WO2023173904A1 - End flow regulation, measurement and remote control apparatus for water-efficient irrigation - Google Patents

Abstract

Disclosed in the present invention is an end flow regulation, measurement and remote control apparatus for water-efficient irrigation. The apparatus is composed of an irrigation head, a pipe network, flow regulation and measurement integrated apparatuses, photovoltaic energy supply apparatuses and remote intelligent control systems. One end of the pipe network is connected to the irrigation head, and the several flow regulation and measurement integrated apparatuses are mounted in the middle of the pipe network. Each flow regulation and measurement integrated apparatus is equipped with a corresponding photovoltaic energy supply apparatus and a corresponding remote intelligent control system. Each flow regulation and measurement integrated apparatus is composed of a valve body and a driving module, wherein the valve body regulates the flow by means of an opening degree thereof, the driving module is composed of a stepping electric motor and a speed reducer, and the driving module is used for driving a plunger to move so as to regulate the opening degree of the valve body. The remote intelligent control systems are a remote regulating valve opening degree decision-making module developed on the basis of Python, and the module measures and controls the opening degree of a regulating valve by using electric pulses. The apparatus can monitor and regulate and control the flow in an irrigation end pipe, has one-way and two-way water output forms, is highly flexible, is simple in terms of arrangement, runs independently and stably, can be operated remotely, and has a high degree of automation.

Description

A water-saving irrigation terminal flow adjustment, measurement and remote control device Technical field

The technical field of agricultural irrigation devices of the present invention relates to a water-saving irrigation terminal flow adjustment, measurement and remote control device.

Background technique

The irrigation terminal pipe network is the last system unit for irrigation water to go to farmland. In this part of the pipe network, the flow of pipes is regulated, which is a key means to improve the refinement of the irrigation system. At the same time, precision agriculture and smart agriculture have been promoted on a large scale because of their advantages of saving water, saving labor, increasing production, being green, and having a high degree of automation. In line with this trend, it is necessary to design and develop remote flow control and management devices for irrigation terminal pipe networks.

The flow adjustment methods of most irrigation systems currently in operation mainly include the following means: adjusting the speed of the water pump in the pump room or arranging multiple water pumps to regulate the water pressure of the system, which has a certain flow regulation effect, but the system flexibility is low and the cost is low. Higher; setting up manual valves in the terminal pipe network to change the flow of irrigation branch pipes. This method has a low degree of automation and the flow adjustment is not stable and timely. Common remote solenoid valves on the market have two states: fully closed and fully closed. They cannot adjust or measure the flow rate, and cannot meet farmers' needs for precise irrigation in terminal pipe networks.

Therefore, there is a need for a flow regulating device installed in the irrigation end pipe network to solve the problem of insufficient flexibility of the irrigation system; to develop a flow measurement and flow control strategy to achieve refined management of pipeline flow; to optimize the remote control scheme and form Independent remote control module with photovoltaic energy supply, simple layout and stable operation.

Contents of the invention

In view of the problems and deficiencies existing in the above-mentioned prior art, the purpose of the present invention is to provide a water-saving irrigation terminal flow adjustment, measurement and remote control device.

The technical solutions adopted to achieve the above-mentioned invention objectives are:

A water-saving irrigation terminal flow adjustment, measurement and remote control device, consisting of an irrigation head, a pipe network, an integrated flow adjustment device, a photovoltaic energy supply device, and a remote intelligent control system; one end of the pipe network is connected to the irrigation head, There are several integrated flow adjustment devices installed in the middle. Each integrated flow adjustment device is equipped with a corresponding photovoltaic energy supply device and remote intelligent control system.

Furthermore, the irrigation head includes a water source, a water pump, a filter, and a pressure transmitter.

Furthermore, the integrated flow adjustment device is composed of a valve body and a drive module. The valve body adjusts the flow rate through changes in opening. The drive module is composed of a stepper motor and a reducer. The drive module is used to drive the plunger to move, thereby adjusting the flow rate. Opening size.

Furthermore, the photovoltaic energy supply device is used to supply energy to field regulating valve driving equipment;

Furthermore, the remote intelligent control system is a remote regulating valve opening decision-making module developed based on python, which uses electric pulses to measure and control the regulating valve opening.

