Fertilization diagnosis system and method of water and fertilizer integrated machine

Abstract

The application discloses a kind of water and fertilizer integrated machine's fertilization diagnostic system and method, system includes: fertilizer storage barrel, fertilizer storage barrel is used to store fertilizer solution in;Fertilizer barrel, fertilizer barrel is communicated with fertilizer storage barrel by first connecting pipeline, to fertilizer storage barrel and fertilizer barrel are configured to be connected device structure, the radius of fertilizer barrel is less than the radius of fertilizer storage barrel, fertilizer barrel is connected with second connecting pipeline in the position close to bottom, to be used for external fertilization;Liquid level sensing switch sensor, liquid level sensing switch sensor is arranged on the outer wall of fertilizer barrel, and liquid level sensing switch sensor is movable along the outer wall of fertilizer barrel, to detect the fertilizer solution in fertilizer barrel;Movable assembly, movable assembly is connected with liquid level sensing switch sensor, to drive liquid level sensing switch sensor movable in vertical direction along fertilizer barrel;Control box, control unit is arranged in control box, liquid level sensing switch sensor is connected with control unit.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment technology, and more specifically, to a fertilization diagnosis system and method for an integrated water and fertilizer machine. Background Technology

[0002] Fertilizer and water integration technology is a key supporting technology for achieving precision fertilization in facility agriculture. It has been widely used in facility agriculture at present. The realization of precise fertilizer and water integration is inseparable from the accurate detection of the flow rate, especially the volume, of the applied fertilizer solution.

[0003] In facility agriculture, integrated water and fertilizer systems are required. Based on soil characteristics and crop growth patterns, these systems use irrigation equipment to accurately and quantitatively supply water and nutrients to the crops simultaneously. Accurate measurement of the applied fertilizer amount is crucial for achieving precise and quantitative fertilization. Currently, the flow rate and volume of fertilizer solution applied by integrated water and fertilizer systems are mostly calculated using turbine flow meters. However, turbine flow meters have significant drawbacks in water and fertilizer irrigation applications. For example, most integrated water and fertilizer systems use a Venturi structure, where the flow velocity in each fertilizer channel is not entirely uniform. The turbine flow meter is significantly affected by the distribution of incoming flow velocity, resulting in differences in the calculated fertilizer amount for different flow velocities. Furthermore, turbine flow meters require high liquid cleanliness, making them unsuitable for corrosive media applications. They also require regular calibration, making it difficult to maintain long-term accuracy. Impurities in the dissolved fertilizer solution, air bubbles in the fertilizer pipes, and differences in viscosity of fertilizer solutions in different channels can all affect the flow rate and volume measured by the turbine flow meter. These influencing factors cause inaccurate flow rate and fertilizer application detection by the turbine flow meters in each fertilization channel, resulting in excessive or insufficient fertilization.

[0004] In addition, there is a method that uses liquid level sensors to detect changes in liquid level to measure fertilizer application rate and flow rate. This method is limited by factors such as the volume of the fertilizer tank, fertilizer solution density, the accuracy and resolution of the liquid level sensor, and liquid level fluctuations, leading to inaccurate detection. Liquid level sensors that can reliably and accurately detect 1mm precision are rare and expensive. In general, in integrated water and fertilizer systems, the volume and cross-sectional area of ​​the fertilizer tank are large, and a 1mm change in liquid level in the fertilizer tank causes a significant volume change. The method of directly measuring fertilizer application rate using liquid level sensors requires high accuracy and resolution from the sensors, and the minimum amount of fertilizer solution that can be detected is relatively low. This method is also greatly limited by the liquid level sensor. For example, when using an immersion-type liquid level sensor, the measurement results are affected by the liquid density. Different types and concentrations of mother liquor fertilizer are required at different growth stages of crops, resulting in different densities of mother liquor fertilizer at different growth stages. This means that when using an immersion-type liquid level sensor to measure fertilizer application rate and flow rate at different growth stages, the liquid level measurement calculation formula needs to be recalibrated multiple times. Although ultrasonic liquid level sensors are not affected by fertilizer solution density, they are limited by ambient temperature, measurement accuracy, measurement blind zone, measurement angle, and resolution, making it difficult to achieve accurate and reliable millimeter-level precision. Summary of the Invention

[0005] One objective of this invention is to provide a new technology solution for a fertilization diagnosis system and method for an integrated water and fertilizer machine, which can at least solve the problems of inaccurate detection of flow rate and fertilizer amount in the prior art.

[0006] In a first aspect, the present invention provides a fertilization diagnostic system for an integrated water and fertilizer machine, comprising:

[0007] A fertilizer storage tank, wherein the fertilizer storage tank is used to store fertilizer solution;

[0008] A fertilizer application tank is connected to a fertilizer storage tank via a first connecting pipe to form a communicating vessel structure. The radius of the fertilizer application tank is smaller than that of the fertilizer storage tank. A second connecting pipe is connected to the fertilizer application tank near its bottom for external fertilization.

[0009] A liquid level sensing switch sensor is disposed on the outer wall of the fertilizer tank and is movable along the outer wall of the fertilizer tank to detect the fertilizer solution in the fertilizer tank.

[0010] An active component is connected to the liquid level sensor to drive the liquid level sensor to move vertically along the fertilizer tank.

[0011] A control box is provided, and a control unit is provided inside the control box. The liquid level sensing switch sensor is connected to the control unit.

[0012] Optionally, a first solenoid valve is provided in the first connecting pipe, and a second solenoid valve is provided in the second connecting pipe, wherein the height of the first connecting pipe is greater than the height of the second connecting pipe.

[0013] Optionally, the fertilizer storage tank is equipped with a fertilizer solution alarm threshold level. When the liquid level sensor detects that the fertilizer solution in the fertilizer tank is lower than or equal to the fertilizer solution alarm threshold level, the control box controls the first solenoid valve and / or the second solenoid valve to disconnect and prohibit the operation of the integrated water and fertilizer machine, and alarms are triggered. The fertilizer diagnosis system also includes a fertilizer pipeline fault diagnosis function. During the fault diagnosis period, the system determines the fertilizer pipeline fault based on whether the liquid level difference reaches the set segmented detection distance value during the fertilization process.

[0014] Optionally, the active component includes:

[0015] A fixed platform is provided on top of the fertilizer tank;

[0016] A linear stepper motor, which is connected to the fixed platform;

[0017] A lead screw, which is connected to the linear stepper motor;

[0018] A slide table is mounted on the lead screw and is slidable relative to the lead screw. The slide table is connected to the liquid level sensing switch sensor.

[0019] A mechanical baffle is provided on the side of the slide table opposite to the liquid level sensing switch sensor;

[0020] A photoelectric switch sensor is mounted on the fixed platform and is connected to the control unit.

[0021] Optionally, the movable component further includes: a sliding track extending in a vertical direction, one end of the sliding track being connected to the linear stepper motor, the other end being fixed on a horizontal surface, and the sliding track passing through the slide table.

[0022] Optionally, the control box includes a human-machine interface and an antenna, wherein the human-machine interface is used to set fertilization parameters and the antenna is used for remote communication transmission.

[0023] Optionally, the formula for calculating the fertilizer application rate is:

[0024] q=π*r2 2 *d / (t2-t1)

[0025] Where q is the fertilizer flow rate, r2 is the radius of the fertilizer bucket, d is the distance the linear stepper motor travels each time, and t1 and t2 are the fertilizer application times.

