High-standard farmland intelligent irrigation and drainage pump gate cooperative remote control method and system

Abstract

The invention relates to the technical field of agricultural water conservancy control, in particular to a high-standard farmland intelligent irrigation and drainage pump gate cooperative remote control method and system, and the method comprises the steps: generating a cooperative control instruction which restrains the power of a water pump and the opening and closing of a gate at the same time based on farmland water level information; establishing a conflict relationship between the response delay time of the water pump and the action delay time of the gate, and disassembling the cooperative control instruction into control sub-instructions for the water pump and the gate; when the soil under-saturation signal is continuously detected, the distribution adjustment control sub-instruction adjusts the output power of a water pump and controls the opening degree of an irrigation gate; when the water level overrun signal is continuously detected, the control sub-instruction is adjusted to control the opening degree of the drainage gate, and the output power of the water pump is reversely adjusted based on a backwater shock wave model triggered by the gate opening degree; the farmland water level information is detected in real time, and a cooperative control instruction is reconstructed. According to the invention, the problem of water level oscillation caused by misalignment of cooperative control of the water pump and the gate due to response time delay difference is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of agricultural water conservancy control technology, and in particular to a method and system for coordinated remote control of intelligent irrigation and drainage pumps and gates in high-standard farmland. Background Technology

[0002] Farmland irrigation and drainage systems, as core infrastructure for agricultural production, typically consist of water source projects, water conveyance channels, distribution gates, and drainage pumping stations. In traditional control models, a central controller sends synchronous action commands to the pumps and gates based on preset water level thresholds. The pumps and gates, as the core actuators, usually require remote control commands to achieve coordinated water level regulation. Current technologies generally employ a central controller to generate synchronous commands for unified control of pump power and gate opening.

[0003] However, due to the inertial delay of the pump electromechanical system and the faster response speed of the gate hydraulic drive device, the inherent time delay difference between the two means that after a single command is issued, the gate has already completed its action at the target opening degree, but the pump power is still in the ramp-up phase. This time delay misalignment causes the water flow disturbance caused by the change in gate opening degree and the lagging power output of the pump to form a peak superposition effect, resulting in violent fluctuations in farmland water levels. Especially during the jointing stage of corn and the tillering stage of rice, which are sensitive stages for crop roots, repeated fluctuations will disrupt the water homeostasis at the root-soil interface, which can reduce water and fertilizer use efficiency at best, and cause irreversible damage such as root hypoxia or dehydration at worst.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This invention provides a method and system for coordinated remote control of intelligent irrigation and drainage pumps and gates in high-standard farmland, which can effectively solve the problems in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A method for coordinated remote control of intelligent irrigation and drainage pumps and gates in high-standard farmland, the method comprising:

[0008] Based on farmland water level information, generate coordinated control commands that simultaneously constrain pump power and gate opening and closing.

[0009] Establish a conflict relationship between the pump response delay time and the gate action lag time, and based on the conflict relationship, decompose the cooperative control command into control sub-commands for the pump and the gate;

[0010] When a soil undersaturation signal is continuously detected, the control sub-instruction is adjusted according to the current crop root depth distribution to control the water pump output power and control the irrigation gate opening.

[0011] When a water level exceeding the limit signal is continuously detected, the control sub-instruction is adjusted to control the opening of the drainage gate according to the water level exceeding the limit signal, and the output power of the water pump is adjusted in reverse based on the backwater shock wave model caused by the gate opening.

[0012] The farmland water level information is detected in real time based on periodic time series data, and the collaborative control commands are reconstructed.

[0013] Furthermore, the conflict relationship is quantified based on the ratio of the response delay of the water pump to that of the gate. When the response delay of the water pump is slower than that of the gate, the rate of change of the gate opening is limited; when the response delay of the gate is slower than that of the water pump, the range of water pump power adjustment is limited.

[0014] Furthermore, adjusting the control sub-instruction to control the water pump output power and the irrigation gate opening based on the current crop root depth distribution includes:

[0015] Based on the correspondence between crop growth cycle and suitable water level range, and according to the current crop root depth distribution, the corresponding target water level threshold is determined.

[0016] The deviation between the farmland water level information and the target water level threshold is detected in real time, and the output power of the water pump and the opening of the irrigation gate are adjusted in conjunction with the magnitude of the water level deviation.

[0017] The real-time soil infiltration rate is obtained, and the adjustment amount of the irrigation gate opening is dynamically constrained according to the real-time soil infiltration rate, so that the increment of the adjustment amount does not exceed the opening value corresponding to the maximum amount of water that the current soil infiltration capacity can absorb within a unit control cycle.

[0018] The adjusted amount after constraint correction and the corresponding adjusted amount of the water pump output power are updated and written into the control sub-instruction.

[0019] Furthermore, the linkage adjustment of the water pump output power and the irrigation gate opening includes:

[0020] Based on the root water absorption capacity curve corresponding to the current crop root depth distribution and the soil water holding characteristics, a first deviation threshold and a second deviation threshold are dynamically set.

