control, in particular to a system and a method for crop spray irrigation operation.

Background

The water resource shortage in China and the water resource quantity of people only account for 25% of the average world level, and the China is a large agricultural country, and the long-time extensive agricultural production form wastes valuable water resources to a great extent. Along with the gradual development of information technology and the proposal of the Internet of things, the development of water-saving irrigation control technology is also faster and faster. Related scholars aim to improve the utilization rate of water resources to the greatest extent through various control algorithms and computer technologies so as to save the water resources.

At present, many researches on agricultural irrigation water-saving control exist, and related researches have achieved a certain result, wherein two representative prior arts exist. One of the main schemes in the prior art is to design an agricultural irrigation water-saving controller, a soil moisture sensor is added to an irrigation control system, soil information acquired by a timing monitoring sensor is utilized, and whether a water irrigation valve is opened or not is judged according to the obtained soil moisture so as to control agricultural irrigation water saving. The main scheme of the other prior art is that an infrared thermocouple, an air hygrometer and a soil hygrometer are applied to an agricultural irrigation controller, and a control module of the system takes temperature, air humidity and soil humidity as input and controls irrigation through factors such as soil conditions, air humidity and the like.

Researches show that although the sprinkling irrigation is very water-saving, the sprinkling irrigation efficiency is lower, and the sprinkling irrigation can not realize the guarantee of a certain efficiency and the sprinkling irrigation of a certain time can be saved; however, if irrigation is used in a matching way, the irrigation efficiency is higher, but no prior art considers the problems that a large amount of water is easily delivered in a short period of irrigation to cause water overflow or the permeation time is insufficient to cause incoordination and inaccuracy of subsequent intelligent control (namely, the water content of the irrigation water is detected to judge whether the subsequent water delivery control is performed or not when the irrigation water is not completely permeated), and in addition, the whole crop operation area is larger, and how to realize large-scale irrigation treatment to meet the requirement of short efficient operation time and fully consider slow permeation control is a problem which needs to be considered by a person skilled in the art.

Disclosure of Invention

The invention aims to provide a crop spray irrigation operation system and a method (the agricultural irrigation water-saving control system based on an Internet of things network) which solve the technical problems pointed out in the prior art. By applying the crop spray irrigation operation system adopted by the embodiment of the invention, experimental results show that the designed system can timely adjust the humidity value of soil, achieves the purpose of water saving, and has the advantages of less energy consumption and high irrigation precision.

The invention provides a crop spray irrigation operation system, which comprises a movable main support, main water pipes, a plurality of operation area water pipes, a laser scanning camera and a video image collector, wherein the operation area water pipes are arranged on each main water pipe, the extending directions of the operation area water pipes are perpendicular to the laying direction of the main water pipes, and the laser scanning camera is arranged on the movable main support;

the system also comprises a remote control center, a controller arranged on the movable main support and a network communication switch; the remote control center is in communication connection with the controller through the network communication switch;

each operation area water pipe is provided with a water pipe communicated with an irrigation operation area water pipe and a water pipe of a spray irrigation operation area, the water pipe of the irrigation operation area and the water pipe of the spray irrigation operation area are respectively connected in parallel on the water pipe of the operation area, and the tail end of the water pipe of the spray irrigation operation area is provided with a spray irrigation head; the sprinkling irrigation head is provided with a sprinkling irrigation flow valve control node; the tail end of the water pipe in the irrigation operation area is provided with an irrigation flow valve control node; the sprinkling irrigation flow valve control node is used for monitoring the sprinkling flow released by the sprinkling irrigation head to obtain the real-time sprinkling irrigation flow, and is also used for receiving the flow control instruction sent by the controller to realize sprinkling irrigation flow control; the irrigation flow valve control node is used for monitoring the irrigation water flow released by the water pipe in the irrigation operation area to obtain real-time irrigation water flow, and is also used for receiving a flow control instruction sent by the controller to realize irrigation water flow control;

The top of the movable main support is also provided with a lower detection type telescopic driving arm, and a soil humidity test needle is arranged on the lower detection type telescopic driving arm; the lower-detection-type telescopic driving arm is used for driving the soil humidity test needle to drill into a soil preset depth position, and the soil humidity test needle stops for preset time to perform measurement treatment; the movable main support frame is used for driving all equipment on the crop spray irrigation operation system to move forwards so as to perform movable irrigation on a plurality of crop target areas; a controller is also arranged on the movable main support frame;

the controller specifically comprises an image processing module, a soil detection processing module, a calculation processing module, an initial control processing module, an optimization iteration control module and a stop control module;

the image processing module is used for driving the crop spray irrigation operation system to perform laser scanning and video image acquisition on the whole area, sending a movement control instruction to enable the movable main support to perform translational movement, acquiring and calculating the operation area of each operation area through the laser scanning camera, and identifying the crops in the operation area through the video image acquisition device;

The soil detection processing module is used for summarizing and acquiring the operation areas of all target operation areas on a preset operation path; the method comprises the steps of driving a downward-extending type telescopic driving arm, and measuring soil temperatures of all target operation areas on a preset operation path through soil humidity tests on the downward-extending type telescopic driving arm to obtain real-time soil water content values of each target operation area;

the calculation processing module is used for calculating the consumption value of the total water consumption of the current target operation area according to the operation area of each target operation area and the crop variety;

the initial control processing module is used for sequentially arranging the areas of all the target operation areas to obtain an operation area sequence list, and the operation area sequence list is sequentially arranged from high order to low order from the order of the large operation area to the small operation area; sequentially performing sprinkling irrigation operation treatment on all target operation areas on a preset operation path from high order to low order in a first initial sequence list;

during primary irrigation operation, acquiring the soil water content value of a target operation area in a current first initial sequence list; determining a specific soil water quantity level corresponding to a current target operation area according to a relation between a soil water content value and a standard threshold set, determining a corresponding first water limiting control proportion of the target operation area in a first initial sequence list according to the specific soil water quantity level in a coordinated manner, determining the actual irrigation water delivery amount according to the first water limiting control proportion and the consumption value of the total water consumption of the current target operation area, and implementing rapid single irrigation operation treatment according to the actual irrigation water delivery amount according to the target operation area in the first initial sequence list; the actual irrigation water delivery quantity is a consumption value obtained by multiplying a preset first water limit control proportion by the total water consumption of a current target operation area;

The optimization iteration control module is used for continuously carrying out secondary soil humidity detection processing on all target operation areas one by one along a preset operation path after the target operation areas in the first initial sequence list are executed, and calculating the consumption value of the residual total water consumption of each target operation area;

determining the specific soil water quantity level corresponding to the current target operation area again according to the relation between the soil water content value and the standard threshold value set, dividing and selecting the current target operation area as a spray irrigation operation area or an irrigation operation area according to the specific soil water quantity level, newly creating and defining the spray irrigation operation area and updating and defining the irrigation operation area; simultaneously establishing a sprinkling irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the current sprinkling irrigation operation area operation queue table; determining the actual sprinkling irrigation water delivery amount according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation; simultaneously establishing an irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the irrigation operation area operation queue table; determining the actual sprinkling irrigation or irrigation water delivery quantity according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area of the next circulation operation, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation;

Identifying a current target operation area according to the preset operation path sequence, firstly implementing irrigation operation processing of the target operation area according to an irrigation operation area operation queue table as a first priority, and then implementing irrigation operation processing of the target operation area according to the irrigation operation area operation queue table as a secondary priority;

in each cycle of the sprinkling irrigation operation, the sprinkling operation area operation queue table and the irrigation operation area operation queue table are updated again, sprinkling operation is implemented according to the target operation area in the sprinkling operation area operation queue table after the updating is implemented, and irrigation operation is implemented according to the target operation area in the irrigation operation area operation queue table after the updating is implemented until the current whole operation area is detected to meet the whole slow-permeation irrigation condition, and stopping processing is implemented in the whole area; wherein, when the ratio of the operation area of the target operation area which is detected to be remained and needs to be subjected to sprinkling operation to the operation areas of all the target operation areas exceeds the ratio of the first shutdown condition; and when the ratio of the number of the target operation areas which are required to be subjected to sprinkling irrigation operation to the number of all the target operation areas exceeds the second shutdown condition ratio, the whole slow-permeation irrigation condition is considered to be met;

And the stop control module is used for controlling the movable main support frame to withdraw from the current integral operation area after the current integral operation area is determined to meet the integral slow-permeation irrigation condition.

