Method and device for stabilizing concentration of irrigation liquid of water and fertilizer machine and water and fertilizer machine

Abstract

The invention provides a concentration stabilizing method and device for irrigation liquid of a water-fertilizer machine and the water-fertilizer machine, and relates to the technical field of intelligent agriculture, and the method comprises the following steps: determining the duty ratio of a first fertilizer suction valve corresponding to the water-fertilizer machine; adjusting a fertilizer suction valve of the water-fertilizer machine based on the duty ratio of the first fertilizer suction valve, and correcting the duty ratio of the first fertilizer suction valve based on the preset concentration and the first concentration of the irrigation liquid under the condition that the retention time of the adjusted first concentration of the irrigation liquid in the water-fertilizer machine reaches the first preset time, and determining the duty ratio of the target fertilizer suction valve; and adjusting the fertilizer suction valve of the water-fertilizer machine based on the target fertilizer suction valve duty ratio until the absolute value of the difference between the concentration of the irrigation liquid in the adjusted water-fertilizer machine and the preset concentration is within the preset range. According to the technical scheme, the stability time after the water and fertilizer machine is started can be shortened, the concentration fluctuation of irrigation liquid is reduced, the concentration stability is improved, and therefore growth of crops is promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agriculture, and in particular to a concentration stabilization method and device for irrigation liquid of a water-fertilizer machine, and a water-fertilizer machine. Background Art

[0002] The water-fertilizer machine is a new agricultural technology product that integrates irrigation and fertilization, irrigation and root application of pesticides. It realizes the integrated management of water and fertilizer by integrating the irrigation system and the fertilization system, which is of great significance to improving agricultural production efficiency and saving resources.

[0003] The concentration of the irrigation solution provided by the water-fertilizer machine to the crops is very critical. Currently, the water-fertilizer machine generally uses the conventional proportional-integral-derivative (PID) control algorithm to control the concentration of the irrigation solution.

[0004] However, the conventional PID control algorithm used in the prior art to control the concentration of irrigation liquid has problems such as long stabilization time during repeated startup, poor accuracy, difficulty in determining operating parameters, and large concentration fluctuations, which affect crop growth and crop yield. Summary of the invention

[0005] The present invention provides a concentration stabilization method and device for irrigation liquid of a water-fertilizer machine and a water-fertilizer machine, which are used to solve the problems in the prior art of using a conventional PID control algorithm to control the concentration of the irrigation liquid, such as long stabilization time during repeated starts, poor accuracy, difficulty in determining operating parameters, large concentration fluctuations, and the defects that affect crop growth and crop yield. The technical solution of the present invention can reduce the concentration fluctuation of the irrigation liquid, improve the concentration stability of the irrigation liquid, and thus promote the growth of crops.

[0006] The invention provides a concentration stabilizing method for irrigation liquid of a water fertilizer machine, comprising the following steps.

[0007] Determine the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine; adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; When the first concentration of the irrigation liquid in the water-fertilizer machine is maintained for a first preset time after adjustment, the first fertilizer suction valve duty cycle is corrected based on the preset concentration and the first concentration of the irrigation liquid to determine a target fertilizer suction valve duty cycle; The fertilizer suction valve of the water-fertilizer machine is adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the adjusted concentration of the irrigation liquid in the water-fertilizer machine and the preset concentration is within a preset range.

[0008] According to a method for stabilizing the concentration of irrigation liquid of a water-fertilizer machine provided by the present invention, the first fertilizer suction valve duty cycle is corrected based on a preset concentration and a first concentration of the irrigation liquid to determine a target fertilizer suction valve duty cycle, including: determining a correction factor based on the preset concentration and the first concentration of the irrigation fluid; The target fertilizer suction valve duty cycle is determined based on the correction coefficient and the first fertilizer suction valve duty cycle.

[0009] According to a method for stabilizing the concentration of irrigation liquid of a water-fertilizer machine provided by the present invention, the target fertilizer suction valve duty cycle is determined based on the correction coefficient and the first fertilizer suction valve duty cycle, including:

[0010] in, represents the target fertilizer suction valve duty cycle, represents the duty cycle of the first fertilizer suction valve, represents the correction factor, represents the preset concentration, represents a first concentration of the irrigation fluid.

[0011] According to a method for stabilizing the concentration of irrigation liquid of a water-fertilizer machine provided by the present invention, the step of determining the duty ratio of the first fertilizer suction valve corresponding to the water-fertilizer machine includes: Determine the duty cycle of the first fertilizer absorption valve based on a PID control algorithm; or,

[0012] The duty cycle of the first fertilizer absorption valve is determined based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration and the current concentration of the irrigation liquid.