[0021] The first deviation threshold is set as the maximum water deficit allowed during the peak period of crop transpiration rate, and the second deviation threshold is set as the minimum water surplus corresponding to the root hypoxia critical point.

[0022] When the water level deviation exceeds the first deviation threshold, a control sub-command is generated to increase the output power of the water pump and simultaneously increase the opening of the irrigation gate.

[0023] When the water level deviation value is lower than the second deviation threshold, a control sub-command is generated to reduce the output power of the water pump and simultaneously reduce the opening of the irrigation gate.

[0024] Furthermore, the pump output power is adjusted in reverse based on the backwater shock wave model caused by the gate opening, including:

[0025] Based on the real-time changes in the opening of the drainage gate, combined with the channel cross-sectional parameters, the propagation intensity and arrival time of the backwater shock wave caused by the change in opening are predicted.

[0026] Based on the propagation intensity of the backwater shock wave, the reverse compensation adjustment amount of the pump output power is calculated. When the shock wave intensity exceeds the first safety threshold, a compensation command to reduce the pump power is generated. When the shock wave intensity is lower than the second safety threshold, a compensation command to maintain the pump power is generated.

[0027] The timing of the reverse compensation adjustment is dynamically adjusted based on the difference between the arrival time of the shock wave and the response delay time of the water pump.

[0028] The reverse compensation adjustment amount and its effective timing are written into the control sub-instruction to synchronously update the water pump control parameters.

[0029] Furthermore, the backwater shock wave propagation model includes:

[0030] The propagation model of the backwater shock wave satisfies:

[0031]

[0032] Where ΔP is the pump power compensation; k is the ditch hydraulic coupling coefficient; L is the pump-gate spacing; Q gate The flow rate change caused by the opening and closing of the gate is represented by e, which is a natural constant representing the natural attenuation characteristics of fluid energy propagation in the channel; t is the time variable of the gate adjustment action; and α is the wave energy attenuation coefficient determined by the channel cross-sectional parameters.

[0033] Furthermore, when soil undersaturation signal and water level over-limit signal occur concurrently, the water level safety priority principle is implemented, and the control sub-instruction to suspend irrigation is suspended until the water level returns to the normal fluctuation range.

[0034] Furthermore, when disassembling the control sub-instructions, a first lag time window is configured for the water pump control sub-instruction, and a second lag time window is configured for the gate control sub-instruction. The length of the time window is positively correlated with the equipment response time.

[0035] A high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control system, the system comprising:

[0036] The instruction generation module generates coordinated control instructions that simultaneously constrain pump power and gate opening and closing based on farmland water level information.

[0037] The sub-control decomposition module establishes the conflict relationship between the pump response delay time and the gate action lag time. Based on the conflict relationship, the collaborative control command is decomposed into control sub-commands for the pump and the gate.

[0038] The irrigation detection module, when continuously detecting a soil undersaturation signal, adjusts the control sub-instructions to control the water pump output power and control the irrigation gate opening based on the current crop root depth distribution.

[0039] The drainage detection module, when continuously detecting a water level exceeding the limit signal, adjusts the control sub-instruction to control the opening of the drainage gate according to the water level exceeding the limit signal, and adjusts the output power of the water pump in reverse based on the backwater shock wave model caused by the gate opening.

[0040] The instruction reconstruction module detects farmland water level information in real time based on periodic time series and reconstructs collaborative control instructions.

[0041] Furthermore, the irrigation detection module includes:

[0042] The water level analysis unit determines the corresponding target water level threshold based on the relationship between crop growth cycle and suitable water level range, according to the current crop root depth distribution.

[0043] The real-time irrigation unit detects the deviation between the farmland water level and the target water level threshold in real time, and adjusts the output power of the water pump and the opening of the irrigation gate in conjunction with the magnitude of the water level deviation.

[0044] The opening adjustment unit acquires the real-time soil infiltration rate and dynamically constrains the adjustment amount of the irrigation gate opening based on the real-time soil infiltration rate, so that the increase in the adjustment amount does not exceed the opening value corresponding to the maximum amount of water that the current soil infiltration capacity can absorb within a unit control cycle.

[0045] The instruction update unit updates and writes the adjusted amount after constraint correction and the corresponding adjustment amount of water pump output power into the control sub-instruction.

[0046] The technical solution of this invention can achieve the following technical effects:

[0047] By dynamically dismantling commands and resolving conflicts, rapid coordinated response of pump and gate actions is achieved, solving the risk of water level fluctuations caused by inaccurate coordinated control due to differences in response time between pumps and gates.

[0048] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A flowchart illustrating a collaborative remote control method for intelligent irrigation and drainage pumps and gates in high-standard farmland.

