Decision-making Method, System and Equipment for Cluster Irrigation Operation of Sprinkler Irrigation Units in Unmanned Farms

Abstract

The object of the present invention is to provide a decision-making method, system and device for cluster irrigation operation of unmanned farm sprinkler units, which relate to the fields of agricultural information measurement and agricultural irrigation technology. The method includes: dividing the current variable irrigation management unit into multiple management blocks based on the shape and size of the minimum management block; determining the expected irrigation water volume of all management blocks in the current variable irrigation management unit based on the management block division map, the canopy temperature spatial distribution map and the vegetation index spatial distribution map; controlling the current sprinkler unit to complete irrigation according to the expected irrigation water volume of each management block in the current variable irrigation management unit, so as to complete the irrigation control of the to-be-irrigated unmanned farm. The present invention determines the expected irrigation water volume of each different management block based on the management block division map, the canopy temperature spatial distribution map and the vegetation index spatial distribution map, and can perform automatic irrigation operation on the unmanned farm, improving the automation level of the cluster irrigation operation of the sprinkler unit.

Description

Technical Field

[0001] The present invention relates to the field of agricultural information determination and agricultural irrigation technology, and in particular to a method, system and equipment for making decisions on cluster irrigation operations of unmanned farm sprinkler irrigation units. Background Art

[0002] National food security and agricultural modernization have promoted the efficient, intensive and economical use of agricultural water and soil resources, and unmanned farms are quietly emerging. As the main technical path to increase grain production and income in the future, various intelligent agricultural machinery such as precision sowing, intercropping, mechanized harvesting loss reduction and drying are gradually maturing. Water management, as a relatively weak link in the whole process of "cultivation, management and harvesting", has great potential for increasing production. At present, variable irrigation technology represents the precise and intelligent development direction of sprinkler and micro-irrigation water-saving irrigation equipment, but its research results have only been applied to a single large sprinkler, and its development is still in the initial stage. The unmanned farm intelligent irrigation management platform currently developed generally only has real-time monitoring functions, and irrigation management still relies on experience judgment to manually remotely control the opening and closing status of the solenoid valve to execute the farm's rotation irrigation management, which is still a big gap from unmanned intelligent management. Summary of the invention

[0003] The purpose of the present invention is to provide a method, system and equipment for making decisions on cluster irrigation operations of sprinkler irrigation units in unmanned farms, which can automatically irrigate unmanned farms and improve the automation level of cluster irrigation operations of sprinkler irrigation units.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A decision method for cluster irrigation operations of unmanned farm sprinkler irrigation units, comprising:

[0006] The unmanned farm to be irrigated is divided into a plurality of variable irrigation management units; the variable irrigation management units are arranged in one-to-one correspondence with the plurality of sprinkler irrigation units in the sprinkler irrigation unit cluster;

[0007] Obtain soil water potential for multiple variable irrigation management units;

[0008] Determine the variable irrigation management unit whose soil water potential is lower than the lower limit of soil water potential as the unit to be irrigated;

[0009] Determine any unit to be irrigated as the current unit to be irrigated;

[0010] Determine that the sprinkler irrigation unit corresponding to the current unit to be irrigated is the current sprinkler irrigation unit;

[0011] Obtain the minimum management block of the current sprinkler group; the minimum management block is determined according to the equipment type and sprinkler range of the current sprinkler group;

[0012] Divide the current unit to be irrigated into multiple management blocks based on the shape and size of the minimum management block, and obtain the management block division map of the current unit to be irrigated;

[0013] Determine the canopy temperature spatial distribution map of the current unit to be irrigated according to the thermal imaging data;

[0014] Determine the vegetation index spatial distribution map of the current unit to be irrigated according to the multispectral data;

[0015] Determine the basic irrigation volume of the current unit to be irrigated;

[0016] Based on the basic irrigation volume, the management block division map, the canopy temperature spatial distribution map, and the vegetation index spatial distribution map, determine the desired irrigation volume of all management blocks in the current unit to be irrigated;

[0017] Control the current sprinkler irrigation unit to complete irrigation according to the desired irrigation volume of each management block in the current unit to be irrigated;

[0018] Update the current unit to be irrigated, and return to the step of "determining the sprinkler irrigation unit corresponding to the current unit to be irrigated as the current sprinkler irrigation unit" until the unit to be irrigated is traversed, and complete the irrigation control of the unmanned farm to be irrigated.