And after the controller confirms that the current integral operation area meets the integral slow-permeation irrigation condition, controlling the movable main support frame to withdraw from the current integral operation area. Based on a large-scale multi-variety crop equipment system, an intelligent technology for realizing fusion automation and Internet of things by implementing a manufacturing method, an operation process and the like is implemented, so as to realize an intelligent control scheme. Therefore, the crop spray irrigation operation system is actually a mode of combining spray irrigation and irrigation, a comprehensive final constraint target is a mode of combining spray irrigation and irrigation, two calculation modes are realized by a main computer, the purpose of the overall control mode is that the overall water delivery operation time is + the overall watering water quantity is saved + the slow permeation condition is fully considered (finally, the above-mentioned various factors are coordinated to provide an overall scheme that the overall water delivery time is not redundant, the efficiency is high, the water delivery quantity is basically met, and the above-mentioned overall control scheme always runs through the final iterative solution of the slow permeation condition to obtain an overall control scheme comprising water delivery mode configuration, water delivery limiting configuration and water delivery position identification configuration when in implementation); the system must ensure that the whole time of the whole crop area is short and the whole water delivery quantity is satisfied (then the whole system moves, and the rapid movement operation of the irrigation system is convenient) to realize the whole control operation;

The crop spray irrigation operation system and the configuration treatment method have the technical effects that:

by analyzing the crop spray irrigation operation system provided by the embodiment of the invention, the movable main support, the main water pipe, the operation area water pipe, the irrigation operation area water pipe, the spray irrigation flow valve control node, the controller, the laser scanning camera, the video image collector and the downward-penetrating telescopic driving arm are mainly designed; the controller specifically comprises an image processing module, a soil detection processing module, a calculation processing module, an initial control processing module, an optimized iteration control module and a stop control module;

when the method is applied specifically, the controller detects the soil water content value of the current target operation area and classifies the soil water content value; the method comprises the steps of firstly identifying and scanning a target operation area during first operation, and implementing targeted irrigation operation treatment by using the target operation areas with different soil water content values during first water delivery operation; in the subsequent water delivery operation process, the software system iteratively solves and calculates the optimal water delivery control mode and water delivery limit proportion, and repeatedly performs the operation steps to finish the repeated spray irrigation operation cycle treatment on a preset operation path; as time goes by, the number of target operation areas in the operation queue table of the irrigation operation area is reduced, and meanwhile, the number of target operation areas in the operation queue table of the sprinkling operation area is increased, so that in the past, from the whole sprinkling irrigation area, a more reasonable sprinkling irrigation and irrigation combination control mode is realized in a faster time until the whole area is detected to meet the whole slow-permeation irrigation condition (the condition is a dynamically variable setting condition), and stopping treatment is implemented in the whole area;

The embodiment of the invention adopts the technical scheme, comprehensively considers various running conditions and various main influencing factors, provides an optimized control scheme, fully considers the corresponding technical characteristics of sprinkling irrigation and irrigation, realizes the long-term slow-permeation water delivery consumption and the short-term sprinkling irrigation water delivery consumption of irrigation, fully considers the slow-permeation space control factors (setting an operation buffer zone) and time control factors and control priorities, and finally realizes intelligent coordinated control by matching with a specific mechanical sprinkling irrigation operation system, thereby realizing intelligent configuration of water delivery quantity and water delivery mode.

Drawings

FIG. 1 is a schematic diagram of the overall control architecture of a crop spray irrigation system;

fig. 2 is a schematic diagram of the principle and structure of a controller in a crop spray irrigation system;

fig. 3 is a physical schematic diagram of a crop spray irrigation system;

fig. 4 is a flow chart of a method of crop spray irrigation operation.

Reference numerals: a movable main support 1; a main water pipe 2; a water pipe 3 in the operation area; irrigation work area water pipe 4; irrigation flow valve control node 41; a water pipe 5 in a spray irrigation operation area; a sprinkler flow valve control node 51; a controller 6; an image processing module 61; a soil detection processing module 62; a calculation processing module 63; an initial control processing module 64; an optimization iteration control module 65; a stop control module 66; a buffer identification calculation module 67; a buffer on-off valve control module 68; a laser scanning camera 7; a video image collector 8; a lower-detection type telescopic driving arm 9; a remote control center 10; a network communication switch 11.

Detailed Description

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures.

Example 1

Referring to fig. 1 to 3, the present invention provides a crop spray irrigation operation system comprising a movable main support 1, main water pipes 2, a plurality of operation area water pipes 3 mounted on each main water pipe 2 and having an extending direction perpendicular to a laying direction of the main water pipes 2, a laser scanning camera 7 mounted on the movable main support 1, and a video image collector 8;

each operation area water pipe 3 is provided with a water pipe 4 communicated with an irrigation operation area and a water pipe 5 communicated with a spray irrigation operation area, the water pipe 4 of the irrigation operation area and the water pipe 5 of the spray irrigation operation area are respectively connected with the water pipe 3 of the operation area in parallel, and the tail end of the water pipe 5 of the spray irrigation operation area is provided with a spray irrigation head 51; the sprinkler head 51 is provided with a sprinkler flow valve control node 51 (i.e., an electronic flow control valve switch); the tail end of the irrigation operation area water pipe 4 is provided with an irrigation flow valve control node 41; the sprinkling irrigation flow valve control node 51 is used for monitoring the sprinkling flow released by the sprinkling irrigation head to obtain real-time sprinkling irrigation flow, and is also used for receiving a flow control instruction sent by the controller 6 to realize sprinkling irrigation flow control; the irrigation flow valve control node 41 is used for monitoring the irrigation water flow released by the water delivery pipe 4 of the irrigation operation area to obtain real-time irrigation water flow, and is also used for receiving a flow control instruction sent by the controller 6 to realize irrigation water flow control; annotation: quantitative, timed and targeted watering operation is carried out on farmlands of one crop target area by each operation area water delivery pipe so as to ensure that watering of each crop target area is even, soil humidity is balanced and watering time is controlled more reasonably;

The top of the movable main support frame 1 is also provided with a lower detection type telescopic driving arm 9, and a soil humidity test needle is arranged on the lower detection type telescopic driving arm 9; the lower-detection type telescopic driving arm 9 is used for driving the soil humidity test needle to drill into a soil preset depth position, and the soil humidity test needle stops for preset time to implement measurement treatment; the movable main support frame 1 is used for driving each device on the crop spray irrigation operation system to move forwards so as to perform movable irrigation on a plurality of crop target areas; the system also comprises a remote control center 10, a controller 6 arranged on the movable main support and a network communication switch 11; the remote control center 10 is in communication connection with the controller 6 through the network communication switch 11; annotation: the movable main support frame can move so as to adapt to forward pushing; the movable main support is also provided with a controller 6; the controller 6 is used for calculating and implementing a first irrigation control method, and then adjusting and obtaining a subsequent comprehensive irrigation control scheme to obtain an optimal slow permeation control scheme; the control scheme implemented by the controller actually obtains the optimized comprehensive control time and the comprehensive energy-saving water quantity, and aims at comprehensive large-scale crop optimization control to finally determine the optimal control scheme;

The controller 6 specifically includes an image processing module 61, a soil detection processing module 62, a calculation processing module 63, an initial control processing module 64, an optimization iteration control module 65, and a stop control module 66;

the image processing module is used for driving a crop spray irrigation operation system to carry out laser scanning and video image acquisition on the whole area, the controller sends a movement control instruction to enable the movable main support frame 1 to carry out translational movement, the operation area of each operation area can be obtained and calculated through the laser scanning camera 7, and meanwhile, the crops in the operation area are identified through the video image collector 8, and particularly, the identification processing is carried out on the crops by utilizing an image processing technology;

the soil detection processing module is used for summarizing and acquiring the operation areas of all target operation areas on a preset operation path; the controller 6 drives the downward-extending telescopic driving arm 9, and measures soil temperatures of all target operation areas on a preset operation path through soil humidity testing on the downward-extending telescopic driving arm 9 (specifically, the scanning process can be executed according to the arrangement sequence of the target operation areas on the preset operation path), so as to obtain real-time soil water content values (namely water content information) of each target operation area;

