Electric Actuator and Its Method for Multi-Source Sensor Intelligent Irrigation System

Abstract

This application relates to the field of irrigation systems, and particularly to an electric actuator and a method for a multi-source sensor intelligent irrigation system. The method is as follows: The irrigation system includes pipelines, pressure sensors, and ultrasonic flowmeters. The pipelines include a main pipeline and branch pipelines. A plurality of branch pipelines are located at different heights respectively. One end of each branch pipeline is connected to the main pipeline, and a number of irrigation ports are evenly distributed on the branch pipelines. The ultrasonic flowmeter is installed at the irrigation port to collect the flow velocity of the water flow at the irrigation port. At least one pressure sensor is installed on the main pipeline and each branch pipeline. The pressure sensor is used to monitor the water pressure in the branch pipeline. Electric actuators are installed on both the main pipeline and the branch pipelines. The valve is fixed on the pipeline, and the opening degree of the valve is proportional to both the water pressure and the water flow. The electric actuator on the branch pipeline is installed at the end where the branch pipeline is connected to the main pipeline. By controlling the electric actuator, this application controls the water pressure in the pipeline and has the effect of dredging the pipeline.

Description

Technical Field

[0001] This application relates to the field of irrigation systems, and particularly to an electric actuator and a method for a multi-source sensor intelligent irrigation system using the same. Background Art

[0002] An intelligent irrigation system can adjust the irrigation time and water volume in real time according to multi-dimensional information such as soil humidity, climate conditions, and crop growth requirements to achieve the best irrigation effect. The intelligent irrigation system relies on a variety of sensors to monitor environmental conditions, such as soil humidity, temperature, pH value, light intensity, etc. These sensors transmit real-time data to the control system, and the control system issues commands to execute specific irrigation actions to the electric actuator, such as turning on or off the water pump, starting or stopping the sprinkler, etc.

[0003] In the prior art, an intelligent irrigation system can use sensors such as a pressure transmitter and an ultrasonic flowmeter to monitor the water pressure and flow rate of the pipe network. The factors that affect the water pressure may be blockages in the pipeline, which are caused by physical impurities, precipitates generated by chemical reactions, or biological growth, and will form blockages in the pipeline or irrigation port, affecting the smooth flow of water. Summary of the Invention

[0004] In order to solve the technical problem of pipeline blockage in the irrigation system, this application provides an electric actuator and a method for a multi-source sensor intelligent irrigation system using the same.

[0005] In a first aspect, this application provides an electric actuator, adopting the following technical solution: The electric actuator includes a housing, a motor, a transmission, and a valve. The motor and the transmission are encapsulated in the housing. The motor is connected to the input shaft of the transmission, and the output shaft of the transmission is fixedly connected to the valve core of the valve to control the opening degree of the valve.

[0006] The beneficial effect is that by adjusting the opening degree of the valve, the water flow rate and water pressure passing through can be adjusted, and the opening degree of the valve is proportional to the water flow rate and water pressure.

[0007] In a second aspect, the present application provides a method for an electric actuator to be used in a multi-source sensor intelligent irrigation system, adopting the following technical solution: The irrigation system includes pipelines, pressure sensors, and ultrasonic flowmeters. The pipelines include main pipelines and branch pipelines. A plurality of branch pipelines are located at different heights. One end of each branch pipeline is connected to the main pipeline. A number of irrigation ports are evenly distributed on the branch pipelines. The ultrasonic flowmeter is installed at the irrigation ports to collect the flow velocity of the water flow at the irrigation ports. At least one pressure sensor is installed on the main pipeline and each branch pipeline. The pressure sensor is used to monitor the water pressure in the branch pipeline. Electric actuators are installed on both the main pipeline and the branch pipelines. Valves are fixed on the pipelines. The opening degree of the valves is directly proportional to both the water pressure and the water flow. The electric actuator on the branch pipeline is installed at the end where the branch pipeline is connected to the main pipeline. The electric actuator on the main pipeline is installed at the water inlet end of the main pipeline.

[0008] The beneficial effects are as follows: By changing the opening degree of the valves on the branch pipelines, the water output of the irrigation ports on the branch pipelines and the water pressure in the branch pipelines can be adjusted. By adjusting the opening degree of the valves on the main pipeline, the water flow rate and water pressure in the main pipeline can be adjusted.

