Water and fertilizer integrated control method and device for translation type sprinkling machine

Abstract

According to the water and fertilizer integrated control method and device for the translation type sprinkler, the irrigation quota, the irrigation plot length, the fertilizer application amount per mu and the fertilizer type are given according to the relevant parameters of the sprinkler and the fertilizer injection pump; the operation duration of the sprinkling machine in the fertilizer liquid sprinkling process of the sub-plots, the working frequency of the fertilizer injection pump and the operation duration of the sprinkling machine in the clear water sprinkling process are calculated, the strategy that the fertilizer liquid is firstly sprinkled forwards, then the clear water is sprinkled backwards and then the clear water is sprinkled forwards is formed for the sub-plots, and the fertilizer liquid required by the next sub-plot is prepared during the clear water sprinkling process; frequent shutdown is avoided, and full-automatic precision operation of water and fertilizer integration is realized by accurately regulating and controlling the walking speed of the sprinkling machine and the frequency of a fertilizer injection pump; the accurate regulation and control of the fertilizer injection amount can be realized based on EC or pH feedback regulation without adopting a flow meter and the like, the problem that the fertilization concentration change is relatively large due to large water pressure fluctuation of a large sprinkling irrigation machine is avoided, and the cost is reduced while the collaborative and accurate application of water and fertilizer is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of water-fertilizer integration, and in particular relates to a water-fertilizer integration control method and device for a translational sprinkler irrigation machine. Background Art

[0002] The integrated water and fertilizer technology has significant effects of saving water, reducing weight, and increasing production. It has become a key measure for my country to improve the efficiency of water and fertilizer utilization and implement large-scale grain yield improvement actions. The horizontal sprinkler has the characteristics of high degree of automation, large single-machine control area, strong adaptability, and can significantly reduce water resource consumption and labor costs. Relevant research shows that the use of large sprinklers for integrated water and fertilizer spraying can reduce labor input and avoid conflicts between conventional and agricultural machinery operations, thereby improving the yield and quality of crops while improving fertilizer utilization.

[0003] At present, the most widely used large-scale sprinklers are mainly center pivot sprinklers and horizontal sprinklers. Center pivot sprinklers rotate around their center support, and the control area is circular, which cannot cover the four corners of the ground; while the movement of horizontal sprinklers is to walk along the vertical direction of the equipment, and the irrigation area is rectangular, which is suitable for strip fields or square plots in my country's traditional agricultural planting areas, and the coverage rate can reach more than 95%.

[0004] However, since the entrance of the irrigation main line of the horizontal-moving sprinkler moves with the main drive trolley, its fertilizer injection equipment and fertilizer storage container are usually installed on the main drive trolley. In order to maintain the operating stability of the horizontal-moving sprinkler, a fertilizer barrel with a smaller volume is often selected as a fertilizer storage container. However, for horizontal-moving sprinklers with long-distance, multi-span, and large control areas, the smaller fertilizer storage container will cause the horizontal-moving sprinkler to stop frequently, seriously affecting the efficiency and stability of the water-fertilizer integration operation of the horizontal-moving sprinkler. In addition, the operation speed of the horizontal-moving sprinkler is low, and the water-fertilizer integration operation for longer plots takes a long time. The interval between the spraying of fertilizer liquid and the spraying of clean water in some plots is long, and the fertilizer liquid intercepted by the crop canopy cannot be leached in time, resulting in a large amount of nutrient evaporation and reduced fertilizer utilization.

[0005] Therefore, conducting relevant research on special water-fertilizer integrated equipment of horizontal-moving sprinkler irrigation machines suitable for intensive agriculture and the corresponding irrigation and fertilization strategies is in line with national policies and actual requirements of domestic applications, and is of great significance to improving my country's water and fertilizer utilization rate, increasing crop yields, and protecting soil and groundwater. Summary of the invention

[0006] In view of the above problems, the purpose of the present invention is to provide a water-fertilizer integration device with stable fertilizer injection flow, which is suitable for a translational sprinkler, and can accurately control the fertilizer concentration and fertilizer amount through the irrigation and fertilization strategy, and realize the fully automatic precision operation of water-fertilizer integration based on the control method. At the same time, based on the water-fertilizer integration strategy of block reciprocating irrigation and fertilization, it effectively solves the problems of frequent shutdown and evaporation of fertilizer liquid during the water-fertilizer integration process of the translational sprinkler, and can effectively improve the water-fertilizer integration operation efficiency, system operation stability and fertilizer utilization rate of the translational sprinkler.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A first aspect of the present invention provides a method for controlling water-fertilizer integration of a translational sprinkler, which is used to control a water-fertilizer integration device of a translational sprinkler, wherein the water-fertilizer integration device of the translational sprinkler comprises a translational sprinkler, a fertilizer injection pump, and a fertilizer storage unit connected to each other, and the control method comprises:

[0009] Obtain the inherent parameters of the sprinkler, and set the length of the irrigation plot, the amount of fertilizer applied per mu, the irrigation quota, and the type of fertilizer for this irrigation and fertilization;

[0010] Collect the inflow flow of the sprinkler and the E of the clean water in the sprinkler main line before the start of this fertilizer injection irrigation. c value or pH value;

[0011] According to the inherent parameters of the sprinkler, the length of the irrigation plot, the fertilizer application amount per mu, the irrigation quota and the fertilizer type of the current irrigation and fertilization, and the inflow flow of the sprinkler before the start of the fertilization, the working parameters of the sprinkler and the fertilizer injection pump are calculated to form the current irrigation and fertilization strategy, which is specifically to divide the irrigation plot into a number of sub-plots, and perform irrigation and fertilization operations on each sub-plot in sequence, wherein the current operation sub-plot is firstly irrigated with fertilizer liquid in the forward direction, then with reverse spray irrigation with clear water, and then with forward spray irrigation with clear water, and the fertilizer liquid required for the next sub-plot is prepared during the spray irrigation with clear water;

[0012] Controlling the water-fertilizer integrated equipment of the translational sprinkler to execute the current irrigation and fertilization strategy;

[0013] In the process of controlling the translational sprinkler irrigation machine water-fertilizer integrated equipment to execute the current irrigation and fertilization strategy, the concentration of the sprinkler fertilizer solution is monitored and feedback-adjusted: the corresponding fertilizer solution concentration inversion prediction model is selected according to the fertilizer type, and the E of the fertilizer solution sprayed for this irrigation and fertilization is obtained according to the spraying fertilizer solution concentration and the selected fertilizer solution concentration inversion prediction model. c The predicted value or pH predicted value is compared with the E of the sprayed fertilizer solution collected after the start of fertilization. c The water or pH value is compared, and the control instructions of the water-fertilizer integrated equipment of the translational sprinkler are formed based on the comparison results.

[0014] Furthermore, the inherent parameters of the sprinkler include the overall length of the sprinkler, the range of the nozzle installed at the end of the sprinkler, the field spraying water utilization coefficient, the field surface slip coefficient, the rated speed of the drive motor, the effective radius of the matching tire, the drive motor reducer transmission ratio, the wheel reducer transmission ratio, the rated frequency of the fertilizer injection pump and the actual flow of the fertilizer injection pump after calibration.

[0015] Furthermore, the E c The value and the pH value are respectively collected by an EC sensor and a pH sensor installed downstream of the junction of the fertilizer injection pipeline and the sprinkler main pipeline, and the inflow flow is collected by a flow meter installed at the water inlet of the sprinkler main pipeline.

[0016] Furthermore, the specific steps of forming the fertigation strategy include:

[0017] Preset program: determining the coverage area A0 of the sprinkler according to the inherent parameters of the sprinkler;

[0018] Sprinkler irrigation fertilizer solution: Determine the total fertilizer injection volume V of this sprinkler irrigation fertilizer solution based on the maximum solubility S of the given fertilizer at room temperature, the fertilizer application amount M per mu, and the coverage area A0 of the sprinkler irrigation machine. f , and according to the total amount of fertilizer injected V f and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the number of fertilizer distribution times N for this sprinkler irrigation, and take the number of sub-plots divided into the irrigated plot to be equal to the number of fertilizer distribution times N; according to the number of fertilizer distribution times N for this sprinkler irrigation and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the actual amount of fertilizer V injected for this sprinkler irrigation, and according to the length L of the irrigation plot b , the coverage area A0 of the sprinkler and the number of fertilizers N in this sprinkler irrigation determine the length l and area a of the divided single sub-plot; according to the length l of the sub-plot and the maximum travel speed of the sprinkler, determine the shortest time t for the sprinkler to run in a single sub-plot min ; According to the sprinkler irrigation machine flow Q0, the fertilizer liquid depth h during the sprinkler irrigation process f , the coverage area A0 of the sprinkler and the shortest time t for the sprinkler to run one trip in a single sub-plot min Determine the percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot f ; Based on the shortest time t that the sprinkler machine runs in a single sub-plot min The percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot f , calculate the running time t of the sprinkler irrigation process of a single sub-plot f ; According to the rated frequency f of the fertilizer injection pump d, the actual flow rate of the fertilizer injection pump after verification q d The operating time of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot is t f Determine the operating frequency f of the fertilizer injection pump;

[0019] Sprinkler irrigation water: according to the current irrigation quota h and the fertilizer liquid depth h during the sprinkler irrigation process f Calculate the irrigation depth h of sprinkler irrigation water w ; Based on the input flow Q0 of the sprinkler, the coverage area A0 of the sprinkler, and the shortest time t for the sprinkler to run in a single sub-plot min and the irrigation depth of sprinkler water h w , determine the percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w ; Based on the shortest time t that the sprinkler machine runs in a single sub-plot min The percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w , calculate the running time t of the sprinkler machine in the sprinkler irrigation process of a single sub-plot w ;

[0020] Finally, according to the above calculation, the running time t of the sprinkler irrigation machine in the process of fertilizer liquid irrigation for a single sub-plot f and the operating frequency f of the fertilizer injection pump, the operating time t of the sprinkler during the water cleaning process of a single sub-plot w , the running time of a single subplot is t a =t f +t w , and the total duration of the sprinkler irrigation and fertilization integration operation t = Nt a , forming the irrigation and fertilization strategy.