[0013] According to a method for stabilizing the concentration of irrigation liquid of a water-fertilizer machine provided by the present invention, the first fertilizer suction valve duty cycle is determined based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration and the current concentration of the irrigation liquid, including: Determining a target fertilizer amount based on the irrigation fertilizer amount, the preset concentration, and the current concentration of the irrigation fluid; The duty cycle of the first fertilizer absorption valve is determined based on the target fertilizer amount, the irrigation flow rate and the pipeline fertilizer absorption amount.

[0014] According to a concentration stabilization method of a water-fertilizer machine irrigation solution provided by the present invention, the target fertilizer amount is determined based on the irrigation fertilizer amount, the preset concentration and the current concentration of the irrigation solution, including:

[0015] in, Indicates the target fertilizer amount, Indicates the amount of irrigation fertilizer, The preset concentration, Indicates the current concentration of the irrigation fluid.

[0016] According to a method for stabilizing the concentration of irrigation liquid of a water-fertilizer machine provided by the present invention, the duty cycle of the first fertilizer suction valve is determined based on the target fertilizer amount, the irrigation flow rate and the fertilizer suction amount of the pipeline, including:

[0017] in, represents the duty cycle of the first fertilizer suction valve, Indicates the target fertilizer amount, represents the irrigation flow rate, Indicates the amount of fertilizer absorbed by the pipeline.

[0018] The present invention also provides a concentration stabilizing device for irrigation liquid of a water and fertilizer machine, comprising the following modules: A first determination module is used to determine a duty cycle of a first fertilizer suction valve corresponding to the water and fertilizer machine; A first adjustment module, used for adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; a second determination module, configured to, when the holding time of the first concentration of the irrigation liquid in the water-fertilizer machine after adjustment reaches a first preset time, correct the first fertilizer absorption valve duty cycle based on a preset concentration and the first concentration of the irrigation liquid, and determine a target fertilizer absorption valve duty cycle; The second adjustment module is used to adjust the fertilizer suction valve of the water-fertilizer machine based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the concentration of the irrigation liquid in the water-fertilizer machine after adjustment and the preset concentration is within a preset range.

[0019] The present invention also provides a water-fertilizer machine, comprising a fertilizer absorption valve, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is connected to the fertilizer absorption valve, and when the processor executes the computer program, a concentration stabilization method for irrigation liquid of the water-fertilizer machine as described above is implemented.

[0020] According to a water-fertilizer machine provided by the present invention, the water-fertilizer machine further comprises: a mixing tank, a mixing pipeline, an upper liquid level ball valve and a lower liquid level ball valve, the mixing tank is connected to the mixing pipeline, and the upper liquid level ball valve and the lower liquid level ball valve are both arranged in the mixing tank; The mixing pipeline is used to return the irrigation fluid; The upper liquid level ball valve and the lower liquid level ball valve are both used to feed water into the mixing tank.

[0021] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the concentration stabilization method of irrigation liquid for a water-fertilizer machine as described in any one of the above is implemented.

[0022] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the concentration stabilization method of irrigation liquid for a water-fertilizer machine as described above is implemented.

[0023] The present invention provides a method, device and water-fertilizer machine for stabilizing the concentration of irrigation liquid of a water-fertilizer machine. First, the duty cycle of the first fertilizer suction valve corresponding to the water-fertilizer machine is determined, and then the fertilizer suction valve of the water-fertilizer machine is adjusted based on the duty cycle of the first fertilizer suction valve. When the first concentration of the irrigation liquid in the adjusted water-fertilizer machine reaches the first preset time, the duty cycle of the first fertilizer suction valve is corrected based on the preset concentration and the first concentration of the irrigation liquid, the target fertilizer suction valve duty cycle is determined, and the fertilizer suction valve of the water-fertilizer machine is further adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the concentration of the irrigation liquid in the adjusted water-fertilizer machine and the preset concentration is within a preset range. The technical solution of the present invention can correct the duty cycle of the first fertilizer suction valve based on the preset concentration and the first concentration of the irrigation liquid. The target fertilizer suction valve duty cycle determined after correction is more accurate. By adjusting the fertilizer suction valve of the water-fertilizer machine through the target fertilizer suction valve duty cycle, the stability time after the water-fertilizer machine is started can be reduced, the concentration fluctuation of the irrigation liquid can be reduced, and the concentration stability of the irrigation liquid can be improved, thereby promoting the growth of crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 The present invention is a schematic flow chart of a method for stabilizing the concentration of irrigation liquid for a water-fertilizer machine.