[0051] Figure 2 A schematic diagram of the structure for controlling the output power of the water pump and the opening of the irrigation gate;

[0052] Figure 3 A schematic diagram of the process for adjusting the output power of a water pump. Detailed Implementation

[0053] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] Example 1;

[0056] like Figure 1 As shown, this application provides a method for coordinated remote control of intelligent irrigation and drainage pumps and gates in high-standard farmland. The method includes:

[0057] Based on farmland water level information, generate coordinated control commands that simultaneously constrain pump power and gate opening and closing.

[0058] Establish the conflict relationship between the pump response delay time and the gate action lag time, and based on the conflict relationship, decompose the collaborative control command into control sub-commands for the pump and the gate;

[0059] When a soil undersaturation signal is continuously detected, the control sub-instruction is adjusted to control the water pump output power and the irrigation gate opening based on the current crop root depth distribution.

[0060] When a water level exceeding the limit signal is continuously detected, the control sub-command is adjusted according to the water level exceeding the limit signal to control the opening of the drainage gate, and the output power of the water pump is adjusted in reverse based on the backwater shock wave model caused by the gate opening.

[0061] Real-time detection of farmland water level information is performed based on periodic time series data, and collaborative control commands are reconstructed.

[0062] Specifically, firstly, real-time farmland water level information is collected by level sensors deployed in irrigation ditches and nodes within the farmland and uploaded to the control terminal. Based on the current water level data, combined with the crop's water requirements during its growth period and a preset target water level range, the control terminal generates a coordinated control command that simultaneously constrains the pump output power and the opening / closing status of the irrigation and drainage gates. This command is not directly issued to the equipment for execution but is delegated to a lower-level processing unit. When processing this coordinated control command, a conflict resolution model is established. This model considers the power ramp-up time of the pump after motor startup, while the hydraulically driven gate can adjust within a short time. Based on this response difference, the model automatically quantifies the two. The response delay ratio is used to break down the original coordinated control command into two control sub-commands: one for adjusting the pump output power and the other for controlling the opening of the irrigation or drainage gate. Time windows with different delay triggering mechanisms are configured for these two commands to ensure synchronized actions during final execution and prevent water level fluctuations due to response differences. When the soil moisture monitor continuously reports a level below the set threshold, indicating an undersaturated state, the irrigation process is initiated. At this time, the root depth information corresponding to the current growth stage of the crop is retrieved from the crop database, and the target water level is dynamically adjusted based on the water use characteristics of the crop and soil. For example, during the rice tillering stage, due to the shallow root system... A higher target water level will be set initially; however, during the corn tasseling stage, the target water level will decrease accordingly due to root development. The deviation between the current water level and the target value will then be calculated. If the deviation is significant, a corresponding control sub-instruction will be generated to increase the pump output power and simultaneously increase the irrigation gate opening. To prevent excessive irrigation in a short period from causing surface water accumulation and overloading the soil's permeability, soil infiltration rate will be introduced as a dynamic constraint parameter. The increase in the irrigation gate opening will be strictly limited to the maximum water volume that the current soil infiltration rate allows for absorption. The corrected control sub-instruction will then be rewritten into the control queue and issued for execution. When the farmland water level is continuously monitored and found to exceed the safe upper limit, the control will initiate the drainage... The water system's adjustment of the drainage gate opening not only considers direct drainage efficiency but also requires the simultaneous establishment of a backflow shock wave prediction model. This model combines the channel cross-sectional shape, water inertia, and the instantaneous gate opening rate to predict impending water flow disturbances. If a strong shock wave is predicted to reach the pump inlet, a reverse compensation command to reduce pump power will be generated in advance to decrease pump operating intensity and prevent pump idling, sudden load changes, or equipment damage caused by backflow. Farmland water level monitoring is based on periodic sampling to form a continuous water level time series. Combined with the aforementioned crop growth period model and sudden weather data, the control strategy is dynamically adjusted, and the reconstructing of coordinated control commands is achieved.

[0063] The technical solution of this invention achieves rapid coordinated response of pump and gate actions through dynamic disassembly commands and conflict resolution mechanisms, thus solving the risk of water level fluctuation caused by inaccurate coordinated control of pumps and gates due to differences in response time delays.

[0064] Furthermore, the conflict relationship is quantified based on the ratio of the response delay of the water pump to that of the gate. When the response delay of the water pump is slower than that of the gate, the rate of change of the gate opening is limited; when the response delay of the gate is slower than that of the water pump, the range of water pump power adjustment is limited.

