Method for regulating the flow of fertilizers and mobile irrigation head

Abstract

The application provides a method for adjusting fertilizer flow and a mobile irrigation head applied to the field of agriculture. Since the jurisdiction range of a fixed head is limited, the mobile irrigation head is more applied to agricultural production. The mobile irrigation head provided by the application can automatically adjust the fertilizer flow, ensures that the water-fertilizer ratio is within a reasonable range, avoids the cases of insufficient and excessive fertilizer, since the adjustment process is automatic, the agricultural producers do not need to operate, and the development of smart agriculture is promoted.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural technology, and more particularly, to a method for adjusting fertilizer flow and a mobile irrigation head. BACKGROUND

[0002] The fixed head is generally designed according to the field well house or irrigation river and channel, etc. It is a fixed pump house, which is the core system of water supply and fertilizer application of field irrigation system. However, the jurisdiction range of the fixed head is limited, usually below 500 mu, and the maximum is generally not more than 1000 mu. The main reasons for the limited jurisdiction range of the fixed head are as follows: 1. The water quantity of underground water or water supply system is insufficient, which is difficult to meet the demand of large area field irrigation; 2. The area is too large, and the water pump of the fixed head requires higher, the pump power is larger and the pipe diameter is thicker, the cost of pump house investment is higher and the maintenance cost is also high; 3. The area is too large, and the field pipe network is too complex, the pressure loss is larger with the farther distance from the pump house, and it is difficult to ensure the balance of pressure and flow of each region of irrigation. Therefore, more and more agricultural producers begin to choose the mobile irrigation head. However, the current mobile irrigation head has a single function, which can only mix water and fertilizer simply, and the precision is not high, which cannot meet the needs of agricultural producers. Therefore, how to ensure the precision of water and fertilizer mixing has become a technical problem to be solved. SUMMARY

[0003] The present application provides a method for adjusting fertilizer flow and a mobile irrigation head, which can automatically adjust the fertilizer flow, so that the water and fertilizer ratio is within the set range, and the fertilizer application effect can be guaranteed. The adjustment process is automatic, and the agricultural producers do not need to operate, which is helpful to promote the development of intelligent agriculture.

[0004] In a first aspect, a method for adjusting a fertilizer flow rate is provided. The method is applied to a mobile irrigation head. The method comprises: in response to a first instruction for indicating to start the fertilizer, opening a pump (1428) and a fertilizer suction valve (1427) in a first working condition, wherein the pump (1428) is used for sucking fertilizer, the fertilizer suction valve (1427) is a ball valve, the frequency of the pump (1428) corresponding to the first working condition is a full frequency, and the opening degree of the fertilizer suction valve (1427) is a first opening degree, which is greater than or equal to a minimum opening degree of the fertilizer suction valve (1427); when it is detected that the fertilizer flow rate is greater than a target flow rate, and the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to a first threshold value and less than or equal to a second threshold value, reducing the frequency of the pump (1428) to make the absolute value of the difference between the fertilizer flow rate and the target flow rate less than the first threshold value; or when it is detected that the fertilizer flow rate is less than the target flow rate, and the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, increasing the opening degree of the fertilizer suction valve (1427), or first increasing the opening degree of the fertilizer suction valve (1427), and then reducing the frequency of the pump (1428) to make the absolute value of the difference between the fertilizer flow rate and the target flow rate less than the first threshold value when the fertilizer flow rate is greater than the target flow rate, and the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value; or when it is detected that the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate, or first adjusting the opening degree of the fertilizer suction valve (1427), and then reducing the frequency of the pump (1428) to make the absolute value of the difference between the fertilizer flow rate and the target flow rate less than the first threshold value when the fertilizer flow rate is greater than the target flow rate, and the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value.

[0005] In the embodiments of the present application, when the mobile irrigation head starts the fertilizer function, the fertilizer suction valve can be opened at the first opening degree, and the pump can be opened at the full frequency. The opening degree of the fertilizer suction valve and the frequency of the pump can be dynamically adjusted according to the absolute value of the difference between the fertilizer flow rate and the target flow rate, so that the fertilizer flow rate is always in a reasonable range, that is, the water-fertilizer ratio is in a reasonable range, and the situations of insufficient fertilizer and excessive fertilizer are avoided. Since the adjustment process is automatic, the agricultural producers do not need to operate, which is helpful for promoting the development of smart agriculture.

[0006] With reference to the first aspect, in some implementations of the first aspect, after the frequency of the pump (1428) is reduced, or the opening of the fertilizer suction valve (1427) is adjusted, or the opening of the fertilizer suction valve (1427) is adjusted and then the frequency of the pump (1428) is reduced, the method further includes: when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate, so that the absolute value of the difference between the fertilizer flow rate and the target flow rate is less than the first threshold value; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, adjusting the opening of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate, or adjusting the opening of the fertilizer suction valve (1427) first, and then adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate after the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, so that the absolute value of the difference between the fertilizer flow rate and the target flow rate is less than the first threshold value.

[0007] With reference to the first aspect, in some implementations of the first aspect, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate includes: when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than a third threshold value and less than or equal to the second threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate at a first adjustment step, wherein the third threshold value is greater than the first threshold value; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than a fourth threshold value and less than or equal to the third threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate at a second adjustment step, wherein the fourth threshold value is greater than the first threshold value, and the absolute value of the second adjustment step is less than the absolute value of the first adjustment step; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the fourth threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate at a third adjustment step, wherein the absolute value of the third adjustment step is less than the absolute value of the second adjustment step.

[0008] With reference to the first aspect, in some implementations of the first aspect, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate comprises: when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold and less than or equal to a fifth threshold, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate by a fourth adjustment step; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the fifth threshold and less than or equal to a sixth threshold, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate by a fifth adjustment step, wherein the absolute value of the fifth adjustment step is greater than the absolute value of the fourth adjustment step; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the sixth threshold, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate by a sixth adjustment step, wherein the sixth threshold is greater than the second threshold, and the absolute value of the sixth adjustment step is greater than the absolute value of the fifth adjustment step.