[0026] Figure 2 It is a structural schematic diagram of a concentration stabilizing device for irrigation liquid of a water-fertilizer machine provided by the present invention.

[0027] Figure 3 This is one of the structural schematic diagrams of the water-fertilizer machine provided by the present invention.

[0028] Figure 4 This is the second structural schematic diagram of the water-fertilizer machine provided by the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In view of the above problems in the prior art, the present invention provides a method for stabilizing the concentration of irrigation liquid of a water and fertilizer machine. Figure 1 Schematic diagram of the concentration stabilization method of the water fertilizer machine irrigation liquid provided by the present invention, such as Figure 1 As shown, the method includes the following steps.

[0031] Step 110: Determine the duty cycle of the first fertilizer suction valve corresponding to the water and fertilizer machine.

[0032] Specifically, the method of the present invention can be performed when the water fertilizer machine is used for irrigation for the first time, or when the difference between the concentration of the irrigation liquid and the preset concentration exceeds a certain threshold. When performing the method of the present invention, the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine can be determined first.

[0033] In one embodiment, determining the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine includes: Determine the duty cycle of the first fertilizer absorption valve based on a PID control algorithm; or,

[0034] The duty cycle of the first fertilizer absorption valve is determined based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration and the current concentration of the irrigation liquid.

[0035] Specifically, the duty cycle of the first fertilizer suction valve corresponding to the water-fertilizer machine can be determined in the following two ways. The first way is to determine the duty cycle of the first fertilizer suction valve based on the PID control algorithm. The second way is to obtain the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount and the current concentration of the irrigation liquid, and then determine the duty cycle of the first fertilizer absorption valve based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration and the current concentration of the irrigation liquid. Among them, the preset concentration is set in advance according to needs, and the embodiment of the present invention does not make specific limitations here. The irrigation fertilizer amount a can be obtained by dividing the flow sensor of the fertilizer absorption pipeline and the flow sensor of the irrigation pipeline, the irrigation flow f can be obtained by the flow sensor, the pipeline fertilizer absorption amount e can be obtained by the flow sensor, and the current concentration b of the irrigation liquid can be obtained by the liquid conductivity sensor.

[0036] In the above embodiments, the duty cycle of the first fertilizer absorption valve is determined based on the PID control algorithm, or based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration and the current concentration of the irrigation liquid, which lays a foundation for the subsequent correction of the duty cycle of the first fertilizer absorption valve to obtain a more accurate target duty cycle.

[0037] In one embodiment, the step of determining the duty cycle of the first fertilizer absorption valve based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration, and the current concentration of the irrigation fluid includes: Determining a target fertilizer amount based on the irrigation fertilizer amount, the preset concentration, and the current concentration of the irrigation fluid; The duty cycle of the first fertilizer absorption valve is determined based on the target fertilizer amount, the irrigation flow rate and the pipeline fertilizer absorption amount.

[0038] Specifically, the target fertilizer amount can be determined based on the irrigation fertilizer amount, the preset concentration and the current concentration of the irrigation liquid. After determining the target fertilizer amount, the first fertilizer suction valve duty cycle can also be determined based on the target fertilizer amount, the irrigation flow and the pipeline fertilizer suction amount.

[0039] In the above embodiment, the target fertilizer amount is determined based on the irrigation fertilizer amount, the preset concentration and the current concentration of the irrigation liquid, and then the duty cycle of the first fertilizer suction valve is determined based on the target fertilizer amount, the irrigation flow and the fertilizer absorption amount of the pipeline, which lays a foundation for the subsequent correction of the duty cycle of the first fertilizer absorption valve to obtain a more accurate target duty cycle.

[0040] In one embodiment, determining the target fertilizer amount based on the irrigation fertilizer amount, the preset concentration and the current concentration of the irrigation fluid includes:

[0041] in, Indicates the target fertilizer amount, Indicates the amount of irrigation fertilizer, The preset concentration, Indicates the current concentration of the irrigation fluid.

[0042] Specifically, the target fertilizer amount and irrigation fertilizer dosage The units are all liters per cubic meter (i.e. l / m³), and the preset concentration and the current concentration of the irrigation fluid The unit is millisiemens per centimeter (mS / cm).