The calculation processing module is configured to calculate a consumption value of total water consumption of the current target operation area according to an operation area of each target operation area and a crop variety (in the embodiment of the present application, it is considered that soil conditions of the current target operation area are different, so that water content of a part of the target operation area is higher under the influence of overcast and rains possibly, water content of other target operation areas is lower, in the embodiment of the present application, considering the technical conditions, different irrigation operation modes can be formulated according to different soil water content of the target operation area, and then subsequent spray irrigation construction processing operations are iterated according to the whole target operation area);

the initial control processing module is used for sequentially arranging the areas of all the target operation areas to obtain an operation area sequence list (namely a first initial sequence list), and the operation area sequence list sequentially performs high-order to low-order arrangement from the sequence of the operation areas to the sequence of the operation areas from the large to the small; the controller 6 sequentially performs the irrigation operation treatment from high order to low order on all the target operation areas on the preset operation path according to the first initial sequence list (note: if the area of the current target operation area is the area containing crops, if no crops are recognized in the current target operation area, the area of the current target operation area is considered to be 0; researchers consider that the first water delivery operation treatment is realized when the step S300 is performed, the researchers implement the water delivery control on the large-scale crop area based on the Internet of things control technology in combination with the application software technology, and the first water delivery adopts the irrigation treatment of quick water delivery as the main part, so that the large-scale crop area can be rapidly irrigated at first, the irrigation is larger than the irrigation operation time, and meanwhile, the first initial sequence list is established, the large-area operation area is used for firstly irrigating water delivery and then slowly seeping, and the small-area operation area is irrigated later;

During primary irrigation operation, acquiring the soil water content value of a target operation area in a current first initial sequence list; determining a specific soil water quantity level corresponding to a current target operation area according to a relation between a soil water content value and a standard threshold set, determining a corresponding first water limiting control proportion of the target operation area in a first initial sequence list according to the specific soil water quantity level in a coordinated manner, determining the actual irrigation water delivery quantity according to the first water limiting control proportion and the consumption value of the total water consumption of the current target operation area, and implementing rapid single irrigation operation treatment according to the actual irrigation water delivery quantity by a controller according to the target operation area in the first initial sequence list; the actual irrigation water delivery quantity is a consumption value obtained by multiplying a preset first water limiting control proportion by the total water consumption of a current target operation area;

determining the specific soil water quantity level corresponding to the current target operation area again according to the relation between the soil water content value and the standard threshold value set, dividing and selecting the current target operation area as a spray irrigation operation area or an irrigation operation area according to the specific soil water quantity level, newly creating and defining the spray irrigation operation area and updating and defining the irrigation operation area; simultaneously establishing a sprinkling irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the current sprinkling irrigation operation area operation queue table; determining the actual sprinkling irrigation water delivery quantity according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation; simultaneously establishing an irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the irrigation operation area operation queue table; determining the actual sprinkling irrigation or irrigation water delivery quantity according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation; (note that the second water limit control ratio may be the same as or different from the water limit control ratio (or first water limit control ratio) in the first initial list); note that spray irrigation in this application is a generic term for sprinkler irrigation, which is a water-only operation, and irrigation, which is a water-only operation. The target working area is also a working area.

Identifying a current target operation area according to the preset operation path sequence, firstly implementing irrigation operation processing of the target operation area according to an irrigation operation area operation queue table as a first priority, and then implementing irrigation operation processing of the target operation area according to the irrigation operation area operation queue table as a secondary priority; regarding technical description, judging that the current target working area is an irrigation working area working queue list, executing the steps, and executing the steps if the current target working area is a sprinkling irrigation working area working queue list; repeating the operation steps for a plurality of times to finish the repeated spray irrigation operation circulation treatment on a preset operation path; over time, the number of target operation areas in the operation queue table of the irrigation operation area is smaller and smaller, and the number of target operation areas in the operation queue table of the spray irrigation operation area is larger and larger, so that all the target operation areas do not need to reach standards from the whole irrigation area, and the whole system is not beneficial to large-scale safe slow-penetration spray irrigation operation, so that the whole system can be stopped, two threshold conditions are designed by the application control software system, one is the whole area proportion, and the other is the ratio of the target operation areas to all the target operation areas in the operation queue table of the spray irrigation operation area, so that single-cycle spray irrigation operation (namely, spray irrigation slow-penetration operation) is completed;

In each cycle of the sprinkling irrigation operation, the sprinkling operation area operation queue table and the irrigation operation area operation queue table are updated again, sprinkling operation is implemented according to the target operation area in the sprinkling operation area operation queue table after the updating is implemented, and irrigation operation is implemented according to the target operation area in the irrigation operation area operation queue table after the updating is implemented until the current whole operation area is detected to meet the whole slow-permeation irrigation condition, and stopping processing is implemented in the whole area; wherein, when the ratio of the operation area of the target operation area which is detected to be remained and needs to be subjected to sprinkling operation to the operation areas of all the target operation areas exceeds the ratio of the first shutdown condition; and when the ratio of the number of the target operation areas which are required to be subjected to sprinkling irrigation operation to the number of all the target operation areas exceeds the second shutdown condition ratio (note that the two are in parallel relation), the whole slow-permeation irrigation condition is considered to be met; (while continuously updating the queue list is of practical technical significance);

and the stop control module is used for controlling the movable main support frame 1 to withdraw from the current whole operation area after the current whole operation area is determined to meet the whole slow-permeation irrigation condition.

The controller 6 further comprises a buffer identification calculation module 67 and a buffer start-stop valve control module 68, wherein;

The buffer area identification calculation module is used for carrying out laser scanning and video image acquisition on the whole area by driving the crop spray irrigation operation system by the controller, sending a movement control instruction to enable the movable main support to carry out translational movement, acquiring and calculating the operation area of each operation area by the laser scanning camera, and carrying out buffer operation area demarcation calculation on the operation area while identifying the crops in the operation area by the video image acquisition device; boundary identification is carried out on the boundaries of all the rectangular target operation areas on the preset operation path; calculating the corresponding operation lengths of all the target operation areas on a preset operation path according to the boundary identification result; calculating the buffer operation length of all the target operation areas according to the operation length, and determining the buffer operation area corresponding to each target operation area according to the buffer operation length; the buffer operation areas are respectively arranged at the head end and the tail end of the target operation area; the buffer operation area at the head end and the buffer operation area at the tail end have the same size;

the buffer area start-stop valve control module is used for starting water delivery operation from the tail of the buffer operation area positioned at the head end to the start of the buffer operation area positioned at the tail end when the spray irrigation operation of each target operation area is actually carried out, and stopping the water delivery operation: in each cycle of sprinkling irrigation operation, the sprinkling operation area operation queue table and the irrigation operation area operation queue table are updated again, sprinkling operation is implemented according to the target operation areas in the sprinkling operation area operation queue table after the updating is implemented, meanwhile, the position of a buffer operation area of the head end is detected through an image processing module when each target operation area is accessed, and when the position of the tail end of the buffer operation area of the head end is detected, a sprinkling flow valve control node is controlled to be opened for water delivery operation; controlling the sprinkler flow valve control node to cease delivery operation upon detecting a position at the beginning of the buffered work zone at the trailing end:

The irrigation operation is implemented according to the target operation areas in the updated irrigation operation area operation queue table, the position of the buffer operation area of the head end is detected through the image processing module when each target operation area is accessed, and the irrigation flow valve control node is controlled to be opened to perform water delivery operation when the position of the tail end of the buffer operation area of the head end is detected; the irrigation flow valve control node is controlled to stop the delivery operation upon detecting a position at the beginning of the buffered work zone at the trailing end.