[0009] With reference to the first aspect, in some implementations of the first aspect, when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the second threshold, the opening degree of the fertilizer suction valve (1427) is adjusted according to the difference between the fertilization flow rate and the target flow rate, and after the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold and less than or equal to the second threshold, the frequency of the pump (1428) is further adjusted according to the difference between the fertilization flow rate and the target flow rate, including: when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the second threshold and less than or equal to a fifth threshold, the opening degree of the fertilizer suction valve (1427) is adjusted according to the difference between the fertilization flow rate and the target flow rate by a fourth adjustment step, and after the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold and less than or equal to the second threshold, the frequency of the pump (1428) is further adjusted according to the difference between the fertilization flow rate and the target flow rate; or when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the fifth threshold and less than or equal to a sixth threshold, the opening degree of the fertilizer suction valve (1427) is adjusted according to the difference between the fertilization flow rate and the target flow rate by a fifth adjustment step, and after the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold and less than or equal to the second threshold, the frequency of the pump (1428) is further adjusted according to the difference between the fertilization flow rate and the target flow rate, wherein the absolute value of the fifth adjustment step is greater than the absolute value of the fourth adjustment step; or when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the sixth threshold, the opening degree of the fertilizer suction valve (1427) is adjusted according to the difference between the fertilization flow rate and the target flow rate by a sixth adjustment step, and after the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold and less than or equal to the second threshold, the frequency of the pump (1428) is further adjusted according to the difference between the fertilization flow rate and the target flow rate, wherein the sixth threshold is greater than the second threshold, and the absolute value of the sixth adjustment step is greater than the absolute value of the fifth adjustment step.

[0010] With reference to the first aspect, in some implementations of the first aspect, the first opening degree is determined according to the target flow rate.

[0011] With reference to the first aspect, in some implementations of the first aspect, the target flow rate is determined according to a water-fertilizer ratio and an irrigation flow rate.

[0012] With reference to the first aspect, in some implementations of the first aspect, the target flow rate is pre-set.

[0013] In a second aspect, a mobile irrigation head is provided, which includes a mobile cabin (110), an irrigation pipeline system (120), a fertilizer system (130), a fertilization irrigation control system (140), the mobile cabin (110) is provided with a water inlet (111) and a water outlet (112), the water inlet (111) is connected to a water source, a water pump is arranged in the water source, the water outlet (111) is connected to an irrigation flow channel in a farmland, the irrigation pipeline system (120) is contained in the mobile cabin (110), the irrigation pipeline system (120) includes a water inlet pipeline (121) and a water outlet pipeline (122), the water inlet pipeline (121) is connected to the water inlet (111), the water outlet pipeline (122) is connected to the water outlet (112), the fertilizer system (130) is contained in the mobile cabin (110), the fertilizer system (130) includes a fertilizer barrel (131) and a water injection pipeline (132), the water injection pipeline (132) is connected to the water outlet pipeline (122) in the irrigation pipeline system (120) and used for injecting water into the fertilizer barrel (131), the fertilization irrigation control system (140) is contained in the mobile cabin (110) and includes a control module (141) and a pipeline assembly (142), the pipeline assembly (142) is connected to the irrigation pipeline system (120) and the fertilizer system (130), the pipeline assembly (142) includes a water inlet assembly (1401), a water outlet assembly (1402), a fertilizer suction assembly (1403) and a fertilizer mixing assembly (1404), the water inlet assembly (1401) and the water outlet assembly (1402) are connected to the irrigation pipeline system (120), the water inlet assembly (1401) includes a water inlet sub-pipeline (1424), the water outlet assembly (1402) includes a water outlet sub-pipeline (1425), the water inlet sub-pipeline (1424) and the water outlet sub-pipeline (1425) are connected to the water outlet pipeline (122) of the irrigation pipeline system (1220), the fertilizer suction assembly (1403) is connected to the fertilizer system (130), the fertilizer suction assembly (1403) includes a fertilizer suction sub-pipeline (1426) and a fertilizer suction port valve (1427), the fertilizer mixing assembly (1404) includes a pump (1428), a first fertilizer mixing pipeline (1429) and a second fertilizer mixing pipeline (1430), the fertilizer mixing assembly (1404) is provided with a flow detector (1433), one end of the first fertilizer mixing pipeline (1429) is connected to the water inlet sub-pipeline (1424) and the fertilizer suction sub-pipeline (1426), the other end of the first fertilizer mixing pipeline (1429) is connected to the pump (1428), one end of the second fertilizer mixing pipeline (1430) is connected to the pump (1428), the other end of the second fertilizer mixing pipeline (1430) is connected to the water outlet sub-pipeline (1425), and the control module (141) is used for executing the method of the first aspect and any possible implementation of the first aspect.

[0014] In a third aspect, a mobile irrigation head is provided, comprising a mobile cabin (110), an irrigation pipeline system (120), a fertilizer system (130), a fertilization irrigation control system (140), the irrigation pipeline system (120), the fertilizer system (130), and the fertilization irrigation control system (140) are contained in the mobile cabin (110), the fertilization irrigation control system (140) comprises a control module (141) and a pipeline assembly (142) connected to the irrigation pipeline system (120) and the fertilizer system (130) for water-fertilizer mixing, the pipeline assembly (142) comprises a fertilizer suction port valve (1427) and a pump (1428) for controlling the flow of fertilizer, the pipeline assembly (142) is provided with a flow detector (1433), and the control module (141) is used to execute the method of the first aspect and any possible implementation of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic structural block diagram of a mobile irrigation head provided by an embodiment of the present application.

[0016] Figure 2 is a schematic side view of a mobile cabin provided by an embodiment of the present application.

[0017] Figure 3 is a schematic perspective structural view of an irrigation head provided by an embodiment of the present application.

[0018] Figure 4 is another schematic perspective structural view of an irrigation head provided by an embodiment of the present application.

[0019] Figure 5 is a schematic perspective view of a pipeline assembly in a fertilization irrigation control system provided by an embodiment of the present application.

[0020] Figure 6 is Figure 5 is a partial enlarged view of part A in FIG. 8.

[0021] Figure 7 is a schematic flow chart of a method for adjusting fertilization flow provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] The technical solutions in the present application will be described below with reference to the drawings.

[0023] The terminology used in the following description merely for the purpose of describing particular embodiments and is not intended to limit the application. As used in this description and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "at least one" or "one or more" means one, two, three, or more. The term "and / or" used in the context of describing a list of items, means that there are three possibilities: either there is one item alone, or there are two or more items together, or there is one item alone and two or more items together. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0024] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, although it can. The terms "comprising," "including," "having" and their variations, as used in the specification and claims, mean "including but not limited to," unless otherwise noted.