[0065] As a preferred embodiment of the above, the response delays of the water pump and the gate are monitored in real time by deploying sensors. In the control logic, the response delays of the water pump and the gate are first calculated in real time, and the ratio of their response delays is evaluated. If the response delay of the water pump is slower than that of the gate, that is, the adjustment speed of the water pump is lower than that of the gate, the rate of change of the gate opening is slowed down. This is because if the gate changes too quickly and the water pump fails to respond in time, it may cause drastic fluctuations in water level, thereby affecting the stable water supply to the crop roots. Therefore, the range of gate opening adjustment is limited according to this ratio to avoid the negative impact of excessively fast or large opening changes on the operation of the water pump. Conversely, if the response delay of the gate is detected to be slow, the gate opening adjustment range is slowed down. When adjusting the water pump, the power adjustment range of the pump will be limited. If the pump is adjusted too quickly or too much, it may cause excessive pump pressure or load, which is not compatible with the slow response of the gate. This may lead to turbulent water flow or uneven load on the pumping station, thus affecting drainage or irrigation. Therefore, by adjusting the speed and range of the pump power adjustment, it is ensured that the pump adjustment process is synchronized with the gate opening change, so as to avoid excessive dynamic fluctuations in the entire system during execution. The control strategy is adjusted in real time by dynamically monitoring and calculating the response delay ratio of the pump and the gate. Specifically, some response delay ranges are set, and the adjustment strategies of the pump and the gate are adjusted according to the monitored delay differences.

[0066] Furthermore, such as Figure 2 As shown, the control sub-instruction adjusts the water pump output power and irrigation gate opening based on the current crop root depth distribution, including:

[0067] Based on the correspondence between crop growth cycle and suitable water level range, the corresponding target water level threshold is determined according to the current crop root depth distribution.

[0068] Real-time detection of farmland water level information and the deviation value of the target water level threshold; and adjustment of water pump output power and irrigation gate opening based on the magnitude of the water level deviation.

[0069] The real-time soil infiltration rate is obtained, and the adjustment amount of the irrigation gate opening is dynamically constrained based on the real-time soil infiltration rate, so that the increase in the adjustment amount does not exceed the opening value corresponding to the maximum amount of water that the current soil infiltration capacity can absorb within a unit control cycle.

[0070] The adjusted values ​​after constraint correction and the corresponding adjusted values ​​of the water pump output power are updated and written into the control sub-instruction.

[0071] As a preferred embodiment of the above, the current growth cycle stage of the planted crop is first determined by calling an agricultural expert system or crop database, and the typical root distribution depth and recommended water level range corresponding to this stage are obtained. Combined with root distribution monitoring devices installed in the farmland area or root depth data inferred over time and by crop type, a suitable target water level threshold is determined. This threshold represents the optimal water layer height required for the current crop root zone. Subsequently, real-time water level information is collected based on water level sensors deployed in the farmland, and the deviation between this water level and the aforementioned target water level threshold is calculated. When the deviation exceeds a certain range, it indicates that the farmland has insufficient or excessive water. Based on the positive or negative direction and magnitude of the deviation, the output power of the water pump and the opening of the irrigation gate are adjusted in a coordinated manner. Preferably, the water pump adjustment tends to be rapid to increase flow output, while the gate opening adjustment is achieved through meticulous control of the water flow rate and the water entering the field. Stable water volume control enables precise water supply. Considering the uncertainty and dynamic changes in the water absorption capacity of farmland soil, to prevent surface water accumulation or water waste caused by instantaneous irrigation flow exceeding soil infiltration rate, soil infiltration rate monitoring is further integrated. This allows for real-time sensing of the soil's water absorption capacity and converts the infiltration rate into the maximum water volume the soil can absorb within the current control cycle. Based on this, a maximum irrigation gate adjustment threshold matching the maximum water volume is set, limiting the adjustment range of the gate opening in a single control command. That is, within any control cycle, the increase in the irrigation gate opening must not exceed this threshold, fundamentally avoiding the risks caused by excessively rapid irrigation. After completing the above adjustment range limitation and water level deviation response calculation, the corrected irrigation gate opening and pump output power adjustment are written into the control sub-instruction and updated to the remote control terminal or edge computing node, ensuring that the actual control process is strictly executed according to the set logic.

[0072] Furthermore, the linkage adjustment of the water pump output power and the irrigation gate opening includes:

[0073] Based on the root water absorption capacity curve corresponding to the current crop root depth distribution and soil water holding characteristics, the first deviation threshold and the second deviation threshold are dynamically set.

[0074] The first deviation threshold is set as the maximum water deficit allowed during the peak period of crop transpiration rate, and the second deviation threshold is set as the minimum water surplus corresponding to the root hypoxia critical point.

[0075] When the water level deviation exceeds the first deviation threshold, a control sub-command is generated to increase the output power of the water pump and simultaneously increase the opening of the irrigation gate.

[0076] When the water level deviation is lower than the second deviation threshold, a control sub-instruction is generated to reduce the output power of the water pump and simultaneously reduce the opening of the irrigation gate.