As can be seen from analyzing the above-mentioned operation system for irrigation and sprinkling crops provided by the embodiment of the present invention, it is mainly designed with a movable main support 1, a main water pipe 2, an operation area water pipe 3, an irrigation operation area water pipe 4, an irrigation operation area water pipe 5, a sprinkling irrigation flow valve control node 51, an irrigation flow valve control node 41, and a controller 6; a laser scanning camera 7, a video image collector 8 and a downward-extending telescopic driving arm 9; the controller 6 specifically comprises an image processing module, a soil detection processing module, a calculation processing module, an initial control processing module, an optimized iteration control module and a stop control module;

The traditional spray irrigation mode is relatively backward, on one hand, the problem of overflow is easy to cause, on the other hand, the problem of excessively large short-time water quantity can not permeate into soil is easy to cause, on the other hand, the whole control mode is very chaotic, and the control strategy is very low in efficiency and has no practical performance because the equipment system (the equipment system is provided in the first embodiment) with unified coordination control software is not provided;

example two

Referring to fig. 4, a second embodiment of the present invention provides a method for performing irrigation of crops, which uses the above-mentioned system for performing irrigation of crops to implement intelligent control, including the following control operations:

the controller 6 (internet of things software system) drives the crop spray irrigation operation system to perform laser scanning and video image acquisition on the whole area, and the controller sends a movement control instruction to enable the movable main support frame 1 to perform translational movement, so that the operation area of each operation area can be obtained and calculated through the laser scanning camera 7, and meanwhile, crops in the operation area are identified through the video image acquisition device 8, and particularly, identification treatment is performed on the crops by utilizing an image processing technology (image identification mode); then, acquiring the working areas of all target working areas on a preset working path, acquiring the crop varieties of the target working areas, acquiring the soil water content value of the target working areas, and summarizing and calculating the maximum working time of a first preferred scheme, wherein the consumption value of the total water consumption specifically comprises the following operation steps:

Step S100 (scan pretreatment): the controller 6 (internet of things software system) drives the crop spray irrigation operation system to perform laser scanning and video image acquisition on the whole area, and the controller sends a movement control instruction to enable the movable main support frame 1 to perform translational movement, so that the operation area of each operation area can be obtained and calculated through the laser scanning camera 7, and meanwhile, crops in the operation area are identified through the video image acquisition device 8, and particularly, identification processing is performed on the crops by utilizing an image processing technology; then summarizing and acquiring the operation areas of all target operation areas on a preset operation path; the controller 6 drives the downward-extending telescopic driving arm 9, and measures soil temperatures of all target operation areas on a preset operation path through soil humidity testing on the downward-extending telescopic driving arm 9 (specifically, the scanning process can be executed according to the arrangement sequence of the target operation areas on the preset operation path), so as to obtain real-time soil water content values (namely water content information) of each target operation area; with respect to the above description of the technical solution, by the above technical solution, the working areas of all the target working areas on the preset working path (conventionally designed as a straight path) can be obtained by using the fastest speed (the first time), and at the same time, the crop varieties of the target working areas are obtained, and the soil moisture content value of the target working areas is obtained (by driving the downward-extending and retracting driving arm 9, the soil temperature of the current target working area is measured by the soil humidity test on the downward-extending and retracting driving arm 9, and the current real-time moisture content information is obtained);

Step S200 (calculation pretreatment): calculating the consumption value of the total water consumption of the current target operation area according to the operation area of each target operation area and the crop variety (the embodiment of the application considers that the soil conditions of the current target operation area are different, so that the water content of part of the target operation area is higher under the influence of overcast and rains possibly, the water content of other target operation areas is lower, the embodiment of the application considers the technical conditions, different irrigation operation modes can be formulated according to the different soil water contents of the target operation areas, and then the subsequent irrigation construction treatment operation is implemented according to the whole target operation area in an iterating manner);

step S300 (initial irrigation operation control): sequentially arranging the areas of all the target operation areas to obtain an operation area sequence list (namely a first initial sequence list), wherein the operation area sequence list is sequentially arranged from high order to low order from the order of large operation area to small operation area; the controller 6 sequentially performs the irrigation operation treatment from high order to low order on all the target operation areas on the preset operation path according to the first initial sequence list (note: if the area of the current target operation area is the area containing crops, if no crops are recognized in the current target operation area, the area of the current target operation area is considered to be 0; researchers consider that the first water delivery operation treatment is realized when the step S300 is performed, the researchers implement the water delivery control on the large-scale crop area based on the Internet of things control technology in combination with the application software technology, and the first water delivery adopts the irrigation treatment of quick water delivery as the main part, so that the large-scale crop area can be rapidly irrigated at first, the irrigation is larger than the irrigation operation time, and meanwhile, the first initial sequence list is established, the large-area operation area is used for firstly irrigating water delivery and then slowly seeping, and the small-area operation area is irrigated later;

During primary irrigation operation, acquiring the soil water content value of a target operation area in a current first initial sequence list; determining a specific soil water quantity level corresponding to a current target operation area according to a relation between a soil water content value and a standard threshold set, determining a corresponding first water limiting control proportion of the target operation area in a first initial sequence list according to the specific soil water quantity level in a coordinated manner, determining the actual irrigation water delivery quantity according to the first water limiting control proportion and the consumption value of the total water consumption of the current target operation area, and implementing rapid single irrigation operation treatment according to the actual irrigation water delivery quantity by a controller 6 according to the target operation area in the first initial sequence list; the actual irrigation water delivery quantity is a consumption value obtained by multiplying a preset first water limiting control proportion by the total water consumption of a current target operation area;

step S400 (iterative calculation job control): after the target operation areas in the first initial sequence list are executed, continuing to carry out secondary soil humidity detection treatment on all the target operation areas one by one along a preset operation path again, and calculating the consumption value of the residual total water consumption of each target operation area;

the controller 6 re-determines the specific soil water quantity level corresponding to the current target operation area according to the relation between the soil water quantity value and the standard threshold value set, and divides and selects the current target operation area into a spray irrigation operation area or an irrigation operation area according to the specific soil water quantity level, newly establishes and delimits the spray irrigation operation area and updates and delimits the irrigation operation area; simultaneously establishing a sprinkling irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the current sprinkling irrigation operation area operation queue table; determining the actual sprinkling irrigation water delivery quantity according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation; simultaneously establishing an irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the irrigation operation area operation queue table; determining the actual sprinkling irrigation or irrigation water delivery quantity according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation; (note that the second water limit control ratio may be the same as or different from the water limit control ratio (or first water limit control ratio) in the first initial list);

The controller 6 identifies the current target operation area according to the preset operation path sequence, firstly performs the irrigation operation treatment of the target operation area according to the irrigation operation area operation queue table as a first priority, and then performs the irrigation operation treatment of the target operation area according to the irrigation operation area operation queue table as a second priority; regarding technical description, judging that the current target working area is an irrigation working area working queue list, executing the steps, and executing the steps if the current target working area is a sprinkling irrigation working area working queue list; repeating the operation steps for a plurality of times to finish the repeated spray irrigation operation circulation treatment on a preset operation path; over time, the number of target operation areas in the operation queue table of the irrigation operation area is smaller and smaller, and the number of target operation areas in the operation queue table of the spray irrigation operation area is larger and larger, so that all the target operation areas do not need to reach standards from the whole irrigation area, and the whole system is not beneficial to large-scale safe slow-penetration spray irrigation operation, so that the whole system can be stopped, two threshold conditions are designed by the application control software system, one is the whole area proportion, and the other is the ratio of the target operation areas to all the target operation areas in the operation queue table of the spray irrigation operation area, so that single-cycle spray irrigation operation (namely, spray irrigation slow-penetration operation) is completed;

step S500 (stop end control process): the controller 6 controls the movable main support frame 1 to withdraw from the current whole working area after recognizing that the current whole working area meets the whole slow osmosis irrigation condition.