[0021] Furthermore, the coverage area A0 of the sprinkler is calculated according to the following formula:

[0022]

[0023] Where, L s is the length of the sprinkler, R1 and R2 are respectively installed at the range of the sprinkler head at the end of the sprinkler; for a single-side translation sprinkler, L s The distance between the main driving trolley and the nozzle at the end of the truss water pipe, and R2 = 0; for double-side translation sprinkler, L s It is the distance between the nozzles at the ends of the water pipes on both sides of the sprinkler truss;

[0024] The total amount of fertilizer injected by the current sprinkler irrigation is V f , calculated according to the following formula:

[0025]

[0026] In the formula, k is the coefficient set to ensure that the fertilizer is fully dissolved, which is set to 1.3-1.6;

[0027] The actual injection amount V of the fertilizer solution for this sprinkler irrigation is calculated according to the following formula:

[0028] V=NV t

[0029]

[0030] Where N is the number of times the fertilizer solution is dispensed during this irrigation, V t is the volume of the fertilizer storage container in the fertilizer storage unit, and the N value obtained by the above formula is rounded up as the number of fertilizer distribution times for this sprinkler irrigation;

[0031] The length l and area a of the single sub-plot are calculated according to the following formula:

[0032]

[0033] The shortest time t for the sprinkler to run one trip in a single sub-plot min , calculated according to the following formula:

[0034]

[0035] In the formula, i1 is the transmission ratio of the drive motor reducer; i2 is the transmission ratio of the wheel reducer; n is the rated speed of the drive motor; r is the effective radius of the matching tire; η is the field surface slip coefficient, which depends on the tire pattern, tire pressure and soil compaction, and is taken as 0.92~0.97;

[0036] The percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of the single sub-plot f , calculated as follows and rounded down:

[0037]

[0038] Where η p is the field spraying water utilization coefficient, which is related to the wind speed. When the wind speed is lower than 3.4 m / s, η p Take 0.8~0.9, when the wind speed is 3.4~5.4m / s, η p Take 0.7~0.8; the fertilizer liquid depth h of a single sub-plot during the fertilizer liquid spraying process f The value shall not be less than 5mm;

[0039] The operating time of the sprinkler machine during the fertilizer liquid sprinkling process of a single sub-plot is t f , calculated according to the following formula:

[0040]

[0041] The operating frequency f of the fertilizer injection pump is calculated according to the following formula:

[0042]

[0043] The irrigation depth h of the single sub-plot sprinkler irrigation water w , calculated according to the following formula:

[0044] h w =hh f

[0045] The percentage timer setting value x of the sprinkler during the sprinkler irrigation process of the single sub-plot w , calculated according to the following formula and rounded down to get:

[0046]

[0047] The running time of the sprinkler during the water cleaning process of the single sub-plot sprinkler irrigation is t w , calculated according to the following formula:

[0048]

[0049] Furthermore, in the process of controlling the water-fertilizer integrated equipment of the translational sprinkler to execute the current irrigation and fertilization strategy, the concentration of the fertilizer solution is monitored and feedback-regulated, specifically including:

[0050] The concentration of the fertilizer stock solution prepared in the fertilizer liquid container of the fertilizer storage unit during the process of the sprinkler irrigation is calculated according to the following formula:

[0051]

[0052] In the formula, C is the concentration of the original fertilizer solution; M is the amount of fertilizer applied per mu; A0 is the coverage area of ​​the sprinkler; V is the actual amount of fertilizer injected in this sprinkler irrigation;

[0053] According to the sprinkler machine inlet flow Q0, the actual flow of the fertilizer pump after verification q d The concentration of the sprinkler fertilizer solution is calculated based on the concentration of the prepared fertilizer stock solution, and the calculation formula is as follows:

[0054]

[0055] In the formula, C s is the concentration of fertilizer solution for sprinkler irrigation;

[0056] According to the fertilizer type, the corresponding fertilizer solution concentration inversion prediction model is selected. The fertilizer solution concentration inversion prediction model is used to reflect the sprinkler irrigation fertilizer solution concentration and the E c The functional relationship between the value or pH value;

[0057] The concentration of the sprayed fertilizer solution Cs The fertilizer concentration inversion prediction model is introduced to obtain the E of the fertilizer solution for this irrigation and fertilization sprinkler irrigation. c The predicted value and pH value are compared with the E of the fertilizer solution sprayed after the fertilization begins. c The value or pH value is compared. If the comparison result exceeds the set threshold, a shutdown signal is issued and a shutdown report is generated. If the comparison result does not exceed the set threshold, the current fertigation strategy will continue to be executed until the operating time of the sprinkler reaches the total time of the sprinkler water-fertilizer integration operation, and this fertigation ends.

[0058] Furthermore, when a strong electrolyte is used as the fertilizer, the fertilizer solution concentration inversion prediction model is:

[0059] E c =aC s +b

[0060] In the formula, E c is the conductivity; a is the first coefficient, which needs to be calibrated through experiments; b is the E of the irrigation water before the start of fertilizer injection c value;

[0061] When acidic or alkaline fertilizer is used as fertilizer, the inversion prediction model of fertilizer solution concentration is:

[0062] pH=yC s +z

[0063] In the formula, pH is acidity and alkalinity; y is the second coefficient, which needs to be calibrated through experiments; z is the pH value of irrigation water before fertilization begins.

[0064] Furthermore, the fertigation strategy also includes replacing the fertilizer solution preparation operation during the last sub-plot irrigation with a backwash operation of the fertilizer injection pump, and setting the running time of the fertilizer injection pump during the backwash process to t c And rated operating frequency f c ; where t c Set to a fixed duration, usually 10 minutes; f c Take it as the rated frequency of the fertilizer injection pump.

[0065] The second aspect of the present invention provides a translational sprinkler irrigation machine water-fertilizer integrated device according to the control method of any embodiment of the first aspect of the present invention, comprising a fertilization device, a main drive trolley of the sprinkler irrigation machine, a control system and a plurality of pipelines, wherein the fertilization device comprises a fertilizer injection pump and a fertilizer storage unit, and the main drive trolley comprises a traveling mechanism, a main drive trolley bracket mounted on the traveling mechanism and a sprinkler irrigation machine main pipeline mounted in the middle of the main drive trolley bracket;

[0066] The fertilizer injection pump is connected between the sprinkler main line and the fertilizer storage unit through a pipeline, and injects the fertilizer liquid in the fertilizer storage unit into the sprinkler main line according to the control instruction of the control system; wherein the inlet of the fertilizer injection pump is connected to the fertilizer outlet at the bottom of the fertilizer storage container in the fertilizer storage unit through a fertilizer suction pipeline; the outlet of the fertilizer injection pump is connected to the sprinkler main line through the fertilizer injection pipeline; the sprinkler main line is connected to the inlet of the fertilizer storage container through a water supply pipeline, and a backwash pipeline is connected between the water supply pipeline and the fertilizer suction pipeline, and the fertilizer injection pump is flushed through the backwash pipeline during the last sub-plot sprinkler irrigation;

[0067] The fertilizer storage unit is used to prepare fertilizer solution of corresponding concentration according to the control instruction of the control system, and the fertilizer storage unit includes the connected fertilizer storage container and fertilizer mixer;

[0068] The control system includes a sensor unit, a valve group, and a first control cabinet and a second control cabinet which are arranged on one side of the main drive trolley support and communicate with each other; wherein,

[0069] The sensing unit includes a liquid level sensor installed on the top of the fertilizer storage container, a pressure switch installed on the fertilizer injection pipeline, and a flow meter, an EC sensor and a pH sensor installed in sequence on the main pipeline of the sprinkler;

[0070] The valve group includes a water replenishment electric valve, a fertilizer suction electric valve, a fertilizer injection electric valve, and a backwashing electric valve, which are respectively installed on corresponding pipelines;

[0071] The second control cabinet is used to calculate the working parameters of the sprinkler and the fertilizer injection pump according to the parameters set by the user and the inflow flow of the sprinkler collected by the flow meter before the start of fertilizer injection, form the current irrigation and fertilization strategy and display it to the user; control the operation of the fertilization equipment, the sensor unit and the valve group according to the current irrigation and fertilization strategy, and monitor and feedback-adjust the concentration of the sprinkler fertilizer solution during the control process;

[0072] The first control cabinet is used to control the start and stop, travel speed and running time of the sprinkler, and the start and stop of the main water supply pump of the sprinkler according to the current irrigation and fertilization strategy.

[0073] Further, the second control cabinet includes a frequency converter and a second controller arranged inside the second cabinet, and a human-computer interaction unit arranged outside the second cabinet, the second controller is integrated with an irrigation and fertilization strategy generation module and an irrigation fertilizer concentration control module, the second controller controls the working frequency of the fertilizer injection pump through the frequency converter, and the second controller is connected to the sensor unit, the valve group and the fertilizer mixer; the first control cabinet includes a percentage timer and a first controller respectively arranged outside and inside the first cabinet, the first controller communicates with the second controller, and the first controller controls the travel speed of the sprinkler through the percentage timer;

[0074] The fertilizer suction pipeline is also equipped with a fertilizer suction filter and a fertilizer suction manual valve, the water replenishment pipeline is also equipped with a water replenishment filter and a water replenishment manual valve, the fertilizer injection pipeline is also equipped with a check valve and a fertilizer injection manual valve, and a manual drain valve is installed at the bottom of the fertilizer storage container.