[0077] As a preferred embodiment of the above, firstly, based on the current crop growth stage and root depth distribution, combined with the crop's root water absorption capacity curve and soil water holding characteristics, the water demand characteristics of different growth stages can be clearly identified, especially the peak period of crop transpiration rate and the critical point of root hypoxia. This information helps to set two key deviation thresholds: the first deviation threshold is related to the maximum water deficit during the peak period of crop transpiration rate, and the second deviation threshold is related to the minimum water surplus corresponding to the critical point of root hypoxia. Through these two deviation thresholds, irrigation and drainage strategies can be adjusted in a targeted manner under different water level deviation conditions. Specifically, when the real-time monitored water level deviation value exceeds the first deviation threshold, a control sub-instruction is automatically generated, instructing the water pump output power to increase and simultaneously increasing the opening of the irrigation gate. The purpose of this operation is to meet the high-intensity water demand of the crop when the transpiration rate reaches its peak, preventing excessive water deficit and thus ensuring the healthy growth of the crop. For example, in hot summer weather, the crop transpiration rate will increase significantly. When the water level deviation is detected to exceed the set threshold, it will be quickly... To provide sufficient water, the pump output power is increased and the irrigation gate opening is widened. Conversely, when the detected water level deviation value is below the second deviation threshold, indicating that the water level is too high and the crop roots may face the risk of oxygen deficiency, a control sub-instruction is generated to reduce the pump output power and simultaneously reduce the irrigation gate opening to prevent excessive water levels from causing soil oxygen deficiency or root rot. This adjustment typically occurs during the rainy season or when farmland drainage is poor. This operation avoids waterlogging and ensures normal crop root growth. Furthermore, soil conditions are also considered during implementation. The infiltration rate of soil is a crucial factor determining the speed at which water enters the soil. Therefore, the system monitors soil permeability in real time and limits the opening of irrigation gates based on the soil's water absorption capacity. In soils with low infiltration rates, the adjustment range of the irrigation gate opening is limited to prevent water from stagnating on the soil surface, which could lead to excessive evaporation or water accumulation. In this way, when adjusting the opening of the irrigation gates, not only the water requirements of crops are taken into account, but also the water absorption characteristics of the soil, further improving the precision and effectiveness of irrigation.

[0078] Furthermore, such as Figure 3 As shown, the pump output power is adjusted in reverse based on the backwater shock wave model caused by the gate opening, including:

[0079] Based on the real-time changes in the opening of the drainage gate and combined with the channel cross-sectional parameters, the propagation intensity and arrival time of the backwater shock wave caused by the change in opening are predicted.

[0080] Based on the propagation intensity of the backwater shock wave, the reverse compensation adjustment amount of the pump output power is calculated. When the shock wave intensity exceeds the first safety threshold, a compensation command to reduce the pump power is generated. When the shock wave intensity is lower than the second safety threshold, a compensation command to maintain the pump power is generated.

[0081] The timing of the reverse compensation adjustment is dynamically adjusted based on the difference between the arrival time of the shock wave and the response delay time of the water pump.

[0082] Write the reverse compensation adjustment amount and its effective timing into the control sub-instruction to update the water pump control parameters synchronously.

[0083] As a preferred embodiment, the opening change data of the drainage gate is first obtained, and combined with the cross-sectional geometric parameters of the irrigation and drainage channel, such as bottom width, side slope, and hydraulic radius, a preset hydrodynamic model is used to predict in real time the propagation intensity of the backwater shock wave caused by gate adjustment and its arrival time in the channel. The shock wave model used here comprehensively considers factors such as water inertia, gate change speed, and initial flow state, and can accurately characterize the transient water pressure fluctuation generated by the shock wave at the pump end. After obtaining the predicted intensity value of the backwater shock wave, the shock intensity is judged. If its intensity exceeds the first safety threshold, a reverse compensation control command to reduce the pump output power is generated, thereby reducing the load pressure of the pump impeller before the shock wave reaches the pump, avoiding equipment wear or operational instability caused by instantaneous high pressure. Conversely, when the shock wave intensity is lower than the second safety threshold, it is judged that its impact on the pump is small, so the control strategy maintains the current pump power unchanged to ensure energy efficiency. In practical applications, for example, if a drainage gate at the end of a channel opens rapidly within a short period, it will cause the upstream water flow to instantly back up and form a high-intensity shock wave. In this case, an immediate response will be implemented to reduce the power of the water pump to prevent backflow or strong water hammer. To further improve the accuracy and timeliness of the response, a compensation mechanism for the water pump response delay is introduced. By comparing the difference between the arrival time of the shock wave and the water pump response delay, the effective time of the reverse compensation control command is dynamically determined. For example, if the shock wave is expected to arrive at the water pump at a certain time, and there is a certain lag between the water pump receiving the control signal and actually completing the power adjustment, the reverse compensation adjustment process will be started a certain time in advance to ensure that the water pump has entered a safe operating state before the arrival of the shock wave, thereby avoiding the risk of system runaway caused by physical lag. Finally, the reverse compensation adjustment amount and its effective timing parameters are written into the corresponding control sub-instruction, and the data structure of the water pump control module is updated in real time to ensure that the control behavior remains highly consistent with environmental changes.