[0009] In a third aspect, the present application provides a control method for a multi-source sensor intelligent irrigation system, adopting the following technical solution: It includes the steps of: constructing a first mapping curve regarding the valve opening degree and water pressure and a second mapping curve regarding the valve opening degree and flow velocity; calculating the fault coefficient of the pipeline according to the slopes of the first mapping curve and the second mapping curve; in response to the fault coefficient being greater than a preset coefficient threshold, controlling the valve to increase the opening degree to increase the water pressure until the fault coefficient is less than the coefficient threshold, and then controlling the valve to return to the initial state.

[0010] The beneficial effects are as follows: When the fault coefficient is greater than the coefficient threshold, control the opening degree of the valve on the corresponding branch pipeline or main pipeline to increase. At this time, the water pressure and water flow increase to flush open the blocked part of the pipeline. After the blockage is flushed open, the fault coefficient decreases. At this time, restore the valve to the opening degree before adjustment and continue the irrigation work. If increasing the opening degree of the valve results in insignificant changes in the real-time water pressure and flow velocity data at the irrigation ports, it indicates that it is caused by other reasons rather than pipeline port blockage, such as pipeline rupture, etc. At this time, control the valve of the corresponding pipeline to close to stop the water supply and provide an alarm, waiting for maintenance.

[0011] Optionally, the calculation method of the fault coefficient is: calculate the ratio of the slope of the first mapping curve to the slope of the second mapping curve at the current moment, calculate the average value of the ratios of the slopes of the first mapping curve to the slope of the second mapping curve at each moment before the current moment, and take the absolute difference between the ratio and the average value of the ratios as the fault coefficient at the current moment.

[0012] The beneficial effects are as follows: By quantifying the abnormality of the pipeline through the fault coefficient, the absolute difference can highlight the degree of deviation from the historical average state. By comparing the difference between the current slope ratio and the historical mean value, it can be detected whether the pipeline has abnormalities or faults.

[0013] Optionally, the calculation method of the fault coefficient is as follows: Calculate the ratio of the slope of the first mapping curve to the slope of the second mapping curve at the current moment; Calculate the average value of the ratios of the slope of the first mapping curve to the slope of the second mapping curve at each moment before the current moment; Take the variance between the ratio and the average value of the ratios as the fault coefficient at the current moment.

[0014] Optionally, the first mapping curve and the second mapping curve are constructed through Matlab.

[0015] Optionally, calculate the synchronization degree of the irrigation ports on each sub-pipeline. When the synchronization degree is less than the preset synchronization degree threshold, control the valve at the water inlet of the sub-pipeline at this height to close to stop the water supply.

[0016] The beneficial effects are as follows: The irrigation ports on one sub-pipeline are at the same height, and the flow velocities of all irrigation ports at the same height should be similar. The synchronization degree is used to quantify this similarity. When the synchronization degree is less than the preset synchronization degree threshold, it indicates that the similarity between this irrigation port and other irrigation ports is relatively low at this time.

[0017] Optionally, the calculation method of the synchronization degree is as follows: Construct the flow velocity sequences of each irrigation port at multiple moments; Take any irrigation port as the target irrigation port, and take the average value of the cumulative sum of the cosine similarities between the flow velocity sequences of other irrigation ports and the flow velocity sequence of the target irrigation port as the synchronization degree.

[0018] The beneficial effects are as follows: By calculating the cosine similarity, the similarity between the flow velocity sequences of different irrigation ports can be quantified. The cosine similarity ranges from -1 to 1, where 1 represents the completely same direction, 0 represents no correlation, and -1 represents the completely opposite direction. If the flow velocity sequence of a certain irrigation port is significantly out of sync with the flow velocity sequences of other irrigation ports, this may indicate that there is an abnormality in this irrigation port. Description of the Drawings

[0019] By referring to the accompanying drawings and reading the following detailed description, the above and other objects, features, and advantages of the exemplary embodiments of the present application will become easy to understand. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts.

[0020] Figure 1 It is the structural diagram of the electric actuator in the embodiment of the present application.

[0021] Figure 2 It is the method flow chart of the control method of the multi-source sensor intelligent irrigation system in the embodiment of the present application. Detailed implementation manners

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments in the present application without creative efforts fall within the protection scope of the present application.