Regarding technical description, the above-mentioned control method for the irrigation operation in the first initial sequence list is an operation method based on irrigation, because the embodiments of the present application always take into consideration the rapid operation process of the entire operation area; firstly, obtaining a target operation area with the largest area and a target operation area with gradually decreasing area in the current first initial sequence list (the target operation area with the largest area is operated sequentially according to the operation area sequence (the slow penetration time is fully considered in the first operation area of the target operation area, the slow penetration waiting time period is fully considered in the first operation area of the target operation area), completing an operation cycle program after all target operation areas in the first initial sequence list complete the first spray irrigation operation (note that the irrigation operation sequence of the first initial sequence list is not a preset path sequence but irrigates a large-area operation area firstly and then irrigates a small-area operation area (namely, the irrigation is mainly performed in the first spray irrigation treatment), and then the controller can carry out soil moisture identification treatment and spray irrigation operation method adjustment again in the next cycle program, and the subsequent program is mainly irrigation combination irrigation operation); the first initial sequence list is a list for first irrigation water delivery; firstly, identifying crop varieties in a target operation area, obtaining water quantity N required by the crop varieties in a unit of 1 square meter according to the identification of the current crop varieties, and then calculating the consumption value of the total water consumption of the target operation area according to the area S of the current target operation area; simultaneously acquiring a soil water content value of a current target operation area, and determining a corresponding water limit control proportion (namely a first water limit control proportion) of the target operation area in a first initial sequence list in a coordinated manner according to the relation between the soil water content value and a standard threshold value set; if the current soil water content value is greater than a first standard threshold value, determining that the current soil water content is at a high water content level, and calling a first water limiting control proportion corresponding to the current high water content level, namely a high-level water limiting control proportion; if the current soil water content value is smaller than the first standard threshold value and larger than the second standard threshold value, the current soil water content is determined to be at the medium water level, and a first water limit control proportion corresponding to the current medium water level is called, namely a medium water limit control proportion; if the current soil water content value is smaller than the second standard threshold value, determining that the current soil water content is at the low water content level, and calling a first water limiting control proportion corresponding to the current low water content level, namely a low-level water limiting control proportion; wherein, the high-level water limit control proportion is less than the medium-level water limit control proportion and less than the low-level water limit control proportion;

After the target operation areas in the first initial sequence list are executed, continuing to carry out secondary soil humidity detection treatment on all the target operation areas one by one along a preset operation path, calculating the consumption value of the residual total water consumption of each target operation area, and simultaneously establishing a new control method queue, namely a spray irrigation operation area operation queue list and an irrigation operation area operation queue list;

three soil moisture grading conditions still exist after re-detection, and the soil moisture grading conditions are divided into two operation queue tables, and the specific conditions are as follows: if the current soil water content value is greater than the first standard threshold value, determining that the current soil water content is at a high water level, determining that the current high water level area is a sprinkling irrigation operation area, and simultaneously establishing a sprinkling irrigation operation area operation queue table; however, the target operation area at the medium water level (namely, when the current soil water content value detected secondarily is at the medium water level) and at the low water level is the irrigation operation area, which is equivalent to the updating of the irrigation operation area again, so that the subsequent control method is determined and guided; at the moment, the slow permeation spray irrigation operation can be realized by the cooperation of the first water limiting control proportion in the irrigation operation area and the spray operation area, and at the moment, the second water limiting control proportion corresponding to each target operation area in the operation queue table of the current spray operation area is determined in a coordinated manner; and determining the water delivery quantity of the actual sprinkling irrigation or irrigation according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area. The spray irrigation process is then performed in batches. In this embodiment, the second water limiting control ratio corresponding to the irrigation operation area is a fixed value, and the second water limiting control ratio corresponding to the sprinkling operation area is also a fixed value.

In the execution process of step S200, the crop variety in the target operation area is identified, the water amount N required by the crop variety of 1 square meter unit is obtained according to the current crop variety identification, and then the consumption value of the total water amount in the target operation area can be calculated according to the area S of the current target operation area.

In the execution process of the step S300, determining a specific soil water quantity level corresponding to the current target operation area according to the relation between the soil water content value and the standard threshold value set, and determining a corresponding first water limiting control proportion of the target operation area in the first initial sequence list in a coordinated manner according to the specific soil water quantity level;

if the current soil water content value is greater than a first standard threshold value, determining that the current soil water content is at a high water content level, and calling a first water limiting control proportion corresponding to the current high water content level, namely a high-level water limiting control proportion; if the current soil water content value is smaller than the first standard threshold value and larger than the second standard threshold value, the current soil water content is determined to be at the medium water level, and a first water limit control proportion corresponding to the current medium water level is called, namely a medium water limit control proportion; if the current soil water content value is smaller than the second standard threshold value, determining that the current soil water content is at the low water content level, and calling a first water limiting control proportion corresponding to the current low water content level, namely a low-level water limiting control proportion; wherein, the high-level water limit control proportion (preferably 60%) < the medium-level water limit control proportion (preferably 70%) < the low-level water limit control proportion (preferably 80%).

For example, there are 52 target operation areas in total in the whole operation area (the 52 target operation areas are surrounded by a middle soil blank (the irrigation area is a conventional soil blank), crops in each target operation area may be different and are not described in detail), then the 52 target operation areas are arranged according to the area sequence, the number 1, the number 2, the number 3, the number 4, the number 5, the number … … and the number 52 are the total 52 target operation areas, then the 52 th is a high water volume operation area, the number 1 is a medium water volume operation area, and the number 2 is a low water volume operation area, and other are not described in detail;

because the No. 52 high-water-quantity operation area is irrigated according to the high-grade water-limiting control proportion (preferably 60 percent), namely, the irrigation treatment is implemented according to the actual irrigation water delivery quantity, wherein the actual irrigation water delivery quantity is the consumption value of the preset water-limiting control proportion multiplied by the total water consumption of the current target operation area; assuming that the consumption value of the total water consumption of the current target operation area is 100 tons, however, only 60 tons are irrigated at the moment, the consumption value of the residual total water consumption of the current target operation area of the next circulation operation is calculated to be 40 tons, then the soil water content value is recalculated in the next circulation operation, and the operation area queue analysis is carried out again; for example, the water content of the soil in the next circulation operation is necessarily still higher than the first standard threshold value, and the soil naturally shifts into a sprinkling irrigation operation area at the moment, and the sprinkling irrigation water spraying amount is gradually operated in batches instead of 40 tons at a time; gradually operating in a divided mode, continuously calculating a second water limiting control proportion corresponding to each target operation area in an operation queue table of the irrigation operation area (the second water limiting control proportion corresponding to the irrigation operation area is assumed to be 60 percent at the moment), determining that the actual irrigation water delivery amount is 40 tons multiplied by 60 percent, and performing sprinkling irrigation operation slowly, wherein the actual irrigation water delivery amount is 24 tons;

Similarly, in the target operation area corresponding to the number 1, assuming that the total water consumption value of the target operation area in the first initial list is 30 tons and the water level is the intermediate level, the corresponding intermediate level water limiting control proportion is 70%, the actual irrigation water delivery amount is 21 tons, the prepared residual water delivery amount in the next circulation operation is 9 tons, and the water delivery amount is naturally not irrigated or sprayed once. So in the next cyclic operation, the soil water content value in the target operation area with the number of 1 is monitored, and two conditions exist at the moment; case 1: if the water quantity is higher than the first standard threshold value, the water quantity can be added into a sprinkling operation queue (namely, the water quantity is equal to transition to enter a new operation queue), the water quantity to be sprinkling is 9 tons multiplied by a second water limiting control proportion (assuming that the second water limiting control proportion corresponding to the sprinkling operation area is 50%), the actual sprinkling water quantity is 4.5 tons, and the remaining 4.5 tons are transferred into the next circulation operation control process; case 2: if the water quantity is still lower than the first standard threshold value and higher than the second standard threshold value, the water quantity can be reserved in the updated irrigation operation queue (namely, the water quantity is equal to the repassioning of the irrigation operation queue), the water quantity to be irrigated is 9 tons multiplied by a second water limiting control proportion (assuming that the second water limiting control proportion corresponding to the irrigation operation area is 60 percent), the actual water quantity for sprinkling irrigation is 5.4 tons, and the rest 3.6 tons are transferred to the next circulation operation control process; then, assuming that there is a third iteration control, at this time, the number 1 detects the soil moisture content value, if the soil moisture content value is the irrigation operation queue, two situations are generated at this time, and detailed description is omitted, only one situation is described, if at this time, the soil moisture content value is finally higher than the first standard threshold value, the sprinkling operation queue is finally added in a transition mode, and the sprinkling water delivery amount is 3.6 tons multiplied by 50% = 1.8 tons;

