Automatic control system and method for fruit tree irrigation

Abstract

The invention provides an automatic control system and method for fruit tree irrigation, and the system comprises an information collection module which is used for collecting fruit tree information, meteorological information and soil information; the information storage module is used for storing information; the information processing module is used for processing the information acquired by the information acquisition module and generating the historical total rainfall amount corresponding to different phenological periods of the fruit trees in the planting land; the irrigation decision-making module is used for generating an overall irrigation strategy and a real-time water supplementing strategy of different phenological areas of the fruit trees; and the irrigation execution module is deployed in a fruit tree planting field for irrigation equipment and is used for executing the irrigation decision generated by the irrigation decision module. According to the invention, at the beginning of each phenological period, the overall irrigation plan covering the phenological period is generated, so that the water utilization efficiency and the overall operation efficiency of the irrigation system are remarkably improved. Meanwhile, outside the whole irrigation strategy period, the problem of fruit tree yield reduction caused by drought stress outside the whole irrigation strategy period is avoided according to a water supplementing strategy generated in real time.

Description

Technical Field

[0001] This invention relates to the field of fruit tree irrigation technology, and more specifically, to an automated control system and method for fruit tree irrigation. Background Technology

[0002] With increasing water scarcity and the development of agricultural modernization, automated irrigation technology has become a key means to improve water and fertilizer utilization efficiency in orchards and ensure fruit quality and yield. Currently, common automated irrigation control methods mainly rely on timed control or feedback control based on a single sensor.

[0003] Existing timed irrigation systems typically use fixed irrigation cycles and durations based on experience. Their biggest drawback is that they ignore the dynamic changes in crop water requirements. Fruit trees exhibit significant differences in water needs at different phenological stages (such as budding, flowering, fruit enlargement, and ripening), and these needs are directly influenced by soil moisture and climate conditions. Fixed irrigation patterns cannot adapt to these dynamic needs, easily leading to insufficient water supply during critical water-demand periods and excessive water supply at other times. This not only wastes water resources but can also cause problems such as flower and fruit drop, decreased fruit quality, or root diseases.

[0004] To improve irrigation precision, sensor-based smart irrigation systems have been widely adopted. These systems typically deploy soil moisture sensors in orchards and set fixed thresholds; irrigation automatically begins when the real-time monitored value falls below the threshold. However, this strategy of using the same real-time detection and response mode across all phenological stages has the following inherent drawbacks: 1. Lack of a holistic perspective in the strategy leads to inefficiency and waste of resources: Such systems react only to instantaneous sensor data, resulting in fragmented irrigation behavior. They lack overall planning and rhythm based on the water demand patterns of fruit trees throughout their entire growth period, which is not conducive to the coordinated and economical use of water resources.

[0005] 2. The scientific validity and stability of decision-making are overly dependent on instantaneous environmental conditions and sensor accuracy: The irrigation system's decisions rely heavily on the readings of a single sensor at a particular moment. When these readings are affected by short-term environmental fluctuations (such as localized temperature changes or uneven water distribution after irrigation), or when the sensor itself drifts or malfunctions, the generated irrigation strategy will immediately deviate, lacking buffering and error correction mechanisms. This instability, if it occurs during critical phenological periods sensitive to water, such as flowering and young fruit enlargement, can directly cause irreversible losses to fruit set and fruit development.

[0006] 3. Failure to achieve differentiated water management: Fruit trees have different sensitivities and water requirements at different phenological stages. For example, the flowering period requires water sensitively and with stable water needs, while moderate water stress during the ripening period is beneficial for quality improvement. The existing system uses a uniform response intensity, which cannot implement this refined differentiated management. It cannot provide sufficient protection during critical periods, nor can it train the fruit trees' resistance during non-critical periods.

[0007] Therefore, it is necessary to design an automated control system and method for fruit tree irrigation to solve the problems of poor stability and low efficiency of existing intelligent irrigation systems. Summary of the Invention

[0008] In view of this, the present invention proposes an automated control system and method for fruit tree irrigation, aiming to solve the problems of poor stability and low efficiency of existing intelligent irrigation systems.

[0009] In one aspect, the present invention provides an automated control system for fruit tree irrigation, comprising: The information collection module is used to collect information on the area of ​​the fruit tree planting area, the number of fruit trees, soil texture, initial soil moisture information at different phenological stages of the fruit trees, historical precipitation data, historical meteorological data, real-time soil moisture information, future meteorological data, and real-time soil electrical conductivity information. The information storage module is used to store the planting area, number of fruit trees, soil texture information, historical soil moisture information, historical precipitation data, historical evaporation data, real-time soil moisture information, future meteorological data and real-time soil electrical conductivity information collected by the information collection module, as well as the specific time of the phenological period corresponding to different fruit tree varieties, fruit tree root depth, crop coefficient, optimal soil moisture and optimal soil salinity information. The information processing module is used to process the information collected by the information acquisition module, and retrieve the specific time of the phenological period corresponding to different fruit tree varieties, the root depth of the fruit trees, and the crop coefficient from the information storage module. Combined with the processed historical meteorological data, the total historical evaporation corresponding to different phenological periods of the fruit trees in the planting area is obtained. Then, the processed historical precipitation data of the planting area is matched with the phenological period of the fruit trees to obtain the total historical precipitation corresponding to different phenological periods of the fruit trees in the planting area. The irrigation decision module is used to generate an overall irrigation strategy based on the difference between the initial soil moisture information of fruit trees at different phenological stages obtained by the information acquisition module and the optimal soil moisture at different phenological stages, combined with the historical total precipitation, historical total evaporation and soil texture of the corresponding phenological stages. Outside the irrigation cycle of the overall irrigation strategy, the irrigation decision module determines the level of environmental stress based on the real-time soil moisture information and real-time soil conductivity information collected by the information acquisition module, and generates a real-time water replenishment strategy based on the level of environmental stress, soil texture of the planting site and phenological stage of the fruit trees. The irrigation execution module is used to deploy irrigation equipment in the fruit tree planting area to execute the irrigation decisions generated by the irrigation decision module.

[0010] Furthermore, the irrigation decision module is also used to: receive the initial soil moisture of the fruit tree corresponding to the phenological stage collected by the data acquisition module, retrieve the root depth and optimal soil moisture of the fruit tree corresponding to the fruit tree variety and phenological stage from the information storage module, establish a water requirement model for the fruit tree, and obtain the theoretical irrigation amount for the phenological stage.

[0011] Furthermore, when the irrigation decision module establishes the water requirement model for fruit trees: based on the difference between the initial soil moisture and the optimal soil moisture, the root depth of different varieties of fruit trees at different phenological stages, and the planting area, the total water requirement for that phenological stage is obtained. The total water requirement is then added to the total historical evaporation for the corresponding phenological stage to obtain the theoretical irrigation amount for that phenological stage.