[0026] Optionally, the formula for calculating the average fertilization flow rate during any monitoring period in the fertilization process is:

[0027] Q = π * r² 2 *x*d / (tx-t1)

[0028] Where Q is the average flow rate of fertilizer application within a certain time period, r2 is the radius of the fertilizer application bucket, d is the movement distance of the linear stepper motor each time, tx is the time corresponding to the end of the xth fertilizer application detection in segmented detection, t1 is the time corresponding to the start of fertilizer application detection, and x is the number of segmented movement distances d of the linear stepper motor.

[0029] A second aspect of the present invention provides a fertilization diagnosis method for an integrated water and fertilizer machine, applied to the fertilization diagnosis system of the integrated water and fertilizer machine described in the above embodiments, the method comprising:

[0030] Construct the fertilizer storage tank and fertilizer application tank into a communicating vessel structure;

[0031] A liquid level sensor is installed on the outer wall of the fertilizer tank to detect the fertilizer solution inside the fertilizer tank;

[0032] The control box controls the movement of the active components, which in turn activates the liquid level sensor to detect the amount of fertilizer applied, the amount of fertilizer added, and the amount of fertilizer deficiency.

[0033] Optionally, the fertilization diagnosis method of the integrated water and fertilizer machine further includes: after diagnosing nutrient deficiency or other faults, prohibiting the operation of the integrated water and fertilizer machine and sending the fault information to the user end through a remote transmission module to realize an alarm.

[0034] Optionally, the fertilization diagnosis method of the integrated water and fertilizer machine further includes: fertilizer mixing and over-fertilization alarm. When the integrated water and fertilizer machine is working in fertilizer mixing mode, solid water-soluble fertilizer is poured into the fertilizer storage tank, the first solenoid valve on the first connecting pipe in the communicating vessel is opened, the second solenoid valve on the fertilizer application pipe is closed, the water pump is started and the fertilizer mixing solenoid valve on the fertilizer inlet pipe is opened to pump water from the water source into the large-capacity fertilizer storage tank; when the water inflow exceeds the capacity of the fertilizer storage tank, an alarm message is issued and the fertilizer mixing operation is prohibited; when the water inflow does not exceed the capacity of the fertilizer storage tank and the liquid level sensor detects liquid at the predetermined stop position, the water pump and the fertilizer mixing solenoid valve are turned off to complete the fertilizer mixing operation.

[0035] The fertilization diagnostic system of this invention's integrated water and fertilizer machine utilizes a liquid level inductive switch sensor to indirectly calculate the fertilization volume from the overall fertilization perspective of the system in a non-contact manner. This allows for more accurate detection of fertilization amount and flow rate, avoiding the inaccuracies of direct fertilization flow rate and volume measurements caused by various influencing factors, thus achieving high detection accuracy. By selecting a highly reliable liquid level inductive switch sensor as the measuring component, it avoids direct contact with the measuring liquid, thus preventing the risk of corrosion. Furthermore, the detection of fertilization amount and flow rate is unaffected by fertilizer liquid density, ambient temperature, measurement blind zone, and measurement angle, exhibiting good versatility. Moreover, by constructing a communicating vessel device, fertilization operations and corresponding fertilization amount and flow rate calculations are performed within a small-radius independent fertilization tank, offering advantages such as stable and reliable detection, adjustable minimum fertilization amount, high accuracy, and high detection sensitivity. Simultaneously, this invention transforms the traditional limitation of fertilization amount and flow rate detection accuracy, which is restricted by direct detection components, into accuracy guaranteed by the liquid level inductive switch sensor, resulting in higher detection accuracy and practicality. The accuracy and real-time performance of fertilization flow rate detection can be flexibly adjusted according to actual needs.

[0036] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0038] Figure 1 This is a schematic diagram of the fertilization diagnosis system of the integrated water and fertilizer machine according to an embodiment of the present invention;

[0039] Figure 2 This is a fertilization flowchart of the fertilization diagnosis system of the integrated water and fertilizer machine according to an embodiment of the present invention;

[0040] Figure 3 This is a flowchart of the fertilizer application amount and flow rate detection algorithm of the fertilizer application diagnostic system of the integrated water and fertilizer machine according to an embodiment of the present invention;

[0041] Figure 4 This is a flowchart of the liquid level threshold alarm detection algorithm of the fertilization diagnosis system of the integrated water and fertilizer machine according to an embodiment of the present invention;

[0042] Figure 5 This is a flowchart of the fertilizer pipeline fault diagnosis algorithm of the fertilizer diagnosis system of the integrated water and fertilizer machine according to an embodiment of the present invention.

[0043] Figure 6 This is a structural diagram of the fertilization diagnostic system of the integrated water and fertilizer machine according to an embodiment of the present invention.

[0044] Figure label:

[0045] 1. Fertilizer storage tank; 2. Fertilizer inlet pipe; 3. Fertilizer mixing solenoid valve; 4. First connecting pipe; 5. First solenoid valve; 6. Second connecting pipe; 7. Second solenoid valve; 8. Liquid level sensor; 9. Fixed platform; 10. Linear stepper motor; 11. Lead screw; 12. Slide table; 13. Mechanical baffle; 14. Photoelectric switch sensor; 15. Sliding track; 16. Support component; 17. Connector; 18. Control box; 19. Human-machine interface; 20. Antenna; 21. Detailed Implementation

[0046] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0047] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0048] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0049] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0050] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0051] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0052] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] The fertilization diagnosis system of the integrated water and fertilizer machine according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0055] like Figure 1 As shown, the fertilization diagnostic system of the integrated water and fertilizer machine according to an embodiment of the present invention includes a fertilizer storage tank 1, a fertilizer application tank 2, a liquid level sensing switch sensor 9, an active component, and a control box 19.

[0056] Specifically, fertilizer storage tank 1 is used to store fertilizer solution. Fertilizer application tank 2 is connected to fertilizer storage tank 1 via a first connecting pipe 5, forming a communicating vessel structure. The radius of fertilizer application tank 2 is smaller than that of fertilizer storage tank 1. A second connecting pipe 7 is connected near the bottom of fertilizer application tank 2 for external fertilization. A liquid level sensor 9 is located on the outer wall of fertilizer application tank 2 and is movable along the outer wall to detect the fertilizer solution inside. A movable component is connected to the liquid level sensor 9 to move the liquid level sensor 9 vertically along fertilizer application tank 2. A control unit is located inside control box 19, and the liquid level sensor 9 is connected to the control unit.

[0057] In other words, see Figure 1The fertilization diagnostic system of the integrated water and fertilizer machine according to an embodiment of the present invention includes a fertilizer storage tank 1, a fertilizer application tank 2, a liquid level sensor 9, movable components, and a control box 19. The fertilizer storage tank 1 is used to store fertilizer solution and is equipped with a fertilizer inlet pipe 3 with a fertilizer dispensing solenoid valve 4. The fertilizer application tank 2 is connected to the fertilizer storage tank 1 via a first connecting pipe 5, forming a communicating vessel structure. The radius of the fertilizer application tank 2 is smaller than the radius of the fertilizer storage tank 1. This invention, by constructing a communicating vessel device, uses the large-capacity fertilizer storage tank 1 with a larger radius to store fertilizer solution, and uses the independent fertilizer application tank 2 with a smaller radius for fertilization and related detection. Furthermore, the large-radius fertilizer storage tank 1 and the small-radius fertilizer application tank 2 are connected by pipes and solenoid valves to form a communicating vessel device, thereby improving the accuracy of the minimum amount of fertilizer solution that can be set and the detection sensitivity, and ensuring that the liquid level sensor 9 obtains accurate and valid data.