[0019] Optionally, based on the basic irrigation volume, the management block division map, the canopy temperature spatial distribution map, and the vegetation index spatial distribution map, determining the desired irrigation volume of all management blocks in the current unit to be irrigated includes:

[0020] Overlay the canopy temperature spatial distribution map on the management block division map to determine the average canopy temperature of each management block;

[0021] Determine the moisture deficit degree index value of each management block according to the average canopy temperature;

[0022] Overlay the vegetation index spatial distribution map on the management block division map to determine the average vegetation index OSAVI value of each management block;

[0023] Perform k-means clustering on the management blocks in the current unit to be irrigated according to the moisture deficit degree index value and the average vegetation index OSAVI value, and obtain multiple clusters;

[0024] Determine any cluster as the current cluster;

[0025] Determine the product of the basic irrigation volume and the clustering center of the moisture deficit degree index value in the current cluster as the desired irrigation volume of all management blocks in the current cluster;

[0026] Update the current cluster, and return to the step of "determining the product of the basic irrigation amount and the clustering center of the moisture deficit degree index value in the current cluster as the desired irrigation amount for all management blocks in the current cluster" until all clusters are traversed to obtain the desired irrigation amounts for all management blocks in the current unit to be irrigated.

[0027] Optionally, the basic irrigation amount is: I = K c ×ET0×d;

[0028] where, I is the basic irrigation amount; K c is the crop coefficient; d is the irrigation time interval; ET0 is the reference crop evapotranspiration;

[0029] where, Δ is the slope of the saturated vapor pressure curve; R n is the net radiation at the crop surface; G is the soil heat flux density; γ is the psychrometer constant; T is the daily average temperature at the preset height; u2 is the wind speed at the preset height; e s is the saturated vapor pressure; e a is the actual vapor pressure.

[0030] Optionally, the moisture deficit degree index value is:

[0031] The moisture deficit degree index value is:

[0032]

[0033] where, NRCT is the moisture deficit degree index value of the current management block; CT min is the average canopy temperature of the current management block; CT

[0034] A decision-making method for the cluster irrigation operation of a sprinkler irrigation unit in an unmanned farm, including:

[0035] A variable irrigation management unit division module, configured to divide the unmanned farm to be irrigated into multiple variable irrigation management units; the variable irrigation management units are set in one-to-one correspondence with multiple sprinkler irrigation units in the sprinkler irrigation unit cluster;

[0036] A soil water potential acquisition module, configured to acquire the soil water potential of multiple variable irrigation management units;

[0037] A unit to be irrigated determination module, configured to determine that the variable irrigation management unit with the soil water potential lower than the lower limit value of the soil water potential is the unit to be irrigated;

[0038] A current unit to be irrigated determination module, configured to determine any unit to be irrigated as the current unit to be irrigated;

[0039] The current sprinkler unit determination module is used to determine the sprinkler unit corresponding to the current irrigation unit to be irrigated as the current sprinkler unit;

[0040] The minimum management block acquisition module is used to acquire the minimum management block of the current sprinkler unit; the minimum management block is determined according to the equipment type and sprinkler range of the current sprinkler unit;

[0041] The management block division map determination module is used to divide the current irrigation unit to be irrigated into multiple management blocks based on the shape and size of the minimum management block, and obtain the management block division map of the current irrigation unit to be irrigated;