[0012] Furthermore, the irrigation decision module is pre-set with a first difference threshold and a second difference threshold arranged in descending order of numerical values; the irrigation decision module is also pre-set with a first compensation coefficient, a second compensation coefficient, a third compensation coefficient and a fourth compensation coefficient arranged in descending order of numerical values, and the first compensation coefficient and the second compensation coefficient are greater than 1, while the third compensation coefficient and the fourth compensation coefficient are less than 1. The irrigation decision module is also used to calculate the absolute difference between the historical total precipitation and historical total evaporation for the corresponding phenological period, and to adjust the theoretical irrigation amount based on the absolute difference to obtain the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is less than the total historical evaporation and the absolute difference is greater than the first threshold, the product of the theoretical irrigation amount and the first compensation coefficient is taken as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is less than the total historical evaporation, and the absolute difference is less than or equal to the first difference threshold but greater than the second difference threshold, the product of the theoretical irrigation amount and the second compensation coefficient shall be used as the actual total irrigation amount for the corresponding phenological period. When the absolute difference is less than or equal to the second difference threshold, the theoretical irrigation amount is not adjusted, and the theoretical irrigation amount is directly used as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is greater than the total historical evaporation, and the absolute difference is less than or equal to the first difference threshold but greater than the second difference threshold, the product of the theoretical irrigation amount and the third compensation coefficient shall be used as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is greater than the total historical evaporation, and the absolute difference is greater than the first threshold, the product of the theoretical irrigation amount and the first four compensation coefficients is taken as the actual total irrigation amount for the corresponding phenological period.

[0013] Furthermore, the irrigation decision module is also preset with a first interval time, a second interval time, and a third interval time parameter, wherein the first interval time parameter is greater than the second interval time parameter, which is greater than the third interval time parameter; the irrigation decision module is also used to determine the irrigation time interval and single irrigation amount for different phenological stages based on the soil texture of the planting area. When the soil in the planting area is sandy soil, the third time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. When the soil in the planting area is loam, the second time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. When the soil in the planting area is clay soil, the first time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. The irrigation decision module is also used to integrate the actual total irrigation amount, irrigation time interval, and single irrigation amount for the corresponding phenological period into the overall irrigation strategy for the corresponding phenological period of the fruit tree.

[0014] Furthermore, the irrigation decision module determines the environmental stress level based on the real-time soil moisture and real-time soil conductivity information collected by the information acquisition module, and generates a real-time water replenishment strategy based on the environmental stress level, soil texture of the planting area, and phenological stage of the fruit trees. The irrigation decision module presets a lower limit threshold for soil moisture and determines the basic environmental stress level based on the real-time soil moisture and the lower limit threshold. When the real-time soil moisture is greater than or equal to the lower limit threshold of soil moisture, the basic environmental stress level is determined to be Level 1. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is less than or equal to 3%, the basic environmental stress level at this time is determined to be level 2. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is greater than 3% but less than or equal to 6%, the basic environmental stress level at this time is determined to be level 3. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is greater than 6%, the basic environmental stress level at this time is determined to be level 4.

[0015] Furthermore, the irrigation decision module has a preset upper limit threshold for soil electrical conductivity, and the irrigation decision module is also used to adjust the basic environmental stress level based on the real-time soil electrical conductivity information: When the real-time soil electrical conductivity is less than or equal to 80% of the upper limit threshold of the soil electrical conductivity, the basic environmental stress level will not be adjusted. When the real-time soil electrical conductivity is greater than 80% of the upper limit threshold of soil electrical conductivity, but less than or equal to the upper limit threshold of soil electrical conductivity, the basic environmental stress level will be increased by 1 level, not exceeding 4 levels. When the real-time soil electrical conductivity is greater than the upper limit threshold of the soil electrical conductivity, the basic environmental stress level will be increased by 2 levels, not exceeding 4 levels. The irrigation decision module is also used to adjust the basic environmental stress level once, and then, based on the water sensitivity of different phenological stages of the fruit trees, mark all phenological stages of the fruit trees as high-sensitivity, medium-sensitivity, and low-sensitivity stages, and then adjust the basic environmental stress level a second time based on the marking of the corresponding phenological stage of the fruit trees when the stress occurs. When in a highly sensitive period, the basic environmental stress level will be raised by 1 level again, up to a maximum of 4 levels, and this level will be used as the environmental stress level. When the environment is in a moderately sensitive period, the basic environmental stress level will not be adjusted a second time, and the basic environmental stress level after the first adjustment will be used directly as the environmental stress level. When in a low-sensitivity period, the basic environmental stress level is reduced by 1 level, with a minimum of no less than 1 level, and this level is used as the environmental stress level. The irrigation decision module is also used to adjust the basic environmental stress level a second time, and then match the corresponding total water replenishment amount according to the environmental stress level: No water replenishment is required when the environmental stress level is 1. When the environmental stress level is level 2, the total amount of water replenishment is 30% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is level 3, the total amount of water replenishment is 65% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is 4, the total amount of water replenishment is the amount of a single irrigation in the overall irrigation strategy for the corresponding phenological period.

[0016] Furthermore, the irrigation decision module has a preset baseline water replenishment duration, and is also used to adjust the water replenishment duration and frequency according to the soil texture of the planting area. When the soil texture of the planting site is loam, the benchmark watering duration shall be used as the watering duration, and a one-time watering shall be completed within 24 hours. When the soil texture of the planting site is sandy soil, 30% of the benchmark watering time shall be used as the watering time, and watering shall be carried out twice within 24 hours. When the soil texture of the planting site is clay soil, 150% of the benchmark watering time shall be used as the watering time, and a one-time watering shall be completed within 24 hours; Furthermore, the information acquisition module collects future meteorological data, including precipitation in the next 24 hours. The irrigation decision module has a preset future precipitation threshold. When the precipitation in the next 24 hours is greater than the future precipitation threshold, the generation and execution of the overall irrigation strategy and the real-time water replenishment strategy are stopped until 24 hours after the precipitation ends, the generation and execution of the overall irrigation strategy and the real-time water replenishment strategy are restarted.