[0058] This invention utilizes a communicating vessel device to perform fertilization operations and calculate the corresponding fertilizer amount and flow rate within a small-radius independent fertilizer tank 2. It offers advantages such as stable and reliable detection, high accuracy with adjustable minimum fertilizer amount settings, and high detection sensitivity. Furthermore, this invention addresses the limitation of traditional fertilizer amount and flow rate detection accuracy by direct detection components by using a liquid level sensing switch sensor 9 for positioning assurance, resulting in higher accuracy and practicality. The accuracy and real-time performance of fertilizer flow rate detection can be flexibly adjusted according to actual needs.

[0059] A second connecting pipe 7 is connected near the bottom of the fertilizer tank 2 for external fertilization. A liquid level sensor 9 is mounted on the outer wall of the fertilizer tank 2 and is movable along the outer wall to detect the fertilizer solution inside. The liquid level sensor 9 is attached to the wall of the fertilizer tank 2 to detect whether there is fertilizer solution at the current attachment position. Using the liquid level sensor 9, the fertilizer volume is indirectly measured non-contactly from the overall fertilization perspective, allowing for more accurate detection of fertilizer amount and flow rate. This avoids the inaccuracies of directly measuring fertilizer flow and volume due to various influencing factors, resulting in higher detection accuracy. By selecting a highly reliable liquid level sensor 9 as the measuring component, it avoids direct contact with the measured liquid, thus avoiding the risk of corrosion. Furthermore, the detection of fertilizer amount and flow rate is unaffected by fertilizer density, ambient temperature, measurement blind zone, and measurement angle, exhibiting good versatility.

[0060] The movable component is connected to the liquid level sensor 9 to move the liquid level sensor 9 vertically along the fertilizer tank 2. A control unit is installed inside the control box 19, and the liquid level sensor 9 can be connected to the control unit via a signal line.

[0061] Therefore, the fertilization diagnosis system of the integrated water and fertilizer machine according to the present invention utilizes a liquid level sensing switch sensor 9 to indirectly calculate the fertilization volume from the overall fertilization perspective of the system in a non-contact manner. This allows for more accurate detection of fertilization amount and flow rate, avoiding the drawbacks of inaccurate direct measurement of fertilization flow rate and volume caused by various influencing factors, and thus exhibiting high detection accuracy. By selecting a highly reliable liquid level sensing switch sensor 9 as the measuring component, it avoids direct contact with the measuring liquid, thus avoiding the risk of corrosion. Furthermore, the detection of fertilization amount and flow rate is unaffected by fertilizer liquid density, ambient temperature, measurement blind zone, and measurement angle, demonstrating good versatility.

[0062] Furthermore, by constructing a communicating vessel device, fertilization operations and corresponding fertilizer amount and flow rate calculations are performed within a small-radius independent fertilizer tank 2. This method offers advantages such as stable and reliable detection, high accuracy with adjustable minimum fertilizer amount settings, and high detection sensitivity. Simultaneously, this invention transforms the limitation of traditional fertilizer amount and flow rate detection, which is confined by direct detection components, into a method where positioning is ensured by a liquid level inductive switch sensor 9. This results in higher accuracy for fertilizer amount and flow rate detection, making it practical. The accuracy and real-time performance of fertilizer flow rate detection can be flexibly adjusted according to actual needs.

[0063] In some specific embodiments of the present invention, a first solenoid valve 6 is provided in the first connecting pipe 5, and a second solenoid valve 8 is provided in the second connecting pipe 7. The height of the first connecting pipe 5 is greater than the height of the second connecting pipe 7. The fertilizer storage tank 1 is equipped with a fertilizer solution alarm threshold level. When the liquid level sensing switch sensor 9 detects that the fertilizer solution in the fertilizer tank 2 is lower than or equal to the fertilizer solution alarm threshold level, the control box 19 controls the first solenoid valve 6 and / or the second solenoid valve 8 to disconnect and prohibit the operation of the integrated water and fertilizer machine, and alarms are triggered. Furthermore, the fertilization diagnosis system also includes a fertilization pipeline fault diagnosis function. During the fault diagnosis period, based on whether the liquid level difference reaches the set segmented detection fertilization distance value during the fertilization process, a fertilization pipeline fault is determined.

[0064] In other words, such as Figure 1 As shown, a first solenoid valve 6 is installed in the first connecting pipe 5, and a second solenoid valve 8 is installed in the second connecting pipe 7. The height of the first connecting pipe 5 is greater than the height of the second connecting pipe 7. The fertilizer storage tank 1 is equipped with a fertilizer solution alarm threshold level h1, in mm. When the level sensor 9 detects that the fertilizer solution in the fertilizer tank 2 is lower than or equal to the fertilizer solution alarm threshold level, the control box 19 controls the first solenoid valve 6 and / or the second solenoid valve 8 to disconnect and prevent the integrated water and fertilizer machine from working, and an alarm is triggered.

[0065] Specifically, such as Figure 1As shown, fertilizer storage tank 1 is a large-radius cylindrical container used to store fertilizer solution. Fertilizer application tank 2 is a small-radius cylindrical container used for fertilization, calculating fertilizer application rate and flow rate, and troubleshooting. Fertilizer storage tank 1 is connected to fertilizer application tank 2 via a first connecting pipe 5 and a first solenoid valve 6, forming a communicating vessel device. When the integrated water and fertilizer machine is not in operation, the first solenoid valve 6 on the first connecting pipe 5 of the communicating vessel device is opened by the integrated water and fertilizer machine, and the second solenoid valve 8 on the fertilizer application pipe (second connecting pipe 7) is closed, allowing the fertilizer solution to flow from the large-capacity fertilizer storage tank 1 into the small-radius fertilizer application tank 2 through the first connecting pipe 5, ready for use during fertilization. Because the radius of fertilizer storage tank 1 is much larger than that of fertilizer application tank 2, the drop in liquid level in fertilizer storage tank 1 is smaller, allowing the liquid level in fertilizer application tank 2 to be level with it.

[0066] See Figure 2 When the integrated water and fertilizer machine is working, for precision facility agriculture, since the amount of fertilizer per irrigation is not large, in order to improve the sensitivity of fertilizer amount and flow detection, the first solenoid valve 6 on the first connecting pipe 5 of the communicating vessel device is closed, and the second solenoid valve 8 on the fertilizer pipe (second connecting pipe 7) is opened. Fertilizer is applied using the fertilizer solution in the independent fertilizer tank 2, and the fertilizer amount and flow are calculated and corresponding fault diagnosis is performed in this small-radius fertilizer tank 2. When the fertilizer amount reaches the set amount, the fertilization operation of the integrated water and fertilizer machine is stopped, and the second solenoid valve 8 on the fertilizer pipe is closed. To ensure the uniformity of fertilizer concentration for the next irrigation, the stirring motor can be started in the fertilizer storage tank 1 to stir and mix the fertilizer solution for a set time. Then, the solenoid valve on the first connecting pipe 5 of the communicating vessel device is opened again, so that the mixed fertilizer solution flows from the fertilizer storage tank 1 into the small-radius fertilizer tank 2 for use in the next fertilization. This process is repeated.

[0067] In addition, when the liquid level in fertilizer storage tank 1 is low and close to the fertilizer shortage alarm threshold level h1, in order to improve the utilization rate of fertilizer storage tank 1 for each fertilizer application, if the fertilizer solution in fertilizer application tank 2 is not enough for a single irrigation, fertilizer can be applied and irrigated multiple times according to the steps described above, until the cumulative amount of fertilizer applied reaches or the liquid level in fertilizer storage tank 1 is less than or equal to the fertilizer shortage alarm threshold level h1.