[0023] It should be understood that when terms such as "first" and "second" are used in the claims, the description and the accompanying drawings of the present application, they are only used to distinguish different objects and not to describe a specific order. The terms "comprising" and "including" used in the description and claims of the present application indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0024] The embodiments of the present application disclose a control method for a multi-source sensor intelligent irrigation system, which uses an irrigation system and an electric actuator.

[0025] Referring to Figure 1 , the electric actuator includes a housing 1, a motor, a transmission and a valve. The motor and the transmission are encapsulated in the housing 1, and the motor is connected to the input shaft of the transmission. The valve is set as a butterfly valve, and the valve includes a valve body 2, a valve plate 3 and a valve shaft 4. The valve plate 3 and the valve shaft 4 form a valve core. The valve body 1 is provided with a cavity with both ends open. The valve plate 3 is placed in the cavity. The valve shaft 4 is fixed on the valve plate. The axis of the valve shaft 4 coincides with the axis of the valve plate 3 extending along the diameter direction. One end of the valve shaft 4 is rotatably connected to the valve body 1, and the other end passes through the valve body 1 and is fixed to the output shaft of the transmission. The rotation of the valve plate 3 can block the cavity, and the motor controls the opening degree of the valve through the transmission.

[0026] The irrigation system includes: pipelines, pressure sensors and ultrasonic flowmeters. The pipelines include main pipelines and branch pipelines. A plurality of branch pipelines are located at different heights respectively. One end of each branch pipeline is communicated with the main pipeline. A number of irrigation ports are evenly distributed on the branch pipelines. The ultrasonic flowmeter is installed at the irrigation ports to collect the flow velocity of the water flow at the irrigation ports. At least one pressure sensor is installed on the main pipeline and each branch pipeline. The pressure sensor is used to monitor the water pressure. Electric actuators are installed on both the main pipeline and the branch pipelines. The valve is fixed on the pipeline. The opening degree of the valve is proportional to both the water pressure and the water flow. The electric actuator on the branch pipeline is installed at the end where the branch pipeline is communicated with the main pipeline, and the electric actuator on the main pipeline is installed at the end where the main pipeline intakes water.

[0027] Referring to Figure 2 , the control method of the multi-source sensor intelligent irrigation system includes steps S1 - S3:

[0028] S1: Construct a first mapping curve regarding valve opening and water pressure and a second mapping curve regarding valve opening and flow rate.

[0029] In one embodiment, use matlab to obtain the first mapping curve and the second mapping curve.

[0030] S2: Calculate the fault coefficient of the pipeline according to the slopes of the first mapping curve and the second mapping curve; in response to the fault coefficient being greater than a preset coefficient threshold, control the valve to increase the opening degree to increase the water pressure until the fault coefficient is less than the coefficient threshold, and then control the valve to return to the initial state.

[0031] For the same branch pipeline or main pipeline, calculate the fault coefficient. In one embodiment, the calculation method of the fault coefficient is: calculate the ratio of the slope of the first mapping curve to the slope of the second mapping curve at the current moment, calculate the average value of the ratios of the slopes of the first mapping curve to the slope of the second mapping curve at each moment before the current moment, and take the absolute difference between the ratio and the average value of the ratios as the fault coefficient at the current moment.

[0032] In one embodiment, the variance between the ratio and the average value of the ratios can also be used as the fault coefficient at the current moment.

[0033] Quantify the abnormality of the pipeline through the fault coefficient. Both the absolute difference and the variance can highlight the degree of deviation from the historical average state. By comparing the difference between the current slope ratio and the historical average value, it can be detected whether the pipeline has an abnormality or a fault. When the fault coefficient is greater than the coefficient threshold, control the opening degree of the valve on the branch pipeline or main pipeline to increase. At this time, the water pressure and water flow increase to flush open the blocked part of the pipeline. After the blockage is flushed open, the fault coefficient decreases. At this time, restore the valve to the opening degree before adjustment and continue the irrigation work. Exemplarily, the coefficient threshold is set to 0.5, and the coefficient threshold can be adjusted according to the actual application scenario.