[0017] On the other hand, the present invention also provides an automated control system for fruit tree irrigation, comprising the following steps: Collect soil texture information, initial soil moisture information at different phenological stages of fruit trees, historical precipitation data, historical evaporation data, real-time soil moisture information, future meteorological data, and real-time soil electrical conductivity information of fruit tree planting sites. The collected information is processed, and the processed historical precipitation and evaporation data of the planting area are matched with the phenological stages of the fruit trees to obtain the total historical precipitation and total historical evaporation corresponding to different phenological stages of the fruit trees in the planting area. Based on the difference between the initial soil moisture information and the optimal soil moisture for different phenological stages of the fruit trees, an overall irrigation strategy is generated by combining the historical total precipitation, historical total evaporation, and soil texture for the corresponding phenological stages. Outside the irrigation cycle of the overall irrigation strategy, the environmental stress level is determined based on the collected real-time soil moisture information and real-time soil conductivity information, and a real-time water replenishment strategy is generated based on the environmental stress level, soil texture of the planting site, and phenological stage of the fruit trees. The overall irrigation strategy and real-time water replenishment strategy are implemented using irrigation equipment deployed in the orchards.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. At the beginning of each phenological period, this invention generates a comprehensive plan covering the total irrigation volume, irrigation cycle, and single irrigation volume for that phenological period, based on the difference between initial soil moisture and the optimal target, historical climate patterns, and soil texture. This transforms irrigation activities from passive, high-frequency emergency responses to planned, rhythmic, and proactive supply. Water budgeting and allocation across the entire crop growth cycle optimizes water resource allocation over time, significantly improving water use efficiency and the overall operational efficiency of the irrigation system. Furthermore, outside the overall irrigation strategy cycle, this invention generates a real-time water replenishment strategy based on real-time monitoring parameters, compensating for any shortcomings in the overall irrigation strategy and preventing yield reduction caused by drought stress outside the overall irrigation strategy cycle. 2. When formulating an overall irrigation strategy, this invention is based on initial humidity during the phenological stage and long-term historical climate data (historical precipitation and evaporation), avoiding significant fluctuations in decision-making caused by a single accidental weather event or instantaneous sensor readings. Secondly, in the real-time water replenishment strategy, the system does not act solely based on a single soil moisture threshold, but rather constructs a multi-factor comprehensive judgment model: coupling and analyzing real-time soil moisture, salinity (conductivity), and the water sensitivity of fruit trees at their current phenological stage to jointly determine the final stress level, effectively avoiding incorrect irrigation due to distortion of a single data point. This greatly enhances the reliability and scientific rigor of the system when facing complex and variable field environments.

[0019] 3. This invention pre-sets different target parameters and management strategies based on the physiological needs of different phenological stages. During the highly sensitive period of fruit trees, a higher stress response level is adopted to ensure sufficient water supply; while during the low-sensitivity period, such as the ripening or dormancy period, soil moisture is allowed to fluctuate within a wider range, actively reducing the stress response level to enhance the drought resistance of fruit trees, promote fruit quality formation, or save water. This achieves differentiated irrigation synchronized with the physiological rhythm of fruit trees, ensuring yield formation during critical periods and inducing beneficial physiological responses during non-critical periods. Thus, while saving water, it comprehensively improves the growth benefits and fruit quality of fruit trees. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a functional block diagram of an automated control system and method for fruit tree irrigation provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a method for controlling pests and diseases in citrus seedlings based on a fogging system, provided in an embodiment of the present invention. Detailed Implementation

[0021] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] See Figure 1 As shown in the figure, an embodiment of the present invention proposes an automated control system for fruit tree irrigation, comprising: The information collection module is used to collect information on the area of ​​the fruit tree planting area, the number of fruit trees, soil texture, initial soil moisture information at different phenological stages of the fruit trees, historical precipitation data, historical meteorological data, real-time soil moisture information, future meteorological data, and real-time soil electrical conductivity information. The information storage module is used to store the planting area, number of fruit trees, soil texture information, historical soil moisture information, historical precipitation data, historical evaporation data, real-time soil moisture information, future meteorological data and real-time soil electrical conductivity information collected by the information collection module, as well as the specific time of the phenological period corresponding to different fruit tree varieties, fruit tree root depth, crop coefficient, optimal soil moisture and optimal soil salinity information. The information processing module is used to process the information collected by the information acquisition module, and retrieve the specific time of the phenological period corresponding to different fruit tree varieties, the root depth of the fruit trees, and the crop coefficient from the information storage module. Combined with the processed historical meteorological data, the total historical evaporation corresponding to different phenological periods of the fruit trees in the planting area is obtained. Then, the processed historical precipitation data of the planting area is matched with the phenological period of the fruit trees to obtain the total historical precipitation corresponding to different phenological periods of the fruit trees in the planting area. The irrigation decision module is used to generate an overall irrigation strategy based on the difference between the initial soil moisture information of fruit trees at different phenological stages obtained by the information acquisition module and the optimal soil moisture at different phenological stages, combined with the historical total precipitation, historical total evaporation and soil texture of the corresponding phenological stages. Outside the irrigation cycle of the overall irrigation strategy, the irrigation decision module determines the level of environmental stress based on the real-time soil moisture information and real-time soil conductivity information collected by the information acquisition module, and generates a real-time water replenishment strategy based on the level of environmental stress, soil texture of the planting site and phenological stage of the fruit trees. The irrigation execution module is used to deploy irrigation equipment in the fruit tree planting area to execute the irrigation decisions generated by the irrigation decision module.

[0023] Specifically, the information acquisition module obtains soil moisture information through a pre-embedded soil moisture sensor; historical precipitation data and historical meteorological data are obtained by applying for long-term historical meteorological data from meteorological stations in the orchard location through officially authorized platforms such as the China Meteorological Data Network and the National Earth System Science Data Center; future meteorological data is automatically obtained by accessing the meteorological forecast API interface to obtain refined forecast data such as future precipitation and temperature in the orchard location; soil electrical conductivity information is detected by a pre-embedded soil electrical conductivity (EC) sensor; soil texture information is obtained by collecting soil samples in the orchard according to grids or representative points, analyzing the percentage content of clay, silt, and sand in the samples using standard methods such as the pipette method, and determining the specific texture according to the International Soil Texture Classification Table.

[0024] Specifically, the specific time, root depth, crop coefficient, optimal soil moisture, and optimal soil salinity information corresponding to different phenological stages of different fruit trees are existing technologies and can be obtained by searching relevant books or contacting local agricultural technology departments.

[0025] Specifically, the information processing module is used for: The system receives raw data packets from the information acquisition module and converts data from different sources (such as sensor serial port data, JSON data returned by APIs, and database query records) into a unified system standard time and numerical format. It then verifies whether the data is within a reasonable range (e.g., whether soil moisture is between 0-100% and whether precipitation is non-negative). All verified data is indexed with a unified local timestamp to ensure accurate time-based matching in subsequent processes.

[0026] Retrieve the general phenological calendar for this fruit tree variety in typical climate zones from the information storage module (e.g., for the "Red Fuji" apple in North China, the budding period is generally from March 15th to April 5th). For each historical year (the past 5 years), the system locates the start and end dates of the "apple tree budding period" within that year (e.g., March 18, 2019 - April 8, 2019). From the historical meteorological database, it extracts all daily precipitation and other meteorological data for this date range.

[0027] Based on the remaining meteorological data, the reference evapotranspiration ET0 for each day of the corresponding phenological period is calculated:

[0028] Where Δ is the slope of the saturated vapor pressure on that day, and R n Let be the net surface radiation of the day, G be the soil heat flux of the day (G=0), γ be the wet / dry surface constant of the day, T be the daily average temperature of the day, u2 be the wind speed at a height of 2 meters on the day, and e be the wind speed at a height of 2 meters on the day. s e is the saturated vapor pressure for that day.a This represents the actual water vapor pressure for that day; all parameters are included in the historical meteorological data collected by the information acquisition module.