[0075] Features and beneficial effects of the present invention:

[0076] 1) The present invention discloses a water-fertilizer integration control strategy for a translational sprinkler machine for block-by-block reciprocating irrigation and fertilization. Compared with the traditional irrigation and fertilization strategy, this strategy divides the field into several sub-plots, and reciprocates and alternately irrigates the sub-plots by forward spraying fertilizer liquid, reverse spraying clean water, and forward spraying clean water. During the spraying of clean water, the fertilizer liquid is soaked and mixed, thereby avoiding the frequent shutdown and fertilizer distribution problems of the translational sprinkler machine during the water-fertilizer integration process, and effectively improving the water-fertilizer integration operation efficiency and system operation stability of the translational sprinkler machine; in addition, this strategy significantly reduces the spraying of fertilizer liquid and spraying of clean water. At a time interval, after the fertilizer liquid is sprinkled, the fertilizer liquid intercepted by the crop canopy is immediately leached with irrigation water, which effectively avoids the evaporation of the fertilizer liquid, improves the fertilizer utilization rate and prevents the fertilizer residue from damaging the crop leaves; at the same time, according to the relevant parameters of the translational sprinkler and the fertilizer injection device, the method can calculate the setting value of the sprinkler percentage counter, the working frequency of the plunger fertilizer injection pump and other working parameters given the irrigation depth and fertilizer amount, form an irrigation and fertilization strategy, and accurately control the sprinkler travel speed and fertilizer injection pump frequency through the control system to achieve fully automatic precision operation of water and fertilizer integration.

[0077] 2) The present invention discloses a water-fertilizer integrated device for a translational sprinkler. The device uses a plunger-type fertilizer injection pump as the core fertilization equipment. Compared with other fertilization equipment, the present invention can achieve precise adjustment of the amount of fertilizer injection without the use of metering equipment such as flow meters, avoiding problems such as large fluctuations in water pressure of large sprinklers resulting in large changes in fertilizer concentration, and achieving coordinated and precise application of water and fertilizer while reducing costs; the present invention discloses a special water-fertilizer integrated device for a translational sprinkler with a backwash function. During the period of sprinkler irrigation of the last sub-plot, the residual fertilizer liquid inside the fertilizer injection pump and the connecting pipeline can be cleaned through the backwash pipeline to prevent the residual fertilizer liquid from damaging the water-fertilizer integrated system. The invention discloses a special water-fertilizer integration device for a translational sprinkler, which is equipped with a manual valve. When the system is powered off or the electric valve cannot work normally, the water-fertilizer integration device can be controlled by the manual valve. The invention discloses a special water-fertilizer integration device for a translational sprinkler, which is equipped with a safety protection device. A pressure switch is installed in the fertilizer injection pipeline. When the fertilizer injection pipeline is blocked or the fertilizer injection device fails, when the pressure in the fertilizer injection pipeline reaches the upper limit, the control system will automatically stop the fertilizer liquid spraying process and feed back to the human-computer interaction unit to prevent excessive water pressure from damaging the system and improve the safety of system operation.

[0078] 3) The present invention can monitor the water and fertilizer concentration of the main pipeline of the translational sprinkler in real time and perform feedback control during the water-fertilizer integration process; first, before the fertilizer injection process, the flow rate of the main pipeline of the translational sprinkler and the E of the irrigation water are measured by the flow meter, EC sensor and pH sensor respectively. c and pH value; then based on the water-fertilizer integration strategy given by the irrigation and fertigation control system, the above formula is used to calculate the concentration of the fertilizer solution sprayed by the translational sprinkler, and the corresponding concentration of the fertilizer solution sprayed is selected by the preset fertilizer type, and the functional relationship between conductivity and pH is used to calculate the E of the fertilizer solution sprayed by the water-fertilizer integration strategy. c Or pH value; finally, the calculated E c Or pH value and E measured during fertilizer injection c Or pH value, if the difference between the two is greater than the set upper limit of the difference, the system will automatically stop the fertilizer spraying process and feedback to the human-computer interaction unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 An overall flow chart of a water-fertilizer integrated control method for a translational sprinkler irrigation machine provided by an embodiment of the first aspect of the present invention;

[0080] Figure 2(a), Figure 2(b), Figure 2(c), and Figure 2(d) are Figure 1 The schematic diagram of the control method shown is a block reciprocating fertigation method;

[0081] Figure 3 for Figure 1 The control method shown generates a flow chart of the irrigation and fertilization strategy;

[0082] Figure 4 Based on Figure 1 A flow chart of a method for monitoring and feedback control of fertilizer solution concentration during fertilization by the control method;

[0083] Figure 5 A schematic diagram of the overall structure of a water-fertilizer integrated device for a translational sprinkler irrigation machine provided in an embodiment of the second aspect of the present invention;

[0084] Figure 6 for Figure 5 A schematic diagram of the structure of the fertilizer storage unit, plunger-type fertilizer injection pump and its pipeline in the device shown;

[0085] Figure 7 for Figure 5 The internal structure block diagram of the control system in the device shown. DETAILED DESCRIPTION

[0086] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0087] On the contrary, the present application covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present application as defined by the claims. Further, in order to make the public have a better understanding of the present application, some specific details are described in detail in the detailed description of the present application below. Those skilled in the art can fully understand the present application without the description of these details.

[0088] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the restrictive conditions that can be implemented in this application, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that can be produced by this application and the purposes that can be achieved, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of narration, and are not used to limit the scope of the implementation of this application. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of this application without substantial change in the technical content.

[0089] See also Figure 1The first aspect of the present invention provides a method for controlling the water-fertilizer integration of a translational sprinkler, which is used to control the water-fertilizer integration equipment of the translational sprinkler. The water-fertilizer integration equipment of the translational sprinkler includes a translational sprinkler (hereinafter referred to as a "sprinkler"), a fertilizer injection pump and a fertilizer storage unit connected to each other. The control method of this embodiment includes the following steps:

[0090] Get the inherent parameters of the sprinkler and set the length L of the irrigation plot for this irrigation and fertilization b (unit: m), fertilizer application amount per mu M (unit: kg), irrigation quota h (unit: mm) and fertilizer type;

[0091] Collect the inflow flow of the sprinkler and the E of the clean water in the sprinkler main line before the start of this fertilizer injection irrigation. c value or pH value;

[0092] According to the inherent parameters of the sprinkler, the length L of the irrigation plot for this irrigation and fertilization is set b , the amount of fertilizer applied per mu M, the irrigation quota h and the type of fertilizer, as well as the inflow flow of the sprinkler before the start of fertilization, calculate the working parameters of the sprinkler and the fertilizer injection pump, and form the irrigation and fertilization strategy for this time. This strategy adopts the method of block reciprocating irrigation and fertilization. Specifically, the irrigation plot is divided into several sub-plots, and each sub-plot is irrigated and fertilized in sequence. For the current operation sub-plot, the forward spraying of fertilizer liquid is first performed, followed by the reverse spraying of clear water, and then the forward spraying of clear water. That is, the sprinkler runs three times in each sub-plot in the forward-reverse-forward direction, and the fertilizer liquid required for the next sub-plot is prepared during the spraying and clearing period;

[0093] Control the water-fertilizer integrated equipment of the translational sprinkler to implement the irrigation and fertilization strategy;

[0094] In the process of controlling the translational sprinkler irrigation machine water-fertilizer integrated equipment to execute this irrigation and fertilization strategy, the concentration of the sprinkler fertilizer solution is monitored and feedback adjusted: the corresponding fertilizer solution concentration inversion prediction model is selected according to the fertilizer type, and the E of the fertilizer solution sprayed in this irrigation and fertilization is obtained according to the spraying fertilizer solution concentration and the selected fertilizer solution concentration inversion prediction model. c The predicted value or pH predicted value is compared with the E of the sprayed fertilizer solution collected after the start of fertilization. c The water or pH value is compared, and the control instructions of the water-fertilizer integrated equipment of the translational sprinkler are formed based on the comparison results.

[0095] In some embodiments, the inherent parameters of the sprinkler include the overall length L of the sprinkler. s (unit: m), the range of the sprinkler installed at the end of the sprinkler R1, R2 (unit: m), the field spraying water utilization coefficient η p, field surface slip coefficient η, rated speed of driving motor n (unit: r / min), effective radius of matching tire r (unit: m), transmission ratio of driving motor reducer i1, transmission ratio of wheel reducer i2, rated frequency of fertilizer injection pump f d (Unit: Hz) and the actual flow rate q of the fertilizer injection pump after calibration d (Unit: L / h), q d It can be obtained through the drop value of the liquid level sensor in the fertilizer storage unit within a certain period of time.

[0096] In some embodiments, a flow meter, an EC sensor, and a pH sensor are sequentially arranged in the main pipe of the sprinkler; wherein the flow meter is located at the water inlet of the main pipe of the sprinkler, and is used to collect the clean water flow rate injected into the main pipe of the sprinkler before the start of fertilizer injection, that is, the inflow flow rate Q0 (unit: m 3 / h); EC sensor and pH sensor are installed downstream of the confluence of fertilizer injection pipeline and sprinkler main pipeline to collect the EC of irrigation water before fertilizer injection. c value and pH value, as well as the E of the fertilizer solution sprayed during fertilization c value and pH value.