Furthermore, the valve body includes a plunger, a rubber cushion, a fixing nut, a water inlet shrink tube and a valve body shell. The rubber cushion is fixed on the plunger through a fixing nut and can be moved radially, adjusted and shrunk by water inlet. The distance between the pipe outlets, the two are fixedly connected through the shell; the drive module includes a stepper motor, a stepper motor driver, a reducer, a coupling, a screw, and a plunger guide rail, and the machine driver drives the stepper through an electrical signal. The stepper motor, reducer and screw are connected front and back through the coupler in turn, the screw and the rear internal thread of the plunger are bolted together, and the plunger guide rail is sleeved on the outside of the cylinder of the screw and plunger.

Furthermore, the plunger includes four parts: a horizontal surface, a cylinder, and a front internal thread and a rear internal thread. The valve body includes two forms: bidirectional water outlet and unidirectional water outlet.

Furthermore, the stepper motor is SUMTOR's 42HS6315B4 stepper motor, with a step angle of 1.8/step, a static torque of 0.75N·m, a positioning torque of 0.035N·m, and a phase voltage of 4.5V, which is used to power the system. Input; the stepper motor driver uses DVS's DV542C two-phase digital stepper motor driver, which can accept 485 control operation. Its input voltage is 24~50V, and the output current is 0.1~5.6A. The maximum circle can be divided into 25600 steps. Use For controlling the action of the stepper motor; the reducer uses SUMTOR's planetary reducer, the reduction ratio uses the first-level speed ratio 3.71 reduction ratio, and its rated load is 4N·m, which is used to increase the power output of the stepper motor; the coupling is used It is used to connect the driving shaft and driven shaft of two adjacent mechanisms to rotate synchronously and transmit motion and torque; the screw material is brass, the lead is 3mm, the thread pitch is 10.4mm, and the thread profile angle is 8.13 °, used to drive the radial movement of the plunger; the guide rail is used to limit the freedom of the plunger and maintain its radial movement.

The reduction ratio i of the reducer can be calculated from Formula 1, where D is the diameter of the plunger (306) facing the horizontal plane, in cm; P is the maximum average pressure under the standard working condition of the valve, in meters of water column; S is Lead, in mm; d is the thread pitch, in mm; f is the friction coefficient of the bolt, which is a dimensionless number, which can be queried by material on the screw pair; α is the thread profile angle, in °; T motor is the rated positioning torque of the motor, in N·m, and the reduction ratio i should be greater than or equal to the calculated value:

Furthermore, the photovoltaic energy supply device includes photovoltaic panels, solar controllers, and batteries.

Furthermore, the remote intelligent control system consists of three parts: a field regulating valve, a local PLC part, and a remote management control part; the field regulating valve part includes a stepper motor driver and a wireless data transmission station for receiving data sent by the local PLC. The instruction is given to the flow control valve, where the opening of the control valve is measured by the number of electrical pulses of the stepper motor driver; the local PLC part includes PLC, data reading and writing equipment, main station wireless data transmission station, physical Networking gateway, electromagnetic relay and pressure transmitter of water pump motor; the remote management and control part includes a cloud database, an opening decision-making module and a control and monitoring module on computers and mobile phones.

Furthermore, the PLC selected is LK3U-64, whose interfaces include two RS485 interfaces, one RS232 interface, switching input and output interfaces, and analog input and output interfaces for data collection, processing, and output.

Compared with the existing technology, the water-saving irrigation terminal remote control device of the present invention has the following beneficial effects:

(Ⅰ) The device can monitor and regulate the flow of the irrigation terminal pipeline, establish the mathematical relationship between the pipeline pressure - the opening of the regulating valve - the flow of the irrigation branch, so as to make intelligent decisions and monitor the opening of the regulating valve and the flow of the irrigation branch. The flow adjustment is fast and stable.

(II) The device has two forms of one-way water outlet and two-way water outlet. The installation method adapts to the layout of the terminal pipe network of the irrigation system, is suitable for installation and modification of the terminal pipe network, and is conducive to improving system flexibility; the drive module uses a stepper motor to accelerate and decelerate. The structure of the device is stable and precise.

(Ⅲ) The device layout is simple, with an independent valve body control module in the field, equipped with photovoltaic panels and batteries, and independent power supply; wireless communication between the radio station and the pump room is used to facilitate quick installation and layout; it can be operated remotely and has a high degree of automation.