[0029] Retrieve the planting area and crop coefficient from the information storage module, and combine them with the daily reference evapotranspiration ET0 for the corresponding phenological period to obtain the daily evaporation W1: W=Kc×ET0×A; where Kc is the crop coefficient and A is the planting area.

[0030] Add up all the daily precipitation and evaporation data collected to obtain the total precipitation and evaporation for this phenological period in that year. Calculate the average of the total precipitation and evaporation over the past 5 years as the historical total precipitation and historical total evaporation.

[0031] Specifically, the irrigation execution module includes, but is not limited to, water pumps, solenoid valves, water distribution networks, and irrigation emitters; the irrigation execution module receives irrigation strategies from the irrigation decision module on the cloud or local server via a wireless network (such as 4G / 5G, LoRa), and controls the solenoid valves according to the irrigation strategies to achieve precise execution of the irrigation strategies.

[0032] Understandably, at the beginning of each phenological period, this invention generates a comprehensive plan covering the total irrigation volume, irrigation cycle, and single irrigation volume for that phenological period, based on the difference between initial soil moisture and the optimal target, historical climate patterns, and soil texture. This transforms irrigation activities from passive, high-frequency emergency responses to planned, rhythmic proactive supply. Water budgeting and allocation across the entire crop growth cycle optimizes water resource allocation over time, significantly improving water use efficiency and the overall operational efficiency of the irrigation system. Furthermore, outside the overall irrigation strategy cycle, this invention generates real-time water replenishment strategies based on real-time monitoring parameters, compensating for any shortcomings in the overall irrigation strategy and preventing yield reduction caused by drought stress outside the overall irrigation strategy cycle. Understandably, the core basis for this invention in formulating the overall irrigation strategy is the initial humidity of the phenological stage and historical long-term climate data (historical precipitation and evaporation), avoiding significant fluctuations in decision-making caused by a single accidental weather event or instantaneous sensor readings. Secondly, in the real-time water replenishment strategy, the system does not act solely based on a single soil moisture threshold, but rather constructs a multi-factor comprehensive judgment model: coupling and analyzing real-time soil moisture, salinity (conductivity), and the water sensitivity of the fruit trees at the current phenological stage to jointly determine the final stress level, effectively avoiding incorrect irrigation due to distortion of a single data point. This greatly enhances the reliability and scientific rigor of the system when facing complex and variable field environments.

[0033] Understandably, this invention pre-sets different target parameters and management strategies based on the physiological needs of different phenological stages. During the highly sensitive period of fruit trees, a higher stress response level is adopted to ensure sufficient water supply; while during the low-sensitivity period, such as the ripening or dormancy period, soil moisture is allowed to fluctuate within a wider range, actively reducing the stress response level to enhance the drought resistance of fruit trees, promote fruit quality formation, or save water. This achieves differentiated irrigation synchronized with the physiological rhythm of fruit trees, ensuring yield formation during critical periods and inducing beneficial physiological responses during non-critical periods, thereby comprehensively improving the growth benefits and fruit quality of fruit trees while saving water.

[0034] In some specific embodiments of the present invention, the irrigation decision module is further configured to: receive the initial soil moisture of the fruit tree corresponding to the phenological period collected by the data acquisition module, retrieve the root depth and optimal soil moisture of the fruit tree corresponding to the fruit tree variety and phenological period from the information storage module, establish a water requirement model for the fruit tree, and obtain the theoretical irrigation amount for the phenological period.

[0035] In some specific embodiments of the present invention, when the irrigation decision module establishes the water requirement model for fruit trees: based on the difference between the initial soil moisture and the optimal soil moisture, the root depth corresponding to different varieties of fruit trees at different phenological stages, and the planting area, the total water requirement for the phenological stage is obtained, and the total water requirement is added to the total historical evaporation amount of the corresponding phenological stage to obtain the theoretical irrigation amount for the phenological stage.

[0036] Specifically, the steps for constructing a water requirement model for fruit trees are as follows: Calculate the total water requirement W2 for this phenological period: W2 = (θ1 - θ2) / 100 × D × A × 1000, where θ1 is the optimum soil moisture (%), θ2 is the initial soil moisture (%), D is the root depth (m), and A is the planting area (m²). 2 ).

[0037] Specifically, the optimal soil moisture is obtained by reducing the range of suitable soil moisture for different fruit trees at different phenological stages, and taking the middle value of the suitable soil moisture range as the optimal soil moisture. For example, the suitable soil moisture range for apple trees during the budding stage is 60%-70%, so 65% is selected as the optimal soil moisture.

[0038] It is understandable that (θ1-θ2) / 100 gives the percentage of the soil volume that needs to be replenished (in decimal form), then D×A gives the total soil volume that needs to be replenished (cubic meters), and then multiply by 1000 to convert the unit to liters.

[0039] In some specific embodiments of the present invention, the irrigation decision module is pre-set with a first difference threshold and a second difference threshold arranged in descending order of numerical values; the irrigation decision module is also pre-set with a first compensation coefficient, a second compensation coefficient, a third compensation coefficient and a fourth compensation coefficient arranged in descending order of numerical values, wherein the first compensation coefficient and the second compensation coefficient are greater than 1, and the third compensation coefficient and the fourth compensation coefficient are less than 1. The irrigation decision module is also used to calculate the absolute difference between the historical total precipitation and historical total evaporation for the corresponding phenological period, and to adjust the theoretical irrigation amount based on the absolute difference to obtain the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is less than the total historical evaporation and the absolute difference is greater than the first threshold, the product of the theoretical irrigation amount and the first compensation coefficient is taken as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is less than the total historical evaporation, and the absolute difference is less than or equal to the first difference threshold but greater than the second difference threshold, the product of the theoretical irrigation amount and the second compensation coefficient shall be used as the actual total irrigation amount for the corresponding phenological period. When the absolute difference is less than or equal to the second difference threshold, the theoretical irrigation amount is not adjusted, and the theoretical irrigation amount is directly used as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is greater than the total historical evaporation, and the absolute difference is less than or equal to the first difference threshold but greater than the second difference threshold, the product of the theoretical irrigation amount and the third compensation coefficient shall be used as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is greater than the total historical evaporation, and the absolute difference is greater than the first threshold, the product of the theoretical irrigation amount and the first four compensation coefficients is taken as the actual total irrigation amount for the corresponding phenological period.

[0040] Specifically, in the initial state of the system, the first difference threshold is 20mm, the second difference threshold is 5mm, the first compensation coefficient is 1.3, the second compensation coefficient is 1.15, the third compensation coefficient is 0.85, and the fourth compensation coefficient is 0.7. The first difference threshold, the second difference threshold, the first compensation coefficient, the second compensation coefficient, the third compensation coefficient, and the fourth compensation coefficient can be manually adjusted according to the actual situation in actual use.