[0025] The fixed head is generally designed according to the field well house or the irrigation channel and the like, and is the core system of the water supply and fertilization of the field irrigation system. However, the jurisdiction range of the fixed head is limited, and is generally less than 500 mu, and is generally not more than 1000 mu. The main reasons for the limited jurisdiction range of the fixed head are as follows: 1. The water quantity of the underground water or the water supply system is insufficient, and it is difficult to meet the demand of the field irrigation of a large area; 2. The area is too large, and the water pump of the fixed head requires higher, the power of the water pump is larger, and the pipe diameter is thicker, and the cost of the pump house is higher, and the maintenance cost is also high; 3. The area is too large, and the pipe network laid in the field is too complex, and the pressure loss is larger with the farther distance from the pump house, and it is difficult to guarantee the balance of the pressure and the flow of each region. Therefore, more and more agricultural producers begin to select the mobile head. However, the function of the current mobile irrigation head is single, and only simple water and fertilizer mixing can be performed, the precision is not high, and the demand of the agricultural producers cannot be met. Based on this, how to guarantee the precision of the water and fertilizer mixing becomes a technical problem to be solved.

[0026] The following will first be combined with Figures 1-6 The mobile irrigation head provided by the embodiments of the application is introduced.

[0027] Figure 1 A schematic structural diagram of a mobile irrigation head is shown.

[0028] As shown in Figure 1 , the mobile irrigation head 100 comprises a mobile cabin 110, an irrigation pipeline system 120, a fertilizer system 130, and a fertilization and irrigation control system 140.

[0029] The mobile cabin 110 is provided with a water inlet and a water outlet. The water inlet is connected to a water source, and a water pump is arranged in the water source. The water outlet is connected to an irrigation flow channel in a farmland.

[0030] The irrigation pipeline system 120 is accommodated in the mobile cabin 110. The irrigation pipeline system 120 comprises a water inlet pipeline, a water outlet pipeline, and a filter assembly. The water inlet pipeline is connected to the water inlet of the mobile cabin 110. The water outlet pipeline is connected to the water outlet of the mobile cabin 110. The filter assembly is connected between the water inlet pipeline and the water outlet pipeline.

[0031] The fertilizer system 130 is accommodated in the mobile cabin 110. The fertilizer system 130 comprises a fertilizer tank and a water injection pipeline. The water injection pipeline is connected to the water outlet pipeline in the irrigation pipeline system 120, and is used to inject water into the fertilizer tank.

[0032] The fertilization and irrigation control system 140 is also accommodated in the mobile cabin 110. The fertilization and irrigation control system 140 comprises a control module and a pipeline assembly. The pipeline assembly is connected to the irrigation pipeline system 120 and the fertilizer system 130, and is used to realize fertilizer mixing. The control module is used to control the pipeline assembly to adjust the fertilization parameters of the irrigation head 100, such as the fertilization flow rate.

[0033] As an example, Figure 2 A schematic side view of the mobile cabin 110 is shown.

[0034] As shown in Figure 2 , the same side wall of the mobile cabin 110 can be provided with a water inlet 111 and a water outlet 112. The water inlet 111 can be connected to a water source through a pipeline. Water in the water source can enter the water inlet 111 through the pipeline under the action of a water pump. The water outlet 112 can be connected to an irrigation flow channel in a farmland through a pipeline. The water entering through the water inlet 111 can be discharged through the water outlet 112 after being processed by various systems inside the mobile cabin 110, so as to realize precise irrigation and fertilization of crops in the farmland.

[0035] In addition to the water inlet 111 and the water outlet 112, the mobile cabin 110 can also be provided with a power supply interface, a water pump control interface, etc. for connecting power lines and water pump control lines, etc. The power lines and the water pump control lines can be connected to the control system inside the mobile cabin 110 through the interfaces on the mobile cabin 110.

[0036] The irrigation pipeline system 120 comprises an inlet pipeline, an outlet pipeline and a filter assembly. The inlet pipeline is connectable to the water inlet 111 of the mobile bin 110, the outlet pipeline is connectable to the water outlet 112 of the mobile bin 110, and the filter assembly is connected between the inlet pipeline and the outlet pipeline. The filter assembly is used to filter the water entering through the inlet pipeline, so that the filtered water flows into the farmland through the outlet pipeline for irrigation.

[0037] The fertilizer system 130 comprises a fertilizer tank and a water injection pipeline. The fertilizer tank is used to contain source fertilizer, the water injection pipeline is provided corresponding to the inlet of the fertilizer tank, and the water injection pipeline is connectable to the outlet pipeline of the irrigation pipeline system 120. In addition to flowing into the farmland for irrigation, the water in the outlet pipeline can also flow into the fertilizer tank through the water injection pipeline to dilute the source fertilizer in the fertilizer tank, so as to adjust the parameters of the fertilizer, such as electrical conductivity (EC), potential of hydrogen (PH), etc.

[0038] In the irrigation head 100, in addition to the mobile bin 110, the irrigation pipeline system 120 and the fertilizer system 130, a core part, the fertilization and irrigation control system 140, is further included. The fertilization and irrigation control system 140 is used to control the fertilization parameters of the irrigation head 100, wherein the fertilization parameters include the fertilization flow.

[0039] Specifically, the fertilization and irrigation control system 140 can comprise a control module and a pipeline assembly. The pipeline assembly can comprise a plurality of pipelines and valves and the like components, which are used to connect the irrigation pipeline system 120 and the fertilizer system 130. Specifically, the pipeline assembly is connectable to the outlet pipeline of the irrigation pipeline system 120 and the fertilizer tank of the fertilizer system 130.

[0040] In addition, since the pipeline assembly is connected to the irrigation pipeline system 120 and the fertilizer system 130 for realizing the fertilizer mixing function, the control module can also be used to control the components (such as valves, pumps, etc.) in the pipeline assembly to control the flow of the fertilizer in the fertilizer mixing process.

[0041] By way of example and without limitation, the control module comprises, but is not limited to, a programmable logic controller (PLC), a programmable automation controller (PAC), an embedded controller, etc. The embodiments of the present application do not limit the specific type of the control module.

[0042] Figure 3 A schematic perspective view of the irrigation head 100 is shown. In the schematic view, the four side walls and the top wall of the mobile cabin 110 are hidden for the convenience of observing the system structures inside the mobile cabin 110, and only the bottom plate and the traction structure and other related structures of the mobile cabin 110 are reserved.

[0043] Referring to Figure 3 , the irrigation head 100 mainly contains three parts, i.e., the irrigation pipeline system 120, the fertilizer system 130, and the fertilization and irrigation control system 140.

[0044] Next, first in combination with Figure 3 , the specific structure of the irrigation pipeline system 120 in the irrigation head 100 is introduced.