[0068] like Figure 5 As shown, this invention also has a fertilization pipeline fault diagnosis function. Specifically, it determines the fault by detecting if the liquid level difference does not reach the set segmented detection distance value d during the fertilization process within the fault diagnosis cycle. When the integrated water and fertilizer machine is operating in fertilization mode, i.e., the fertilization pump and the corresponding solenoid valves of the fertilization pipeline are fully open, the liquid level sensor 9 moves a distance d from the current liquid level and stops under the drive of the linear stepper motor 11. If the liquid level sensor 9 consistently detects liquid within a relatively long fault diagnosis calculation cycle T, then a fertilization pipeline fault can be identified.

[0069] Fertilizer pipeline malfunctions are generally caused by fertilizer pump failure, solenoid valve failure in fertilizer pipeline connection, or blockage in the fertilizer pipeline, which prevents fertilizer solution from being drawn and applied normally. This fault diagnosis algorithm can help maintenance personnel quickly locate the fault point.

[0070] In some specific embodiments of the present invention, the active components include a liquid level sensing switch sensor 9, a fixed platform 10, a linear stepper motor 11, a lead screw 12, a slide table 13, a mechanical baffle 14, and a photoelectric switch sensor 15.

[0071] Specifically, a fixed platform 10 is located on top of the fertilizer tank 2. A linear stepper motor 11 is connected to the fixed platform 10. A lead screw 12 is connected to the linear stepper motor 11. A slide 13 is mounted on the lead screw 12 and is slidable relative to the lead screw 12. The slide 13 is connected to the liquid level sensing switch sensor 9. A mechanical baffle 14 is located on the side of the slide 13 facing away from the liquid level sensing switch sensor 9. A photoelectric switch sensor 15 is mounted on the fixed platform 10 and is connected to the control unit.

[0072] The active components also include: a sliding track 16, which extends vertically, with one end connected to a linear stepper motor 11 and the other end fixed to a horizontal surface, and the sliding track 16 passes through the slide table 13. The control box 19 includes: a human-machine interface 20 and an antenna 21, the human-machine interface 20 being used to set fertilization parameters, and the antenna 21 being used for remote communication transmission.

[0073] In other words, such as Figure 1 As shown, the moving assembly mainly consists of a liquid level sensor 9, a fixed platform 10, a linear stepper motor 11, a lead screw 12, a slide 13, a mechanical baffle 14, and a photoelectric sensor 15. The fixed platform 10 is mounted on top of the fertilizer tank 2. The linear stepper motor 11 is connected to the fixed platform 10. The lead screw 12 is connected to the linear stepper motor 11. The slide 13 is mounted on the lead screw 12 and is slidable relative to the lead screw 12; the slide 13 is connected to the liquid level sensor 9. The mechanical baffle 14 is mounted on the side of the slide 13 facing away from the liquid level sensor 9. The slide 13 drives the liquid level sensor 9 and the mechanical baffle 14 to move. A horizontal connector 18 is provided between the slide 13 and the liquid level sensor 9 to fix the liquid level sensor 9 to the slide 13. The photoelectric sensor 15 is mounted on the fixed platform 10 and is connected to the control unit. The active components also include: a sliding track 16, which extends vertically, with one end of the sliding track 16 connected to a linear stepper motor 11 and the other end fixed on a horizontal surface, and the sliding track 16 passes through the slide table 13.

[0074] The sliding track 16 is vertically fixed to a horizontal surface, and the slide table 13 can run linearly on it. The photoelectric switch sensor 15 can be connected to the control unit via a signal line. It contains a detection slot component used to mark the origin position of the linear stepper motor 11 and to detect whether the mechanical baffle 14 has entered the detection slot. A low-level signal is output when it enters the detection slot, and a high-level signal is output when it does not. The photoelectric switch sensor 15 is vertically fixed to the fixed platform 10 by a fixing device.

[0075] The distance between the fertilizer application pipe (second connecting pipe 7) and the bottom of the bucket is less than the distance between the first connecting pipe 5 and the bottom of the bucket. The second solenoid valve 8 is installed on the fertilizer application pipe and connected to the control unit via a signal line. The fixed platform 10 is used to fix the linear stepper motor 11 and is fixed to the wall of the fertilizer bucket 2 with fixing screws. The support 17 is vertically fixed to the horizontal surface and is used to support and fix the linear stepper motor 11 to the fixed platform 10. The control box 19 contains the control unit. The human-machine interface 20 is used to set parameters such as fertilizer application rate. The antenna 21 is used for remote communication transmission.

[0076] Among them, such as Figure 1 As shown, h1 is the fertilizer solution alarm threshold level in mm, and its designed distance from the bottom of the tank is greater than the distance from the bottom of the tank to the first connecting pipe 5 in the communicating vessel. h is the distance from the bottom of the tank to the level sensor 9 in mm when the photoelectric switch sensor 15 detects the mechanical baffle 14 and controls the linear stepper motor 11 to stop. d is the schematic interval of the segmented detection distance for fertilizer application amount and flow rate in mm. t1 and t2 are the start and end times of the schematic segmented detection of fertilizer application amount, respectively, in seconds.

[0077] Fertilizer storage tank 1 is a large-radius cylindrical container used to store fertilizer solution. Fertilizer application tank 2 is a small-radius cylindrical container used for fertilization, calculating fertilizer application rate and flow rate, and troubleshooting. Fertilizer storage tank 1 is connected to fertilizer application tank 2 via a first connecting pipe 5 and a first solenoid valve 6, forming a communicating vessel. When the integrated water and fertilizer machine is not in operation, the first solenoid valve 6 on the first connecting pipe 5 of the communicating vessel is opened by the integrated water and fertilizer machine, while the second solenoid valve 8 on the fertilizer application pipe (second connecting pipe 7) is closed, allowing the fertilizer solution to flow from the large-capacity fertilizer storage tank 1 into the small-radius fertilizer application tank 2 through the first connecting pipe 5, ready for use during fertilization. Because the radius of fertilizer storage tank 1 is much larger than that of fertilizer application tank 2, the drop in liquid level in fertilizer storage tank 1 is smaller, allowing the liquid level in fertilizer application tank 2 to be level with it.

[0078] like Figure 2As shown, when the integrated water and fertilizer machine is working, for precision facility agriculture, since the amount of fertilizer per irrigation is not large, in order to improve the sensitivity of fertilizer application and flow detection, the first solenoid valve 6 on the first connecting pipe 5 of the communicating vessel device is closed, and the second solenoid valve 8 on the fertilizer application pipe (second connecting pipe 7) is opened. Fertilizer solution in this independent fertilizer tank 2 is used for fertilization, and fertilizer application and flow calculation and corresponding fault diagnosis are performed in this small-radius fertilizer tank 2. When the fertilizer application reaches the set amount, the fertilization operation of the integrated water and fertilizer machine is stopped, and the second solenoid valve 8 on the fertilizer application pipe is closed. To ensure the uniformity of fertilizer solution concentration for the next irrigation, the stirring motor can be started in the fertilizer storage tank 1 to stir and mix the fertilizer solution for a set time. Then, the solenoid valve on the first connecting pipe 5 of the communicating vessel device is opened again, so that the mixed fertilizer solution flows from the fertilizer storage tank 1 into the small-radius fertilizer tank 2 for use in the next fertilization. This process is repeated.