[0041] Specifically, when the total historical precipitation is less than the total historical evaporation and the absolute difference is greater than 20 mm, the actual total irrigation amount is the theoretical irrigation amount × 1.3. When the total historical precipitation is less than the total historical evaporation, and 5 mm is less than the absolute difference and ≤ 20 mm, the actual total irrigation amount is the theoretical irrigation amount × 1.15. When the absolute difference is ≤5mm, the theoretical irrigation amount is not adjusted, and the theoretical irrigation amount is directly used as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is greater than the total historical evaporation, and 5 mm < the absolute difference ≤ 20 mm, the actual total irrigation amount is the theoretical irrigation amount × 1.85. When the total historical precipitation is greater than the total historical evaporation and the absolute difference is greater than 20 mm, the actual total irrigation amount is the theoretical irrigation amount × 0.7.

[0042] Understandably, setting 20 mm as the threshold for "significant" climate surplus or deficit is because, in agrometeorology, approximately 20 mm of precipitation is generally considered the lower limit of "effective precipitation," capable of substantially wetting the soil root zone. Therefore, when the difference between historical precipitation and evaporation exceeds this threshold, it signifies a clear deviation from climate equilibrium, requiring the system to make significant adjustments (using a coefficient of 1.3 or 0.7) to compensate for or utilize this significant climate trend. The 5 mm threshold, on the other hand, represents a light rain or a slight moisture deviation with a smaller impact. Setting this as the critical point for adjustment avoids overreacting to weak, insignificant climate fluctuations, thus maintaining the overall stability of the irrigation plan.

[0043] The corresponding compensation coefficients (1.3, 1.15, 0.85, 0.7) constitute an asymmetric but agronomically prioritized response gradient. For drought stress (using 1.3 and 1.15), the adjustment range is greater than for wet conditions (0.85 and 0.7), reflecting the conservative management principle of "prioritizing water replenishment, prioritizing drought prevention over flood prevention," as the immediate physiological damage to fruit trees caused by water deficit is usually greater than that caused by short-term water excess. Simultaneously, the non-linear scaling-up design, from 1.15 to 1.3 (an increase of approximately 13%) and from 0.85 to 0.7 (a decrease of approximately 18%), ensures that the system's irrigation adjustments are more decisive and sufficient when climate anomalies intensify, thus providing adequate water security during significant droughts and significantly conserving water resources during significantly wet conditions.

[0044] In some specific embodiments of the present invention, the irrigation decision module further presets a first interval time, a second interval time, and a third interval time parameter, wherein the first interval time parameter is greater than the second interval time parameter and the third interval time parameter; the irrigation decision module is also used to determine the irrigation time interval and the single irrigation amount for different phenological stages based on the soil texture of the planting area. When the soil in the planting area is sandy soil, the third time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. When the soil in the planting area is loam, the second time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. When the soil in the planting area is clay soil, the first time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. The irrigation decision module is also used to integrate the actual total irrigation amount, irrigation time interval, and single irrigation amount for the corresponding phenological period into the overall irrigation strategy for the corresponding phenological period of the fruit tree.

[0045] Specifically, in the initial state of the system, the first interval time parameter is 12 days, the second interval time parameter is 7 days, and the third interval time parameter is 3 days. In actual use, these parameters can be adjusted manually according to the actual situation.

[0046] Specifically, when the soil in the planting area is sandy soil, irrigation should begin on the first day of the phenological period and then be irrigated every 3 days. When the soil in the planting area is loamy, irrigation should begin on the first day of the phenological period and then be irrigated once every 7 days. When the soil in the planting area is clay soil, irrigation should begin on the first day of the phenological period, and then be irrigated once every 12 days.

[0047] It is understandable that sandy soil has low water retention capacity, so it needs to be irrigated in small amounts and frequently to maintain soil moisture; loam has moderate water retention capacity, and a cycle of once every 7 days can match its excellent water and fertilizer retention; clay soil has high water retention capacity, so the principle of "few times and sufficient amount" should be adopted to adapt to its slow infiltration rate and high water retention characteristics, and to prevent frequent irrigation from causing surface water accumulation.

[0048] In some specific embodiments of the present invention, when the irrigation decision module determines the environmental stress level based on the real-time soil moisture information and real-time soil conductivity information collected by the information acquisition module, and generates a real-time water replenishment strategy based on the environmental stress level, soil texture of the planting site, and phenological stage of the fruit trees, the irrigation decision module presets a lower limit threshold for soil moisture, and determines the basic environmental stress level based on the real-time soil moisture and the lower limit threshold for soil moisture: When the real-time soil moisture is greater than or equal to the lower limit threshold of soil moisture, the basic environmental stress level is determined to be Level 1. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is less than or equal to 3%, the basic environmental stress level at this time is determined to be level 2. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is greater than 3% but less than or equal to 6%, the basic environmental stress level at this time is determined to be level 3. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is greater than 6%, the basic environmental stress level at this time is determined to be level 4.

[0049] Specifically, the lower limit of soil moisture is the lower limit of the suitable soil moisture range obtained when determining the optimal soil moisture for the corresponding phenological stage of fruit trees. For example, the suitable soil moisture range for apple trees during the budding stage is 60%-70%, so 60% is chosen as the lower limit of soil moisture.

[0050] Specifically, when the real-time soil moisture is greater than or equal to the lower limit threshold of soil moisture, the basic environmental stress level at this time is determined to be level 1; When the real-time soil moisture is less than the lower limit of soil moisture, and the lower limit of soil moisture minus the real-time soil moisture is less than 3%, the basic environmental stress level is determined to be level 2. When the real-time soil moisture is less than the lower limit of soil moisture, and 3% is less than the lower limit of soil moisture minus the real-time soil moisture ≤ 6%, the basic environmental stress level is determined to be level 3. When the real-time soil moisture is less than the lower limit of soil moisture, and the difference between the lower limit of soil moisture and the real-time soil moisture is greater than 6%, the basic environmental stress level is determined to be level 4.

[0051] Understandably, setting 3% as the trigger point for mild stress (Level 2) provides a sensitive early warning of initial water deficits, facilitating preventative intervention before the stress causes substantial physiological damage. Conversely, setting 6% as the starting point for severe stress (Level 4) corresponds to a critical water deficit where fruit trees may experience significant growth stagnation or flower and fruit drop, forcing the system to implement adequate corrective irrigation. This tiered mechanism precisely matches irrigation decisions with the severity of stress, avoiding unnecessary irrigation and water waste under minor, self-regulating water fluctuations (≤3%) while ensuring a sufficient emergency response is activated under severe water shortages (>6%), thus achieving an optimal balance between protecting fruit tree health and optimizing water use efficiency.