[0045] As shown in Figure 3 , the irrigation pipeline system 120 mainly includes the water inlet pipeline 121, the water outlet pipeline 122, and the intermediate pipeline 123.

[0046] Continuing to refer to Figure 3 , the irrigation pipeline system 120 further includes a flow detector 124, which can monitor the irrigation flow in the irrigation pipeline system 120 in real time by detecting the irrigation flow of the intermediate pipeline 123.

[0047] As an example, the flow detector 124 can be an ultrasonic flow meter. In alternative embodiments, the flow detector 124 can be other types of flow meters, which are not specifically limited in the present application.

[0048] Optionally, in some embodiments, the detection value of the flow detector 124 can be transmitted to the fertilization and irrigation control system 140 in a wired or wireless manner, so as to facilitate the fertilization and irrigation control system 140 to perform adjustment of the fertilization operation or the irrigation operation.

[0049] Next, in combination with Figure 3 , the specific structure of the fertilizer system 130 in the irrigation head 100 is introduced.

[0050] As shown in Figure 3As shown, the fertilizer system 130 mainly includes a fertilizer tank 131 and a water injection pipe 132. The fertilizer tank 131 can be positioned between the inlet pipe 121 and the outlet pipe 122 of the irrigation pipe system 120 to fully utilize the space in the mobile compartment 110 and facilitate connection between the fertilizer tank 131 and the irrigation pipe system 120. One end of the water injection pipe 132 can be connected to the top of the fertilizer tank 131, and the other end can be connected to the outlet pipe 122 in the irrigation pipe system 120, allowing the aqueous solution flowing from the outlet pipe 122 to enter the fertilizer tank 131 through the water injection pipe 132 to dilute the source fertilizer in the fertilizer tank 131.

[0051] Figure 4 Another schematic perspective view of the irrigation head 100 provided in an embodiment of this application is shown. Figure 4 and Figure 3 These are three-dimensional images of the same irrigation head 100 from different perspectives.

[0052] like Figure 4 As shown, the fertilization and irrigation control system 140 can be an integrated machine for realizing fertilization, irrigation, and water pump regulation. Specifically, the fertilization and irrigation control system 140 may include: a control module 141 and a pipeline assembly 142.

[0053] As described above, control module 141 may include, for example, a control system of the type of PLC.

[0054] The pipe assembly 142 can be connected to the irrigation pipe system 120 and the fertilizer system 130 via external connecting pipes. Specifically, the pipe assembly 142 may include an inlet sub-pipe, an outlet sub-pipe, and a fertilizer suction sub-pipe, which can be connected to the irrigation pipe system 120 and the fertilizer system 130 respectively via three connecting pipes.

[0055] Figure 5 A schematic perspective view of the pipe assembly 142 in the fertilization and irrigation control system 140 provided in this application embodiment is shown. In this schematic diagram, the left side wall of the cabinet where the pipe assembly 142 is located is hidden to facilitate observation of the specific structure of the pipe assembly 142.

[0056] like Figure 5 As shown, the pipeline assembly 142 includes: a water inlet assembly 1401, a water outlet assembly 1402, a fertilizer absorption assembly 1403, and a fertilizer mixing assembly 1404. The water inlet assembly 1401 and the water outlet assembly 1402 are connected to the irrigation pipeline system 120, the fertilizer absorption assembly 1403 is connected to the fertilizer system 130, and the fertilizer mixing assembly 1404 is used to mix the water in the water inlet assembly 1401 and the fertilizer in the fertilizer system 130 for transmission to the water outlet assembly 1402.

[0057] Figure 6A partial enlarged view of the A part in FIG. 1 is shown. Figure 5 A partial enlarged view of the A part in FIG. 1 is shown.

[0058] As shown in FIG. 1, the water inlet assembly 1401 in the irrigation head 100 can include a water inlet sub-pipe 1424, and a water inlet port 1421 of the water inlet sub-pipe 1424 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Figure 6 Figure 6 As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122.

[0059] Figure 6 As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122.

[0060] As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122. Figure 6 As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122. Figure 5 As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122.

[0061] Optionally, the water inlet sub-pipe 1424 can be provided with a water inlet port valve 1427, and the water inlet port valve 1427 can control the flow of water passing through the water inlet sub-pipe 1424, thereby controlling the irrigation flow. In some examples, the water inlet port valve 1427 can be an electric ball valve, and the opening ratio of the valve can be controlled by controlling the rotation of the ball in the valve.

[0062] In some embodiments, the water inlet port valve 1427 can be connected to the control module 141 in the fertilization and irrigation control system 140 through a wired or wireless manner, and the control module 141 can control the opening ratio of the water inlet port valve 1427, thereby controlling the flow of water in the water inlet sub-pipe 1424, to control the irrigation flow of the irrigation head 100.

[0063] As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122. Figure 6 As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122. Figure 5 As shown in FIG. 1, the water outlet assembly 1402 in the irrigation head 100 can include a water outlet sub-pipe 1425, and a water outlet port 1422 of the water outlet sub-pipe 1425 is connected to the water outlet pipe 122 of the irrigation pipe system 120. Optionally, the position where the water outlet port 1422 is connected to the water outlet pipe 122 can be located upstream of the position where the water inlet port 1421 is connected to the water outlet pipe 122.

[0064] ​The first fertilizer mixing pipeline 1429 is located below the second fertilizer mixing pipeline 1430, and the first fertilizer mixing pipeline 1429 is provided with a water outlet valve 1431, which is used to discharge the residual liquid in the pump 1428 when the irrigation head 100 stops working.

[0065] Optionally, in the embodiments of the present application, the first fertilizer mixing pipeline 1429 can be connected to the water inlet sub-pipeline 1424 and the fertilizer suction sub-pipeline 1426 through a fluidic device 1432.

[0066] The fertilizer mixing assembly 1404 can be provided with a flow detector 1433, and the flow detector 1433 can be connected to the fertilizer suction sub-pipeline 1426.

[0067] In the embodiments of the present application, the flow value detected by the flow detector 1433 is referred to as a fertilization flow, and the fertilization flow is also referred to as a fertilizer flow.

[0068] In other embodiments of the present application, the flow detector 1433 can also be arranged in other pipelines (for example, the water inlet sub-pipeline 1424, the water outlet sub-pipeline 1425, the first mixing pipeline 1429, the second mixing pipeline 1430, and the like). When a plurality of flow detectors 1433 are arranged, the mobile irrigation head can determine the fertilization flow according to the flow values detected by the plurality of flow detectors 1433, for example, the mobile irrigation head can perform mean value calculation on the flow values detected by the plurality of flow detectors 1433, and determine the mean value obtained as the fertilization flow.