(IV) Local devices can be monitored and managed remotely. Local data communicates with the cloud through the 4G network. The irrigation system control program runs in the local PLC, and the regulating valve opening calculation program runs on the remote PC, ensuring that the program runs stably and accurately, and at the same time, it facilitates remote monitoring of the operating status of local equipment.

Description of the drawings

Figure 1 is a schematic diagram of the layout of water volume adjustment, measurement and remote control devices at the end of water-saving irrigation in the irrigation system;

Figure 2 is a schematic structural diagram of the flow adjustment and measurement integrated valve;

Figure 3 is a schematic diagram of the installation of the flow adjustment integrated valve;

Figure 4 is the flow characteristic curve and fitting curve of the regulating valve;

Figure 5 is a schematic diagram of equipment connection for water volume adjustment, measurement and remote control device at the end of water-saving irrigation;

Figure 6 is a flow chart of a device control method.

In the picture: 1-irrigation head, 101-reservoir, 102-water pump, 103-filter, 104-pressure transmitter, 2-pipe network, 3 flow adjustment integrated device, 301-stepper motor, 302- Reducer, 303-coupling, 304-screw, 305-plunger guide rail, 306-plunger, 307-rubber cushion, 308-fixing nut, 309-water inlet shrink tube, 4-photovoltaic energy supply device, 5 -Remote intelligent control system, 501-regulating valve driving part, 502 local PLC part, 503 remote management control part.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings and specific examples given by the inventor.

Figure 1 is a schematic diagram of the arrangement of water volume adjustment, measurement and remote control devices at the end of water-saving irrigation in the irrigation system of the present invention. The entire irrigation system is divided into five parts: irrigation head 1, irrigation pipe network 2, flow adjustment integrated device 3, and photovoltaic energy supply The device 4 is composed of a remote control device 5; one end of the pipe network 2 is connected to the irrigation head 1, and several integrated flow adjustment devices 3 are installed in the middle. Each integrated flow adjustment device 3 is equipped with a corresponding photovoltaic energy supply device 4 and remote intelligent control system 5.

The irrigation head 1 includes 101 water reservoir, 102 water pump, 103 filter, and 104 pressure transmitter.

The flow adjustment and measurement integrated device 3 is composed of a valve body and a drive module. The valve body adjusts the flow rate through changes in opening. The drive module is composed of a stepper motor and a reducer. The drive module is used to drive the plunger to move, thereby adjusting the opening. size.

The photovoltaic energy supply device 4 is used to supply energy to field regulating valve driving equipment, and includes photovoltaic panels, solar controllers, and batteries.

Figure 2 shows the structural diagram of the integrated device for flow adjustment and measurement. It consists of a valve body and a drive module. The valve body adjusts the flow through changes in opening. The drive module is composed of a stepper motor and a reducer. The drive module is used to drive the plunger. activity, thereby adjusting the opening; the device is composed of a valve body and a drive module, the valve body adjusts the flow through changes in opening, the drive module is composed of a stepper motor and a reducer, and the drive module is used to drive the plunger movement, thereby Adjust the opening size.

The valve body includes a plunger 306, a rubber cushion 307, a fixing nut 308, a water inlet shrink tube 309 and a valve body shell. The installation position relationship is as follows: the plunger 306 is fixed with a rubber cushion 307 through a fixing nut 308, which can move radially to adjust the distance between the plunger 306 and the outlet of the water inlet shrink tube 309, and the two are fixedly connected through the shell.

The plunger 306 includes four parts: a horizontal surface, a cylinder, a front internal thread and a rear internal thread. It is used for the radial movement of transmission adjustment, and together with the outlet section of the water inlet shrink tube 309, it limits the shape of the flow channel; among them, the rubber The soft cushion 307 is used to seal the gap between the plunger and the water inlet shrink tube 309 when the valve body is closed; the fixing nut 308 is used to fix the rubber cushion 307 on the front internal thread of the plunger 306; the water inlet The shrink tube 309 consists of two parts: a water inlet shrink section and an outlet section. It is used to gather the fluid entering the valve body and limit the shape of the flow channel together with the plunger 306; the valve body shell includes a water inlet, a cavity, and a water flow. The three parts of the outlet are used to fix the internal structure of the valve body and connect with external pipelines.