[0097] In some embodiments, see Figure 2(a) to Figure 2(d) , which is a schematic diagram of the block reciprocating irrigation and fertilization method. As shown in Figure 2(a), the irrigated plot is divided into several sub-plots, and the number of sub-plots is equal to the number of fertilizers N for this sprinkler irrigation. At this time, the sprinkler is located at B0 (the starting position of the irrigated plot, that is, the starting position of the first sub-plot). At this time, the translation sprinkler starts to move forward and irrigate the fertilizer; as shown in Figure 2(b), the sprinkler moves to B1 (that is, the junction of the first sub-plot and the second sub-plot), and the sprinkler stops irrigating the fertilizer. At this time, the sprinkler starts to move in the reverse direction. The sprinkler moves forward and irrigates clean water, and prepares the fertilizer liquid required for the next sub-plot; as shown in Figure 2(c), the sprinkler returns to B0, and at this time the sprinkler moves forward again, continuing to irrigate clean water until the irrigation quota is met; as shown in Figure 2(d), the sprinkler returns to B1, and at this time the sprinkler has completed the entire water-fertilizer integration process for the first sub-plot, and at the same time the sprinkler starts to move forward, using the fertilizer liquid that has been prepared during the water irrigation process of the first sub-plot, to start the fertilizer liquid spraying process for the next sub-plot. Continue to perform the above steps until the sprinkler completes the entire water-fertilizer integration process for the last sub-plot, and the sprinkler is at B N (the end position of the irrigated plot, that is, the end position of the last sub-plot), the irrigation and fertilization process ends.

[0098] It should be noted that during the sprinkler irrigation and water cleaning of the last plot, there is no need to perform fertilizer solution preparation operations. Instead, it is replaced by backwashing the fertilizer injection pump and its connecting pipes to clean the residual fertilizer solution and prevent the residual fertilizer solution from damaging the fertilizer injection pump and its connecting pipes.

[0099] In some embodiments, see Figure 3 , which is a specific flow chart for generating this irrigation and fertilization strategy. In the embodiment of the present invention, a block-by-block reciprocating irrigation and fertilization irrigation method is adopted, and the irrigation plot is divided into several sub-plots. The sub-plots are irrigated reciprocatingly and alternately by forward spraying fertilizer liquid, reverse spraying clean water, and forward spraying clean water. The fertilizer liquid is soaked and mixed during the spraying clean water period, which avoids the frequent shutdown and fertilizer distribution problems of the horizontal sprinkler in the process of water-fertilizer integration, and effectively improves the water-fertilizer integration operation efficiency and system operation stability of the horizontal sprinkler; in addition, this strategy significantly reduces the time interval between spraying fertilizer liquid and spraying clean water. After spraying fertilizer liquid, the fertilizer liquid intercepted by the crop canopy is immediately rinsed with irrigation clean water, which effectively avoids the evaporation of fertilizer liquid, improves the fertilizer utilization rate, and prevents the fertilizer residue from damaging the crop leaves.

[0100] The specific steps of generating the fertigation strategy in this embodiment include:

[0101] Preset program: determine the coverage area A0 (unit: mu) of the sprinkler according to the inherent parameters of the sprinkler;

[0102] Sprinkler irrigation fertilizer solution: Determine the total fertilizer injection volume V of this sprinkler irrigation fertilizer solution based on the maximum solubility S (unit: kg / L) of the given fertilizer at room temperature, the set fertilizer application rate M per mu, and the coverage area A0 of the sprinkler irrigation machine. f (Unit: L), and according to the total amount of fertilizer injected this time, V f and the volume V of the fertilizer storage container in the fertilizer storage unit t (Unit: L) Determine the number of fertilizer distribution times N (unit: times) for this sprinkler irrigation, which is equal to the number of sub-plots divided into the irrigated plot; Based on the number of fertilizer distribution times N for this sprinkler irrigation and the volume V of the fertilizer storage container in the fertilizer storage unit t (Unit: L) Determine the actual amount of fertilizer V (unit: L) injected into the sprinkler irrigation, and according to the length of the irrigation plot L b (Unit: m), the coverage area A0 of the sprinkler and the number of fertilizers N for this sprinkler irrigation determine the length l and area a of the divided single sub-plot; according to the length l of the single sub-plot and the maximum travel speed v of the sprinkler e (Unit: m / min) Determine the shortest time t that the sprinkler machine runs in a single sub-plot min (unit: h); according to the sprinkler flow Q0 (unit: m 3 / h), fertilizer liquid depth h during sprinkler irrigationf (Unit: mm), the area of ​​the sub-plot a and the shortest time t for the sprinkler to run in a single sub-plot min , determine the percentage timer setting value x of the sprinkler during the fertilizer irrigation process f (Unit: %); Based on the shortest time t that the sprinkler irrigation machine runs in a single sub-plot min And the percentage timer setting value x of the sprinkler during the fertilizer irrigation process f , calculate the running time t of the sprinkler irrigation machine in the process of fertilizer liquid irrigation for a single sub-plot f (Unit: h); based on the actual amount of fertilizer injected V during this irrigation, and the rated frequency f of the fertilizer injection pump d , the actual flow rate of the fertilizer injection pump after verification q d The operating time of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot is t f , determine the operating frequency f of the fertilizer injection pump (unit: Hz);

[0103] Sprinkler irrigation water: based on the current irrigation quota h (unit: mm) and the fertilizer liquid depth h during the sprinkler irrigation process f , calculate the irrigation depth h of sprinkler irrigation water w (Unit: mm); Based on the input flow rate Q0 of the sprinkler, the area of ​​the sub-plot a, and the shortest time t for the sprinkler to run in a single sub-plot min and the irrigation depth of sprinkler water h w , determine the percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w (Unit: %); Based on the shortest time t that the sprinkler irrigation machine runs in a single sub-plot min The percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w , calculate the running time t of the sprinkler machine in the sprinkler irrigation process of a single sub-plot w (Unit: h, the duration is the duration of two rounds of sprinkler irrigation with clean water);

[0104] Backwash process: Set the running time of the fertilizer injection pump during the backwash process t c (Unit: min) and rated operating frequency f c (Unit: Hz); Among them, the running time of the fertilizer injection pump during the backwash process is t c Set to a fixed duration, generally 10 minutes; the operating frequency of the fertilizer injection pump during the backwash process is f c Take the rated frequency f of the fertilizer injection pump as d ;

[0105] Finally, according to the above calculation, the running time t of the sprinkler irrigation process for a single sub-plot is f and the operating frequency f of the fertilizer injection pump, the operating time t of the sprinkler during the water cleaning process of a single sub-plotw , the running time of fertilizer injection pump during backwashing process t c And the working frequency f of the fertilizer injection pump c , the running time of a single subplot is t a =t f +t w (Unit: h), and the total duration of the sprinkler irrigation and fertilization integration operation t = Nt a (Unit: h), forming the irrigation and fertilization strategy for this time. It should be noted that the running time of the fertilizer injection pump during the backwashing process is t c It is carried out during the irrigation of the last sub-plot. Therefore, the operation time of the fertilizer injection pump during the flushing process t is not taken into account when calculating the total time t of the sprinkler irrigation machine water and fertilizer integration operation c , and the operating time of the sprinkler machine only by the sprinkler fertilizer liquid process t f The running time of sprinkler machine during sprinkler irrigation and water cleaning process w The product of the sum of the subplots is determined by the product of the number of subplots.

[0106] Furthermore, the sprinkler coverage area A0 refers to the total irrigation area controlled by the translation sprinkler, which is also the fertilization area. The calculation formula is as follows:

[0107]

[0108] The total amount of fertilizer injected by the sprinkler this time V f It can be expressed as:

[0109]

[0110] In the formula, S is the maximum solubility of the fertilizer at room temperature (generally 20°C), kg / L; k is the coefficient, which is 1.3 to 1.6 to ensure that the fertilizer is fully dissolved;

[0111] The actual injection amount V of the fertilizer solution for this sprinkler irrigation can be expressed as:

[0112] V=NV t

[0113]

[0114] Where, N is the number of times the fertilizer solution is dispensed for this irrigation (unit: times), V t is the volume of the fertilizer storage container in the fertilizer storage unit. Since the number of fertilizer dispensing is an integer, the N value obtained for the sake of conservatism is rounded up as the number of fertilizer dispensing for this sprinkler irrigation;

[0115] The length and area of ​​the sub-plots divided into irrigation plots can be expressed as:

[0116]

[0117] Where l is the length of the subplot (unit: m); a is the area of ​​the subplot (unit: m 2 ).

[0118] The shortest time t for a sprinkler to run in a single sub-plot min Depends on the maximum travel speed v of the sprinkler e (Unit: m / min) and subplot length l, the calculation formula is as follows:

[0119]

[0120] Where η is the field surface slip coefficient, which depends on the tire pattern, tire pressure, soil compactness, etc., and is generally between 0.92 and 0.97.

[0121] The percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot f Determines the travel speed of the sprinkler during the fertilizer spraying process, x f It can be expressed as:

[0122]

[0123] In the formula, since the percentage setting value of the sprinkler is usually an integer, the x obtained for the sake of conservatism is f The value is rounded down as the percentage timer setting value of the sprinkler irrigation process of the single sub-plot; η p is the field spraying water utilization coefficient, which is related to the wind speed. When the wind speed is lower than 3.4 m / s, η p Take 0.8~0.9, when the wind speed is 3.4~5.4m / s, η p Take 0.7~0.8; According to relevant research, a single irrigation depth of a sprinkler machine less than 5mm is considered to be ineffective irrigation. In order to prevent excessive volatilization of fertilizer after application, a 10mm irrigation depth can be set as the fertilizer liquid depth of a single sub-plot sprinkler irrigation process, that is, h f =10mm.

[0124] The operating time of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot t f It can be expressed as:

[0125]

[0126] The operating frequency f of the fertilizer injection pump can be calculated by the following formula:

[0127]

[0128] In the formula, take the rated frequency f of the fertilizer injection pump d =50Hz.

[0129] The irrigation depth h of sprinkler irrigation for a single sub-plotw It can be expressed as:

[0130] h w =hh f

[0131] Where h is the irrigation quota of the sprinkler irrigation machine's integrated water and fertilizer operation, mm.