[0069] The flow detector 1433 can be connected to the control module 141 in a wired or wireless manner, so that the control module 141 can receive the real-time detected fertilization flow to control the pump 1428 and the fertilizer suction valve 1427, thereby adjusting the fertilization flow of the irrigation head 100.

[0070] In the above embodiments, the control module 141 can control and adjust the fertilization flow of the irrigation head 100 by controlling the fertilizer suction valve 1427 arranged on the fertilizer suction sub-pipeline 1426 and controlling the frequency of the pump 1428.

[0071] Optionally, in some embodiments of the present application, the fertilization and irrigation control system 140 further comprises a wireless communication module, which is used to receive a wireless control command and transmit the wireless control command to the control module 141, so that the control module 141 controls the fertilization flow of the irrigation head 100 according to the wireless control command.

[0072] As an example, the wireless communication module includes, but is not limited to, a wireless local area network communication module, a wireless wide area network communication module, and the like. The wireless wide area network communication module includes a cellular network (for example, 2G, 3G, 4G, 5G, and the like) module, a satellite communication module, and the like. The wireless local area network communication module includes a Wi-Fi communication module, a Bluetooth communication module, and the like. Embodiments of the present application do not limit the specific mode of the wireless communication.

[0073] In a specific implementation, the user can send a related instruction to the fertilization and irrigation control system 140 through an application (App) on the smart terminal and a wireless network, so that the fertilization and irrigation control system 140 can control the fertilization flow according to the user instruction.

[0074] Optionally, in some embodiments of the present application, the fertilization and irrigation control system 140 further includes a user interaction module for receiving the input command of the user and sending the input command to the control module 141, so that the control module 141 can control the fertilization flow of the irrigation head 100 according to the input command.

[0075] As an example, referring back to Figure 4 and Figure 5 , in the fertilization and irrigation control system 140, the cabinet where the control module 141 is located can be provided with a display panel and a key and the like user interaction module, and the user can input a command, for example, a fertilization flow, to the control module 141 through the key or the display panel with a touch function.

[0076] It can be understood that the user interaction module can be a keyboard, a microphone, a handwriting board, and the like various types of user input devices in addition to the display panel and the key shown in the figure, and the present application does not limit the specific type.

[0077] As described above, in order to accurately adjust and control the fertilization parameter, the embodiments of the present application provide a method for adjusting the fertilization flow, which can control the fertilization flow to ensure the fertilization effect.

[0078] Figure 7 A schematic flowchart of a method 700 for adjusting the fertilization flow provided by the embodiments of the present application is shown, which is applied to the mobile irrigation head referred to above, such as Figure 7 , the method 700 includes:

[0079] S701, in response to a first instruction, starting the pump 1428 and the fertilizer suction port valve 1427 in a first working condition, wherein the first instruction is used to instruct to start the fertilization, the frequency of the pump 1428 corresponding to the first working condition is a full frequency, and the opening degree of the fertilizer suction port valve 1427 is a first opening degree, the first opening degree is greater than or equal to the minimum opening degree of the fertilizer suction port valve 1427.

[0080] When the mobile irrigation head receives the first instruction and determines that the first instruction is used to start fertilization, the pump 1428 can be started at full frequency and the fertilizer suction valve 1427 can be opened at the first opening degree.

[0081] In some embodiments, the minimum opening degree of the fertilizer suction valve 1427 is 2%.

[0082] In some embodiments, the full frequency is 50 HZ.

[0083] In some embodiments, the first instruction can be issued by the user through the user interaction module.

[0084] In some embodiments, the first instruction can be issued by the intelligent agricultural processing platform, that is, the intelligent agricultural processing platform can detect various data in agricultural production, and according to the various data, determine that fertilization is needed, and then issue the first instruction to the mobile irrigation head.

[0085] In some embodiments, the first instruction can be issued by the user through the terminal device.

[0086] In some embodiments, the first opening degree can be determined according to the target flow.

[0087] When the mobile irrigation head determines the first opening degree according to the target flow, the following possible implementation manners can be included:

[0088] In one possible implementation manner, the mobile irrigation head is pre-installed with a corresponding table of target flow and first opening degree, and when the mobile irrigation head determines the target flow, the first opening degree can be obtained by querying the corresponding table of target flow and first opening degree.

[0089] For example, when the target flow is 0.5 m 3 / h, the first opening degree is 50%, and when the target flow is 0.75 m 3 / h, the first opening degree is 75%.

[0090] It can be understood that in this possible implementation manner, the first opening degree of the target flow and the first opening degree which are not recorded in the corresponding table of target flow and first opening degree can be calculated by interpolation method.

[0091] In one possible implementation manner, the mobile irrigation head is pre-installed with a calculation formula, the independent variable of the calculation formula is the target flow, and the dependent variable is the first opening degree, so that the mobile irrigation head can determine the first opening degree after determining the target flow.

[0092] It should be noted that the above two possible implementation manners are that when the pump 1428 is at full frequency, the mobile irrigation head determines the first opening degree according to the target flow.

[0093] The mobile irrigation head can determine the target flow rate before determining the first opening degree according to the target flow rate. When determining the target flow rate, the mobile irrigation head can include the following possible implementations:

[0094] In a possible implementation, the first instruction includes the target flow rate, and the mobile irrigation head can determine the target flow rate according to the first instruction.

[0095] In a possible implementation, the first instruction includes the water-fertilizer ratio, and the mobile irrigation head can determine the target flow rate according to the water-fertilizer ratio and the irrigation flow rate.

[0096] For example, the mobile irrigation head can determine the target flow rate according to formula (1).

[0097]

[0098] wherein V g is the target flow rate, V m is the irrigation flow rate, and Q is the water-fertilizer ratio.

[0099] S702, when it is detected that the fertilization flow rate is greater than the target flow rate, and the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to a first threshold value and less than or equal to a second threshold value, the frequency of the pump 1428 is reduced so that the absolute value of the difference between the fertilization flow rate and the target flow rate is less than the first threshold value.

[0100] In the embodiments of the present application, the mobile irrigation head can adjust the pump 1428. It can be understood that when the frequency of the pump 1428 is reduced, the fertilization flow rate decreases, and when the frequency of the pump 1428 is increased, the fertilization flow rate increases.

[0101] In the embodiments of the present application, the way of adjusting the fertilization flow rate by adjusting the frequency of the pump 1428 is referred to as fine adjustment.