[0043] In the above embodiment, the target fertilizer amount can be determined by multiplying the irrigation fertilizer amount by the ratio of the preset concentration to the current concentration of the irrigation liquid, which is convenient for subsequently solving the duty cycle of the first fertilizer suction valve.

[0044] In one embodiment, determining the duty cycle of the first fertilizer absorption valve based on the target fertilizer amount, the irrigation flow rate, and the pipeline fertilizer absorption amount includes:

[0045] in, represents the duty cycle of the first fertilizer suction valve, Indicates the target fertilizer amount, represents the irrigation flow rate, Indicates the amount of fertilizer absorbed by the pipeline.

[0046] Specifically, irrigation flow The unit is cubic meter per hour (m³ / h), the amount of fertilizer absorbed by the pipeline The unit is liters per hour (l / h).

[0047] In the above embodiment, the ratio of the target fertilizer amount to the pipeline fertilizer amount multiplied by the irrigation flow rate can more accurately determine the duty cycle of the first fertilizer suction valve, which lays a foundation for the subsequent correction of the duty cycle of the first fertilizer suction valve to obtain a more accurate target duty cycle.

[0048] Step 120: adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve.

[0049] Specifically, after determining the duty cycle of the first fertilizer suction valve, the fertilizer suction valve of the water and fertilizer machine can be adjusted according to the duty cycle of the first fertilizer suction valve, that is, the duty cycle of the fertilizer suction valve is adjusted to the duty cycle of the first fertilizer suction valve. The adjustment of the duty cycle of the fertilizer suction valve will affect the flow rate of the mother liquid in the water and fertilizer machine to the mixing tank, thereby affecting the concentration of the irrigation liquid in the mixing tank. Determine the duty cycle of the first fertilizer suction valve corresponding to the water and fertilizer machine; Step 130: When the first concentration of the irrigation liquid in the water-fertilizer machine is maintained for a first preset time, the first fertilizer suction valve duty cycle is corrected based on the preset concentration and the first concentration of the irrigation liquid to determine a target fertilizer suction valve duty cycle.

[0050] Specifically, when the first concentration of the irrigation liquid is maintained for a first preset time, it indicates that the first concentration of the irrigation liquid has been initially stabilized, and the first fertilizer absorption valve duty cycle can be corrected based on the preset concentration and the first concentration of the irrigation liquid, and the correction result is determined as the target fertilizer absorption valve duty cycle. The first preset time can be set as needed, for example, the first preset time can be 30 seconds.

[0051] In one embodiment, the step of correcting the first fertilizer absorption valve duty cycle based on a preset concentration and a first concentration of the irrigation fluid to determine a target fertilizer absorption valve duty cycle includes: determining a correction factor based on the preset concentration and the first concentration of the irrigation fluid; The target fertilizer suction valve duty cycle is determined based on the correction coefficient and the first fertilizer suction valve duty cycle.

[0052] Specifically, a correction coefficient can be determined based on the preset concentration and the first concentration of the irrigation liquid, and the correction coefficient is used to correct the first fertilizer absorption valve duty cycle. Further, a target fertilizer absorption valve duty cycle can be determined based on the correction coefficient and the first fertilizer absorption valve duty cycle.

[0053] In the above embodiment, based on the preset concentration and the first concentration of the irrigation liquid, the correction coefficient is determined to obtain a more accurate and reasonable target fertilizer absorption valve duty cycle for the first fertilizer absorption valve duty cycle.

[0054] In one embodiment, determining the target fertilizer absorption valve duty cycle based on the correction coefficient and the first fertilizer absorption valve duty cycle includes:

[0055] in, represents the target fertilizer suction valve duty cycle, represents the duty cycle of the first fertilizer suction valve, represents the correction factor, represents the preset concentration, represents a first concentration of the irrigation fluid.

[0056] Specifically, first, according to the preset concentration and the first concentration of the irrigation solution Determine the correction factor Furthermore, the duty cycle of the first fertilizer suction valve can be adjusted by a correction factor. Make corrections to obtain the target fertilizer suction valve duty cycle .

[0057] In the above embodiment, the duty cycle of the first fertilizer suction valve is corrected by the correction coefficient to determine the target fertilizer suction valve duty cycle, so that an accurate and reasonable target fertilizer suction valve duty cycle can be obtained, which lays the foundation for further adjustment of the fertilizer suction valve of the water-fertilizer machine.