[0084] Furthermore, the backwater shock wave propagation model includes:

[0085] The propagation model of backwater shock waves satisfies:

[0086]

[0087] Where ΔP is the pump power compensation; k is the ditch hydraulic coupling coefficient; L is the pump-gate spacing; Q gate The flow rate change caused by the opening and closing of the gate is represented by e, which is a natural constant representing the natural attenuation characteristics of fluid energy propagation in the channel; t is the time variable of the gate adjustment action; and α is the wave energy attenuation coefficient determined by the channel cross-sectional parameters.

[0088] As a preferred embodiment of the above, the backwater shock wave propagation model adopted treats the water flow disturbance caused by the gate action in the pump gate as a disturbance wave propagating along the channel, and establishes a functional relationship between the pump power compensation and the disturbance wave propagation intensity. This functional relationship comprehensively considers the following key factors: First, the flow rate change rate, i.e., the rate of flow change caused by the gate opening and closing action, which is used to characterize the intensity source of the water disturbance; second, the hydraulic coupling coefficient, which reflects the coupling ability between the channel structure and the pump inlet response; third, the pump gate spacing, i.e., the distance the shock wave travels from the gate to the pump, which is an important factor determining the wave propagation time and the degree of energy attenuation; fourth, the attenuation coefficient and natural attenuation characteristics, which model the objective law that the water energy gradually decreases in the channel as the propagation distance increases; during the drainage control process, when the detection When a drainage gate is detected to open significantly within a short period of time, and the rate of change of flow rate increases sharply, the model uses this rate of change of flow rate as the disturbance source strength. Combined with known channel structure parameters, it calculates the wave energy attenuation coefficient and predicts the arrival time and attenuation degree of the shock wave based on the pump-gate spacing. Subsequently, it estimates the instantaneous water pressure increment that the pump may experience and determines the pump output power that needs to be reduced accordingly to generate the corresponding power compensation control sub-command. By accurately fitting the relationship between the pump power compensation amount and the disturbance parameters, real-time dynamic adjustment can be achieved, avoiding instability caused by response lag or improper adjustment in traditional methods. At the same time, during the parameter calibration process, the actual water pressure response under different opening and closing speeds can be measured through field experiments to optimize the hydraulic coupling coefficient and attenuation factor in the model, thereby improving the prediction accuracy of the model under actual working conditions.

[0089] Furthermore, when soil undersaturation signals and water level over-limit signals occur simultaneously, the principle of prioritizing water level safety is implemented, and irrigation control sub-instructions are suspended until the water level returns to the normal fluctuation range.

[0090] As a preferred embodiment of the above, when both soil undersaturation and water level exceedance signals occur simultaneously, emergency irrigation stop control is implemented based on the principle of prioritizing water level safety to ensure the stability and safety of farmland irrigation. Specifically, when soil moisture is below a set saturation threshold and water level exceeds the limit, an abnormal state is identified, and irrigation operations are automatically suspended to prevent further irrigation from causing water level runaway or excessive soil drying. The specific steps involve real-time monitoring of soil moisture, crop root growth, and farmland water level, collecting soil undersaturation and water level exceedance signals through sensors, and entering emergency control mode when the sensor detects that soil moisture is below the preset undersaturation threshold and simultaneously detects that the water level has reached the water level exceedance signal. In the above situation, to ensure the rational use of farmland water resources and avoid dual instability of soil and water levels, the current irrigation operation is immediately suspended. This operation is achieved by suspending water... The irrigation system achieves this by adjusting the pump's output power and closing the irrigation gate, thereby cutting off the irrigation water supply, reducing further water level rise, and preventing excessive water from entering the soil and causing new adverse effects. After suspending irrigation, soil moisture and water level changes are continuously monitored until the water level returns to the preset normal fluctuation range. Only then will the system resume irrigation. This process relies on continuous feedback from water level and soil moisture sensors to ensure that the water level and soil moisture gradually return to a controllable range. The settings for soil undersaturation threshold and water level over-limit threshold should be dynamically adjusted based on the specific farmland's soil type, crop requirements, and historical irrigation data. In the above control logic, control sub-instructions are generated through real-time calculation and feedback to ensure that irrigation can be interrupted in a timely manner in the event of soil undersaturation or water level over-limit, and that the control instructions are automatically adjusted to resume normal irrigation operations after the safe state is restored.

[0091] Furthermore, when disassembling the control sub-instructions, a first lag time window is configured for the water pump control sub-instruction, and a second lag time window is configured for the gate control sub-instruction. The length of the time window is positively correlated with the equipment response time.