[0042] The canopy temperature spatial distribution map determination module is used to determine the canopy temperature spatial distribution map of the current irrigation unit to be irrigated according to the thermal imaging data;

[0043] The vegetation index spatial distribution map determination module is used to determine the vegetation index spatial distribution map of the current irrigation unit to be irrigated according to the multispectral data;

[0044] The basic irrigation water volume determination module is used to determine the basic irrigation water volume of the current irrigation unit to be irrigated;

[0045] The desired irrigation water volume determination module is used to determine the desired irrigation water volume of all management blocks in the current irrigation unit to be irrigated based on the basic irrigation water volume, the management block division map, the canopy temperature spatial distribution map, and the vegetation index spatial distribution map;

[0046] The irrigation module is used to control the current sprinkler unit to complete irrigation according to the desired irrigation water volume of each management block in the current irrigation unit to be irrigated;

[0047] The current irrigation unit to be updated module is used to update the current irrigation unit to be irrigated, and call the current sprinkler unit determination module until all the irrigation units to be irrigated are traversed, and the irrigation control of the unmanned farm to be irrigated is completed.

[0048] An electronic device includes a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the disclosed method for making irrigation operation decisions for a cluster of sprinkler units in an unmanned farm.

[0049] Optionally, the memory is a readable storage medium.

[0050] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0051] The object of the present invention is to provide a decision-making method, system and equipment for cluster irrigation operation of sprinkler irrigation units in an unmanned farm, which divides the to-be-irrigated unmanned farm into multiple variable irrigation management units; based on the shape and size of the minimum management block, divides the current variable irrigation management unit into multiple management blocks; based on the management block division map, the canopy temperature spatial distribution map and the vegetation index spatial distribution map, determines the expected irrigation water volume of all management blocks in the current variable irrigation management unit; controls the current sprinkler irrigation unit to complete irrigation according to the expected irrigation water volume of each management block in the current variable irrigation management unit, and then completes the irrigation control of the to-be-irrigated unmanned farm, can automatically irrigate the unmanned farm, and improves the automation level of the cluster irrigation operation of the sprinkler irrigation units. Brief Description of the Drawings

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 It is the flowchart of the decision-making method for cluster irrigation operation of sprinkler irrigation units in an unmanned farm in Embodiment 1 of the present invention. Detailed Embodiments

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0055] The object of the present invention is to provide a decision-making method, system and equipment for cluster irrigation operation of sprinkler irrigation units in an unmanned farm, which can automatically irrigate the unmanned farm and improves the automation level of the cluster irrigation operation of the sprinkler irrigation units.

[0056] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0057] Embodiment 1

[0058] As Figure 1 shown, this embodiment provides a decision-making method for cluster irrigation operation of sprinkler irrigation units in an unmanned farm, including:

[0059] Step 101: Divide the to-be-irrigated unmanned farm into multiple variable irrigation management units. The variable irrigation management units are set in one-to-one correspondence with multiple sprinkler irrigation unit clusters.

[0060] Step 102: Obtain the soil water potential of multiple variable irrigation management units.

[0061] Step 103: Determine that the variable irrigation management unit with the soil water potential lower than the lower limit value of the soil water potential is the to-be-irrigated unit.

[0062] Step 104: Determine any to-be-irrigated unit as the current to-be-irrigated unit.

[0063] Step 105: Determine the sprinkler irrigation unit corresponding to the current to-be-irrigated unit as the current sprinkler irrigation unit.

[0064] Step 106: Obtain the minimum management block of the current sprinkler irrigation unit. The minimum management block is determined according to the equipment type and sprinkler range of the current sprinkler irrigation unit.

[0065] Step 107: Based on the shape and size of the minimum management block, divide the current to-be-irrigated unit into multiple management blocks to obtain the management block division map of the current to-be-irrigated unit.

[0066] Step 108: Determine the canopy temperature spatial distribution map of the current to-be-irrigated unit according to the thermal imaging data.