The valve body type is divided into two types: bidirectional water outlet and one-way water outlet. Except for the outlet section of the valve body shell, the two are different, and other components can be replaced with each other.

The driving equipment includes a stepper motor 301, a stepper motor driver, a reducer 302, a coupling 303, a screw 304, and a plunger guide 305. The installation position relationship is as follows: the motor driver drives the stepper motor 301 through electrical signals. The stepper motor 301, reducer 302 and screw rod 304 are connected front and back through the coupling 303 in turn. The screw rod 304 is connected to the rear internal thread bolts of the plunger 306. The plunger guide rail 305 is sleeved on the screw 304 and the outside of the cylinder of the plunger 306 .

The stepper motor 301 is SUMTOR's 42HS6315B4 stepper motor, with a step angle of 1.8/step, a static torque of 0.75N·m, a positioning torque of 0.035N·m, and a phase voltage of 4.5V. used for power input to the system. The stepper motor driver uses DVS's DV542C two-phase digital stepper motor driver, which can accept 485 control operation. Its input voltage is 24~50V, the output current is 0.1~5.6A, and the maximum one circle can be divided into 25,600 steps. Used to control the action of the stepper motor 301.

The reducer 302 is a SUMTOR planetary reducer, the reduction ratio is a first-level speed ratio of 3.71, and its rated load is 4N·m. Used to increase the power output of the stepper motor 301.

The coupling 303 is used to connect the driving shaft and the driven shaft of two adjacent mechanisms so that they can rotate synchronously and transmit motion and torque.

The screw 304 is made of brass, has a lead of 3 mm, a thread pitch of 10.4 mm, and a thread profile angle of 8.13°, and is used to drive the plunger 306 to move radially.

The guide rail 305 is used to limit the freedom of the plunger 306 and maintain its radial movement.

The reduction ratio i of the reducer can be calculated by Equation 1. In the formula, D is the diameter of the plunger 306 facing the horizontal surface, in cm; P is the maximum average pressure of the valve under standard operating conditions, in meters of water column; S is the lead, in mm; d is the thread pitch, in mm ; f is the friction coefficient of the bolt, which is a dimensionless number, which can be queried by material in the spiral pair; α is the thread profile angle, in degrees; T motor is the rated positioning torque of the motor, in N·m. The reduction ratio i should be greater than or equal to the calculated value.

Figure 3 is a schematic diagram of the installation of the flow adjustment integrated valve. It shows that the layout in the pipe network is divided into four working conditions, the intermediate arrangement state of the one-way outlet valve, the intermediate arrangement state of the two-way outlet valve, and the intermediate arrangement state of the one-way outlet valve. The end arrangement state of the two-way outlet valve. The only difference between the intermediate arrangement state and the end arrangement state is the tee connection and the reducer connection.

Figure 4 shows a comparison chart between the actual flow rate and the calculated flow rate of a one-way outlet valve with a plunger diameter of 32mm when the pre-pressure is 20m. The iterative calculation formula for calculating flow is as follows.

In the formula, Q - flow rate, m ³ /h; Qmax - the maximum flow rate corresponding to the maximum opening under the current pressure difference and medium density, m ³ /h; KQ - valve flow coefficient; ΔP - pressure difference, m; ρ - Medium density, kg/L; P ₁ - pre-pressure, m; ΔZ - valve inlet and outlet height difference, m; H - opening, mm; Hmax - maximum opening, mm.

Figure 5 shows a schematic diagram of equipment connection of a water-saving irrigation terminal water volume adjustment, measurement and remote control device according to the present invention. The schematic diagram is divided into three parts, the local PLC part, the field regulating valve part and the remote management control part. The local PLC connects to monitor the head device and serves as an intermediate unit to connect the data communication of the other two devices. The field regulating valve part accepts the local PLC part's command actions, and the remote management control part receives the operating parameters of the local PLC and sends equipment action instructions to it.

The field regulating valve part includes an independent power supply module and a regulating valve control module.

The independent power supply module includes photovoltaic panels, solar controllers, and batteries, which are used to supply energy to field regulating valve driving equipment. Among them, the photovoltaic power generation panel uses SYP-M1810 polycrystalline solar panel, with a power generation power of 10W and an output voltage of 18W. Input for system energy. Among them, the solar controller uses YSN-SOL2A. The input voltage is 12~24V and the output voltage is 12.6V. It stabilizes the current and voltage generated by the photovoltaic panel to charge the battery. Among them, the battery is a YSN-1203000 rechargeable lithium battery with a capacity of 3000mAh, a charging voltage of 12.6V, and a discharging voltage of 12V, which is used to store electricity.