[0102] When the mobile irrigation head performs step S702, the mobile irrigation head can determine the reduction step of the pump 1428 according to the absolute value of the difference between the fertilization flow rate and the target flow rate. The reduction step of the pump 1428 can also be referred to as the frequency reduction step.

[0103] In some embodiments, when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than a third threshold value and less than or equal to the second threshold value, the reduction step is determined to be a first reduction step, wherein the third threshold value is greater than the first threshold value.

[0104] For example, when the second threshold value is 0.1 m 3 / h, and the third threshold value is 0.05 m 3Taking / h as an example, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.05m³ / h... 3 / h and less than or equal to 0.1m 3 / h, determine the first reduction step size as 0.3Hz.

[0105] In some embodiments, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than a fourth threshold and less than or equal to a third threshold, the reduction step size is determined to be a second reduction step size, wherein the fourth threshold is greater than the first threshold and the second reduction step size is less than the first reduction step size.

[0106] For example, with a third threshold of 0.05m 3 / h, the fourth threshold is 0.02m 3 Taking / h as an example, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.02m³ / h... 3 / h and less than or equal to 0.05m 3 / h, determine the second decreasing step size as 0.15HZ.

[0107] In some embodiments, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to a first threshold and less than or equal to a fourth threshold, the reduction step size is determined to be a third reduction step size, wherein the third reduction step size is less than the second reduction step size.

[0108] For example, with the fourth threshold being 0.03m 3 / h, the first threshold is 0.01m 3 Taking / h as an example, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.01m³ / h... 3 / h and less than or equal to 0.03m 3 / h, determine the third decreasing step size as 0.05HZ.

[0109] It is understood that when the mobile irrigation head performs step S702, the step reduction may remain constant, or in other embodiments, the step reduction may vary.

[0110] For example, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the third threshold and less than or equal to the second threshold, the mobile irrigation head can first reduce the frequency of pump 1428 by a reduction step of 0.3 Hz. When the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the fourth threshold and less than or equal to the third threshold, the reduction step is adjusted from 0.3 Hz to 0.15 Hz. Similarly, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold and less than or equal to the fourth threshold, the reduction step is adjusted from 0.15 Hz to 0.05 Hz. That is, when the mobile irrigation head performs step S702, the reduction step can be varied and gradually decreases.

[0111] For another example, when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the fourth threshold value, the decrease step is 0.05 HZ, that is, the mobile irrigation head can have a constant decrease step when performing step S702.

[0112] S703, when it is detected that the fertilization flow rate is less than the target flow rate, and the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, the opening of the fertilizer suction valve 1427 is increased, or the opening of the fertilizer suction valve 1427 is first increased, and then the frequency of the pump 1428 is decreased when the fertilization flow rate is greater than the target flow rate, and the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, so that the absolute value of the difference between the fertilization flow rate and the target flow rate is less than the first threshold value.

[0113] In the embodiments of the present application, the mobile irrigation head can also adjust the fertilizer suction valve 1427. It can be understood that when the opening of the fertilizer suction valve 1427 is decreased, the fertilization flow rate decreases, and when the opening of the fertilizer suction valve 1427 is increased, the fertilization flow rate increases.

[0114] In the embodiments of the present application, the way of adjusting the fertilization flow rate by adjusting the opening of the fertilizer suction valve 1427 is referred to as coarse adjustment.

[0115] It should be noted that since the frequency of the pump 1428 is operated at full frequency when the mobile irrigation head starts the fertilization function, although the fertilization flow rate is less than the target flow rate, and the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, the frequency of the pump 1428 cannot continue to increase, so the opening of the fertilizer suction valve 1427 can be increased, or the opening of the fertilizer suction valve 1427 is first increased, and then the frequency of the pump 1428 is decreased when the fertilization flow rate is greater than the target flow rate, and the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value.

[0116] It should be further noted that in the foregoing description, when the absolute value of the difference between the fertilization flow rate and the target flow rate is less than the second threshold value, the reason why only the coarse adjustment method is used to adjust the fertilization flow rate is that it is also possible to directly make the absolute value of the difference between the fertilization flow rate and the target flow rate less than the first threshold value by the coarse adjustment method.

[0117] In some embodiments, the increase step of the fertilizer suction valve 1427 when the mobile irrigation head performs step S703 can be fixed, for example, the increase step of the fertilizer suction valve 1427 is 2%.

[0118] It can be understood that when the opening of the fertilizer suction port valve 1427 is increased so that the fertilizer flow rate is greater than the target flow rate, and the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, the frequency of the pump 1428 can be reduced according to the reduction step described above.

[0119] In S704, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, the opening of the fertilizer suction port valve 1427 is adjusted according to the difference between the fertilizer flow rate and the target flow rate, or the opening of the fertilizer suction port valve 1427 is first adjusted, and then the frequency of the pump 1428 is reduced when the fertilizer flow rate is greater than the target flow rate, and the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, so that the absolute value of the difference between the fertilizer flow rate and the target flow rate is less than the first threshold value.

[0120] It should be noted that in the above description, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, the fertilizer flow rate can also be adjusted only by coarse adjustment. The reason is that by coarse adjustment, it is also possible to directly make the absolute value of the difference between the fertilizer flow rate and the target flow rate less than the first threshold value.

[0121] In the embodiments of the present application, the absolute value of the difference between the fertilizer flow rate and the target flow rate greater than the second threshold value includes the following two possible cases:

[0122] In one possible case, the fertilizer flow rate is greater than the target flow rate, and the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, that is, the difference between the fertilizer flow rate and the target flow rate is positive.

[0123] In one possible case, the target flow rate is greater than the fertilizer flow rate, and the difference between the target flow rate and the fertilizer flow rate is greater than the second threshold value, that is, the difference between the fertilizer flow rate and the target flow rate is negative.

[0124] Therefore, for the above two possible cases, the mobile irrigation head can determine whether to reduce the opening of the fertilizer suction port valve 1427 or increase the opening of the fertilizer suction port valve 1427 according to the difference between the fertilizer flow rate and the target flow rate, and can reduce the frequency of the pump 1428 after adjusting the opening of the fertilizer suction port valve 1427 so that the fertilizer flow rate is greater than the target flow rate, and the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value.

[0125] When the mobile irrigation head performs S704, the adjustment step of the fertilizer suction port valve 1427 can be determined according to the absolute value of the difference between the fertilizer flow rate and the target flow rate.

[0126] In some embodiments, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value and less than or equal to a fifth threshold value, it is determined to adjust the opening degree of the fertilizer suction valve 1427 by a fourth adjustment step.