[0058] Alternatively, the target fertilizer absorption valve duty cycle can also be determined by the following formula: :

[0059] That is, it can be based on the current concentration of the irrigation fluid , preset concentration , the first concentration of irrigation solution , irrigation fertilizer amount , irrigation flow And the amount of fertilizer absorbed by the pipeline Directly determine the target fertilizer suction valve duty cycle.

[0060] Step 140: adjusting the fertilizer suction valve of the water-fertilizer machine based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the adjusted concentration of the irrigation liquid in the water-fertilizer machine and the preset concentration is within a preset range.

[0061] Specifically, after determining the target fertilizer suction valve duty cycle, the fertilizer suction valve of the water fertilizer machine can be adjusted according to the target fertilizer suction valve duty cycle, that is, the duty cycle of the fertilizer suction valve is adjusted to the target fertilizer suction valve duty cycle. The adjustment of the fertilizer suction valve duty cycle will affect the flow of the mother liquid in the water fertilizer machine to the mixing tank, and then by adjusting the duty cycle of the fertilizer suction valve to the target fertilizer suction valve duty cycle, until the absolute value of the difference between the concentration of the irrigation liquid in the water fertilizer machine after adjustment and the preset concentration is within the preset range, the preset range can be set as needed, and the embodiment of the present invention is not specifically limited here. It is easy to understand that the technical solution of the present invention can be a process of repeatedly adjusting the duty cycle of the fertilizer suction valve. That is, after adjusting the duty cycle of the fertilizer suction valve of the current calculation round to the target fertilizer suction valve duty cycle, the target fertilizer suction valve of the current calculation round can be used as the first fertilizer suction valve duty cycle corresponding to the water fertilizer machine in the next calculation round, and then repeatedly executing the method of the present invention, so that the absolute value of the difference between the concentration of the irrigation liquid in the water fertilizer machine and the preset concentration is always within the preset range.

[0062] It should be noted that, in the case of repeated startup of the water and fertilizer machine, the conventional PID control algorithm used in the prior art to control the concentration of the irrigation liquid has a new diagnostic process each time it is started, which has problems such as large fluctuations and long stabilization time. However, the concentration stabilization method of the water and fertilizer machine irrigation liquid provided by the present invention can stabilize the current irrigation process based on the last irrigation data, and can continuously adjust the duty cycle of the fertilizer suction valve based on the last adjustment of the duty cycle of the fertilizer suction valve, so that the absolute value of the difference between the concentration of the irrigation liquid in the water and fertilizer machine and the preset concentration is always maintained within the preset range, thereby achieving the effect of fast, accurate and stable water and fertilizer machine irrigation process.

[0063] The method for stabilizing the concentration of irrigation liquid of a water and fertilizer machine provided by the present invention first determines the duty cycle of the first fertilizer suction valve corresponding to the water and fertilizer machine, and then adjusts the fertilizer suction valve of the water and fertilizer machine based on the duty cycle of the first fertilizer suction valve. When the holding time of the first concentration of the irrigation liquid in the adjusted water and fertilizer machine reaches the first preset time, the duty cycle of the first fertilizer suction valve is corrected based on the preset concentration and the first concentration of the irrigation liquid, the target fertilizer suction valve duty cycle is determined, and the fertilizer suction valve of the water and fertilizer machine is further adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the concentration of the irrigation liquid in the adjusted water and fertilizer machine and the preset concentration is within a preset range. The technical solution of the present invention can correct the duty cycle of the first fertilizer suction valve based on the preset concentration and the first concentration of the irrigation liquid, and the target fertilizer suction valve duty cycle determined after correction is more accurate. By adjusting the fertilizer suction valve of the water and fertilizer machine through the target fertilizer suction valve duty cycle, the stability time after the water and fertilizer machine is started can be reduced, the concentration fluctuation of the irrigation liquid can be reduced, and the concentration stability of the irrigation liquid can be improved, thereby promoting the growth of crops.

[0064] The concentration stabilization device for irrigation liquid of a water-fertilizer machine provided by the present invention is described below. The concentration stabilization device for irrigation liquid of a water-fertilizer machine described below and the concentration stabilization method for irrigation liquid of a water-fertilizer machine described above can be referred to each other.