Similarly, in the target operation area corresponding to the number 2, assuming that the total water consumption value of the target operation area in the first initial list is 30 tons and is in a low water level, the corresponding low-level water limiting control proportion is 80%, the actual irrigation water delivery amount is 24 tons, and the prepared residual water delivery amount in the next circulation operation is 6 tons, which is not natural or completely irrigated or sprayed. So at the next cycle of operation, the soil moisture content value in the target operation area of the number 2 is monitored, and at this time, there are three cases, case 1: if it is still below the second standard threshold at this time, continuing to remain in the irrigation work zone and adding it to the irrigation work zone work queue; case 2: if the first standard threshold value is higher than the second standard threshold value at the moment, keeping the first standard threshold value in the irrigation operation area, and adding the first standard threshold value into an irrigation operation area operation queue; case 3: if it is directly above the first standard threshold at this time, adding it to the sprinkler operation queue; in the three cases, if the water is reserved in the irrigation operation area, the next irrigation operation is performed, the irrigation water delivery amount is 6 tons multiplied by the second water limiting control proportion (assuming that the second water limiting control proportion corresponding to the irrigation operation area is 60 percent), the actual irrigation water delivery amount is 3.6 tons, and the rest 2.4 tons are transferred to the next circulation operation control process; if the water is placed in the sprinkling operation area, the sprinkling operation is carried out next time, the sprinkling water delivery amount is 6 tons multiplied by the second water limiting control proportion (assuming that the second water limiting control proportion corresponding to the sprinkling operation area is 50 percent), and the rest 3 tons are transferred to the next circulation operation control process; then, supposing that a third iteration control is carried out, detecting the water content value of the soil by the number 2, and carrying out iteration calculation again;

In the execution process of step S200, the consumption value of the total water consumption of the current target working area is calculated according to the working area of each target working area and the crop variety, and the method specifically comprises the following operations:

step S210: identifying the crop variety in the target operation area, and calling the current crop variety identification from a pre-stored database to obtain the water quantity N required by the crop variety under the standard of 1 square meter;

step S220: obtaining the water quantity N required by the crop variety under the standard of 1 square meter unit according to the current crop variety identification, and calculating the consumption value of the total water consumption of the target operation area according to the area S of the current target operation area; the consumption value of the total water consumption of the target work area m= SxN.

During the execution of step S100: the method comprises the steps that a controller drives a crop spray irrigation operation system to perform laser scanning and video image acquisition on the whole area, a movement control instruction is sent to enable a movable main support frame to perform translational movement, the operation area of each operation area can be obtained and calculated through a laser scanning camera, and the method further comprises the steps of performing buffer operation area demarcation calculation on the operation area while recognizing crops in the operation area through a video image collector;

Step S101: boundary recognition is carried out on the boundaries of all rectangular target operation areas on a preset operation path (note: all the target operation areas in the embodiment are rectangular, and a plurality of target operation areas are spliced in sequence to form a longer rectangular overall operation area);

step S102: calculating the corresponding operation lengths of all the target operation areas on a preset operation path according to the boundary identification result;

step S103: calculating the buffer operation length of all the target operation areas according to the operation length, and determining the buffer operation area corresponding to each target operation area according to the buffer operation length; the buffer operation areas are respectively arranged at the head end and the tail end of the target operation area; the buffer operation area at the head end and the buffer operation area at the tail end have the same size;

in the execution process of step S400, the method further includes starting the water delivery operation from the end of the buffer operation area at the head end to the start of the buffer operation area at the tail end when the irrigation operation of each target operation area is actually performed, and stopping the water delivery operation from the start of the buffer operation area at the tail end:

in each cycle of sprinkling irrigation operation, the sprinkling operation area operation queue table and the irrigation operation area operation queue table are updated again, sprinkling operation is implemented according to the target operation areas in the sprinkling operation area operation queue table after the updating is implemented, meanwhile, the position of a buffer operation area of the head end is detected through an image processing module when each target operation area is accessed, and when the position of the tail end of the buffer operation area of the head end is detected, a sprinkling flow valve control node is controlled to be opened for water delivery operation; controlling the sprinkler flow valve control node to cease delivery operation upon detecting a position at the beginning of the buffered work zone at the trailing end:

In the execution process of step S300, determining a specific soil water level corresponding to the current target operation area according to the relation between the soil water content value and the standard threshold set, and determining a corresponding first water limiting control proportion of the target operation area in the first initial sequence list according to the coordination of the specific soil water level, including the following operation steps:

the standard threshold set is three threshold intervals divided by two nodes of a first standard threshold and a second standard threshold;

if the current soil water content value of the current target operation area is detected to be larger than a first standard threshold value, the current soil water content is determined to be in a high water volume level, and a first water limit control proportion corresponding to the current high water volume level is called as a water limit control proportion of subsequent irrigation operation, namely a high-level water limit control proportion; if the current soil water content value is smaller than the first standard threshold value and larger than the second standard threshold value, the current soil water content is determined to be in the medium water level, and the first water limit control proportion corresponding to the current medium water level is called as the water limit control proportion of the subsequent irrigation operation, namely the medium water limit control proportion; if the current soil water content value is smaller than the second standard threshold value, determining that the current soil water content is at a low water level, and calling a first water limiting control proportion corresponding to the current low water level as a water limiting control proportion for subsequent irrigation operation, namely a low-level water limiting control proportion; wherein, the high-level water limit control proportion is less than the medium-level water limit control proportion and less than the low-level water limit control proportion;

Determining the current actual irrigation water delivery quantity according to the first water limiting control proportion and the consumption value of the total water consumption of the current target operation area, and specifically comprising the following steps:

and (3) multiplying the current first water limiting control proportion by the consumption value of the total water consumption of the current target operation area to obtain a value serving as the current actual irrigation water delivery quantity.

Regarding technical description, firstly, identifying crop varieties in a target operation area, and obtaining water quantity N required by 1 square meter unit crop variety according to the identification of the current crop varieties; simultaneously acquiring a soil water content value of a current target operation area, judging the relation between the current soil water content value and the initial condition of spray irrigation, and determining an executed preset scheme; if the current soil water content value is larger than a first standard threshold value, determining that the current soil water content is at a high water content level, and controlling to execute a first control executing method; if the current soil water content value is smaller than the first standard threshold value and larger than the second standard threshold value, the current soil water content is determined to be at the medium water content level, and a second control executing method is controlled and executed; if the current soil water content value is smaller than the second standard threshold value, determining that the current soil water content is at a low water content level, and controlling to execute a third control executing method; the first control execution method is to adopt a first water limiting control proportion with a lower numerical value, then to implement irrigation water quantity control with a corresponding proportion, and to carry out iteration follow-up control operation in batches; the second control execution method is to adopt a first water limiting control proportion with a medium value, then to implement irrigation water quantity control with a corresponding proportion, and to carry out iteration follow-up control operation in batches; the third control execution method is to adopt a first water limiting control proportion with higher numerical value, then to implement irrigation water quantity control of corresponding proportion, and to carry out iteration follow-up control operation in batches;

In the execution process of step S300, the second water limiting control ratio corresponding to the irrigation operation area is a fixed value, and the second water limiting control ratio corresponding to the sprinkling operation area is also a fixed value.

In the execution process of step S400, the preset job path sequence is the sequence in which the straight line from the target job area at one end to the target job area at the other end passes through the target job area on the preset job path.

In the execution of S400, the irrigation operation processing of the target operation area is first performed according to the irrigation operation area operation queue table as the first priority, and then the irrigation operation processing of the target operation area is performed according to the sprinkler operation area operation queue table as the next priority, including the operations of:

step S401: the controller searches all target operation areas on a preset operation path sequence, and determines the target operation areas in an irrigation operation area operation queue table and the target operation areas in a spray irrigation operation area operation queue table;

step S402: the controller firstly carries out irrigation operation treatment on the target operation areas in the operation queue list of the irrigation operation areas until all the target operation areas in the operation queue list of the irrigation operation areas finish irrigation operation;

step S403: the controller then carries out sprinkling operation treatment on the target operation areas in the sprinkling operation area operation queue list, and the controller confirms that the current irrigation operation area enters a slow infiltration waiting period until all the target operation areas in the sprinkling operation area operation queue list complete sprinkling operation, and thus the current circulation operation treatment is completed.