[0079] In addition, when the liquid level in fertilizer storage tank 1 is low and close to the fertilizer shortage alarm threshold level h1, in order to improve the utilization rate of fertilizer storage tank 1 for each fertilizer application, if the fertilizer solution in fertilizer application tank 2 is not enough for a single irrigation, fertilizer can be applied and irrigated multiple times according to the steps described above, until the cumulative amount of fertilizer applied reaches or the liquid level in fertilizer storage tank 1 is less than or equal to the fertilizer shortage alarm threshold level h1.

[0080] The liquid level sensor 9 is small and lightweight, and is a highly reliable sensor for detecting the presence or absence of liquid. It can be externally attached to the wall of a plastic bucket for detection. It outputs a high level when liquid is detected and a low level when no liquid is detected. Because the liquid level sensor 9 is a lightweight load, this invention uses a linear stepper motor 11 with low load capacity, accurate positioning, and position feedback as the motion control module. Its position feedback sensor is a photoelectric encoder with a resolution of 2000 PPR, a step angle of 1.8°, and a lead screw 12 with a lead of 10 mm. This means that the linear displacement of the slide 13 produced by the linear stepper motor 11 and lead screw 12 for each revolution is 10 mm. The pulse equivalent of the linear stepper motor 11 satisfies the following formula with respect to its lead, step angle, and microstepping:

[0081] P = L * θ / (360 * m)

[0082] Where P is the pulse equivalent, which is the linear displacement of the slide 13 when a control pulse is input, L is the lead, θ is the step angle, and m is the microstepping of the linear stepper motor 11.

[0083] The linear stepper motor 11 has a step angle parameter of 1.8°, the lead screw 12 has a lead of 10mm, and without microstepping (m=1), the pulse equivalent is 0.05mm. The minimum distance that the position feedback sensor can recognize is 10mm / 2000 = 0.005mm. This control accuracy can meet the positioning requirements of this invention. To achieve higher positioning accuracy and adjustment flexibility, the microstepping of the linear stepper motor 11 can be appropriately selected. For example, with 2 microsteps, the motion positioning device of this invention can achieve an accuracy of 0.025mm.

[0084] In some specific embodiments of the present invention, the formula for calculating the fertilizer application rate is as follows:

[0085] q=π*r2 2 *d / (t2-t1)

[0086] Where q is the fertilizer flow rate, r2 is the radius of the fertilizer bucket 2, d is the movement distance of the linear stepper motor 11 each time, and t1 and t2 are the fertilizer application times.

[0087] The formula for calculating the average fertilization flow rate at any monitoring time point during the fertilization process is as follows:

[0088] Q = π * r² 2 *x*d / (tx-t1)

[0089] Where Q is the average flow rate of fertilizer application within a certain time period, r2 is the radius of fertilizer bucket 2, d is the movement distance of linear stepper motor 11 each time, tx is the time corresponding to the end of the xth fertilizer application detection in segmented detection, t1 is the time corresponding to the start of fertilizer application detection, and x is the number of segmented movement distances d of linear stepper motor 11.

[0090] In other words, when the integrated water and fertilizer machine is operating in fertilization mode, firstly, the linear stepper motor 11 drives the liquid level sensor 9 to move upward on the sliding track 16 until it stops at the position of the photoelectric switch sensor 15. This position is recorded as the origin position. Subsequently, the linear stepper motor 11 drives the liquid level sensor 9 to move slowly downward at a low speed until the liquid level sensor 9 detects liquid and stops. This stopping position is the initial liquid level. The distance traveled by the linear stepper motor 11 is calculated by the photoelectric encoder and recorded as h2.

[0091] After finding the initial liquid level, the current liquid level value h-h2 in fertilizer tank 2 is calculated. The MCU control unit of the integrated water and fertilizer machine calculates the fertilizer application amount V set on the touch screen of the integrated water and fertilizer machine using the volume formula V=π*r2. 2 *h s Calculate the required drop height h of the fertilizer tank 2 liquid level. s =V / (π*r2) 2) Determine whether hs is less than h - h2. If hs < h - h2, for accurate and sensitive detection of fertilization flow rate and fertilization amount, and less loss of steps when the linear stepper motor 11 moves in a short distance, the change height hs of the fertilization liquid level can be detected in segments, that is, hs is divided into N equal parts. The linear stepper motor 11 drives the liquid level induction switch sensor 9 to move a distance d = hs / N each time. The fertilization amount and flow rate are detected within the segmented distance d. In addition, to ensure the rapid and accurate positioning of the linear stepper motor 11, for the movement distance d interval of the linear stepper motor 11, the S-curve acceleration and deceleration control algorithm is first adopted, and the speed in the constant-speed operation area is made appropriate. After the linear stepper motor 11 runs through the S-curve acceleration area and the constant-speed area, it enters the deceleration S-curve section. To avoid inaccurate positioning caused by the linear stepper motor 11 stopping at a relatively fast speed, closed-loop control is performed on the expected set position in the deceleration area, that is, in the deceleration area, the set distance is compared with the actual distance detected by the position feedback sensor in real time.

[0092] As Figure 3 shown, control the linear stepper motor 11 to accurately reach the set position at a small speed. Taking the measurement of fertilization flow rate in a certain detection interval d as an example to illustrate the flow rate calculation method, the flow rate calculation methods in other interval segments are the same. The linear stepper motor 11 drives the liquid level induction switch sensor 9 to move from the initial liquid level a distance d and stop, start the fertilizer pump, close the first solenoid valve 6, and open the second solenoid valve 8, and record the time at this moment as t1. As the water and fertilizer integrated machine works, the fertilizer liquid is pumped out through the pipeline. At the moment t2, the control unit of the water and fertilizer integrated machine detects that the liquid level induction switch sensor 9 outputs a low level, immediately calculates the fertilization flow rate, and records the moment t2 as the starting moment of the next fertilization flow rate detection, and starts the linear stepper motor 11 to drive the liquid level induction switch sensor 9 to continue to move downward a distance d. The fertilization flow rate calculation formula is:

[0093] q = π * r2 2 * d / (t2 - t1)

[0094] According to this process, the linear stepper motor 11 moves a distance d each time, runs in N segments and detects the fertilization flow rate and accumulatively calculates the fertilization amount. Until the linear stepper motor 11 has moved N times a distance d, that is, the total running distance is hs and the liquid level induction switch sensor 9 does not detect the liquid, it indicates that the fertilization amount has reached the set amount, immediately stop the operation of the water and fertilizer integrated machine, close the second solenoid valve 8, and start the stirring motor in the fertilizer storage bucket 1 to stir and mix the fertilizer liquid for a set time, then open the first solenoid valve 6 to make the mixed fertilizer liquid flow from the fertilizer storage bucket 1 into the fertilizer application bucket 2 for use in the next fertilization. Reset the linear stepper motor 11 to the origin position, and perform the fertilization amount and flow rate detection in the above process again during the next fertilization.

[0095] The average flow rate calculation formula for any detection time period during the whole fertilization process is as follows:

[0096] Q = π * r² 2 *x*d / (tx-t1)

[0097] In the formula, Q is the average flow rate over a certain time period, x is the number of times the linear stepper motor moves in segments d, tx is the time corresponding to the end of the xth fertilization amount detection in the segmented detection, and t1 is the time corresponding to the start of the fertilization amount detection.

[0098] To optimize the real-time performance and accuracy of fertilizer flow rate detection, the detection distance d for different fertilizer flow rate segments can be flexibly adjusted.