[0127] For example, the second threshold value is 0.1 m 3 / h, and the fifth threshold value is 0.2 m 3 / h. When the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.1 m 3 / h and less than or equal to 0.2 m 3 / h, it is determined that the fourth adjustment step is 2%. It can be understood that when the fertilizer flow rate is greater than the target flow rate, the mobile irrigation head can reduce the opening degree of the fertilizer suction valve 1427 by a reduction step of 2%. When the fertilizer flow rate is less than the target flow rate, the mobile irrigation head can increase the opening degree of the fertilizer suction valve 1427 by an increase step of 2%.

[0128] In some embodiments, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the fifth threshold value and less than or equal to a sixth threshold value, it is determined to adjust the opening degree of the fertilizer suction valve 1427 by a fifth adjustment step, wherein the absolute value of the fifth adjustment step is greater than the absolute value of the fourth adjustment step.

[0129] For example, the fifth threshold value is 0.2 m 3 / h, and the sixth threshold value is 0.4 m 3 / h. When the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.2 m 3 / h and less than or equal to 0.4 m 3 / h, it is determined that the fifth adjustment step is 3%.

[0130] In some embodiments, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the sixth threshold value, it is determined to adjust the opening degree of the fertilizer suction valve 1427 by a sixth adjustment step, wherein the sixth threshold value is greater than the second threshold value, and the absolute value of the sixth adjustment step is greater than the absolute value of the fifth adjustment step.

[0131] For example, the sixth threshold value is 0.4 m 3 / h. When the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.4 m 3 / h, it is determined that the sixth adjustment step is 5%.

[0132] It can be understood that when the fertilizer flow rate is greater than the target flow rate by adjusting the opening degree of the fertilizer suction valve 1427, and the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, the frequency of the pump 1428 can be reduced according to the reduction step described above.

[0133] In the embodiments of the present application, when the mobile irrigation head opens the fertilization function, the fertilizer suction valve 1427 can be opened at a first opening degree, and the pump 1428 can be opened at full frequency. The absolute value of the difference between the fertilization flow rate and the target flow rate can be used to dynamically adjust the fertilizer suction valve 1427 and the pump 1428, so that the fertilization flow rate is always within a reasonable range, and the normal agricultural production requirements are met.

[0134] In some embodiments, after the frequency of the pump 1428 is reduced, or the opening degree of the fertilizer suction valve 1427 is adjusted, or the opening degree of the fertilizer suction valve 1427 is adjusted first, and then the frequency of the pump 1428 is reduced, that is, the frequency of the pump 1428 can not be full frequency, in this case, the method 700 further comprises:

[0135] When it is detected that the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to a first threshold value and less than or equal to a second threshold value, the frequency of the pump 1428 is adjusted according to the difference between the fertilization flow rate and the target flow rate.

[0136] Specifically, the process of the mobile irrigation head executing steps S701 to S704 can be understood as the first adjustment when the fertilization function is opened. In addition, the mobile irrigation head can detect the fertilization flow rate during the fertilization process. Since the frequency of the pump 1428 is not full frequency at this time, the mobile irrigation head can reduce or increase the frequency of the pump 1428.

[0137] The mobile irrigation head can determine the adjustment step of the pump 1428 according to the difference between the fertilization flow rate and the target flow rate.

[0138] In some embodiments, when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than a third threshold value and less than or equal to the second threshold value, the adjustment step is determined to be a first adjustment step, wherein the third threshold value is greater than the first threshold value.

[0139] For example, the second threshold value is 0.1 m 3 / h, and the third threshold value is 0.05 m 3 / h. When the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than 0.05 m 3 / h and less than or equal to 0.1 m 3 / h, the first adjustment step is determined to be 0.3 HZ. It can be understood that when the fertilization flow rate is greater than the target flow rate, the mobile irrigation head can reduce the frequency of the pump 1428 by a reduction step of 0.3 HZ. When the fertilization flow rate is less than the target flow rate, the mobile irrigation head can increase the frequency of the pump 1428 by an increase step of 0.3 HZ.

[0140] In some embodiments, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than a fourth threshold value and less than or equal to a third threshold value, the adjustment step is determined to be a second adjustment step, wherein the fourth threshold value is greater than the first threshold value, and the absolute value of the second adjustment step is less than the absolute value of the first adjustment step.

[0141] For example, the third threshold value is 0.05 m 3 / h, and the fourth threshold value is 0.02 m 3 / h, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.02 m 3 / h and less than or equal to 0.05 m 3 / h, the second adjustment step is determined to be 0.15 HZ.

[0142] In some embodiments, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the fourth threshold value, the adjustment step is determined to be a third adjustment step, wherein the absolute value of the third adjustment step is less than the absolute value of the second reduction step.

[0143] For example, the fourth threshold value is 0.03 m 3 / h, and the first threshold value is 0.01 m 3 / h, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than 0.01 m 3 / h and less than or equal to 0.03 m 3 / h, the third adjustment step is determined to be 0.05 HZ.

[0144] In some embodiments, after reducing the frequency of the pump 1428, or adjusting the opening of the fertilizer suction valve 1427, or adjusting the opening of the fertilizer suction valve 1427 first and then reducing the frequency of the pump 1428, that is, the frequency of the pump 1428 may not be full frequency, in this case, the method 700 further comprises:

[0145] When it is detected that the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, the opening of the fertilizer suction valve 1427 is adjusted according to the difference between the fertilizer flow rate and the target flow rate, or the opening of the fertilizer suction valve 1427 is adjusted first, and after the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, the frequency of the pump 1428 is adjusted according to the difference between the fertilizer flow rate and the target flow rate, so that the absolute value of the difference between the fertilizer flow rate and the target flow rate is less than the first threshold value.

[0146] It should be understood that the description for adjusting the opening of the fertilizer suction valve 1427 according to the difference between the fertilizer flow rate and the target flow rate when it is detected that the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value can be referred to the above, and will not be repeated here for brevity.

[0147] It should also be understood that when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, the mobile irrigation head first adjusts the opening degree of the fertilizer suction port valve 1427, and after the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, the frequency of the pump 1428 is adjusted according to the difference between the fertilizer flow rate and the target flow rate, including two adjustment modes, and specific descriptions of the two modes can be referred to the foregoing, and for brevity, will not be repeated here.

[0148] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described device can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0149] In several embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only schematic.