In the execution process of step S400, the controller redetermines the specific soil water quantity level corresponding to the current target operation area according to the relation between the soil water quantity value and the standard threshold set, and selects the current target operation area as a spray irrigation operation area or an irrigation operation area according to the specific soil water quantity level, newly creates and delimits the spray irrigation operation area and updates and delimits the irrigation operation area, comprising the following operation steps:

step S410: the controller retrieves the detected current soil water content value;

step S420: if the current soil water content value is detected to be larger than the first standard threshold value, the current soil water content is determined to be in a high water level, the current high water level area is determined to be a sprinkling irrigation operation area, and meanwhile, a sprinkling irrigation operation area operation queue table is established;

step S430: if the current soil water content value is detected to be smaller than the first standard threshold value and larger than the second standard threshold value, the current soil water content is determined to be at the medium water level, and the current medium water level area is determined to be an irrigation operation area and an operation queue list of the irrigation operation area is updated at the same time;

step S440: if the current soil water content value is smaller than the second standard threshold value, determining that the current soil water content is at a low water level, determining that the current low water level area is an irrigation operation area, and updating an operation queue table of the irrigation operation area at the same time;

The water delivery quantity of the actual sprinkling irrigation or irrigation is determined according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and the method comprises the following operation steps:

and (3) carrying out product operation on the current second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area to obtain a value as the current actual water delivery quantity for sprinkling irrigation or irrigation (namely, the current water delivery quantity is possible to be sprinkling irrigation water delivery or irrigation water delivery).

Regarding technical description, taking a target operation area meeting a high water level as a sprinkling operation area, and simultaneously establishing a sprinkling operation area operation queue table; taking a target operation area meeting the medium water quantity and low water quantity levels as an irrigation operation area, simultaneously updating the operation queue table of the irrigation operation area, and simultaneously determining a second water limiting control proportion in a coordinated manner; determining the actual water delivery amount according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area which is required to be subjected to the sprinkling operation in the next circulation operation, wherein the operation area of the next sprinkling operation is one of basic conditions for measuring whether the water quantity is integrally met or not, and the quantity ratio of the next sprinkling operation area is also two important basic conditions; therefore, researchers identify the two conditions as important and take the two conditions as a stop judging condition to control;

The first shutdown condition proportion is 90%, and the second shutdown condition proportion is 90%; and determining that the integral slow-penetration irrigation condition is met when the ratio of the working area of the target working area to the working area of all the target working areas in the current sprinkling irrigation working area working queue table exceeds 90 percent and the ratio of the number of the target working areas to the number of all the target working areas in the sprinkling irrigation working area working queue table exceeds 90 percent.

Regarding technical description, the controller performs the irrigation operation according to the target operation areas on the preset operation path sequence, if the current target operation area is monitored to belong to the irrigation operation area, the buffer area is identified, and finally, the irrigation flow valve control node is opened in the real operation area to perform the irrigation operation treatment; if the current target operation area is monitored to belong to the sprinkling operation area, the buffer area identification is carried out at the same time, and finally, the sprinkling operation processing is implemented by opening the sprinkling flow valve control node in the real operation area.

The crop spray irrigation operation method adopted by the embodiment of the invention comprehensively considers various operation conditions and various main influencing factors, provides an optimized control scheme, fully considers the corresponding technical characteristics of spray irrigation and irrigation, realizes the long-term slow-permeation water delivery consumption and short-term spray irrigation water delivery consumption of irrigation, fully considers the slow-permeation space control factors (setting an operation buffer zone), time control factors and control priorities, and finally realizes intelligent coordination control by matching with a specific mechanical spray irrigation operation system, thereby realizing intelligent configuration of water delivery quantity and water delivery mode.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; modifications of the technical solutions described in the foregoing embodiments, or equivalent substitutions of some or all of the technical features thereof, may be made by those of ordinary skill in the art; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. The crop spray irrigation operation system is characterized by comprising a movable main support, main water pipes, a plurality of operation area water pipes which are arranged on each main water pipe and the extending direction of which is perpendicular to the laying direction of the main water pipes, a laser scanning camera arranged on the movable main support and a video image collector; the system also comprises a remote control center, a controller arranged on the movable main support and a network communication switch; the remote control center is in communication connection with the controller through the network communication switch;

Each operation area water pipe is provided with a water pipe communicated with an irrigation operation area water pipe and a water pipe of a spray irrigation operation area, the water pipe of the irrigation operation area and the water pipe of the spray irrigation operation area are respectively connected in parallel on the water pipe of the operation area, and the tail end of the water pipe of the spray irrigation operation area is provided with a spray irrigation head; the sprinkling irrigation head is provided with a sprinkling irrigation flow valve control node; the tail end of the water pipe in the irrigation operation area is provided with an irrigation flow valve control node; the sprinkling irrigation flow valve control node is used for monitoring the sprinkling flow released by the sprinkling irrigation head to obtain the real-time sprinkling irrigation flow, and is also used for receiving the flow control instruction sent by the controller to realize sprinkling irrigation flow control; the irrigation flow valve control node is used for monitoring the irrigation water flow released by the water pipe in the irrigation operation area to obtain real-time irrigation water flow, and receiving a flow control instruction sent by the controller to realize irrigation water flow control;

The controller specifically comprises an image processing module, a soil detection processing module, a calculation processing module, an initial control processing module, an optimized iteration control module and a stop control module;

the image processing module is used for driving the crop spray irrigation operation system to carry out laser scanning and video image acquisition on the whole area, sending a movement control instruction to enable the movable main support to carry out translational movement, acquiring and calculating the operation area of each operation area through the laser scanning camera, and identifying the crops in the operation area through the video image acquisition device;

the soil detection processing module is used for summarizing and acquiring the operation areas of all target operation areas on a preset operation path; the method comprises the steps of driving a downward-extending type telescopic driving arm, and measuring soil humidity of all target operation areas on a preset operation path through soil humidity test on the downward-extending type telescopic driving arm to obtain real-time soil water content values of each target operation area;

2. The crop spray irrigation operation system of claim 1, wherein the controller further comprises a buffer identification calculation module, a buffer start-stop valve control module, wherein;

the buffer area identification calculation module is used for carrying out laser scanning and video image acquisition on the whole area by driving the crop spray irrigation operation system by the controller, sending a movement control instruction to enable the movable main support to carry out translational movement, acquiring and calculating the operation area of each operation area by the laser scanning camera, and carrying out buffer operation area demarcation calculation on the operation area while identifying the crops in the operation area by the video image acquisition device; boundary identification is carried out on the boundaries of all the rectangular target operation areas on the preset operation path; calculating the corresponding operation lengths of all the target operation areas on the preset operation path according to the boundary identification result; calculating the buffer operation length of all the target operation areas according to the operation length, and determining the buffer operation area corresponding to each target operation area according to the buffer operation length; the buffer operation areas are respectively arranged at the head end and the tail end of the target operation area; the buffer operation area at the head end and the buffer operation area at the tail end have the same size;

The buffer area start-stop valve control module is used for starting water delivery operation from the tail of the buffer operation area positioned at the head end to the start of the buffer operation area positioned at the tail end when the spray irrigation operation of each target operation area is actually carried out, and stopping the water delivery operation: in each cycle of sprinkling irrigation operation, the sprinkling operation area operation queue table and the irrigation operation area operation queue table are updated again, sprinkling operation is implemented according to the target operation areas in the sprinkling operation area operation queue table after the updating is implemented, meanwhile, the position of the buffer operation area of the head end is detected through an image processing module when each target operation area is passed through, and when the position of the tail end of the buffer operation area of the head end is detected, a sprinkling flow valve control node is controlled to be started for water delivery operation; controlling the sprinkling irrigation flow valve control node to stop water delivery operation when detecting the position of the starting position of the buffer operation area at the tail end; the irrigation operation is implemented according to the target operation areas in the updated irrigation operation area operation queue list, the position of the buffer operation area of the head end is detected through the image processing module when each target operation area is passed through, and the irrigation flow valve control node is controlled to be opened to perform water delivery operation when the position of the tail end of the buffer operation area of the head end is detected; the irrigation flow valve control node is controlled to stop the delivery operation upon detecting a position at the beginning of the buffered work zone at the trailing end.