[0099] Precision facility agriculture fertilization is generally done in small amounts and multiple times. For the less common situation where hs>h-h2, fertilizer can be added to fertilizer tank 2 and fertilized and irrigated in multiple times according to the steps described above, until the cumulative amount of fertilizer reaches the set value or the liquid level of fertilizer tank 1 is less than or equal to the fertilizer shortage alarm threshold liquid level h1.

[0100] In summary, the fertilization diagnostic system of the integrated water and fertilizer machine according to embodiments of the present invention utilizes a liquid level sensing switch sensor 9 to indirectly calculate the fertilization volume from the overall fertilization perspective of the system in a non-contact manner. This allows for more accurate detection of fertilization amount and flow rate, avoiding the drawbacks of inaccurate direct measurement of fertilization flow rate and volume caused by various influencing factors, thus exhibiting high detection accuracy. By selecting a highly reliable liquid level sensing switch sensor 9 as the measuring component, it avoids direct contact with the measuring liquid, thus avoiding the risk of corrosion. Furthermore, the detection of fertilization amount and flow rate is unaffected by fertilizer liquid density, ambient temperature, measurement blind zone, and measurement angle, demonstrating good versatility.

[0101] Furthermore, by constructing a communicating vessel device, fertilization operations and corresponding fertilizer amount and flow rate calculations are performed within a small-radius independent fertilizer tank 2. This method offers advantages such as stable and reliable detection, high accuracy with adjustable minimum fertilizer amount settings, and high detection sensitivity. Simultaneously, this invention transforms the limitation of traditional fertilizer amount and flow rate detection, which is confined by direct detection components, into a method where positioning is ensured by a liquid level inductive switch sensor 9. This results in higher accuracy for fertilizer amount and flow rate detection, making it practical. The accuracy and real-time performance of fertilizer flow rate detection can be flexibly adjusted according to actual needs.

[0102] This invention not only measures fertilizer application rate and flow rate, but also features fertilizer storage tank 1 with low fertilizer level detection alarm and over-dosing alarm functions, demonstrating significant application value. Furthermore, the design system and method proposed in this invention can achieve fault diagnosis of fertilizer pipelines and effectively protect water and fertilizer system equipment, providing a reference for maintenance personnel to quickly locate repair points. The design system and method proposed in this invention can serve as an effective alternative to traditional flow meters for detecting flow rate and fertilizer application rate in water and fertilizer irrigation applications, offering valuable reference. Simultaneously, the design system and method proposed in this invention utilize a highly reliable liquid level sensing switch sensor 9 as the measuring component, avoiding direct contact with the measured liquid and thus preventing corrosion risks. Moreover, the detection of fertilizer application rate and flow rate is unaffected by fertilizer solution density, ambient temperature, measurement blind zone, and measurement angle, exhibiting good versatility.

[0103] According to a second aspect of the present invention, a fertilization diagnosis method for an integrated water and fertilizer machine is provided, applied to the fertilization diagnosis system of the integrated water and fertilizer machine described in the above embodiments, the method comprising:

[0104] Construct fertilizer storage tank 1 and fertilizer application tank 2 into a communicating vessel structure;

[0105] A liquid level sensor 9 is installed on the outer wall of the fertilizer tank 2 to detect the fertilizer solution inside the fertilizer tank 2;

[0106] The control box 19 controls the movement of the active components, which in turn drives the liquid level sensor 9 to detect the amount of fertilizer applied, the amount of fertilizer added, and any corresponding faults.

[0107] It also includes: after diagnosing nutrient deficiency or other malfunctions, prohibiting the operation of the integrated water and fertilizer machine, and sending the fault information to the user end through the remote transmission module to realize the alarm.

[0108] This invention addresses the shortcomings of inaccurate fertilizer application measurement in current facility agriculture fertilization and irrigation systems by disclosing a system and method for accurately measuring fertilizer application amount and flow rate in integrated water and fertilizer machines. This invention provides a non-contact, indirect calculation of fertilizer volume from the overall fertilizer application amount of the fertilization system, enabling more accurate detection of fertilizer application amount and flow rate. Furthermore, the design and method are simple and easy to implement.

[0109] This invention requires the detection of the flow rate and application amount of three-channel fertilizer solution. The overall design concept is to use a linear stepper motor 11 with a small step angle and position feedback to drive the liquid level sensor 9 to move a set distance on the wall of the fertilizer tank 2 to detect the change in the liquid level of the fertilizer solution. Given a fixed cross-sectional area of ​​the cylindrical fertilizer tank 2, the volume of the applied fertilizer solution is calculated. Within a fixed measurement period, the flow rate of the applied fertilizer solution is calculated by measuring the rate of change of the volume of the applied fertilizer solution.

[0110] According to an embodiment of the present invention, the fertilization diagnosis method of the integrated water and fertilizer machine further includes: fertilizer mixing and over-fertilization alarm. When the integrated water and fertilizer machine is working in the fertilizer mixing mode, solid water-soluble fertilizer is poured into the fertilizer storage tank 1, the first solenoid valve 6 on the first connecting pipe 5 in the communicating vessel is opened, the second solenoid valve 8 on the fertilizer application pipe is closed, the water pump is started and the fertilizer mixing solenoid valve 4 on the fertilizer mixing inlet pipe is opened to pump water from the water source into the fertilizer storage tank 1; when the water inlet exceeds the range of the fertilizer storage tank 1, an alarm message is issued and the fertilizer mixing operation is prohibited. When the water inlet does not exceed the range of the fertilizer storage tank 1 and the liquid level sensor 9 detects liquid at the predetermined stop position, the water pump and the fertilizer mixing solenoid valve 4 are turned off to complete the fertilizer mixing operation.

[0111] In other words, this invention can also realize fertilizer mixing and corresponding over-dosing alarm functions. Fertilizer mixing refers to pouring solid water-soluble fertilizer into a large-capacity fertilizer storage tank 1, and then adding a certain volume of water to the storage tank 1 to dissolve it. The method is as follows: the integrated water and fertilizer machine operates in fertilizer mixing mode. Solid water-soluble fertilizer is poured into the large-capacity fertilizer storage tank 1. The first solenoid valve 6 on the first connecting pipe 5 in the communicating vessel is opened, the second solenoid valve 8 on the fertilizer application pipe (second connecting pipe 7) is closed, the water pump is started, and the fertilizer mixing solenoid valve 4 on the fertilizer inlet pipe 3 is opened to pump water from the water source into the large-capacity fertilizer storage tank 1. At this time, the fertilizer storage tank 1 and the fertilizer application tank 2 form a communicating vessel device. The fertilizer application tank 2 can be used as a level gauge to measure the amount of water poured into the fertilizer storage tank 1. If the amount of water to be poured into the fertilizer storage tank 1 is V... / Therefore, according to the volume formula, the required increase in liquid level is Δh = V. / / (π*(r1 2 +r2 2 This means that only a linear stepper motor 11 is needed to drive the liquid level sensor 9. The sensor moves upwards by a distance Δh from the current liquid level and stops to detect the presence of liquid in real time. Before moving upwards, it can be determined whether the set water inflow exceeds the range of the fertilizer storage tank 1, i.e., whether the required increase in liquid level Δh exceeds the travel distance of the mechanical baffle 14 from its current position back to its origin. If this travel distance is exceeded, an alarm message is displayed on the touchscreen interface, and the fertilizer mixing operation is prohibited. If this travel distance is not exceeded, the fertilizer mixing function is activated. As water is injected into the fertilizer storage tank 1, the liquid level in the fertilizer tank 2 also rises. When the liquid level sensor 9 detects liquid at the predetermined stop position, the water pump and the fertilizer mixing solenoid valve 4 are shut off, thus completing the fertilizer mixing operation.