[0067] Step 109: Determine the vegetation index spatial distribution map of the current to-be-irrigated unit according to the multispectral data.

[0068] Step 1010: Determine the basic irrigation amount of the current to-be-irrigated unit.

[0069] Step 1011: Based on the basic irrigation amount, management block division map, canopy temperature spatial distribution map, and vegetation index spatial distribution map, determine the expected irrigation amounts of all management blocks in the current to-be-irrigated unit.

[0070] Step 1012: Control the current sprinkler irrigation unit to complete irrigation according to the expected irrigation amounts of each management block in the current to-be-irrigated unit.

[0071] Step 1013: Update the current to-be-irrigated unit and return to Step 105 until all to-be-irrigated units are traversed to complete the irrigation control of the to-be-irrigated unmanned farm.

[0072] Step 1011 includes:

[0073] Step 1011-1: Overlay the canopy temperature spatial distribution map on the management block division map to determine the average canopy temperature of each management block.

[0074] Step 1011-2: Determine the moisture deficit degree index value of each management block according to the average canopy temperature.

[0075] Step 1011-3: Overlay the spatial distribution map of the vegetation index on the management block division map to determine the average vegetation index OSAVI value of each management block.

[0076] Step 1011-4: Perform k-means clustering on the management blocks in the current irrigation unit to be irrigated according to the moisture deficit degree index value and the average vegetation index OSAVI value, and obtain multiple clusters.

[0077] Step 1011-5: Determine any cluster as the current cluster.

[0078] Step 1011-6: Determine the product of the basic irrigation amount and the clustering center of the moisture deficit degree index value in the current cluster as the expected irrigation amount of all management blocks in the current cluster.

[0079] Step 1011-7: Update the current cluster, and return to Step 1011-6 until all clusters are traversed to obtain the expected irrigation amounts of all management blocks in the current irrigation unit to be irrigated.

[0080] Among them, the basic irrigation amount is: I = K c ×ET0×d.

[0081] Among them, I is the basic irrigation amount. K c is the crop coefficient. d is the irrigation time interval. ET0 is the reference crop evapotranspiration.

[0082] Among them, Δ is the slope of the saturated vapor pressure curve. R n is the net radiation on the crop surface. G is the soil heat flux density. γ is the psychrometer constant. T is the daily average temperature at the preset height. u2 is the wind speed at the preset height. e s is the saturated vapor pressure. e a is the actual vapor pressure.

[0083] Specifically, the moisture deficit degree index value is:

[0084]

[0085] Among them, NRCT is the moisture deficit degree index value of the current management block; CT is the average canopy temperature of the current management block; CT min is the lowest average canopy temperature of the current irrigation unit to be irrigated.

[0086] The following specifically describes the cluster irrigation operation decision method for the sprinkler irrigation unit cluster provided in this embodiment. This embodiment includes:

[0087] First step, divide the variable irrigation management units. According to the controlled area of a single sprinkler irrigation unit, the farm is divided into n variable irrigation management units, where n is the number of sprinkler irrigation units equipped on the farm. The sprinkler irrigation units can be various types of sprinkler irrigation systems such as center pivot irrigation machines, lateral move irrigation machines, reel irrigation machines, fixed / semi-fixed sprinkler irrigation, or telescopic sprinkler irrigation.

[0088] Second step, install soil water potential sensors. Wireless soil water potential sensors are installed in the n management units respectively to determine the irrigation time in each management unit. The soil water potential sensors have the advantage of being applicable to various types of soils. Without considering the spatial variation of soil water holding capacity, the sensors can be randomly arranged in the field. Considering the manufacturing deviation of the sensors, it is recommended to deploy about 3 sensors as replicates in each management unit. For different crop types, different lower limit values of soil water potential need to be set.