3. A method of crop spray irrigation operation using the crop spray irrigation operation system according to any one of claims 1-2, comprising the steps of:

the controller drives the crop spray irrigation operation system to perform laser scanning and video image acquisition on the whole area, and sends a movement control instruction to enable the movable main support to perform translational movement, the operation area of each operation area is obtained and calculated through the laser scanning camera, and meanwhile the crops in the operation area are identified through the video image acquisition device; then summarizing and acquiring the operation areas of all target operation areas on a preset operation path; the controller drives the downward-extending telescopic driving arm, and soil humidity of all target operation areas on a preset operation path is measured through soil humidity test on the downward-extending telescopic driving arm, so that a real-time soil water content value of each target operation area is obtained;

calculating the consumption value of the total water consumption of the current target working area according to the working area of each target working area and the crop variety;

sequentially arranging the areas of all the target operation areas to obtain an operation area sequence list as a first initial sequence list, wherein the operation area sequence list is sequentially arranged from high order to low order from the order of large operation area to small operation area; the controller sequentially performs spray irrigation operation treatment on all target operation areas on a preset operation path from high order to low order in a first initial sequence list;

During primary irrigation operation, acquiring the soil water content value of a target operation area in a current first initial sequence list; determining a specific soil water quantity level corresponding to a current target operation area according to a relation between a soil water content value and a standard threshold set, determining a corresponding first water limiting control proportion of the target operation area in a first initial sequence list according to the specific soil water quantity level in a coordinated manner, determining the actual irrigation water delivery quantity according to the first water limiting control proportion and the consumption value of the total water consumption of the current target operation area, and implementing rapid single irrigation operation processing according to the actual irrigation water delivery quantity by a controller according to the target operation area in the first initial sequence list; the actual irrigation water delivery quantity is a consumption value obtained by multiplying a preset first water limit control proportion by the total water consumption of a current target operation area;

after the target operation areas in the first initial sequence list are executed, continuing to carry out secondary soil humidity detection treatment on all the target operation areas one by one along a preset operation path again, and calculating the consumption value of the residual total water consumption of each target operation area;

the controller redefines the specific soil water quantity level corresponding to the current target operation area according to the relation between the soil water content value and the standard threshold value set, and divides and selects the current target operation area into a spray irrigation operation area or an irrigation operation area according to the specific soil water quantity level, newly creates and delimits the spray irrigation operation area and updates and delimits the irrigation operation area; simultaneously establishing a sprinkling irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the current sprinkling irrigation operation area operation queue table; determining the actual sprinkling irrigation water delivery amount according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation; simultaneously establishing an irrigation operation area operation queue table, and coordinately determining a second water limiting control proportion corresponding to each target operation area in the irrigation operation area operation queue table; determining the actual sprinkling irrigation or irrigation water delivery quantity according to the second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area, and calculating the operation area of the target operation area of the next circulation operation, which is required to be subjected to sprinkling irrigation operation, of the next circulation operation;

The controller identifies the current target operation area according to the preset operation path sequence, firstly implements irrigation operation processing of the target operation area according to the irrigation operation area operation queue table as a first priority, and then implements irrigation operation processing of the target operation area according to the irrigation operation area operation queue table as a second priority;

And after the controller confirms that the current integral operation area meets the integral slow-permeation irrigation condition, controlling the movable main support frame to withdraw from the current integral operation area.

4. A method of operating a crop spray irrigation as claimed in claim 3, wherein the calculation of the current consumption value of the total water usage of the target operation area based on the operation area of each target operation area and the crop variety comprises the operations of:

identifying the crop variety in the target operation area, and calling the current crop variety identification from a pre-stored database to obtain the water quantity N required by the crop variety under the standard of 1 square meter;

obtaining the water quantity N required by the crop variety under the standard of 1 square meter unit according to the current crop variety identification, and calculating the consumption value of the total water consumption of the target operation area according to the area S of the current target operation area; the consumption value m= SxN of the total water consumption of the target working area.

5. A method of crop spray irrigation operation as recited in claim 4 wherein determining a particular soil water level corresponding to a current target operation area based on a relationship of soil water content values to a set of standard thresholds, and determining a corresponding first water limit control ratio for the target operation area in a first initial sequence list based on said particular soil water level coordination, comprises the steps of:

The current first water limiting control proportion and the consumption value of the total water consumption of the current target operation area are multiplied to obtain a value which is used as the current actual irrigation water delivery quantity;

the second water limiting control proportion corresponding to the irrigation operation area is a fixed value, and the second water limiting control proportion corresponding to the sprinkling irrigation operation area is also a fixed value.

6. The method of claim 5, wherein the controller drives the crop spray irrigation operation system to perform laser scanning and video image acquisition on the whole area, and sends a movement control instruction to enable the movable main support to perform translational movement, the operation area of each operation area is calculated by the laser scanning camera, and the method further comprises the steps of performing buffer operation area demarcation calculation on the operation area while recognizing the crop in the operation area by the video image acquirer;

boundary identification is carried out on the boundaries of all the rectangular target operation areas on the preset operation path;

calculating the corresponding operation lengths of all the target operation areas on the preset operation path according to the boundary identification result;

calculating the buffer operation length of all the target operation areas according to the operation length, and determining the buffer operation area corresponding to each target operation area according to the buffer operation length; the buffer operation areas are respectively arranged at the head end and the tail end of the target operation area; the buffer operation area at the head end and the buffer operation area at the tail end have the same size;

When the sprinkling irrigation operation of each target operation area is actually carried out, the water delivery operation is started from the tail part of the buffer operation area positioned at the head end to the start part of the buffer operation area positioned at the tail end, and the water delivery operation is stopped:

in each cycle of sprinkling irrigation operation, the sprinkling operation area operation queue table and the irrigation operation area operation queue table are updated again, sprinkling operation is implemented according to the target operation areas in the sprinkling operation area operation queue table after the updating is implemented, meanwhile, the position of the buffer operation area of the head end is detected through an image processing module when each target operation area is passed through, and when the position of the tail end of the buffer operation area of the head end is detected, a sprinkling flow valve control node is controlled to be started for water delivery operation; controlling the sprinkling irrigation flow valve control node to stop water delivery operation when detecting the position of the starting position of the buffer operation area at the tail end;

the irrigation operation is implemented according to the target operation areas in the updated irrigation operation area operation queue list, the position of the buffer operation area of the head end is detected through the image processing module when each target operation area is passed through, and the irrigation flow valve control node is controlled to be opened to perform water delivery operation when the position of the tail end of the buffer operation area of the head end is detected; the irrigation flow valve control node is controlled to stop the delivery operation upon detecting a position at the beginning of the buffered work zone at the trailing end.

7. A method of drip irrigation of crops as in claim 4 wherein the predetermined job path sequence is the sequence of straight lines passing through the target job area from one end of the target job area to the other end of the target job area on the predetermined job path.

8. A method of crop spray irrigation operation as recited in claim 4, wherein first performing irrigation operation of the target operation area according to the irrigation operation area operation queue table as a first priority and then performing irrigation operation of the target operation area according to the spray operation area operation queue table as a second priority, comprising the operations of:

the controller searches all target operation areas on a preset operation path sequence, and determines the target operation areas in an irrigation operation area operation queue table and the target operation areas in a spray irrigation operation area operation queue table;

the controller firstly carries out irrigation operation treatment on the target operation areas in the operation queue list of the irrigation operation areas until all the target operation areas in the operation queue list of the irrigation operation areas finish irrigation operation;

the controller then carries out sprinkling operation treatment on the target operation areas in the sprinkling operation area operation queue list, and the controller confirms that the current irrigation operation area enters a slow infiltration waiting period until all the target operation areas in the sprinkling operation area operation queue list complete sprinkling operation, and thus the current circulation operation treatment is completed.

9. A method of crop spray irrigation operations as recited in claim 3 wherein the controller redefines a specific soil water level corresponding to the current target operation area based on a relationship between soil water level values and a set of standard thresholds, selects the current target operation area as either a spray irrigation operation area or an irrigation operation area based on the specific soil water level, creates a defined spray irrigation operation area, and updates the defined irrigation operation area, comprising the steps of:

the controller retrieves the detected current soil water content value;

if the current soil water content value is detected to be larger than the first standard threshold value, the current soil water content is determined to be in a high water level, the current high water level area is determined to be a sprinkling irrigation operation area, and meanwhile, a sprinkling irrigation operation area operation queue table is established;

if the current soil water content value is detected to be smaller than the first standard threshold value and larger than the second standard threshold value, the current soil water content is determined to be at the medium water level, and the current medium water level area is determined to be an irrigation operation area and an operation queue list of the irrigation operation area is updated at the same time;

if the current soil water content value is smaller than the second standard threshold value, determining that the current soil water content is at a low water level, determining that the current low water level area is an irrigation operation area, and updating an operation queue table of the irrigation operation area at the same time;

and (3) performing product operation on the current second water limiting control proportion and the consumption value of the residual total water consumption of the current target operation area to obtain a value serving as the current actual water delivery quantity of sprinkling irrigation or irrigation.