[0065] Figure 2 Schematic diagram of the structure of the concentration stabilizing device for the irrigation liquid of the water fertilizer machine provided by the present invention, such as Figure 2 As shown, the concentration stabilizing device 200 for the water-fertilizer machine irrigation liquid includes the following modules: The first determination module 210 is used to determine the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine; A first adjustment module 220, configured to adjust the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; A second determination module 230 is used to correct the first fertilizer absorption valve duty cycle based on a preset concentration and the first concentration of the irrigation liquid to determine a target fertilizer absorption valve duty cycle when the first concentration of the irrigation liquid in the water-fertilizer machine is maintained for a first preset time after adjustment; The second adjustment module 240 is used to adjust the fertilizer suction valve of the water-fertilizer machine based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the concentration of the irrigation liquid in the water-fertilizer machine after adjustment and the preset concentration is within a preset range.

[0066] In one embodiment, the second determining module 230 is specifically configured to: determining a correction factor based on the preset concentration and the first concentration of the irrigation fluid; The target fertilizer suction valve duty cycle is determined based on the correction coefficient and the first fertilizer suction valve duty cycle.

[0067] In one embodiment, the second determining module 230 is further configured to:

[0068] in, represents the target fertilizer suction valve duty cycle, represents the duty cycle of the first fertilizer suction valve, represents the correction factor, represents the preset concentration, represents a first concentration of the irrigation fluid.

[0069] In one embodiment, the first determining module 210 is specifically configured to: Determine the duty cycle of the first fertilizer absorption valve based on a PID control algorithm; or,

[0070] The duty cycle of the first fertilizer absorption valve is determined based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration and the current concentration of the irrigation liquid.

[0071] In one embodiment, the first determining module 210 is further configured to: Determining a target fertilizer amount based on the irrigation fertilizer amount, the preset concentration, and the current concentration of the irrigation fluid; The duty cycle of the first fertilizer absorption valve is determined based on the target fertilizer amount, the irrigation flow rate and the pipeline fertilizer absorption amount.

[0072] In one embodiment, the first determining module 210 is further configured to:

[0073] in, Indicates the target fertilizer amount, Indicates the amount of irrigation fertilizer, The preset concentration, Indicates the current concentration of the irrigation fluid.

[0074] In one embodiment, the first determining module 210 is further configured to:

[0075] in, represents the duty cycle of the first fertilizer suction valve, Indicates the target fertilizer amount, represents the irrigation flow rate, Indicates the amount of fertilizer absorbed by the pipeline.

[0076] The concentration stabilization device of the irrigation liquid of the water and fertilizer machine provided by the present invention first determines the duty cycle of the first fertilizer suction valve corresponding to the water and fertilizer machine, and then adjusts the fertilizer suction valve of the water and fertilizer machine based on the duty cycle of the first fertilizer suction valve. When the holding time of the first concentration of the irrigation liquid in the adjusted water and fertilizer machine reaches the first preset time, the duty cycle of the first fertilizer suction valve is corrected based on the preset concentration and the first concentration of the irrigation liquid, the target fertilizer suction valve duty cycle is determined, and the fertilizer suction valve of the water and fertilizer machine is further adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the concentration of the irrigation liquid in the adjusted water and fertilizer machine and the preset concentration is within the preset range. The technical solution of the present invention can correct the duty cycle of the first fertilizer suction valve based on the preset concentration and the first concentration of the irrigation liquid, and the target fertilizer suction valve duty cycle determined after correction is more accurate. By adjusting the fertilizer suction valve of the water and fertilizer machine through the target fertilizer suction valve duty cycle, the stability time after the water and fertilizer machine is started can be reduced, the concentration fluctuation of the irrigation liquid can be reduced, and the concentration stability of the irrigation liquid can be improved, thereby promoting the growth of crops.

[0077] Figure 3 It is one of the structural schematic diagrams of the water fertilizer machine provided by the present invention, such as Figure 3 As shown, the water and fertilizer machine may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340. The water and fertilizer machine also includes a fertilizer suction valve, which can be connected to the processor 310 through the communication interface 320, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 340. The processor 310 can call the logic instructions in the memory 330 to execute the concentration stabilization method of the water and fertilizer machine irrigation liquid, and the method includes: Determine the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine; adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; When the first concentration of the irrigation liquid in the water-fertilizer machine is maintained for a first preset time after adjustment, the first fertilizer suction valve duty cycle is corrected based on the preset concentration and the first concentration of the irrigation liquid to determine a target fertilizer suction valve duty cycle; The fertilizer suction valve of the water-fertilizer machine is adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the adjusted concentration of the irrigation liquid in the water-fertilizer machine and the preset concentration is within a preset range.