[0112] like Figure 4As shown, this invention, in addition to measuring the fertilizer application rate and flow rate of the integrated water and fertilizer machine, can also realize a fertilizer shortage alarm function in the fertilizer storage tank 1, namely, a fertilizer solution threshold alarm algorithm. After the integrated water and fertilizer machine finishes fertilizing, the second solenoid valve 8 is closed and the first solenoid valve 6 of the communicating vessel is opened, so that the fertilizer storage tank 1 and the fertilizer application tank 2 form a communicating vessel device. At this time, the fertilizer solution in the fertilizer storage tank 1 flows into the fertilizer application tank 2 for use in the next fertilization, until the liquid levels in the fertilizer storage tank 1 and the fertilizer application tank 2 are equal. By detecting the liquid level in the fertilizer application tank 2, it can be determined whether the fertilizer storage tank 1 is short of fertilizer. The linear stepper motor 11 is controlled to reset its stroke to the origin. At this time, the distance from the liquid level sensor 9 to the bottom of the fertilizer tank is h. The low fertilizer alarm threshold liquid level of the fertilizer storage tank 1 is set to h1. The linear stepper motor 11 drives the liquid level sensor 9 to move from the origin position until it detects liquid and stops. According to the running distance h2 fed back by the position sensor of the linear stepper motor 11 when it moves to this position, the actual liquid level height of the fertilizer in the fertilizer storage tank 1 is h-h2. After each fertilization, the water-fertilizer integrated machine will perform an actual liquid level height calculation according to the above process and compare the actual liquid level with the set alarm threshold liquid level, as shown in the following formula:

[0113] (h-h2)-h1≤0

[0114] This enables fertilizer storage tank 1 to diagnose fertilizer deficiency. After diagnosing the fault, the fault information can be sent to the user terminal via the remote transmission module to trigger an alarm.

[0115] In addition, such as Figure 5 As shown, this invention also has a fertilization pipeline fault diagnosis function. Specifically, it determines the fault by detecting if the liquid level difference does not reach the set segmented detection distance value d during the fertilization process within the fault diagnosis cycle. When the integrated water and fertilizer machine is operating in fertilization mode, i.e., the fertilization pump and the corresponding solenoid valves of the fertilization pipeline are fully open, the liquid level sensor 9 moves a distance d from the current liquid level and stops under the drive of the linear stepper motor 11. If the liquid level sensor 9 consistently detects liquid within a relatively long fault diagnosis calculation cycle T, then a fertilization pipeline fault can be identified.

[0116] Fertilizer pipeline malfunctions are generally caused by fertilizer pump failure, solenoid valve failure in fertilizer pipeline connection, or blockage in the fertilizer pipeline, which prevents fertilizer solution from being drawn and applied normally. This fault diagnosis algorithm can help maintenance personnel quickly locate the fault point.

[0117] like Figure 6 As shown, the integrated water and fertilizer system of this invention contains three fertilizer tanks 2, which are respectively defined as fertilizer tank A, fertilizer tank B, and fertilizer tank C. The structure formed by the linear stepper motor 11 positioning component and the liquid level sensing switch sensor 9 is defined as a liquid level measuring device, which is used for liquid level data detection. Each of the three fertilizer tanks 2 is equipped with a liquid level measuring device.

[0118] Before fertilization, the linear stepper motor 11 drives the liquid level sensor 9 to start from the origin and slowly move along the wall of the fertilizer tank 2 to detect whether there is liquid and find the initial liquid level. It stops at the location where there is liquid. The initial liquid level can be calculated based on the movement distance of the linear stepper motor 11 fed back by the position sensor and the distance h between the liquid level sensor 9 at the origin and the bottom of the tank.

[0119] During fertilization, the linear stepper motor 11 drives the liquid level sensor 9 to move from the current liquid level. The sensor moves in segments to detect the presence of liquid and calculates the current liquid level, fertilizer application rate, and flow rate in real time. To ensure the liquid level measuring device can quickly and accurately position the segmented distances, a segmented control strategy can be adopted for its movement range. The S-curve acceleration / deceleration control algorithm is a control algorithm that can achieve smooth acceleration and deceleration processes. Using the S-curve acceleration / deceleration control algorithm can effectively reduce load impact and improve the system's response speed.

[0120] To achieve rapid and accurate positioning of the liquid level measuring device, this invention first employs an S-curve acceleration and deceleration control algorithm to quickly navigate through the acceleration and constant speed zones. After completing these zones, to avoid the drawback of inaccurate stopping position due to the large inertia caused by the linear stepper motor 11 operating at high speeds, a closed-loop position control algorithm is introduced in the deceleration zone. This algorithm compares the set distance value with the actual distance value detected by the position feedback sensor in real time within the deceleration zone, controlling the linear stepper motor 11 to accurately reach the set position at a lower speed. The curve equation used in the acceleration process of the liquid level measuring device is as follows:

[0121]

[0122] In the formula, F is the operating frequency of the linear stepper motor 11, which is proportional to the operating speed; Fmin is the initial operating frequency; Fmax is the maximum operating frequency; Flex represents the tilt parameter of the S-curve, which controls the curvature of the curve and is proportional to the acceleration; i represents the index of the frequency cyclic calculation process; to make the S-curve symmetrical, num is generally taken as half of the total number of frequency points to be calculated.

[0123] The deceleration process is the reverse of the acceleration phase, and its function expression is:

[0124]

[0125] In a specific embodiment of the present invention, for example, the radius of the fertilizer storage barrel 1 is 500 mm, the radius of the fertilizer application barrel 2 is 75 mm, and the heights of both the fertilizer storage barrel 1 and the fertilizer application barrel 2 are 1 m. The specific working process is as follows: Before starting fertilization, the first solenoid valve 6 is opened and the second solenoid valve 8 is closed, so that the fertilizer solution flows from the fertilizer storage barrel 1 into the fertilizer application barrel 2. Then, the linear stepper motor 11 is controlled to drive the liquid level induction switch sensor 9 to slowly move from the origin position to search for the initial liquid level, and stop at the position where there is liquid. According to the distance h2 that the linear stepper motor 11 moves, and the distance h from the position of the liquid level induction switch sensor 9 at the origin to the bottom of the fertilizer barrel, the initial liquid level can be calculated as h - h2.

[0126] According to the fertilizer solution threshold alarm algorithm described above, that is, the fertilizer shortage diagnosis alarm algorithm for the fertilizer storage barrel 1, calculate and judge whether (h - h2) - h1 is less than or equal to 0. When (h - h2) - h1 ≤ 0, the equipment startup is prohibited and a fertilizer shortage alarm message is given, and it is remotely transmitted to the user client by text message to inform the user that fertilizer mixing operation needs to be carried out. When there is no fertilizer solution threshold alarm and the water and fertilizer integrated machine is working in the fertilization mode, the first solenoid valve 6 is closed and the second solenoid valve 8 is opened. First, according to the set fertilization amounts of three fertilizers A, B, and C, when the cross-sectional area of the cylindrical fertilizer application barrel 2 is constant, from the set fertilization amount volume formula V ABC = π * r2 2 * h(A, B, C), the height value h(A, B, C) that the fertilizer solution level in the fertilizer application barrel needs to drop is calculated. Where V ABC is the fertilization amounts of fertilizer A, fertilizer B, and fertilizer C set by the user, which is set on the man-machine interface 20 of the water and fertilizer integrated machine. h(A, B, C) represents the liquid level value that the fertilizer solution in the fertilizer application barrel 2 for applying fertilizer A, fertilizer B, and fertilizer C needs to drop. Judge whether h(A, B, C) is less than h - h2. If h(A, B, C) < h - h2, the required reduced fertilization liquid level value h(A, B, C) is segmented and detected, that is, h(A, B, C) is divided into N equal parts, and the linear stepper motor 11 drives the liquid level induction switch sensor 9 to move downward by a distance d = h(A, B, C) / N from the current liquid level each time, and the segmented fertilization amount and flow rate are detected within the distance d interval.