[0132] The percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w Determines the travel speed of the sprinkler during the watering process, x w It can be expressed as:

[0133]

[0134] In the formula, the obtained x w The value is rounded down as the percentage timer setting value of the sprinkler during the sprinkler irrigation and clear water process of a single sub-plot.

[0135] Sprinkler operation time of a single sub-plot during sprinkler irrigation and water cleaning process t w It can be expressed as:

[0136]

[0137] In some embodiments, see Figure 1 The specific steps for controlling the translational sprinkler irrigation and fertilization integrated equipment to implement this irrigation and fertilization strategy are as follows:

[0138] First, according to this fertigation strategy, add an appropriate amount of fertilizer to the fertilizer storage container of the fertilizer storage unit, and inject clean water at the same time. When the set water level is reached, fully mix the water-fertilizer liquid in the fertilizer storage container of the fertilizer storage unit; first, according to this fertigation strategy, add an appropriate amount of fertilizer to the fertilizer storage container of the fertilizer storage unit, and inject clean water at the same time. When the set water level is reached, fully mix the water-fertilizer liquid in the fertilizer storage container of the fertilizer storage unit; after the fertilizer liquid is fully dissolved, the sprinkler and fertilizer injection pump are precisely controlled based on this fertigation strategy, and the sprinkler starts to spray the fertilizer liquid; when the fertilizer storage container is After the fertilizer liquid is sprayed in the unit, the sprinkler moves to the end of the sub-plot at the same time. Based on the current irrigation and fertilization strategy, the sprinkler is controlled and starts the reverse sprinkler irrigation and water cleaning process. After the sprinkler returns to the starting position of the sub-plot, the sprinkler starts the forward sprinkler irrigation and water cleaning process until the sprinkler moves to the end of the sub-plot again and meets the irrigation quota of the sub-plot. According to the current irrigation and fertilization strategy, it is judged whether the fertilization process is over. If not, the above sprinkler irrigation process is repeated until the current irrigation and fertilization process is over. In addition, by collecting the sprinkler inflow flow, E cThe corresponding fertilizer solution concentration inversion prediction model is selected based on the preset fertilizer solution type, and the water and fertilizer application information during the irrigation and fertigation process is inverted in real time, that is, the E of the fertilizer solution sprayed during this irrigation and fertigation is obtained. c Predicted value or pH predicted value, provide feedback to the fertigation process.

[0139] In some embodiments, see Figure 4 In the process of controlling the translational sprinkler irrigation and fertilization integrated equipment to implement the irrigation and fertilization strategy, the specific steps of monitoring and feedback adjustment of fertilizer solution concentration include:

[0140] The concentration of the fertilizer solution prepared in the fertilizer storage container during the above-mentioned translational sprinkler irrigation process can be calculated by the following formula:

[0141]

[0142] In the formula, C is the concentration of the original fertilizer solution, kg / L; M is the amount of fertilizer applied per mu, kg; A0 is the coverage area of ​​the sprinkler, mu; V is the actual amount of fertilizer injected in this sprinkler irrigation, L.

[0143] According to the sprinkler machine inlet flow Q0, the actual flow of the fertilizer pump after verification q d The concentration of the sprinkler fertilizer solution is calculated based on the concentration of the prepared fertilizer solution. The calculation formula is as follows:

[0144]

[0145] In the formula, C s It is the concentration of sprayed fertilizer solution, kg / L, which refers to the concentration of fertilizer solution sprayed by the sprinkler nozzle, that is, the concentration of fertilizer solution in the main pipeline of the sprinkler.

[0146] According to the fertilizer type, the corresponding fertilizer solution concentration inversion prediction model is selected. The fertilizer solution concentration inversion prediction model is used to reflect the sprinkler irrigation fertilizer solution concentration and the E c The functional relationship between the value or pH value, where

[0147] For strong electrolytes such as potassium chloride, diammonium phosphate, potassium nitrate, and potassium sulfate, their solutions have strong conductivity, and there is the following functional relationship between the concentration of the sprayed fertilizer solution and the conductivity:

[0148] E c =aC s +b

[0149] In the formula, E cis the conductivity, μS / cm; a is the first coefficient, which is calibrated through experiments (taking potassium chloride as an example, a conductivity tester is used to measure the conductivity values ​​of potassium chloride solutions with concentrations of 0.05%, 0.1%, 0.15%, 0.2%, 0.25%, 0.3%, 0.35%, 0.4%, 0.45%, 0.5%, 0.55% and 0.6% respectively. The above formula is obtained by fitting the test results to calibrate the coefficient a); b is the measured conductivity of clean water, that is, E c The sensor collects the E of the irrigation water before the start of fertilizer injection c Value, μS / cm.

[0150] For acidic or alkaline solutions such as urea and compound fertilizer solutions, there is a functional relationship between the concentration of the sprayed fertilizer solution and the pH:

[0151] pH=yC s +z

[0152] Wherein: pH is acidity and alkalinity; y is a coefficient, which is calibrated through experiments (the calibration process can refer to the calibration process of coefficient a above); z is the measured pH of clean water, that is, the pH value of irrigation clean water collected by the pH sensor before fertilization begins.

[0153] Based on the above functional relationship, the relationship between the concentration of the sprayed fertilizer solution of different types of fertilizers in the sprinkler main line and the conductivity or pH can be constructed;

[0154] The concentration of the sprayed fertilizer solution is brought into the fertilizer solution concentration inversion prediction model to obtain the E of the fertilizer solution for this irrigation and fertilization. c The predicted value and pH value are compared with the E of the fertilizer solution after the start of fertilization. c The value or pH value is compared. If the comparison result exceeds the set threshold, a shutdown signal is issued and a shutdown report is generated. The comparison result does not exceed the set threshold by adding water or fertilizer. Then the irrigation and fertigation strategy is continued until the operating time of the sprinkler reaches the total time t of the sprinkler water-fertilizer integration operation, and the irrigation and fertigation ends.

[0155] See also Figure 5 to Figure 7 A second aspect of the present invention provides a translational sprinkler water-fertilizer integrated device, which mainly includes fertilization equipment, a main drive trolley 3 of the sprinkler, a control system and a plurality of pipelines. The fertilization equipment includes a fertilizer injection pump 1 and a fertilizer storage unit 2. The main drive trolley 3 includes a traveling mechanism 55, a main drive trolley bracket 51 installed on the traveling mechanism 55 and a sprinkler main pipeline 52 installed in the middle of the main drive trolley bracket 51.

[0156] like Figure 5-6As shown, the fertilizer injection pump 1 adopts a plunger-type fertilizer injection pump, which is connected between the sprinkler main line 52 and the fertilizer storage unit 2 through a pipeline, and injects the fertilizer liquid in the fertilizer storage unit 2 into the sprinkler main line 52 according to the control command of the control system. Specifically, the inlet d1 of the fertilizer injection pump 1 is connected to the fertilizer outlet at the bottom of the fertilizer storage container 31 in the fertilizer storage unit 2 through the fertilizer suction pipeline 11, and a fertilizer suction filter 22 is installed on the fertilizer suction pipeline 11; the outlet d2 of the fertilizer injection pump 1 is connected to the sprinkler main line 52 through the fertilizer injection pipeline 12; the sprinkler main line 52 is connected to the inlet at the top of the fertilizer storage container 31 through the water supply pipeline 14, and a water supply filter 26 is installed on the water supply pipeline 14. A backwash pipeline 13 is connected between the water supply pipeline 14 and the fertilizer suction pipeline 11. During the period of sprinkler irrigation of the last sub-plot, the fertilizer injection pump 1 is flushed through the backwash pipeline 13 to prevent the residual fertilizer liquid from damaging the fertilizer injection pump 1.

[0157] like Figure 6 As shown, the fertilizer storage unit 2 of this embodiment is used to prepare fertilizer liquid of corresponding concentration according to the control instruction of the control system, and mainly includes a fertilizer storage container 31, a fertilizer mixer, and a fertilizer storage container top cover 34. The fertilizer storage container 31 is specifically a horizontal fertilizer barrel, which is placed on the front side of the main driving trolley 3. The fertilizer mixer is composed of a circulation pump 32, a circulation pump inlet pipeline 15 and a circulation pump outlet pipeline 16. The circulation pump 32 is installed on the side of the fertilizer storage container 31. The inlet of the circulation pump 32 is connected to the bottom of the fertilizer storage container 31 through the circulation pump inlet pipeline 15. The circulation pump outlet pipeline 16 connects the circulation pump 32 outlet to the middle of the fertilizer storage container 31. The circulation pump 32 drives the water fertilizer liquid in the fertilizer storage container 31 to be fully mixed according to the control instruction of the control system. The fertilizer storage container top cover 34 is connected to the fertilizer storage container 31 through a thread.

[0158] like Figure 5-6 As shown, the control system includes a sensor unit, a valve group, and a first control cabinet 53 and a second control cabinet 54 suspended on one side of the main driving trolley support 51 and connected to each other. Among them:

[0159] The sensing unit includes a liquid level sensor 33 installed on the top of the fertilizer storage container 31, a pressure switch 29 installed on the fertilizer injection pipeline 12, and a flow meter 61, an E c The liquid level sensor 33 is used to collect the liquid level information in the fertilizer storage container 31 in real time; the pressure switch 29 is used to collect the internal pressure of the fertilizer injection pipeline 12 in real time; the flow meter 61 is located at the water inlet of the sprinkler main pipeline 52, which is used to collect the flow rate into the machine; the E installed downstream of the confluence of the fertilizer injection pipeline 12 and the sprinkler main pipeline 52 c Sensor 62 and pH sensor 63 are used to collect the pH of irrigation water before fertilization begins. c Value and pH value and E of the fertilizer solution sprayed during fertilization cvalue and pH value.