The power demand _power P of the independent power supply part of the field can be calculated according to Equation 2. In the formula, P ₁ is the rated power of the stepper motor, in W; P ₂ is the rated power of the wireless data transmission station, in W.

P _needs =P ₁ +P ₂ (Formula 2)

_The power generation power P of the photovoltaic panel can be calculated according to Equation 3. In the formula, P _storage is the additional power for battery charging, in W; P _consumption is the power lost during charging and power supply, in kW.

P _supply ≥ P _demand + P _storage + P _consumption (Formula 3)

The battery capacity C can be calculated according to Equation 4. In the formula, t is the time that the equipment that cannot supply power still needs to run, and the unit is h.

C≥P _requires ·t (Formula 4)

The regulating valve control module 501 includes a stepper motor driver and a wireless data transmission station (slave station). The wireless data transmission station is used to receive instructions sent by the local PLC and transmit them to the stepper motor driver to drive the flow regulating valve. The opening of the regulating valve is measured using the number of electrical pulses from the stepper motor driver.

The local PLC part 502 includes PLC, data reading and writing equipment, wireless data transmission station (master station), Internet of Things gateway, electromagnetic relay of water pump motor and pressure transmitter. Among them, the PLC uses LK3U-64, whose interfaces include two RS485 interfaces, one RS232 interface, switching input and output interfaces, and analog input and output interfaces, which are used for data collection, processing, and output. Among them, the data reading and writing equipment uses Weintong MT610iP touch screen, which provides a touchable interface for human-computer interaction. Among them, SUKON's SuK-BOX-4G cloud box is selected as the IoT gateway, and its cloud platform can be used to upload local data to a remote server for storage.

The remote management control part 503 includes a cloud database, an opening decision-making module, and a control and monitoring module on computers and mobile phones. The cloud database is provided by SUKON, which can store, read and write data remotely. Among them, the opening decision-making module is developed based on python. It can make intelligent decisions on the opening of the regulating valve based on the data uploaded by the local PLC, and can also calculate the flow value of the irrigation pipe. Among them, the control and monitoring modules on the computer and mobile phones are developed based on python. On the operation interface, the equipment of the local PLC part and the field regulating valve part can be remotely monitored and controlled.

Figure 6 shows the flow chart of flow regulation and flow measurement. The specific process of the regulating valve opening decision module is as follows:

Step 1: Initialize the system, set the target flow Q ₀ , and allow the error d _q ;

Step 2: Measure the current pressure value P ₁ of the pressure transmitter (104), read the pulse number x1 corresponding to the current opening, and calculate the current flow value Q ₁ ;

Step 3: Determine whether Q ₁ is within the error range of the target flow rate, that is, [Q0-dq, Q0+dq]. If it is within the range, the adjustment is completed and the program ends; if it is not within the range, step 4 is entered;

Step 4: Calculate the number of pulses x ₀ corresponding to the lower opening of Q ₀ , and calculate the difference x between the number of pulses x ₀ corresponding to the target opening and the current number of pulses x ₁ ;

Step 5: Determine whether the difference x is greater than 0. If it is greater than 0, the number of pulses for the control valve drive motor is |x|; if it is not greater than 0, the number of pulses for the control valve drive motor is reverse rotation |x|. Then proceed to step two.

Claims (9)

1. A water-saving irrigation terminal flow adjustment, measurement and remote control device, which is characterized by: consisting of an irrigation head (1), a pipe network (2), an integrated flow adjustment device (3), a photovoltaic energy supply device (4), and a remote control device. It consists of an intelligent control system (5); one end of the pipe network (2) is connected to the irrigation head (1), and a number of integrated flow adjustment devices (3) are installed in the middle, and each integrated flow adjustment device (3) is prepared Corresponding photovoltaic energy supply device (4) and remote intelligent control system (5).