[0089] Third step, in the irrigation management unit controlled by a single sprinkler irrigation unit, if the traditional uniform irrigation management method is still adopted and variable irrigation management is achieved by formulating a reasonable rotation irrigation sequence and irrigation water volume on the farm, then the rotation irrigation sequence of the sprinkler irrigation unit clusters on the farm needs to be arranged according to the arrival time of the lower limit value of soil water potential in different irrigation management units. The irrigation water volume of each management unit is calculated using formulas (8) and (9). In the irrigation management unit controlled by a single sprinkler irrigation unit, if the variable irrigation management method is adopted, then the minimum management block in the variable irrigation management unit needs to be divided. In a single sprinkler irrigation unit, the minimum management block of variable irrigation is related to factors such as the type of sprinkler irrigation equipment and the nozzle range of the sprinkler irrigation equipment.

[0090] (1) For a single center pivot sprinkler irrigation unit, if variable irrigation is achieved by jointly regulating the traveling speed of the irrigation machine and the solenoid valve pulse period, according to the patent "A method and system for generating a variable irrigation prescription map of a large-scale sprinkler irrigation machine", the minimum management block is n×k fan-shaped rings. If variable irrigation is achieved only by regulating the traveling speed of the irrigation machine, then the minimum management block is k sectors. Where:

[0091] n = ROUNDDOWN(m / d, 0) (1).

[0092] k = ROUNDDOWN(α / θ, 0) (2).

[0093]

[0094] Wherein, m is the total number of nozzles installed on the sprinkler irrigation machine. d is the minimum unit size of the management block along the direction of the sprinkler irrigation machine truss. For R3000 nozzles, d = 6s; for D3000 nozzles, d = 4s, where s is the nozzle spacing. θ is the minimum angle of the variable irrigation management block along the walking direction of the sprinkler irrigation machine. α is the walking angle corresponding to the control area of the sprinkler irrigation machine. r is the spraying radius of the largest nozzle, and L is the distance from the nozzle at the farthest end from the center pivot to the center pivot; ROUNDDOWN(*, *) represents rounding down.

[0095] (2) For a single moving sprinkler irrigation unit, if variable irrigation is achieved by jointly regulating the walking speed of the sprinkler irrigation machine and the solenoid valve pulse period, the minimum management block is n×p small rectangles. If variable irrigation is achieved only by regulating the walking speed of the sprinkler irrigation machine, the minimum management block is p large rectangles. Wherein:

[0096] p = D / R (4).

[0097] Wherein, D is the length of the control plot of the sprinkler irrigation machine. R is the spraying diameter of the nozzle.

[0098] (3) For a single reel-type sprinkler irrigation unit, variable irrigation is achieved by adjusting the walking speed of the sprinkler irrigation unit. The minimum management block can be v×w small squares or w large rectangles. Wherein:

[0099] v = S / R (5).

[0100] w = W / R (6).

[0101] Wherein, S is the length of the control plot in the walking direction of the sprinkler irrigation machine. W is the width of the control plot of the sprinkler irrigation machine.

[0102] (4) For fixed / semi-fixed sprinkler irrigation and telescopic sprinkler irrigation systems, the minimum management block is the control area of the rotation irrigation group divided during system design, and variable irrigation management is achieved by changing the opening time of the nozzles within each minimum management block.

[0103] Fourth step, obtain the spatial distribution map of crop canopy information. When the soil water potential of a certain management unit reaches the set lower limit value of the soil water potential, fly the unmanned aerial vehicle thermal imaging system within the time period from 11:00 to 15:00, and fly the unmanned aerial vehicle multispectral system within the time period from 8:00 to 14:00. After mosaicking, generate the spectral planar distribution map of this management unit. First, calculate the sum S of the red, green, and blue band values of the thermal imaging camera RGB , and then calculate the canopy temperature using the linear equation between the canopy temperature and S RGB , and generate the planar distribution map of the canopy temperature. Then, calculate the vegetation index OSAVI value based on the multispectral information and generate the spatial distribution map of the vegetation index.