[0160] The valve group includes a water supply manual valve 28 and a water supply electric valve 27 installed on the water supply pipeline 14, a manual drain valve 36 installed at the bottom of the fertilizer storage container 31, a fertilizer suction manual valve 37 and a fertilizer suction electric valve 23 installed on the fertilizer suction pipeline 11, a fertilizer injection electric valve 24, a check valve 67 and a fertilizer injection manual valve 68 installed on the fertilizer injection pipeline 12, and the check valve 67 and the fertilizer injection manual valve 68 are arranged close to the sprinkler main pipeline 52, and a backwash electric valve 25 installed on the backwash pipeline 13;

[0161] See also Figure 7 The first control cabinet 53 includes a percentage timer 66 and a first controller respectively arranged outside and inside the first cabinet; the second control cabinet 54 includes a frequency converter 64 and a second controller arranged inside the second cabinet, and a human-computer interaction unit 65 arranged outside the second cabinet, and the second controller integrates an irrigation and fertilization strategy generation module and an irrigation fertilizer concentration control module (the irrigation and fertilization strategy generation module and the irrigation fertilizer concentration control module are in Figure 7 (not shown), the first controller and the second controller communicate with each other wirelessly or by wire;

[0162] The human-machine interaction unit 65 includes a liquid crystal screen for allowing the user to set the length of the irrigation plot, the fertilizer application amount per mu, the irrigation quota, and the fertilizer type for this irrigation and fertilization, and displaying the real-time working status of the water-fertilizer integration device of the translational sprinkler irrigation machine to the user;

[0163] The fertigation strategy generation module can calculate the working parameters of the sprinkler and the fertilizer injection pump according to the parameters set by the user and the inflow flow of the sprinkler collected by the flow meter 61 before the start of fertilizer injection, form the current fertigation strategy and transmit it to the human-computer interaction unit 65 for display;

[0164] The irrigation fertilizer concentration control module is used to monitor and adjust the concentration of the irrigation fertilizer during the irrigation process: select the corresponding fertilizer concentration inversion prediction model according to the fertilizer type, and use the E of the irrigation water before the start of fertilization c The water and fertilizer application information in the irrigation and fertigation process is inverted in real time by using the pH value and the water and fertilizer application information, and the water and fertilizer application information is combined with the E of the fertilizer liquid sprayed after the fertilization begins. c The value and the pH value are compared, and a control instruction is formed based on the comparison result. Specifically, if the comparison result exceeds the set threshold, the second controller communicates with the first controller, sends a shutdown signal to stop the current fertigation, and sends a report to the human-computer interaction unit. During the shutdown period, water or fertilizer is added to the fertilizer storage container 31 according to the comparison result, so that the comparison result does not exceed the set threshold, and then the current fertigation strategy is continued until the current fertigation ends;

[0165] The first controller is directly connected to the percentage timer 66, and is connected to the sprinkler water supply main pump locally or remotely, and is used to control the start and stop of the sprinkler, the running time and the start and stop of the sprinkler water supply main pump according to the current fertilization and irrigation strategy generated by the fertilization and irrigation strategy generation module, and control the travel speed of the sprinkler through the percentage timer 66;

[0166] The frequency converter 64 is controlled by the second controller and is directly connected to the fertilizer injection pump 1 to change the speed of the fertilizer injection pump motor to control the flow of the fertilizer injection pump 1;

[0167] The second controller is directly connected to the valve group, the circulation pump 32 in the fertilization equipment and the LCD screen in the human-computer interaction unit 65, and is linked to the sensor unit through the RS-485 serial bus standard. The second controller controls the operation of the fertilization equipment, the sensor unit and the valve group according to the current irrigation and fertilization strategy generated by the irrigation and fertilization strategy generation module and the control instructions generated by the irrigation fertilizer solution concentration control module.

[0168] The following describes the specific working process of a water-fertilizer integrated device for a translational sprinkler irrigation machine provided by an embodiment of the second aspect of the present invention:

[0169] 1) When the water-fertilizer integration device of the present embodiment is started and fertilizer is injected into the sprinkler main line 52, the fertilizer application amount M per mu and the irrigation quota h of this irrigation and fertilization should be input into the human-computer interaction unit 65, and the fertilizer type should be set. Then, the plot can be divided into several sub-plots through the irrigation and fertilization strategy generation module in the second control cabinet 54, and the sprinkler percentage timer setting value, the plunger fertilizer injection pump working frequency, the operating time of a single sub-plot and the total duration of the sprinkler water-fertilizer integration operation and other working parameters are calculated to form the irrigation and fertilization strategy for this time and output it by the human-computer interaction unit 65.

[0170] 2) Open the top cover 34 of the fertilizer storage container and pour in the fertilizer required for a single sub-plot, start the main water supply pump of the translational sprinkler through the first controller in the first control cabinet 53, fill the main pipeline 52 of the translational sprinkler with water, and then the second controller opens the water replenishment electric valve 27, and injects clean water into the fertilizer storage container 31 through the water replenishment pipeline 14; when the liquid level sensor 33 detects that the liquid level in the fertilizer storage container 31 reaches the set water level, the second controller sends a control command to close the water replenishment electric valve 27 and the first controller sends a control command to close the main water supply pump of the sprinkler, and at the same time the second controller turns on the circulation pump 32 to fully mix and dissolve the water and fertilizer liquid in the fertilizer storage container 31.

[0171] 3) After the fertilizer is fully dissolved, the first controller starts the main water supply pump of the translational sprinkler to supply water to the main pipeline 52 of the translational sprinkler. When the nozzle starts to spray water, the translational sprinkler starts to move from the starting position of the current working sub-plot according to the setting value of the percentage timer 66; at the same time, the plunger fertilizer injection pump 1, the fertilizer suction electric valve 23 and the fertilizer injection electric valve 24 are turned on by the second controller, and the fully dissolved fertilizer liquid flows from the fertilizer storage container 31 through the fertilizer suction pipeline 11 and enters the inlet d1 of the plunger fertilizer injection pump 1 after being filtered by the fertilizer suction filter 23. The fertilizer liquid at the outlet d2 of the plunger fertilizer injection pump 1 is then injected into the main pipeline 52 of the sprinkler through the fertilizer injection pipeline 12, and the translational sprinkler starts to spray the fertilizer liquid on the current working sub-plot. During this period, the second controller controls the flow rate of the plunger fertilizer injection pump 1 through the frequency converter 64.

[0172] 4) When the liquid level sensor 33 detects that the liquid level in the fertilizer storage container 31 reaches the lower limit, the liquid level sensor 33 automatically sends a signal to the second controller, and the second controller closes the plunger fertilizer injection pump 1, the fertilizer suction electric valve 23 and the fertilizer injection electric valve 24; after the plunger fertilizer injection pump 1 stops running, the sprinkler just moves to the end position of the current operation sub-plot, and the sprinkler starts the reverse sprinkler irrigation and water cleaning process. After the sprinkler returns to the starting position of the current operation sub-plot, the sprinkler starts the forward sprinkler irrigation and water cleaning process. For the sprinkler irrigation and water cleaning process, the first controller controls the translational sprinkler to continue moving according to the running speed set by the irrigation and fertilization strategy until the sprinkler moves to the end of the current operation sub-plot again and just meets the irrigation quota of the sub-plot this time; after completing all the water-fertilizer integration processes of the current operation sub-plot, it is judged whether the water-fertilizer integration process is ended by whether the running time of the water-fertilizer integration process reaches t. If not, return to step 2) until the water-fertilizer integration process is ended.

[0173] In addition, when the present invention completes the process of spraying fertilizer liquid, if the sprinkler moves to the end of the entire plot, then when the sub-plot starts the process of spraying clean water, the backwash process is carried out at the same time. For the backwash process, the second controller opens the backwash electric valve 25, the fertilizer injection electric valve 24 and the plunger fertilizer injection pump 1, and the clean water is filtered by the water supply filter 26 from the main pipeline 52 of the translational sprinkler, and then passes through the water supply pipeline 14, the backwash pipeline 13 and the fertilizer suction pipeline 11 to enter the inlet d1 of the plunger fertilizer injection pump 1, and then the residual fertilizer liquid at the outlet d2 of the plunger fertilizer injection pump 1 is injected into the main pipeline 52 of the sprinkler through the fertilizer injection pipeline 12, and the set backwash time, that is, the running time t of the fertilizer injection pump during the backwash process, is reached. c Afterwards, the second controller closes the backwashing electric valve 25, the fertilizer injection electric valve 24 and the plunger-type fertilizer injection pump 1, and the backwashing process ends.

[0174] In addition, the present invention can monitor the fertilizer concentration of the main line 52 of the translational sprinkler in real time during the irrigation and fertilization process and perform feedback control; first, before the fertilization process, the flow rate of the main line 52 of the translational sprinkler and the pH value of the irrigation water are measured by the flow meter 61, the EC sensor 62 and the pH sensor 63 respectively. c and pH value; then, based on the fertilization strategy generated by the fertilization strategy generation unit, the concentration of the fertilizer solution sprayed by the translational sprinkler is calculated by the above formula, and the functional relationship between the corresponding fertilizer solution concentration, conductivity and pH value is selected by the preset fertilizer type to calculate the E of the fertilizer solution sprayed by the water-fertilizer integration strategy c Or pH value; finally, the calculated E c Or pH value and E measured during fertilizer injection c Or pH value is compared, if the difference between the two is greater than the set upper limit of the difference, the first controller and the second controller send a shutdown instruction to the devices controlled by each to stop the irrigation and fertilization process, and feedback is given to the human-computer interaction unit 65.