[0092] As a preferred embodiment of the above, a response time database is first established in the background to record and update the average response time of each equipment type under different environmental conditions. When disassembling the collaborative control command, a first lag time window is configured for the pump control sub-command and a second lag time window is configured for the gate control sub-command based on the response time value in the database. The lengths of the two time windows are dynamically calculated by the control program and are adaptively updated according to the equipment operating status. The time window configuration method can be linked and calibrated with the actual water conservancy equipment operating data. At the same time, in order to avoid the rigid control problem caused by fixed lag time, a time window adjustment algorithm based on moving average and response curve fitting is introduced to ensure that each command execution can maintain a high degree of consistency between control behavior and equipment response while meeting the control objective.

[0093] Example 2;

[0094] Based on the same inventive concept as the high-standard farmland intelligent irrigation and drainage pump gate coordinated remote control method in the foregoing embodiments, the present invention also provides a high-standard farmland intelligent irrigation and drainage pump gate coordinated remote control system, the system comprising:

[0095] The instruction generation module generates coordinated control instructions that simultaneously constrain pump power and gate opening and closing based on farmland water level information.

[0096] The sub-control decomposition module establishes the conflict relationship between the pump response delay time and the gate action lag time. Based on the conflict relationship, the collaborative control command is decomposed into control sub-commands for the pump and the gate.

[0097] The irrigation detection module, when continuously detecting a soil undersaturation signal, adjusts the control sub-instructions to control the water pump output power and control the irrigation gate opening based on the current crop root depth distribution.

[0098] The drainage detection module, when continuously detecting a water level exceeding the limit signal, adjusts the control sub-instruction to control the opening of the drainage gate according to the water level exceeding the limit signal, and adjusts the output power of the water pump in reverse based on the backwater shock wave model caused by the gate opening.

[0099] The instruction reconstruction module detects farmland water level information in real time based on periodic time series and reconstructs collaborative control instructions.

[0100] The adjustment system described above in this invention can effectively realize the collaborative remote control method of intelligent irrigation and drainage pump gates for high-standard farmland. The technical effects it can achieve are as described in the above embodiments, and will not be repeated here.

[0101] Furthermore, the irrigation detection module includes:

[0102] The water level analysis unit determines the corresponding target water level threshold based on the relationship between crop growth cycle and suitable water level range, according to the current crop root depth distribution.

[0103] The real-time irrigation unit detects the deviation between the farmland water level and the target water level threshold in real time, and adjusts the output power of the water pump and the opening of the irrigation gate in conjunction with the magnitude of the water level deviation.

[0104] The opening adjustment unit acquires the real-time soil infiltration rate and dynamically constrains the adjustment amount of the irrigation gate opening based on the real-time soil infiltration rate, so that the increase in the adjustment amount does not exceed the opening value corresponding to the maximum amount of water that the current soil infiltration capacity can absorb within a unit control cycle.

[0105] The instruction update unit updates and writes the adjusted amount after constraint correction and the corresponding adjustment amount of water pump output power into the control sub-instruction.

[0106] Similarly, the above-mentioned optimization schemes for the system can also achieve the optimization effects corresponding to the methods in Embodiment 1, which will not be repeated here.

[0107] Although this application has been described in conjunction with specific features and embodiments, it is apparent that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and accompanying drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application is intended to include such modifications and modifications.

Claims

1. A method for coordinated remote control of intelligent irrigation and drainage pumps and gates in high-standard farmland, characterized in that: The method includes: Based on farmland water level information, generate coordinated control commands that simultaneously constrain pump power and gate opening and closing. Establish a conflict relationship between the pump response delay time and the gate action lag time, and based on the conflict relationship, decompose the cooperative control command into control sub-commands for the pump and the gate; When a soil undersaturation signal is continuously detected, the control sub-instruction is adjusted according to the current crop root depth distribution to control the water pump output power and control the irrigation gate opening. When a water level exceeding the limit signal is continuously detected, the control sub-instruction is adjusted to control the opening of the drainage gate according to the water level exceeding the limit signal, and the output power of the water pump is adjusted in reverse based on the backwater shock wave model caused by the gate opening. The farmland water level information is detected in real time based on periodic time series data, and the collaborative control commands are reconstructed.

2. The high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control method according to claim 1, characterized in that, The conflict relationship is quantified based on the ratio of the response delay of the water pump to that of the gate. When the response delay of the water pump is slower than that of the gate, the rate of change of the gate opening is limited; when the response delay of the gate is slower than that of the water pump, the range of water pump power adjustment is limited.

3. The high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control method according to claim 1, characterized in that, Adjusting the control sub-instructions based on the current crop root depth distribution to control the water pump output power and the irrigation gate opening includes: Based on the correspondence between crop growth cycle and suitable water level range, and according to the current crop root depth distribution, the corresponding target water level threshold is determined. The deviation between the farmland water level information and the target water level threshold is detected in real time, and the output power of the water pump and the opening of the irrigation gate are adjusted in conjunction with the magnitude of the water level deviation. The real-time soil infiltration rate is obtained, and the adjustment amount of the irrigation gate opening is dynamically constrained according to the real-time soil infiltration rate, so that the increment of the adjustment amount does not exceed the opening value corresponding to the maximum amount of water that the current soil infiltration capacity can absorb within a unit control cycle. The adjusted amount after constraint correction and the corresponding adjusted amount of the water pump output power are updated and written into the control sub-instruction.