[0150] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0151] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of regulating fertilizer flow, characterized by, The method is applied to a mobile irrigation head, and the method comprises: in response to a first instruction, opening a pump (1428) and a fertilizer suction valve (1427) in a first working condition, wherein the first instruction is used to instruct to start fertilization, the pump (1428) is used to suck fertilizer, the fertilizer suction valve (1427) is a ball valve, the frequency of the pump (1428) corresponding to the first working condition is a full frequency, and the opening degree of the fertilizer suction valve (1427) is a first opening degree, which is greater than or equal to the minimum opening degree of the fertilizer suction valve (1427); when it is detected that the fertilizer flow is greater than the target flow, and the absolute value of the difference between the fertilizer flow and the target flow is greater than or equal to a first threshold and less than or equal to a second threshold, reducing the frequency of the pump (1428) to make the absolute value of the difference between the fertilizer flow and the target flow less than the first threshold; or when it is detected that the fertilizer flow is less than the target flow, and the absolute value of the difference between the fertilizer flow and the target flow is greater than or equal to the first threshold and less than or equal to the second threshold, increasing the opening degree of the fertilizer suction valve (1427), or first increasing the opening degree of the fertilizer suction valve (1427), and then reducing the frequency of the pump (1428) when the fertilizer flow is greater than the target flow, and the absolute value of the difference between the fertilizer flow and the target flow is greater than or equal to the first threshold and less than or equal to the second threshold, to make the absolute value of the difference between the fertilizer flow and the target flow less than the first threshold; or when it is detected that the absolute value of the difference between the fertilizer flow and the target flow is greater than the second threshold, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow and the target flow, or first adjusting the opening degree of the fertilizer suction valve (1427), and then reducing the frequency of the pump (1428) when the fertilizer flow is greater than the target flow, and the difference between the fertilizer flow and the target flow is greater than or equal to the first threshold and less than or equal to the second threshold, to make the absolute value of the difference between the fertilizer flow and the target flow less than the first threshold.

2. The method according to claim 1, characterized in that, After reducing the frequency of the pump (1428), or adjusting the opening degree of the fertilizer suction valve (1427), or first adjusting the opening degree of the fertilizer suction valve (1427) and then reducing the frequency of the pump (1428), the method further comprises: when it is detected that the absolute value of the difference between the fertilizer flow and the target flow is greater than or equal to the first threshold and less than or equal to the second threshold, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow and the target flow to make the absolute value of the difference between the fertilizer flow and the target flow less than the first threshold; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate, comprises:

3. The method of claim 2, wherein, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than a third threshold value and less than or equal to the second threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate at a first adjustment step, wherein the third threshold value is greater than the first threshold value; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than a fourth threshold value and less than or equal to the third threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate at a second adjustment step, wherein the fourth threshold value is greater than the first threshold value, and the absolute value of the second adjustment step is less than the absolute value of the first adjustment step; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the fourth threshold value, adjusting the frequency of the pump (1428) according to the difference between the fertilizer flow rate and the target flow rate at a third adjustment step, wherein the absolute value of the third adjustment step is less than the absolute value of the second adjustment step. when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate, comprises:

4. The method of claim 2, wherein, when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the second threshold value and less than or equal to a fifth threshold value, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate at a fourth adjustment step; or when the absolute value of the difference between the fertilizer flow rate and the target flow rate is greater than the fifth threshold value and less than or equal to a sixth threshold value, adjusting the opening degree of the fertilizer suction valve (1427) according to the difference between the fertilizer flow rate and the target flow rate at a fifth adjustment step, wherein the absolute value of the fifth adjustment step is greater than the absolute value of the fourth adjustment step; or ​ When the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the sixth threshold value, the opening degree of the fertilizer suction port valve (1427) is adjusted by a sixth adjustment step according to the difference between the fertilization flow rate and the target flow rate, wherein the sixth threshold value is greater than the second threshold value, and the absolute value of the sixth adjustment step is greater than the absolute value of the fifth adjustment step.

5. The method of claim 2, wherein, When the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the second threshold value, the opening degree of the fertilizer suction port valve (1427) is first adjusted according to the difference between the fertilization flow rate and the target flow rate, and then the frequency of the pump (1428) is adjusted according to the difference between the fertilization flow rate and the target flow rate when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, including: When the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the second threshold value and less than or equal to a fifth threshold value, the opening degree of the fertilizer suction port valve (1427) is adjusted by a fourth adjustment step according to the difference between the fertilization flow rate and the target flow rate, and then the frequency of the pump (1428) is adjusted according to the difference between the fertilization flow rate and the target flow rate when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value; or When the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the fifth threshold value and less than or equal to a sixth threshold value, the opening degree of the fertilizer suction port valve (1427) is adjusted by a fifth adjustment step according to the difference between the fertilization flow rate and the target flow rate, and then the frequency of the pump (1428) is adjusted according to the difference between the fertilization flow rate and the target flow rate when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, wherein the absolute value of the fifth adjustment step is greater than the absolute value of the fourth adjustment step; or When the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than the sixth threshold value, the opening degree of the fertilizer suction port valve (1427) is adjusted by a sixth adjustment step according to the difference between the fertilization flow rate and the target flow rate, and then the frequency of the pump (1428) is adjusted according to the difference between the fertilization flow rate and the target flow rate when the absolute value of the difference between the fertilization flow rate and the target flow rate is greater than or equal to the first threshold value and less than or equal to the second threshold value, wherein the sixth threshold value is greater than the second threshold value, and the absolute value of the sixth adjustment step is greater than the absolute value of the fifth adjustment step.

6. The method according to any one of claims 1 to 5, characterized in that, The first opening degree is determined according to the target flow rate.

7. The method according to any one of claims 1 to 5, characterized in that, The target flow rate is determined according to a water-fertilizer ratio and an irrigation flow rate.

8. The method according to any one of claims 1 to 5, characterized in that, The target flow rate is pre-set. The target flow rate is pre-set.

9. A mobile irrigation header, characterized by The mobile irrigation head includes a mobile cabin (110), an irrigation pipeline system (120), a fertilizer system (130), a fertilization irrigation control system (140), the irrigation pipeline system (120), the fertilizer system (130), and the fertilization irrigation control system (140) are contained in the mobile cabin (110), the fertilization irrigation control system (140) includes a control module (141) and a pipeline assembly (142), the pipeline assembly (142) is connected to the irrigation pipeline system (120) and the fertilizer system (130) to mix water and fertilizer, the pipeline assembly (142) includes a fertilizer suction port valve (1427) and a pump (1428), the fertilizer suction port valve (1427) and the pump (1428) are used to control the flow of fertilizer, the pipeline assembly (142) is provided with a flow detector (1433), and the control module (141) is used to execute the method as claimed in any one of claims 1 to 8.

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