[0175] In the above embodiment, the pressure switch 29 is used to monitor the internal pressure of the fertilizer injection pipeline 12 in real time and transmit it to the second controller. When the fertilizer injection pipeline 12 or the fertilizer injection pump 1 fails, causing the internal pressure to be greater than the maximum working pressure of the plunger fertilizer injection pump 1, the second controller sends a shutdown command to the plunger fertilizer injection pump 1 to prevent excessive outlet water pressure from damaging the plunger fertilizer injection pump 1 and the fertilizer injection pipeline 12, while avoiding the occurrence of safety accidents.

[0176] In the above embodiment, when the electric valve of the equipment fails, the integrated application of water and fertilizer can be achieved through manual control through the water replenishment manual valve 28, the manual water discharge valve 36, the fertilizer suction manual valve 37, and the fertilizer injection manual valve 68.

[0177] Example 1

[0178] This application embodiment takes wheat as an example:

[0179] The fertilizer used is potassium chloride, the application amount M per mu is 4kg, and the irrigation quota h is 25mm; the sensor measures the flow rate of the sprinkler to be 150m 3 / h, irrigation water E c The value is 771.48μS / cm; 0.342 kg of potassium chloride can be dissolved in each liter of water at room temperature, then:

[0180] S=0.342kg / L

[0181] The sprinkler is a single-side translation sprinkler. The distance between the main drive trolley and the sprinkler head at the end of the truss water pipe is 165m. The range of the sprinkler head installed at the end of the sprinkler is 6m. The length of the irrigation plot is 750m. The coverage area of ​​the translation sprinkler is:

[0182]

[0183] The total amount of fertilizer injected by the translation sprinkler can be expressed as:

[0184]

[0185] The volume of the fertilizer storage container in the fertilization equipment for this sprinkler irrigation is 1000L, so the number of fertilizer distribution times N is:

[0186]

[0187] Rounding up to get the number of fertilizer distribution N = 4 buckets, then the actual fertilizer injection amount V is:

[0188] V=NV t =4×1000=4000L

[0189] The length and area of ​​the sub-plots divided during this fertilizer spraying process are:

[0190]

[0191] The rated speed of the sprinkler driving motor is 1425r / min, the effective radius of the matching tire is 0.6325m, the transmission ratio of the driving motor reducer is 40:1, the transmission ratio of the wheel reducer is 50:1, and the field surface slip coefficient is 0.95. The shortest time t for the sprinkler to run a trip in a single sub-plot is min for:

[0192]

[0193] At this time, the wind speed is measured to be 2.3m / s, and the field spraying water utilization coefficient is taken as 0.85. The setting value of the percentage timer of the horizontal sprinkler during the fertilizer liquid spraying process is:

[0194]

[0195] Round down to get the percentage timer setting value x of the fertilizer liquid sprinkler process f =46%.

[0196] The operating time of the sprinkler machine during the fertilizer liquid irrigation process of a single sub-plot is:

[0197]

[0198] After the fertilizer injection pump is calibrated, the actual rated flow rate of the fertilizer injection pump is 625.5L / h, and the operating frequency of the plunger fertilizer injection pump is:

[0199]

[0200] Rounding up, the operating frequency of the plunger fertilizer pump in the fertilizer spraying process is f = 32Hz.

[0201] In the water-fertilizer integration operation of the sprinkler, the fertilizer liquid and the clean water should be considered in coordination. After each fertilizer liquid is sprinkled, a certain depth of clean water must be sprayed to meet the irrigation quota required by the crop and to clean the leaf surface. The clean water depth of this sprinkler irrigation is:

[0202] h w =hh f =25-10=15mm

[0203] The setting value of the percentage timer of the horizontal sprinkler during the sprinkler irrigation process is:

[0204]

[0205] Round down to get the percentage timer setting value x of the fertilizer liquid sprinkler process w =62%.

[0206] The running time of the sprinkler machine during the sprinkler water cleaning process is:

[0207]

[0208] The running time of a single sub-plot is:

[0209] t a =t f +t w =2.52+3.74=6.26h

[0210] The total operation time of the water-fertilizer integrated sprinkler is:

[0211] t=Nt a =4×6.26=25.04h

[0212] The specific work flow of this water-fertilizer integration is as follows:

[0213]

[0214] The concentration C of the fertilizer stock solution prepared in the fertilizer container during the process of the sprinkler spraying the fertilizer solution is:

[0215]

[0216] When the fertilization process begins, the potassium chloride fertilizer concentration of the water-fertilizer mixture in the main pipeline can be calculated as:

[0217]

[0218] The functional relationship between the potassium chloride fertilizer solution concentration and the conductivity built into the control system is as follows:

[0219] E c =aC s +b=2.2441×10 6 ×5.08×10 -4 +771.48=1911.48μS / cm

[0220] The upper limit of the difference between the calculated value and the measured value set this time is 10%. At this time, the EC sensor measures the conductivity E' of the water-fertilizer mixture in the main irrigation line of the translational sprinkler. c is 1987.83μS / cm, we can get:

[0221]

[0222] At this time, the water-fertilizer integrated device of the translational sprinkler is in normal working condition.

[0223] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0224] Although embodiments of the present disclosure have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A water-fertilizer integrated control method for a translational sprinkler, characterized in that: Used to control a water-fertilizer integrated device for a translational sprinkler, the water-fertilizer integrated device for a translational sprinkler comprising a translational sprinkler, a fertilizer injection pump and a fertilizer storage unit connected to each other, the control method comprising: Obtain the inherent parameters of the sprinkler, and set the length of the irrigation plot, the amount of fertilizer applied per mu, the irrigation quota, and the type of fertilizer for this irrigation and fertilization; Collect the inflow flow of the sprinkler and the E of the clean water in the sprinkler main line before the start of this fertilizer injection irrigation. c value or pH value; According to the inherent parameters of the sprinkler, the length of the irrigation plot, the fertilizer application amount per mu, the irrigation quota and the fertilizer type of the current irrigation and fertilization, and the inflow flow of the sprinkler before the start of the fertilization, the working parameters of the sprinkler and the fertilizer injection pump are calculated to form the current irrigation and fertilization strategy, which is specifically to divide the irrigation plot into a number of sub-plots, and perform irrigation and fertilization operations on each sub-plot in sequence, wherein the current operation sub-plot is firstly irrigated with fertilizer liquid in the forward direction, then with reverse spray irrigation with clear water, and then with forward spray irrigation with clear water, and the fertilizer liquid required for the next sub-plot is prepared during the spray irrigation with clear water; Controlling the water-fertilizer integrated equipment of the translational sprinkler to execute the current irrigation and fertilization strategy; In the process of controlling the translational sprinkler irrigation machine water-fertilizer integrated equipment to execute the current irrigation and fertilization strategy, the concentration of the sprinkler fertilizer solution is monitored and feedback-adjusted: the corresponding fertilizer solution concentration inversion prediction model is selected according to the fertilizer type, and the E of the fertilizer solution sprayed for this irrigation and fertilization is obtained according to the spraying fertilizer solution concentration and the selected fertilizer solution concentration inversion prediction model. c The predicted value or pH predicted value is compared with the E of the sprayed fertilizer solution collected after the start of fertilization. c The water or pH value is compared, and the control instructions of the water-fertilizer integrated equipment of the translational sprinkler are formed based on the comparison results.

2. The control method according to claim 1, characterized in that: The inherent parameters of the sprinkler include the overall length of the sprinkler, the range of the sprinkler nozzle installed at the end of the sprinkler, the field spraying water utilization coefficient, the field surface slip coefficient, the rated speed of the drive motor, the effective radius of the matching tire, the drive motor reducer transmission ratio, the wheel reducer transmission ratio, the rated frequency of the fertilizer injection pump and the actual flow of the fertilizer injection pump after calibration.

3. The control method according to claim 1, characterized in that: The E c The value and the pH value are respectively collected by an EC sensor and a pH sensor installed downstream of the junction of the fertilizer injection pipeline and the sprinkler main pipeline, and the inflow flow is collected by a flow meter installed at the water inlet of the sprinkler main pipeline.

4. The control method according to claim 1, characterized in that: The specific steps of forming the fertigation strategy include: Preset program: determining the coverage area A0 of the sprinkler according to the inherent parameters of the sprinkler; Sprinkler irrigation fertilizer solution: Determine the total fertilizer injection volume V of this sprinkler irrigation fertilizer solution based on the maximum solubility S of the given fertilizer at room temperature, the fertilizer application amount M per mu, and the coverage area A0 of the sprinkler irrigation machine. f , and according to the total amount of fertilizer injected V f and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the number of fertilizer distribution times N for this sprinkler irrigation, and take the number of sub-plots divided into the irrigated plot to be equal to the number of fertilizer distribution times N; according to the number of fertilizer distribution times N for this sprinkler irrigation and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the actual amount of fertilizer V injected for this sprinkler irrigation, and according to the length L of the irrigation plot b , the coverage area A0 of the sprinkler and the number of fertilizers N in this sprinkler irrigation determine the length l and area a of the divided single sub-plot; according to the length l of the sub-plot and the maximum travel speed of the sprinkler, determine the shortest time t for the sprinkler to run in a single sub-plot min ; According to the sprinkler irrigation machine flow Q0, the fertilizer liquid depth h during the sprinkler irrigation process f , the coverage area A0 of the sprinkler and the shortest time t for the sprinkler to run one trip in a single sub-plot min Determine the percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot f ; Based on the shortest time t that the sprinkler machine runs in a single sub-plot min The percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot f , calculate the running time t of the sprinkler irrigation process of a single sub-plot f ; According to the rated frequency f of the fertilizer injection pump d , the actual flow rate of the fertilizer injection pump after verification q d The operating frequency f of the fertilizer injection pump is determined by the operating time t of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot; Sprinkler irrigation water: according to the current irrigation quota h and the fertilizer liquid depth h during the sprinkler irrigation process f Calculate the irrigation depth h of sprinkler irrigation water w ; Based on the input flow Q0 of the sprinkler, the coverage area A0 of the sprinkler, and the shortest time t for the sprinkler to run in a single sub-plot min and the irrigation depth of sprinkler water h w , determine the percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w ; Based on the shortest time t that the sprinkler machine runs in a single sub-plot min The percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w , calculate the running time t of the sprinkler machine in the sprinkler irrigation process of a single sub-plot w ; Finally, according to the above calculation, the running time t of the sprinkler irrigation machine in the process of fertilizer liquid irrigation for a single sub-plot f and the operating frequency f of the fertilizer injection pump, the operating time t of the sprinkler during the water cleaning process of a single sub-plot w , the running time of a single subplot is t a =t f +t w , and the total duration of the sprinkler irrigation and fertilization integration operation t = Nt a , forming the irrigation and fertilization strategy.