[0104] OSAVI = (1 + 0.16)(NIR - R) / (NIR + R + 0.16) (7).

[0105] Where: NIR is the reflectance of ground objects in the near-infrared band. R is the reflectance of ground objects in the red band.

[0106] Step 5, calculate the basic irrigation amount. Based on the Penman-Monteith equation and the crop coefficient, calculate the crop water consumption within d days of the two irrigation time intervals as the basic irrigation amount I during variable irrigation management.

[0107] I = K c × ET0 × d (8)

[0108] Where, I is the basic irrigation amount, mm. K c is the crop coefficient, adopting the recommended value of FAO-56. ET0 is the reference crop evapotranspiration, mm / d, calculated using the Penman-Monteith formula recommended by FAO-56:

[0109]

[0110] Where, R n is the net radiation on the crop surface, MJ / m 2 d. G is the soil heat flux density, MJ / m 2 d. T is the daily average air temperature at 2 m height, °C. u2 is the wind speed at 2 m, m / s. e s is the saturation vapor pressure, kPa. e a is the actual vapor pressure, kPa. e s - e a is the saturation vapor pressure deficit, kPa. Δ is the slope of the saturation vapor pressure curve. γ is the psychrometer constant.

[0111] Step 6, conduct management zoning and generate a variable irrigation regime. Take the minimum management block diagram divided in Step 3 as the base map, overlay the spatial distribution map of canopy temperature and the spatial distribution map of vegetation index according to the coordinate positions respectively, and calculate the average canopy temperature T and the average OSAVI value within each minimum management block. Based on the average canopy temperature T within each minimum management block, use the following formula to calculate the water deficit degree index value NRCT within each minimum management block.

[0112]

[0113] Where, CT is the average canopy temperature within each minimum management block, °C. CT max is the highest value of the average canopy temperature within the minimum management block, °C. CT min is the lowest value of the average canopy temperature within the minimum management block, °C.

[0114] The water deficit index value NRCT and the average vegetation index OSAVI within each minimum management block are subjected to k-means clustering, and all the minimum management blocks are divided into i types (usually taking values from 2 to 7) of management areas. Based on the NRCT clustering center NRCT within each type of management area i , the irrigation water volume I within each type of management area is calculated according to the following formula i .

[0115] I i = NRCT i × I (11).

[0116] Example 2

[0117] In order to execute the method corresponding to the above Example 1 to achieve the corresponding functions and technical effects, the following provides a decision-making method for cluster irrigation operation of a sprinkler irrigation unit group in an unmanned farm, including:

[0118] A variable irrigation management unit division module, configured to divide the to-be-irrigated unmanned farm into multiple variable irrigation management units; the variable irrigation management units are respectively and correspondingly arranged with multiple sprinkler irrigation units in the sprinkler irrigation unit group;

[0119] A soil water potential acquisition module, configured to acquire the soil water potential of multiple variable irrigation management units;

[0120] A to-be-irrigated unit determination module, configured to determine the variable irrigation management unit with a soil water potential lower than the lower limit value of the soil water potential as the to-be-irrigated unit;

[0121] A current to-be-irrigated unit determination module, configured to determine any to-be-irrigated unit as the current to-be-irrigated unit;

[0122] A current sprinkler irrigation unit determination module, configured to determine the sprinkler irrigation unit corresponding to the current to-be-irrigated unit as the current sprinkler irrigation unit;

[0123] A minimum management block acquisition module, configured to acquire the minimum management block of the current sprinkler irrigation unit; the minimum management block is determined according to the equipment type and the nozzle range of the current sprinkler irrigation unit;

[0124] A management block division map determination module, configured to divide the current to-be-irrigated unit into multiple management blocks based on the shape and size of the minimum management block, and obtain the management block division map of the current to-be-irrigated unit;