[0078] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0079] In one embodiment, the water fertilizer machine further includes: a mixing tank, a mixing pipeline, an upper liquid level ball valve and a lower liquid level ball valve, the mixing tank is connected to the mixing pipeline, and the upper liquid level ball valve and the lower liquid level ball valve are both arranged in the mixing tank; The mixing pipeline is used to return the irrigation fluid; The upper liquid level ball valve and the lower liquid level ball valve are both used to feed water into the mixing tank.

[0080] Specifically, Figure 4 This is the second structural diagram of the water fertilizer machine provided by the present invention, as shown in FIG. Figure 4 As shown, the water fertilizer machine can also include a water inlet regulating ball valve 1, a stop valve 2, a clean water-return liquid ratio regulating valve 3, an inlet liquid concentration sensor 4, an inlet pump 5, a pressure gauge 6, an upper liquid level ball valve 7, a lower liquid level ball valve 8, a mother liquid tank 9, a mother liquid regulating ball valve 10, a fertilizer suction valve 11, a fertilizer suction stop valve 12, an irrigation fertilizer meter 13, a Venturi fertilizer suction device 14, a detection pipeline concentration and pH meter 15, a detection pipeline 16, a mixing pipeline 17, a fertilizer suction pipeline regulating ball valve 18, a fertilizer suction pipeline pressure gauge 19, an irrigation pump 20, an output pipeline regulating ball valve 21, an output pipeline stop valve 22, a first pointer output pipeline pressure gauge 23, a filter 24, a second pointer output pipeline pressure gauge 25, an electronic output pipeline pressure gauge 26, an output pipeline flowmeter 27 and a mixing tank 28.

[0081] The mixing pipe 17 is used to return the irrigation liquid. The setting of the mixing pipe 17 can adjust the output pressure and form a vortex at the bottom of the mixing tank 28 to improve the uniformity of fertilizer mixing in the mixing tank 28 and improve the accuracy of detecting the concentration of the irrigation liquid.

[0082] The upper liquid level ball valve 7 and the lower liquid level ball valve 8 are both used to feed water into the mixing tank. In the case of large flow of water inflow, the water flow rate can be controlled by the upper liquid level ball valve 7 and the lower liquid level ball valve 8. The upper liquid level ball valve 7 has a large water inflow, and the lower liquid level ball valve 8 has a small water inflow. When the mixing tank 28 is running at a low level, both the upper liquid level ball valve 7 and the lower liquid level ball valve 8 can feed water. When the liquid level exceeds the lower liquid level ball valve 8, only the upper liquid level ball valve 7 feeds water. This setting can prevent rapid fluctuations in the water level and improves the concentration stability of the irrigation liquid in the mixing tank 28 compared to the traditional single valve setting.

[0083] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the concentration stabilization method of the irrigation liquid of the water fertilizer machine provided by the above methods, the method includes: Determine the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine; adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; When the first concentration of the irrigation liquid in the water-fertilizer machine is maintained for a first preset time after adjustment, the first fertilizer suction valve duty cycle is corrected based on the preset concentration and the first concentration of the irrigation liquid to determine a target fertilizer suction valve duty cycle; The fertilizer suction valve of the water-fertilizer machine is adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the adjusted concentration of the irrigation liquid in the water-fertilizer machine and the preset concentration is within a preset range.

[0084] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the concentration stabilization method of the irrigation liquid of the water-fertilizer machine provided by the above methods, the method comprising: Determine the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine; adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; When the first concentration of the irrigation liquid in the water-fertilizer machine is maintained for a first preset time after adjustment, the first fertilizer suction valve duty cycle is corrected based on the preset concentration and the first concentration of the irrigation liquid to determine a target fertilizer suction valve duty cycle; The fertilizer suction valve of the water-fertilizer machine is adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the adjusted concentration of the irrigation liquid in the water-fertilizer machine and the preset concentration is within a preset range.

[0085] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0086] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for stabilizing the concentration of irrigation liquid for a water and fertilizer machine, characterized in that: include: Determine the duty cycle of the first fertilizer suction valve corresponding to the water fertilizer machine; adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; When the first concentration of the irrigation liquid in the water-fertilizer machine is maintained for a first preset time after adjustment, the first fertilizer suction valve duty cycle is corrected based on the preset concentration and the first concentration of the irrigation liquid to determine a target fertilizer suction valve duty cycle; The fertilizer suction valve of the water-fertilizer machine is adjusted based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the adjusted concentration of the irrigation liquid in the water-fertilizer machine and the preset concentration is within a preset range.