[0052] In some specific embodiments of the present invention, the irrigation decision module is preset with an upper limit threshold for soil electrical conductivity, and the irrigation decision module is also used to adjust the basic environmental stress level based on the real-time soil electrical conductivity information: When the real-time soil electrical conductivity is less than or equal to 80% of the upper limit threshold of the soil electrical conductivity, the basic environmental stress level will not be adjusted. When the real-time soil electrical conductivity is greater than 80% of the upper limit threshold of soil electrical conductivity, but less than or equal to the upper limit threshold of soil electrical conductivity, the basic environmental stress level will be increased by 1 level, not exceeding 4 levels. When the real-time soil electrical conductivity is greater than the upper limit threshold of the soil electrical conductivity, the basic environmental stress level will be increased by 2 levels, not exceeding 4 levels. The irrigation decision module is also used to adjust the basic environmental stress level once, and then, based on the water sensitivity of different phenological stages of the fruit trees, mark all phenological stages of the fruit trees as high-sensitivity, medium-sensitivity, and low-sensitivity stages, and then adjust the basic environmental stress level a second time based on the marking of the corresponding phenological stage of the fruit trees when the stress occurs. When in a highly sensitive period, the basic environmental stress level will be raised by 1 level again, up to a maximum of 4 levels, and this level will be used as the environmental stress level. When the environment is in a moderately sensitive period, the basic environmental stress level will not be adjusted a second time, and the basic environmental stress level after the first adjustment will be used directly as the environmental stress level. When in a low-sensitivity period, the basic environmental stress level is reduced by 1 level, with a minimum of no less than 1 level, and this level is used as the environmental stress level. The irrigation decision module is also used to adjust the basic environmental stress level a second time, and then match the corresponding total water replenishment amount according to the environmental stress level: No water replenishment is required when the environmental stress level is 1. When the environmental stress level is level 2, the total amount of water replenishment is 30% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is level 3, the total amount of water replenishment is 65% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is 4, the total amount of water replenishment is the amount of a single irrigation in the overall irrigation strategy for the corresponding phenological period.

[0053] Specifically, the upper limit threshold of soil electrical conductivity is preset according to the different phenological stages of different fruit trees, and the marking of the corresponding phenological stages of the fruit trees is also preset according to different fruit trees.

[0054] Specifically, for common fruit trees such as apple, pear, grape, and peach, the suitable soil moisture range, upper limit threshold of soil electrical conductivity (EC) (dS / m), and water sensitivity at different phenological stages can be found in Table 1: Table 1. Reference Table of Common Fruit Tree Parameters

[0055] Specifically, an adjustment is made immediately after the basic environmental stress level is obtained: Let the real-time soil electrical conductivity be Ec1, and the upper limit threshold of soil electrical conductivity be Ec2; When Ec1 ≤ Ec2 × 0.8, the basic environmental stress level is not adjusted; When Ec2×0.8<Ec1≤Ec2, the basic environmental stress level is increased by 1 level, not exceeding 4 levels; When Ec1 > Ec2, the basic environmental stress level will be increased by 2 levels, with a maximum of 4 levels; After the first adjustment is completed, a second adjustment will be made based on the level after the first adjustment: When in a highly sensitive period, the basic environmental stress level will be raised by 1 level again, up to a maximum of 4 levels, and this level will be used as the environmental stress level. When the environment is in a moderately sensitive period, the basic environmental stress level will not be adjusted a second time, and the basic environmental stress level after the first adjustment will be used directly as the environmental stress level. When in a low-sensitivity period, the basic environmental stress level is reduced by 1 level, with a minimum of no less than 1 level, and this level is used as the environmental stress level. The second adjustment yields the environmental stress level, and then the water replenishment volume is matched according to the environmental stress level: No water replenishment is required when the environmental stress level is 1. When the environmental stress level is level 2, the total amount of water replenishment is 30% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is level 3, the total amount of water replenishment is 65% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is 4, the total amount of water replenishment is the amount of a single irrigation in the overall irrigation strategy for the corresponding phenological period.

[0056] Understandably, classifying salinity by setting 0.8 times and 1 times the upper limit threshold can maintain system stability when salinity accumulation has not yet reached a level of direct toxicity (Ec1≤0.8Ec2). However, when salinity significantly increases (Ec1>Ec2), the water stress level can be decisively increased by two levels to prioritize and fully respond to the more critical situation of synergistic salinity stress, preventing improper irrigation from exacerbating the root zone osmotic pressure crisis. Building on this, a secondary adjustment based on phenological stage sensitivity is introduced, embedding agronomic management logic: a "preventative" strategy is implemented during highly sensitive periods (such as flowering) to ensure water supply security by increasing the level; a "tolerance" strategy is implemented during low-sensitivity periods (such as late ripening) to train fruit tree resistance and conserve water by lowering the level. Ultimately, the model precisely matches the degree of compound stress with three quantified water replenishment levels of 30%, 65%, and 100%, ensuring that each intervention of the system possesses the triple scientific basis of comprehensive environmental assessment, physiological stage adaptation, and precise water quantity quantification. Thus, when dealing with complex field stresses, it can avoid both insufficient or excessive response and significantly improve the overall efficiency of water and salt management and the safety of fruit tree growth.

[0057] In some specific embodiments of the present invention, the irrigation decision module is preset with a baseline water replenishment duration, and the irrigation decision module is also used to adjust the water replenishment duration and frequency according to the soil texture of the planting area: When the soil texture of the planting site is loam, the benchmark watering duration shall be used as the watering duration, and a one-time watering shall be completed within 24 hours. When the soil texture of the planting site is sandy soil, 30% of the benchmark watering time shall be used as the watering time, and watering shall be carried out twice within 24 hours. When the soil texture of the planting site is clay soil, 150% of the benchmark watering time shall be used as the watering time, and a one-time watering shall be completed within 24 hours; The irrigation decision module is also used to integrate the total amount of water replenishment, the duration of water replenishment, and the frequency of water replenishment into a real-time water replenishment strategy.

[0058] Specifically, the initial baseline water replenishment for the system is 10 hours, which can be manually adjusted according to specific circumstances in actual applications.

[0059] Specifically, taking a baseline water replenishment of 10 hours as an example, when the soil texture of the planting site is clay soil, the water replenishment time is 3 hours. The 3 hours are divided into two 1.5-hour intervals, and the two water replenishment irrigations are completed within 24 hours after the real-time water replenishment strategy is generated.

[0060] Understandably, this invention sets a baseline execution mode for loamy soils, which have the widest adaptability. For sandy soils, a strategy of "30% of the baseline duration + two irrigations" effectively simulates the agronomic principle of "small amounts, multiple times," significantly improving water retention by shortening the duration of each irrigation and increasing the frequency to prevent water loss due to rapid infiltration. For clay soils, a strategy of "150% of the baseline duration + one-time completion" ensures sufficient time for irrigation water to infiltrate rather than form surface runoff by extending the duration and reducing the equivalent flow velocity. This design allows the same water volume decision to be translated into irrigation instructions that best match the water movement patterns in different soil textures, achieving optimal spatial distribution and temporal retention of water in the root zone, thereby significantly improving the accuracy, safety, and water resource utilization efficiency of irrigation at the system level.