5. The control method according to claim 4, characterized in that: The coverage area A0 of the sprinkler is calculated according to the following formula: Where, L s is the length of the sprinkler, R1 and R2 are respectively installed at the range of the sprinkler head at the end of the sprinkler; for a single-side translation sprinkler, L s The distance between the main driving trolley and the nozzle at the end of the truss water pipe, and R2 = 0; for double-side translation sprinkler, L s It is the distance between the nozzles at the ends of the water pipes on both sides of the sprinkler truss; The total amount of fertilizer injected by the current sprinkler irrigation is V f , calculated according to the following formula: In the formula, k is the coefficient set to ensure that the fertilizer is fully dissolved, which is set to 1.3-1.6; The actual injection amount V of the fertilizer solution for this sprinkler irrigation is calculated according to the following formula: V=NV t Where N is the number of times the fertilizer solution is dispensed during this irrigation, V t is the volume of the fertilizer storage container in the fertilizer storage unit, and the N value obtained by the above formula is rounded up as the number of fertilizer distribution times for this sprinkler irrigation; The length l and area a of the single sub-plot are calculated according to the following formula: The shortest time t for the sprinkler to run one trip in a single sub-plot min , calculated according to the following formula: In the formula, i1 is the transmission ratio of the drive motor reducer; i2 is the transmission ratio of the wheel reducer; n is the rated speed of the drive motor; r is the effective radius of the matching tire; η is the field surface slip coefficient, which depends on the tire pattern, tire pressure and soil compaction, and is taken as 0.92~0.97; The percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of the single sub-plot f , calculated as follows and rounded down: Where η p is the field spraying water utilization coefficient, which is related to the wind speed. When the wind speed is lower than 3.4 m / s, η p Take 0.8~0.9, when the wind speed is 3.4~5.4m / s, η p Take 0.7~0.8; the fertilizer liquid depth h of a single sub-plot during the fertilizer liquid spraying process f The value shall not be less than 5mm; The operating time of the sprinkler machine during the fertilizer liquid sprinkling process of a single sub-plot is t f , calculated according to the following formula: The operating frequency f of the fertilizer injection pump is calculated according to the following formula: The irrigation depth h of the single sub-plot sprinkler irrigation water w , calculated according to the following formula: h w =h-h f The percentage timer setting value x of the sprinkler during the sprinkler irrigation process of the single sub-plot w , calculated according to the following formula and rounded down to get: The running time of the sprinkler during the water cleaning process of the single sub-plot sprinkler irrigation is t w , calculated according to the following formula:

6. The control method according to claim 1, characterized in that: In the process of controlling the translational sprinkler irrigation machine water-fertilizer integrated equipment to execute the current irrigation and fertilization strategy, the fertilizer solution concentration is monitored and feedback-regulated, specifically including: The concentration of the fertilizer stock solution prepared in the fertilizer liquid container of the fertilizer storage unit during the process of the sprinkler irrigation is calculated according to the following formula: In the formula, C is the concentration of the original fertilizer solution; M is the amount of fertilizer applied per mu; A0 is the coverage area of ​​the sprinkler; V is the actual amount of fertilizer injected in this sprinkler irrigation; According to the sprinkler machine inlet flow Q0, the actual flow of the fertilizer pump after verification q d The concentration of the sprinkler fertilizer solution is calculated based on the concentration of the prepared fertilizer stock solution, and the calculation formula is as follows: In the formula, C s is the concentration of fertilizer solution for sprinkler irrigation; According to the fertilizer type, the corresponding fertilizer solution concentration inversion prediction model is selected. The fertilizer solution concentration inversion prediction model is used to reflect the sprinkler irrigation fertilizer solution concentration and the E c The functional relationship between the value or pH value; The concentration of the sprayed fertilizer solution C s The fertilizer concentration inversion prediction model is introduced to obtain the E of the fertilizer solution for this irrigation and fertilization sprinkler irrigation. c The predicted value and pH value are compared with the E of the fertilizer solution sprayed after the fertilization begins. c The value or pH value is compared. If the comparison result exceeds the set threshold, a shutdown signal is issued and a shutdown report is generated. If the comparison result does not exceed the set threshold, the current fertigation strategy will continue to be executed until the operating time of the sprinkler reaches the total time of the sprinkler water-fertilizer integration operation, and this fertigation ends.

7. The control method according to claim 6, characterized in that: When strong electrolytes are used as fertilizers, the inversion prediction model for fertilizer solution concentration is: E c =aC s + b In the formula, E c is the conductivity; a is the first coefficient, which needs to be calibrated through experiments; b is the E of the irrigation water before the start of fertilizer injection c value; When acidic or alkaline fertilizer is used as fertilizer, the inversion prediction model of fertilizer solution concentration is: pH=yC s +z In the formula, pH is acidity and alkalinity; y is the second coefficient, which needs to be calibrated through experiments; z is the pH value of irrigation water before fertilization begins.

8. The control method according to any one of claims 1 to 7, characterized in that: The fertigation strategy also includes replacing the fertilizer solution preparation operation during the last sub-plot irrigation with a backwash operation of the fertilizer injection pump, and setting the running time of the fertilizer injection pump during the backwash process to t c And rated operating frequency f c ; where t c Set to a fixed duration, usually 10 minutes; f c Take it as the rated frequency of the fertilizer injection pump.

9. A water-fertilizer integrated device for a translational sprinkler according to the control method of claim 8, characterized in that: It includes a fertilizing device, a main driving trolley of a sprinkler, a control system and several pipelines. The fertilizing device includes a fertilizer injection pump and a fertilizer storage unit. The main driving trolley includes a traveling mechanism, a main driving trolley bracket installed on the traveling mechanism and a sprinkler main pipeline installed in the middle of the main driving trolley bracket. The fertilizer injection pump is connected between the sprinkler main line and the fertilizer storage unit through a pipeline, and injects the fertilizer liquid in the fertilizer storage unit into the sprinkler main line according to the control instruction of the control system; wherein the inlet of the fertilizer injection pump is connected to the fertilizer outlet at the bottom of the fertilizer storage container in the fertilizer storage unit through a fertilizer suction pipeline; the outlet of the fertilizer injection pump is connected to the sprinkler main line through the fertilizer injection pipeline; the sprinkler main line is connected to the inlet of the fertilizer storage container through a water supply pipeline, and a backwash pipeline is connected between the water supply pipeline and the fertilizer suction pipeline, and the fertilizer injection pump is flushed through the backwash pipeline during the last sub-plot sprinkler irrigation; The fertilizer storage unit is used to prepare fertilizer solution of corresponding concentration according to the control instruction of the control system, and the fertilizer storage unit includes the connected fertilizer storage container and fertilizer mixer; The control system includes a sensor unit, a valve group, and a first control cabinet and a second control cabinet which are arranged on one side of the main drive trolley support and communicate with each other; wherein, The sensing unit includes a liquid level sensor installed on the top of the fertilizer storage container, a pressure switch installed on the fertilizer injection pipeline, and a flow meter, an EC sensor and a pH sensor installed in sequence on the main pipeline of the sprinkler; The valve group includes a water replenishment electric valve, a fertilizer suction electric valve, a fertilizer injection electric valve, and a backwashing electric valve, which are respectively installed on corresponding pipelines; The second control cabinet is used to calculate the working parameters of the sprinkler and the fertilizer injection pump according to the parameters set by the user and the inflow flow of the sprinkler collected by the flow meter before the start of fertilizer injection, form the current irrigation and fertilization strategy and display it to the user; control the operation of the fertilization equipment, the sensor unit and the valve group according to the current irrigation and fertilization strategy, and monitor and feedback-adjust the concentration of the sprinkler fertilizer solution during the control process; The first control cabinet is used to control the start and stop, travel speed and running time of the sprinkler, and the start and stop of the main water supply pump of the sprinkler according to the current irrigation and fertilization strategy.

10. The device according to claim 9, characterized in that The second control cabinet includes a frequency converter and a second controller arranged inside the second cabinet, and a human-computer interaction unit arranged outside the second cabinet. The second controller integrates an irrigation and fertilization strategy generation module and an irrigation fertilizer concentration control module. The second controller controls the working frequency of the fertilizer injection pump through the frequency converter. The second controller is connected to the sensor unit, the valve group and the fertilizer mixer. The first control cabinet includes a percentage timer and a first controller respectively arranged outside and inside the first cabinet. The first controller communicates with the second controller. The first controller controls the travel speed of the sprinkler through the percentage timer. The fertilizer suction pipeline is also equipped with a fertilizer suction filter and a fertilizer suction manual valve, the water replenishment pipeline is also equipped with a water replenishment filter and a water replenishment manual valve, the fertilizer injection pipeline is also equipped with a check valve and a fertilizer injection manual valve, and a manual drain valve is installed at the bottom of the fertilizer storage container.

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