[0034] If increasing the opening degree of the valve results in insignificant changes in the real-time water pressure and flow rate data at the irrigation port, it indicates that it is caused by other reasons rather than pipeline port blockage, such as pipeline rupture, etc. At this time, control the valve of the corresponding pipeline to close to stop the water supply and provide an alarm, waiting for maintenance.

[0035] S3: Calculate the synchronization degree of the irrigation ports on each branch pipeline. When the synchronization degree is less than a preset synchronization degree threshold, control the valve at the water inlet of the branch pipeline at this height to close to stop the water supply.

[0036] The calculation method of the synchronization degree is: construct the flow rate sequences of each irrigation port at multiple moments; take any irrigation port as the target irrigation port, and take the average value of the cumulative sum of the cosine similarities between the flow rate sequences of other irrigation ports and the flow rate sequence of the target irrigation port as the synchronization degree.

[0037] The flow velocity sequence can be expressed as , representing the flow velocity data at the th moment, representing the flow velocity data at the th moment, where is the delay time. The purpose of setting the delay time is to reduce the uneven phenomenon of flow velocity change caused by water pressure change. A delay time needs to be set to calculate the synchronization degree of the irrigation ports to reduce the sensitivity of the synchronization degree. This time can be 2 seconds.

[0038] By calculating the cosine similarity, the similarity between the flow velocity sequences of different irrigation ports can be quantified. The cosine similarity ranges from -1 to 1, where 1 represents the exactly same direction, 0 represents no correlation, and -1 represents the exactly opposite direction. If the flow velocity sequence of a certain irrigation port is significantly out of sync with the flow velocity sequences of other irrigation ports, this may indicate an abnormality in this irrigation port.

[0039] The irrigation ports on a sub - pipeline are at the same height. The flow velocities of all irrigation ports at the same height should be similar. The synchronization degree is used to quantify this similarity. When the synchronization degree is less than the preset synchronization degree threshold, it means that the similarity of this irrigation port with other irrigation ports is relatively low at this time. The synchronization degree threshold can be set to 0.5 and can be adjusted according to the actual application scenario.

[0040] Although this specification has shown and described multiple embodiments of the present application, it is obvious to those skilled in the art that such embodiments are provided only by way of example. Those skilled in the art will think of many changes, alterations, and alternative ways without departing from the spirit and idea of the present application. It should be understood that various alternative solutions to the embodiments of the present application described herein can be adopted during the practice of the present application.

[0041] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A control method for a multi-source sensor intelligent irrigation system, characterized in that: Includes steps: Constructing a first mapping curve between valve opening and water pressure and a second mapping curve between valve opening and flow rate; Calculating the failure coefficient of the pipeline according to the slope of the first mapping curve and the slope of the second mapping curve; in response to the failure coefficient being greater than a preset coefficient threshold, controlling the valve to increase the opening degree to increase the water pressure until the failure coefficient is less than the coefficient threshold, and controlling the valve to return to an initial state; The fault coefficient is calculated by: calculating the ratio of the slope of the first mapping curve to the slope of the second mapping curve at the current moment, calculating the average of the ratios of the slopes of the first mapping curve to the slopes of the second mapping curve at each moment before the current moment, and taking the absolute difference between the ratio and the average of the ratios as the fault coefficient at the current moment; Calculate the synchronization degree of the irrigation outlets on each branch pipeline, and when the synchronization degree is less than a preset synchronization degree threshold, control the valve at the water inlet of the branch pipeline to close to stop water supply; The synchronization degree is calculated as follows: construct the flow velocity sequence of each irrigation outlet at multiple times; take any irrigation outlet as the target irrigation outlet, and take the mean of the cumulative sum of cosine similarities between the flow velocity sequence of other irrigation outlets and the flow velocity sequence of the target irrigation outlet as the synchronization degree.

2. The control method of the multi-source sensor intelligent irrigation system according to claim 1, characterized in that: The calculation method of the fault coefficient may also be: calculating the ratio of the slope of the first mapping curve to the slope of the second mapping curve at the current moment; calculating the average of the ratios of the slopes of the first mapping curve to the slopes of the second mapping curve at each moment before the current moment; The variance between the ratio and the mean of the ratio is taken as the failure coefficient at the current moment.

3. The control method of the multi-source sensor intelligent irrigation system according to claim 1, characterized in that: The first mapping curve and the second mapping curve are constructed by matlab.

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