[0061] Specifically, the process of generating the overall irrigation strategy described in this invention is as follows: on the first day of each phenological stage of the fruit tree, the soil moisture is detected in real time, and the initial soil moisture information of that phenological stage is used to generate the overall irrigation strategy for that phenological stage. The first irrigation of the overall irrigation strategy is carried out on the same day.

[0062] The process of generating the real-time water replenishment strategy is as follows: outside the irrigation cycle of the overall irrigation strategy, that is, during the interval between two irrigations, the soil moisture and soil conductivity are detected in real time to generate the real-time water replenishment strategy.

[0063] In some specific embodiments of the present invention, the information acquisition module collects future meteorological data, including precipitation in the next 24 hours. The irrigation decision module presets a future precipitation threshold. When the precipitation in the next 24 hours is greater than the future precipitation threshold, the generation and execution of the overall irrigation strategy and the real-time water replenishment strategy are stopped until 24 hours after the precipitation ends, the generation and execution of the overall irrigation strategy and the real-time water replenishment strategy are restarted.

[0064] Specifically, the future precipitation threshold is 50 mm. 50 mm is the general standard used by the national meteorological department for the "heavy rain" level (24-hour rainfall ≥ 50 mm). Setting it as the threshold means that the system will automatically suspend irrigation when the forecast reaches the heavy rain level, effectively avoiding the superposition of irrigation and natural precipitation, preventing water waste and problems such as waterlogging and nutrient loss caused by excessive soil moisture.

[0065] The present invention also provides a method for automated control of fruit tree irrigation, comprising the following steps: Collect soil texture information, initial soil moisture information at different phenological stages of fruit trees, historical precipitation data, historical evaporation data, real-time soil moisture information, future meteorological data, and real-time soil electrical conductivity information of fruit tree planting sites. The collected information is processed, and the processed historical precipitation and evaporation data of the planting area are matched with the phenological stages of the fruit trees to obtain the total historical precipitation and total historical evaporation corresponding to different phenological stages of the fruit trees in the planting area. Based on the difference between the initial soil moisture information and the optimal soil moisture for different phenological stages of the fruit trees, an overall irrigation strategy is generated by combining the historical total precipitation, historical total evaporation, and soil texture for the corresponding phenological stages. Outside the irrigation cycle of the overall irrigation strategy, the environmental stress level is determined based on the collected real-time soil moisture information and real-time soil conductivity information, and a real-time water replenishment strategy is generated based on the environmental stress level, soil texture of the planting site, and phenological stage of the fruit trees. The overall irrigation strategy and real-time water replenishment strategy are implemented using irrigation equipment deployed in the orchards.

[0066] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0068] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An automated control system for fruit tree irrigation, characterized in that, include: The information collection module is used to collect information on the area of ​​the fruit tree planting area, the number of fruit trees, soil texture, initial soil moisture information at different phenological stages of the fruit trees, historical precipitation data, historical meteorological data, real-time soil moisture information, future meteorological data, and real-time soil electrical conductivity information. The information storage module is used to store the planting area, number of fruit trees, soil texture information, historical soil moisture information, historical precipitation data, historical evaporation data, real-time soil moisture information, future meteorological data and real-time soil electrical conductivity information collected by the information collection module, as well as the specific time of the phenological period corresponding to different fruit tree varieties, fruit tree root depth, crop coefficient, optimal soil moisture and optimal soil salinity information. The information processing module is used to process the information collected by the information acquisition module, and retrieve the specific time of the phenological period corresponding to different fruit tree varieties, the root depth of the fruit trees, and the crop coefficient from the information storage module. Combined with the processed historical meteorological data, the total historical evaporation corresponding to different phenological periods of the fruit trees in the planting area is obtained. Then, the processed historical precipitation data of the planting area is matched with the phenological period of the fruit trees to obtain the total historical precipitation corresponding to different phenological periods of the fruit trees in the planting area. The irrigation decision module is used to generate an overall irrigation strategy based on the difference between the initial soil moisture information of fruit trees at different phenological stages obtained by the information acquisition module and the optimal soil moisture at different phenological stages, combined with the historical total precipitation, historical total evaporation and soil texture of the corresponding phenological stages. Outside the irrigation cycle of the overall irrigation strategy, the irrigation decision module determines the level of environmental stress based on the real-time soil moisture information and real-time soil conductivity information collected by the information acquisition module, and generates a real-time water replenishment strategy based on the level of environmental stress, soil texture of the planting site and phenological stage of the fruit trees. The irrigation execution module is used to deploy irrigation equipment in the fruit tree planting area to execute the irrigation decisions generated by the irrigation decision module.

2. The automated control system for fruit tree irrigation according to claim 1, characterized in that, The irrigation decision module is also used to: receive the initial soil moisture of the corresponding phenological stage of the fruit tree collected by the data acquisition module, retrieve the root depth and optimal soil moisture of the corresponding fruit tree variety and phenological stage from the information storage module, establish a water requirement model for the fruit tree, and obtain the theoretical irrigation amount for the phenological stage.

3. The automated control system for fruit tree irrigation according to claim 2, characterized in that, When the irrigation decision module establishes the water requirement model for fruit trees: based on the difference between the initial soil moisture and the optimal soil moisture, the root depth of different varieties of fruit trees at different phenological stages, and the planting area, the total water requirement for that phenological stage is obtained. The total water requirement is then added to the total historical evaporation for the corresponding phenological stage to obtain the theoretical irrigation amount for that phenological stage.

4. The automated control system for fruit tree irrigation according to claim 3, characterized in that, The irrigation decision module is arranged in descending order of numerical values ​​and has a first difference threshold and a second difference threshold. The irrigation decision module is also arranged in descending order of numerical values ​​and has a first compensation coefficient, a second compensation coefficient, a third compensation coefficient and a fourth compensation coefficient. The first compensation coefficient and the second compensation coefficient are greater than 1, and the third compensation coefficient and the fourth compensation coefficient are less than 1. The irrigation decision module is also used to calculate the absolute difference between the historical total precipitation and historical total evaporation for the corresponding phenological period, and to adjust the theoretical irrigation amount based on the absolute difference to obtain the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is less than the total historical evaporation and the absolute difference is greater than the first difference threshold, the product of the theoretical irrigation amount and the first compensation coefficient is taken as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is less than the total historical evaporation, and the absolute difference is less than or equal to the first difference threshold but greater than the second difference threshold, the product of the theoretical irrigation amount and the second compensation coefficient shall be used as the actual total irrigation amount for the corresponding phenological period. When the absolute difference is less than or equal to the second difference threshold, the theoretical irrigation amount is not adjusted, and the theoretical irrigation amount is directly used as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is greater than the total historical evaporation, and the absolute difference is less than or equal to the first difference threshold but greater than the second difference threshold, the product of the theoretical irrigation amount and the third compensation coefficient shall be used as the actual total irrigation amount for the corresponding phenological period. When the total historical precipitation is greater than the total historical evaporation, and the absolute difference is greater than the first difference threshold, the product of the theoretical irrigation amount and the fourth compensation coefficient is taken as the actual total irrigation amount for the corresponding phenological period.