[0125] A canopy temperature spatial distribution map determination module, configured to determine the canopy temperature spatial distribution map of the current to-be-irrigated unit according to the thermal imaging data;

[0126] A vegetation index spatial distribution map determination module, configured to determine the vegetation index spatial distribution map of the current to-be-irrigated unit according to the multispectral data;

[0127] The basic irrigation water volume determination module is used to determine the basic irrigation water volume of the current unit to be irrigated;

[0128] The desired irrigation water volume determination module is used to determine the desired irrigation water volume of all management blocks in the current unit to be irrigated based on the basic irrigation water volume, the management block division map, the canopy temperature spatial distribution map, and the vegetation index spatial distribution map;

[0129] The irrigation module is used to control the current sprinkler irrigation unit to complete irrigation according to the desired irrigation water volume of each management block in the current unit to be irrigated;

[0130] The current unit to be irrigated update module is used to update the current unit to be irrigated and call the current sprinkler irrigation unit determination module until the unit to be irrigated is traversed, and the irrigation control of the unmanned farm to be irrigated is completed.

[0131] Embodiment 3

[0132] This embodiment provides an electronic device, including a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the method for making a decision on the cluster irrigation operation of the sprinkler irrigation unit in Embodiment 1. Among them, the memory is a readable storage medium.

[0133] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0134] In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A decision-making method for cluster irrigation operations of unmanned farm sprinkler irrigation units, characterized in that: include: Divide the unmanned farm to be irrigated into multiple variable irrigation management units; The variable irrigation management unit is set in one-to-one correspondence with multiple sprinkler irrigation groups in the sprinkler irrigation group cluster; Obtain soil water potential for multiple variable irrigation management units; Determine the variable irrigation management unit whose soil water potential is lower than the lower limit of soil water potential as the unit to be irrigated; arrange the rotation order of the cluster of sprinkler irrigation units in the farm according to the arrival time of the lower limit of soil water potential of different variable irrigation management units; set different lower limits of soil water potential for different crop types; Determine any unit to be irrigated as the current unit to be irrigated; Determine the sprinkler irrigation unit corresponding to the current unit to be irrigated as the current sprinkler irrigation unit; Get the minimum management block of the current sprinkler group; the minimum management block is determined according to the equipment type and nozzle range of the current sprinkler group; the equipment type of the current sprinkler group is a circular sprinkler group, a translation sprinkler group, a reel sprinkler group, a fixed / semi-fixed sprinkler group or a telescopic sprinkler group; Based on the shape and size of the minimum management block, the current unit to be irrigated is divided into a plurality of management blocks to obtain a management block division diagram of the current unit to be irrigated; According to the thermal imaging data, the spatial distribution map of the canopy temperature of the unit to be irrigated is determined; Determine the spatial distribution map of vegetation index of the current unit to be irrigated based on multispectral data; Determine the basic irrigation amount of the current unit to be irrigated; Determine the expected irrigation amount of all management blocks in the current unit to be irrigated based on the basic irrigation amount, the management block division map, the canopy temperature spatial distribution map and the vegetation index spatial distribution map; According to the expected irrigation volume of each management block in the current irrigation unit, control the current sprinkler irrigation unit to complete irrigation; Update the current unit to be irrigated, and return to the step of "determining that the sprinkler unit corresponding to the current unit to be irrigated is the current sprinkler unit" until the units to be irrigated are traversed to complete the irrigation control of the unmanned farm to be irrigated; Based on the basic irrigation amount, the management block division map, the canopy temperature spatial distribution map and the vegetation index spatial distribution map, the expected irrigation amount of all management blocks in the current unit to be irrigated is determined, including: The spatial distribution map of canopy temperature was superimposed on the management block division map to determine the average canopy temperature of each management block; Determining a water deficit index value for each management block according to the average canopy temperature; The spatial distribution map of vegetation index is superimposed on the management block division map to determine the average vegetation index OSAVI value of each management block; Performing k-means clustering processing on the management blocks in the current irrigation unit according to the water deficit index value and the average vegetation index OSAVI value to obtain multiple clusters; Determine any cluster as the current cluster; Determine the product of the basic irrigation amount and the cluster center of the water deficit index value in the current cluster as the expected irrigation amount for all management blocks in the current cluster; Update the current cluster and return to step "determine the product of the basic irrigation amount and the cluster center of the water deficit index value in the current cluster as the expected irrigation amount of all management blocks in the current cluster" until all clusters are traversed to obtain the expected irrigation amount of all management blocks in the current irrigation unit.