4. The high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control method according to claim 3, characterized in that, The linkage adjustment of the water pump output power and the irrigation gate opening includes: Based on the root water absorption capacity curve corresponding to the current crop root depth distribution and the soil water holding characteristics, a first deviation threshold and a second deviation threshold are dynamically set. The first deviation threshold is set as the maximum water deficit allowed during the peak period of crop transpiration rate, and the second deviation threshold is set as the minimum water surplus corresponding to the root hypoxia critical point. When the water level deviation exceeds the first deviation threshold, a control sub-command is generated to increase the output power of the water pump and simultaneously increase the opening of the irrigation gate. When the water level deviation value is lower than the second deviation threshold, a control sub-command is generated to reduce the output power of the water pump and simultaneously reduce the opening of the irrigation gate.

5. The high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control method according to claim 1, characterized in that, The pump output power is adjusted in reverse based on the backwater shock wave model caused by the gate opening, including: Based on the real-time changes in the opening of the drainage gate, combined with the channel cross-sectional parameters, the propagation intensity and arrival time of the backwater shock wave caused by the change in opening are predicted. Based on the propagation intensity of the backwater shock wave, the reverse compensation adjustment amount of the pump output power is calculated. When the shock wave intensity exceeds the first safety threshold, a compensation command to reduce the pump power is generated. When the shock wave intensity is lower than the second safety threshold, a compensation command to maintain the pump power is generated. The timing of the reverse compensation adjustment is dynamically adjusted based on the difference between the arrival time of the shock wave and the response delay time of the water pump. The reverse compensation adjustment amount and its effective timing are written into the control sub-instruction to synchronously update the water pump control parameters.

6. The high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control method according to claim 5, characterized in that, The backwater shock wave propagation model includes: The propagation model of the backwater shock wave satisfies: Where ΔP is the pump power compensation; k is the ditch hydraulic coupling coefficient; L is the pump-gate spacing; Q gate The flow rate change caused by the opening and closing of the gate is represented by e, which is a natural constant representing the natural attenuation characteristics of fluid energy propagation in the channel; t is the time variable of the gate adjustment action; and α is the wave energy attenuation coefficient determined by the channel cross-sectional parameters.

7. The high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control method according to claim 1, characterized in that, When soil undersaturation signal and water level over-limit signal occur simultaneously, the water level safety priority principle is implemented, and the control sub-instruction to suspend irrigation is suspended until the water level returns to the normal fluctuation range.

8. The high-standard farmland intelligent irrigation and drainage pump and gate coordinated remote control method according to claim 1, characterized in that, When disassembling the control sub-instruction, a first lag time window is configured for the water pump control sub-instruction, and a second lag time window is configured for the gate control sub-instruction. The length of the time window is positively correlated with the equipment response time.

9. A high-standard farmland intelligent irrigation and drainage pump-gate coordinated remote control system, characterized in that: The system includes: The instruction generation module generates coordinated control instructions that simultaneously constrain pump power and gate opening and closing based on farmland water level information. The sub-control decomposition module establishes the conflict relationship between the pump response delay time and the gate action lag time. Based on the conflict relationship, the collaborative control command is decomposed into control sub-commands for the pump and the gate. The irrigation detection module, when continuously detecting a soil undersaturation signal, adjusts the control sub-instructions to control the water pump output power and control the irrigation gate opening based on the current crop root depth distribution. The drainage detection module, when continuously detecting a water level exceeding the limit signal, adjusts the control sub-instruction to control the opening of the drainage gate according to the water level exceeding the limit signal, and adjusts the output power of the water pump in reverse based on the backwater shock wave model caused by the gate opening. The instruction reconstruction module detects farmland water level information in real time based on periodic time series and reconstructs collaborative control instructions.

10. The high-standard farmland intelligent irrigation and drainage pump-gate coordinated remote control system according to claim 9, characterized in that, The irrigation detection module includes: The water level analysis unit determines the corresponding target water level threshold based on the relationship between crop growth cycle and suitable water level range, according to the current crop root depth distribution. The real-time irrigation unit detects the deviation between the farmland water level and the target water level threshold in real time, and adjusts the output power of the water pump and the opening of the irrigation gate in conjunction with the magnitude of the water level deviation. The opening adjustment unit acquires the real-time soil infiltration rate and dynamically constrains the adjustment amount of the irrigation gate opening based on the real-time soil infiltration rate, so that the increase in the adjustment amount does not exceed the opening value corresponding to the maximum amount of water that the current soil infiltration capacity can absorb within a unit control cycle. The instruction update unit updates and writes the adjusted amount after constraint correction and the corresponding adjustment amount of water pump output power into the control sub-instruction.

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