5. The automated control system for fruit tree irrigation according to claim 4, characterized in that, The irrigation decision module also presets a first interval time, a second interval time, and a third interval time parameter, wherein the first interval time parameter is greater than the second interval time parameter, which is greater than the third interval time parameter; the irrigation decision module is also used to determine the irrigation time interval and single irrigation amount for different phenological stages based on the soil texture of the planting area. When the soil in the planting area is sandy soil, the third time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. When the soil in the planting area is loam, the second time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. When the soil in the planting area is clay soil, the first time interval parameter is used as the irrigation time interval for the corresponding phenological period. Based on the duration of the corresponding phenological period, the number of irrigations is obtained. Then, based on the quotient of the actual total irrigation amount and the number of irrigations, the amount of irrigation per irrigation is obtained. The irrigation decision module is also used to integrate the actual total irrigation amount, irrigation time interval, and single irrigation amount for the corresponding phenological period into the overall irrigation strategy for the corresponding phenological period of the fruit tree.

6. The automated control system for fruit tree irrigation according to claim 5, characterized in that, The irrigation decision module determines the environmental stress level based on the real-time soil moisture and real-time soil conductivity information collected by the information acquisition module. When generating a real-time water replenishment strategy based on the environmental stress level, soil texture, and fruit tree phenological stage, the irrigation decision module presets a lower soil moisture threshold and determines the basic environmental stress level based on the real-time soil moisture and the lower soil moisture threshold. When the real-time soil moisture is greater than or equal to the lower limit threshold of soil moisture, the basic environmental stress level is determined to be Level 1. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is less than or equal to 3%, the basic environmental stress level at this time is determined to be level 2. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is greater than 3% but less than or equal to 6%, the basic environmental stress level at this time is determined to be level 3. When the real-time soil moisture is less than the lower limit threshold of soil moisture, and the difference between the lower limit threshold of soil moisture and the real-time soil moisture is greater than 6%, the basic environmental stress level at this time is determined to be level 4.

7. The automated control system for fruit tree irrigation according to claim 6, characterized in that, The irrigation decision module has a preset upper limit threshold for soil electrical conductivity. The irrigation decision module is also used to adjust the basic environmental stress level based on the real-time soil electrical conductivity information. When the real-time soil electrical conductivity is less than or equal to 80% of the upper limit threshold of the soil electrical conductivity, the basic environmental stress level will not be adjusted. When the real-time soil electrical conductivity is greater than 80% of the upper limit threshold of soil electrical conductivity, but less than or equal to the upper limit threshold of soil electrical conductivity, the basic environmental stress level will be increased by 1 level, not exceeding 4 levels. When the real-time soil electrical conductivity is greater than the upper limit threshold of the soil electrical conductivity, the basic environmental stress level will be increased by 2 levels, not exceeding 4 levels. The irrigation decision module is also used to adjust the basic environmental stress level once, and then, based on the water sensitivity of different phenological stages of the fruit trees, mark all phenological stages of the fruit trees as high-sensitivity, medium-sensitivity, and low-sensitivity stages, and then adjust the basic environmental stress level a second time based on the marking of the corresponding phenological stage of the fruit trees when the stress occurs. When in a highly sensitive period, the basic environmental stress level will be raised by 1 level again, up to a maximum of 4 levels, and this level will be used as the environmental stress level. When the environment is in a moderately sensitive period, the basic environmental stress level will not be adjusted a second time, and the basic environmental stress level after the first adjustment will be used directly as the environmental stress level. When in a low-sensitivity period, the basic environmental stress level is reduced by 1 level, with a minimum of no less than 1 level, and this level is used as the environmental stress level. The irrigation decision module is also used to adjust the basic environmental stress level a second time, and then match the corresponding total water replenishment amount according to the environmental stress level: No water replenishment is required when the environmental stress level is 1. When the environmental stress level is level 2, the total amount of water replenishment is 30% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is level 3, the total amount of water replenishment is 65% of the single irrigation amount in the overall irrigation strategy for the corresponding phenological period; When the environmental stress level is 4, the total amount of water replenishment is the amount of a single irrigation in the overall irrigation strategy for the corresponding phenological period.

8. The automated control system for fruit tree irrigation according to claim 7, characterized in that, The irrigation decision module has a preset baseline water replenishment duration, and it is also used to adjust the water replenishment duration and frequency according to the soil texture of the planting area. When the soil texture of the planting site is loam, the benchmark watering duration shall be used as the watering duration, and a one-time watering shall be completed within 24 hours. When the soil texture of the planting site is sandy soil, 30% of the benchmark watering time shall be used as the watering time, and watering shall be carried out twice within 24 hours. When the soil texture of the planting site is clay soil, 150% of the benchmark watering time shall be used as the watering time, and a one-time watering shall be completed within 24 hours.

9. The automated control system for fruit tree irrigation according to claim 8, characterized in that, The information acquisition module collects future meteorological data, including precipitation in the next 24 hours. The irrigation decision module has a preset future precipitation threshold. When the precipitation in the next 24 hours is greater than the future precipitation threshold, the generation and execution of the overall irrigation strategy and the real-time water replenishment strategy are stopped until 24 hours after the precipitation ends.

10. A method for automated control of fruit tree irrigation, characterized in that, A control method for executing the automated control system for fruit tree irrigation according to any one of claims 1-9 includes the following steps: Collect soil texture information, initial soil moisture information at different phenological stages of fruit trees, historical precipitation data, historical evaporation data, real-time soil moisture information, future meteorological data, and real-time soil electrical conductivity information of fruit tree planting sites. The collected information is processed, and the processed historical precipitation and evaporation data of the planting area are matched with the phenological stages of the fruit trees to obtain the total historical precipitation and total historical evaporation corresponding to different phenological stages of the fruit trees in the planting area. Based on the difference between the initial soil moisture information and the optimal soil moisture for different phenological stages of the fruit trees, an overall irrigation strategy is generated by combining the historical total precipitation, historical total evaporation, and soil texture for the corresponding phenological stages. Outside the irrigation cycle of the overall irrigation strategy, the environmental stress level is determined based on the collected real-time soil moisture information and real-time soil conductivity information, and a real-time water replenishment strategy is generated based on the environmental stress level, soil texture of the planting site, and phenological stage of the fruit trees. The overall irrigation strategy and real-time water replenishment strategy are implemented using irrigation equipment deployed in the orchards.

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