2. The unmanned farm sprinkler cluster irrigation operation decision method according to claim 1 is characterized in that: The basic irrigation volume is: I = K c × ET 0× d ; in, I The amount of basic irrigation; K c is the crop coefficient; d The watering interval; ET 0 is the reference crop evapotranspiration; ； Where Δ is the slope of the saturated water vapor pressure curve; R n is the net radiation on the crop surface; G is the soil heat flux density; γ is the hygrometer constant; T is the average daily temperature at the preset altitude; u 2 is the wind speed at the preset height; e s is the saturated water vapor pressure; e a is the actual water vapor pressure.

3. An unmanned farm sprinkler cluster irrigation operation decision system, characterized in that: include: A variable irrigation management unit division module is used to divide the unmanned farm to be irrigated into multiple variable irrigation management units; The variable irrigation management unit is set in one-to-one correspondence with multiple sprinkler irrigation groups in the sprinkler irrigation group cluster; A soil water potential acquisition module is used to obtain the soil water potential of multiple variable irrigation management units; The module for determining the unit to be irrigated is used to determine the variable irrigation management unit whose soil water potential is lower than the lower limit of the soil water potential as the unit to be irrigated; the rotation order of the cluster of sprinkler irrigation units in the farm is arranged according to the arrival time of the lower limit of the soil water potential of different variable irrigation management units; different lower limits of soil water potential are set for different crop types; A current unit to be irrigated determining module is used to determine any unit to be irrigated as the current unit to be irrigated; The current sprinkler group determination module is used to determine the sprinkler group corresponding to the current unit to be irrigated as the current sprinkler group; The minimum management block acquisition module is used to obtain the minimum management block of the current sprinkler group; the minimum management block is determined according to the equipment type and nozzle range of the current sprinkler group; the equipment type of the current sprinkler group is a circular sprinkler group, a translation sprinkler group, a reel sprinkler group, a fixed / semi-fixed sprinkler group or a telescopic sprinkler group; A management block division map determination module is used to divide the current unit to be irrigated into multiple management blocks based on the shape and size of the minimum management block, and obtain a management block division map of the current unit to be irrigated; A canopy temperature spatial distribution map determination module is used to determine the canopy temperature spatial distribution map of the current unit to be irrigated based on thermal imaging data; A vegetation index spatial distribution map determination module is used to determine the vegetation index spatial distribution map of the current unit to be irrigated based on multispectral data; A basic irrigation volume determination module is used to determine the basic irrigation volume of the current unit to be irrigated; An expected irrigation amount determination module is used to determine the expected irrigation amount of all management blocks in the current unit to be irrigated based on the basic irrigation amount, the management block division map, the canopy temperature spatial distribution map and the vegetation index spatial distribution map; The irrigation module is used to control the current sprinkler unit to complete irrigation according to the expected irrigation amount of each management block in the current irrigation unit; The current unit to be irrigated update module is used to update the current unit to be irrigated and call the current sprinkler unit determination module until the unit to be irrigated is traversed to complete the irrigation control of the unmanned farm to be irrigated.

4. An electronic device, characterized in that: It includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute a method for making decisions on cluster irrigation operations of unmanned farm sprinkler groups as described in any one of claims 1 to 2.

5. An electronic device according to claim 4, characterized in that: The memory is a readable storage medium.

Images