2. The method for stabilizing the concentration of the water and fertilizer machine irrigation liquid according to claim 1, characterized in that: The step of correcting the first fertilizer absorption valve duty cycle based on the preset concentration and the first concentration of the irrigation fluid to determine a target fertilizer absorption valve duty cycle includes: determining a correction factor based on the preset concentration and the first concentration of the irrigation fluid; The target fertilizer suction valve duty cycle is determined based on the correction coefficient and the first fertilizer suction valve duty cycle.

3. The method for stabilizing the concentration of the water and fertilizer machine irrigation liquid according to claim 2, characterized in that: The step of determining the target fertilizer absorption valve duty cycle based on the correction coefficient and the first fertilizer absorption valve duty cycle includes: in, represents the target fertilizer suction valve duty cycle, represents the duty cycle of the first fertilizer suction valve, represents the correction factor, represents the preset concentration, represents a first concentration of the irrigation fluid.

4. The method for stabilizing the concentration of the water and fertilizer machine irrigation solution according to claim 1, characterized in that: The step of determining the duty ratio of the first fertilizer suction valve corresponding to the water-fertilizer machine comprises: Determine the duty cycle of the first fertilizer absorption valve based on a PID control algorithm; or, The duty cycle of the first fertilizer absorption valve is determined based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration and the current concentration of the irrigation liquid.

5. The method for stabilizing the concentration of water and fertilizer machine irrigation liquid according to claim 4, characterized in that: The step of determining the duty cycle of the first fertilizer absorption valve based on the irrigation fertilizer amount, the irrigation flow, the pipeline fertilizer absorption amount, the preset concentration, and the current concentration of the irrigation liquid includes: Determining a target fertilizer amount based on the irrigation fertilizer amount, the preset concentration, and the current concentration of the irrigation fluid; The duty cycle of the first fertilizer absorption valve is determined based on the target fertilizer amount, the irrigation flow rate and the pipeline fertilizer absorption amount.

6. The method for stabilizing the concentration of the water and fertilizer machine irrigation liquid according to claim 5, characterized in that: The step of determining a target fertilizer amount based on the irrigation fertilizer amount, the preset concentration, and the current concentration of the irrigation fluid includes: in, Indicates the target fertilizer amount, Indicates the amount of irrigation fertilizer, The preset concentration, Indicates the current concentration of the irrigation fluid.

7. The method for stabilizing the concentration of irrigation liquid for a water and fertilizer machine according to claim 5, characterized in that: The step of determining the duty cycle of the first fertilizer absorption valve based on the target fertilizer distribution amount, the irrigation flow rate, and the fertilizer absorption amount of the pipeline includes: in, represents the duty cycle of the first fertilizer suction valve, Indicates the target fertilizer amount, represents the irrigation flow rate, Indicates the amount of fertilizer absorbed by the pipeline.

8. A concentration stabilizing device for irrigation liquid of a water and fertilizer machine, characterized in that: include: A first determination module is used to determine a duty cycle of a first fertilizer suction valve corresponding to the water and fertilizer machine; A first adjustment module, used for adjusting the fertilizer suction valve of the water-fertilizer machine based on the duty cycle of the first fertilizer suction valve; a second determination module, configured to, when the holding time of the first concentration of the irrigation liquid in the water-fertilizer machine after adjustment reaches a first preset time, correct the first fertilizer absorption valve duty cycle based on a preset concentration and the first concentration of the irrigation liquid, and determine a target fertilizer absorption valve duty cycle; The second adjustment module is used to adjust the fertilizer suction valve of the water-fertilizer machine based on the target fertilizer suction valve duty cycle until the absolute value of the difference between the concentration of the irrigation liquid in the water-fertilizer machine after adjustment and the preset concentration is within a preset range.

9. A water-fertilizer machine, comprising a relay, a fertilizer suction valve, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: The processor is connected to the relay, the relay is connected to the fertilizer absorption valve, and when the processor executes the computer program, the concentration stabilization method of the water-fertilizer machine irrigation liquid as described in any one of claims 1 to 7 is implemented.

10. The water-fertilizer machine according to claim 9, characterized in that: Also includes: A mixing tank, a mixing pipeline, an upper liquid level ball valve and a lower liquid level ball valve, wherein the mixing tank is connected to the mixing pipeline, and the upper liquid level ball valve and the lower liquid level ball valve are both arranged on the mixing tank; The mixing pipeline is used to return the irrigation fluid; The upper liquid level ball valve and the lower liquid level ball valve are both used to feed water into the mixing tank.

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