   The irrigation head (1) includes a water source, a water pump, a filter and a pressure transmitter;

   The flow adjustment and measurement integrated device (3) is composed of a valve body and a drive module. The valve body adjusts the flow rate through changes in opening. The drive module is composed of a stepper motor and a reducer. The drive module is used to drive the plunger to move, thereby regulating the flow. opening size;

   The photovoltaic energy supply device (4) is used to supply energy to field regulating valve driving equipment;

   The remote intelligent control system is a remote regulating valve opening decision-making module developed based on python, which uses electric pulses to measure and control the regulating valve opening.
2. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 1, characterized in that: the irrigation head (1) consists of a reservoir (101), a water pump (102), a filter (103) ), pressure transmitter (104).
3. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 1, characterized in that: the valve body includes a plunger (306), a rubber cushion (307), a fixing nut (308), The water inlet shrink tube (309) and the valve body shell (310), the rubber cushion (307) is fixed on the plunger (306) through a fixing nut (308), and can be moved radially to adjust and adjust the water inlet shrink tube (309) ), the two are fixedly connected through the shell; the drive module includes a stepper motor (301), a stepper motor driver, a reducer (302), a coupling (303), a screw (304), a column Plug the guide rail (305), the machine driver drives the stepper motor (301) through electrical signals, the stepper motor (301), reducer (302) and screw (304) are connected front and back through the coupling (303) in turn, and the screw (304) is bolted to the rear internal thread of the plunger (306), and the plunger guide rail (305) is sleeved on the outside of the cylinder of the screw rod (304) and the plunger (306).
4. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 3, characterized in that the plunger (306) includes four parts: a horizontal surface, a cylinder, and a front internal thread and a rear internal thread.
5. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 3, characterized in that the valve body includes two forms: bidirectional water outlet and unidirectional water outlet.
6. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 3, characterized in that the stepper motor (301) is SUMTOR's 42HS6315B4 stepper motor, and its step angle is 1.8/step. , the static torque is 0.75N·m, the positioning torque is 0.035N·m, and the phase voltage is 4.5V, which is used for the power input of the system; the stepper motor driver uses DVS's DV542C two-phase digital stepper motor driver, which can accept 485 control operation , its input voltage is 24~50V, output current is 0.1~5.6A, and a maximum circle can be divided into 25600 steps, which is used to control the action of the stepper motor (301); the reducer (302) uses SUMTOR's planetary reducer. The reduction ratio adopts a first-level speed ratio of 3.71, with a rated load of 4N·m, which is used to increase the power output of the stepper motor (301); the coupling (303) is used to connect the driving shafts of two adjacent mechanisms. and the driven shaft to rotate synchronously and transmit motion and torque; the screw (304) is made of brass, the lead is 3mm, the thread pitch is 10.4mm, the thread profile angle is 8.13°, and it is used to drive the plunger ( 306) radial movement; the guide rail (305) is used to limit the freedom of the plunger (306) and maintain its radial movement.

   The reduction ratio i of the reducer can be calculated from Formula 1, where D is the diameter of the plunger (306) facing the horizontal plane, in cm; P is the maximum average pressure under the standard working condition of the valve, in meters of water column; S is Lead, in mm; d is the thread pitch, in mm; f is the friction coefficient of the bolt, which is a dimensionless number, which can be queried by material on the screw pair; α is the thread profile angle, in °; T motor is the rated positioning torque of the motor, in N·m, and the reduction ratio i should be greater than or equal to the calculated value;

   
7. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 1, characterized in that: the photovoltaic energy supply device (4) includes photovoltaic panels, solar controllers, and batteries.
8. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 1, characterized in that: the remote intelligent control system (5) consists of a field regulating valve (501), a local PLC part (502), The remote management control part (503) has three parts;

   The field regulating valve part (501) includes a stepper motor driver and a wireless data transmission station, which are used to receive instructions sent by the local PLC and execute them to the flow regulating valve, in which the opening of the regulating valve is controlled by the electric current of the stepper motor driver. The number of pulses is measured;

   The local PLC part (502) includes PLC, data reading and writing equipment, master station wireless data transmission station, Internet of Things gateway, electromagnetic relay of water pump motor and pressure transmitter;

   The remote management and control part (503) includes a cloud database, an opening decision-making module, and a control and monitoring module on computers and mobile phones.
9. A water-saving irrigation terminal flow adjustment, measurement and remote control device according to claim 8, characterized in that: the PLC selects LK3U-64, and its interface includes two RS485 interfaces, one RS232 interface, and switch input. Output interface and analog input and output interface are used for data collection, processing and output.

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