[0127] The main control board of the fertigation unit is configured with 3 GPIOs in external input falling edge interrupt mode to detect whether the liquid level sensors 9 for fertilizers A, B, and C output a low level in real time. If the fertigation unit control unit detects that the liquid level sensor 9 outputs a low level, it indicates that the fertilizer application amount for the corresponding fertilizer path has reached the segmented detection value. The flow rate is calculated based on the segmented detection running time and the fertilizer flow detection algorithm. The segmented detection process is repeated N times. When the total running distance h(A, B, C) is reached and the corresponding liquid level sensor 9 does not detect liquid, it indicates that the fertilizer application amount has reached the set amount. The fertigation unit then stops working and closes the corresponding fertilizer path solenoid valve. For cases where h(A, B, C) > h - h2, fertilizer can be added to fertilizer tank 2 and corresponding irrigation can be performed multiple times using the above method until the cumulative fertilizer application amount reaches the set value or the liquid level in fertilizer tank 1 is less than or equal to the fertilizer shortage alarm threshold level h1. Throughout the fertilization process, the fault diagnosis calculation cycle of the fertilization pipeline fault diagnosis algorithm is 15 seconds. If the liquid level sensor 9 continuously detects liquid within a time longer than the diagnosis cycle, it will immediately stop the operation of the integrated water and fertilizer machine and issue an alarm message. After fertilization, the second solenoid valve 8 is closed, the stirring motor in the fertilizer storage tank 1 is started, and the fertilizer solution is stirred and mixed for a set time. Then, the first solenoid valve 6 is opened to allow the fertilizer solution to flow from the fertilizer storage tank 1 into the fertilizer application tank 2. The fertilizer threshold alarm algorithm is then used to detect whether the fertilizer storage tank 1 is short of fertilizer.

[0128] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A fertilization diagnostic system for an integrated water and fertilizer machine, characterized in that, include: A fertilizer storage tank, wherein the fertilizer storage tank is used to store fertilizer solution; A fertilizer application tank is connected to a fertilizer storage tank via a first connecting pipe to form a communicating vessel structure. The radius of the fertilizer application tank is smaller than that of the fertilizer storage tank. A second connecting pipe is connected to the fertilizer application tank near its bottom for external fertilization. A liquid level sensing switch sensor is disposed on the outer wall of the fertilizer tank and is movable along the outer wall of the fertilizer tank to detect the fertilizer solution in the fertilizer tank. An active component is connected to the liquid level sensor to drive the liquid level sensor to move vertically along the fertilizer tank. A control box, wherein a control unit is provided inside the control box, and the liquid level sensing switch sensor is connected to the control unit; The active components include: A fixed platform is provided on top of the fertilizer tank; A linear stepper motor, which is connected to the fixed platform; A lead screw, which is connected to the linear stepper motor; A slide table is mounted on the lead screw and is slidable relative to the lead screw. The slide table is connected to the liquid level sensing switch sensor. A mechanical baffle is provided on the side of the slide table opposite to the liquid level sensing switch sensor; A photoelectric switch sensor is mounted on the fixed platform and connected to the control unit. The formula for calculating fertilizer application rate is: q=π*r2 2 *d / (t2-t1) Where q is the fertilizer flow rate, r2 is the radius of the fertilizer bucket, d is the distance the linear stepper motor moves each time, and t1 and t2 are the fertilizer application times. The formula for calculating the average fertilization flow rate at any monitoring time point during the fertilization process is as follows: Q=π*r2 2 *x*d / (tx-t1) Where Q is the average flow rate of fertilizer application within a certain time period, r2 is the radius of the fertilizer application bucket, d is the movement distance of the linear stepper motor each time, tx is the time corresponding to the end of the xth fertilizer application detection in segmented detection, t1 is the time corresponding to the start of fertilizer application detection, and x is the number of segmented movement distances d of the linear stepper motor.

2. The fertilization diagnosis system of the integrated water and fertilizer machine according to claim 1, characterized in that, The first connecting pipe is equipped with a first solenoid valve, and the second connecting pipe is equipped with a second solenoid valve. The height of the first connecting pipe is greater than the height of the second connecting pipe.

3. The fertilization diagnosis system of the integrated water and fertilizer machine according to claim 2, characterized in that, The fertilizer storage tank is equipped with a fertilizer solution alarm threshold level. When the liquid level sensor detects that the fertilizer solution in the fertilizer tank is lower than or equal to the fertilizer solution alarm threshold level, the control box controls the first solenoid valve and / or the second solenoid valve to disconnect and prohibit the operation of the integrated water and fertilizer machine, and alarms are triggered. The fertilizer diagnosis system also includes a fertilizer pipeline fault diagnosis function. During the fault diagnosis period, the system determines the fertilizer pipeline fault based on whether the liquid level difference reaches the set segmented detection distance value during the fertilization process.

4. The fertilization diagnosis system of the integrated water and fertilizer machine according to claim 1, characterized in that, The movable component further includes a sliding track that extends vertically, one end of which is connected to the linear stepper motor, and the other end is fixed on a horizontal surface, and the sliding track passes through the slide table.

5. The fertilization diagnosis system of the integrated water and fertilizer machine according to claim 1, characterized in that, The control box includes a human-machine interface and an antenna. The human-machine interface is used to set fertilization parameters, and the antenna is used for remote communication transmission.

6. A fertilization diagnosis method for an integrated water and fertilizer machine, applied to the fertilization diagnosis system of the integrated water and fertilizer machine according to any one of claims 1-5, characterized in that, The method includes: Construct the fertilizer storage tank and fertilizer application tank into a communicating vessel structure; A liquid level sensor is installed on the outer wall of the fertilizer tank to detect the fertilizer solution inside the fertilizer tank; The control box controls the movement of the active components, which in turn activates the liquid level sensor to detect the amount of fertilizer applied, the amount of fertilizer added, and the amount of fertilizer deficiency.

7. The fertilization diagnosis method for the integrated water and fertilizer machine according to claim 6, characterized in that, Also includes: Once a nutrient deficiency or other malfunction is diagnosed, the fertigation machine should be shut down and the fault information should be sent to the user via a remote transmission module to trigger an alarm.

8. The fertilization diagnosis method for the integrated water and fertilizer machine according to claim 6, characterized in that, Also includes: The system includes a fertilizer mixing and over-dosage alarm. When the integrated water and fertilizer machine is in fertilizer mixing mode, solid water-soluble fertilizer is poured into the fertilizer storage tank. The first solenoid valve on the first connecting pipe in the communicating vessel is opened, the second solenoid valve on the fertilizer application pipe is closed, the water pump is started, and the fertilizer mixing solenoid valve on the fertilizer inlet pipe is opened to pump water from the water source into the fertilizer storage tank. When the water inflow exceeds the capacity of the fertilizer storage tank, an alarm message is issued and the fertilizer mixing operation is prohibited. When the water inflow does not exceed the capacity of the fertilizer storage tank, and the liquid level sensor detects liquid at the predetermined stop position, the water pump and the fertilizer mixing solenoid valve are turned off, completing the fertilizer mixing operation.

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