A control method and device for integrated water and fertilizer of a translational sprinkler irrigation machine

Abstract

A method and device for integrated control of water and fertilizer in a translational sprinkler irrigation machine provided by the present invention calculate the running duration of the sprinkler irrigation machine and the working frequency of the fertilizer injection pump during the process of spraying fertilizer solution in a sub-plot and the running duration of the sprinkler irrigation machine during the process of spraying clear water according to the relevant parameters of the sprinkler irrigation machine and the fertilizer injection pump, the given irrigation quota, the length of the irrigation plot, the amount of fertilizer applied per mu and the type of fertilizer, and form a strategy for the sub-plot to spray fertilizer solution forward first, then spray clear water backward, and then spray clear water forward. Moreover, the fertilizer solution required for the next sub-plot is prepared during the period of spraying clear water, avoiding frequent shutdowns. By precisely regulating the walking speed of the sprinkler irrigation machine and the frequency of the fertilizer injection pump, full-automatic precise operation of integrated water and fertilizer is realized; based on EC or pH feedback regulation, precise regulation of the fertilizer injection amount can be achieved without using a flow meter, etc., avoiding problems such as large fluctuations in water pressure of a large sprinkler irrigation machine leading to large changes in fertilization concentration, etc., and realizing precise application of water and fertilizer synergistically while reducing costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of integrated water and fertilizer management, and particularly relates to a control method and device for integrated water and fertilizer management of a traveling sprinkler. Background Art

[0002] The integrated water and fertilizer management technology has remarkable effects such as water saving, fertilizer reduction, and yield increase. At present, it has become a key measure for China to improve the utilization efficiency of water and fertilizer and implement the action of increasing the yield per unit area of grain on a large scale. The traveling sprinkler has the characteristics of high automation, large single-machine control area, strong adaptability, etc., and can significantly reduce water resource consumption and labor costs. Relevant research shows that the integrated spraying of water and fertilizer using a large sprinkler can reduce labor input and avoid conflicts between conventional operations and agricultural machinery, while improving the fertilizer utilization rate and enhancing the yield and quality of crops.

[0003] At present, the widely used large sprinklers are mainly center pivot sprinklers and traveling sprinklers. The center pivot sprinkler rotates around its central support, and the controlled area is circular, unable to cover the four corners of the field; while the traveling mode of the traveling sprinkler is to move along the vertical direction of the equipment, and the irrigated area is rectangular, which is suitable for strip fields or square plots in traditional agricultural planting areas in China, and the coverage rate can reach more than 95%.

[0004] However, since the inlet of the irrigation main pipeline of the traveling sprinkler moves with the main driving trolley, its fertilizer injection equipment and fertilizer storage container are usually installed on the main driving trolley. To maintain the running stability of the traveling sprinkler, a fertilizer bucket with a relatively small volume is often selected as the fertilizer storage container. However, for a traveling sprinkler with a long irrigation plot, multiple spans, and a large control area, the relatively small-volume fertilizer storage container will cause the traveling sprinkler to stop frequently, seriously affecting the operation efficiency and stability of the integrated water and fertilizer management of the traveling sprinkler. In addition, the running speed of the traveling sprinkler is relatively low, and the time required for the integrated water and fertilizer operation of a long plot is relatively long. The interval time between the sprayed fertilizer solution and the sprayed clear water in some plots is relatively long, and the intercepted fertilizer solution in the crop canopy cannot be washed in time, resulting in a large amount of nutrient evaporation and a decrease in fertilizer utilization rate.

[0005] Therefore, carrying out research on special equipment for integrated water and fertilizer management of traveling sprinklers suitable for intensive agriculture and the supporting irrigation and fertilization strategies meets the requirements of national policies and domestic applications, and is of great significance for improving the utilization rate of water and fertilizer in China, increasing the yield of crops, and protecting the soil and groundwater. Summary of the Invention

[0006] In view of the above problems, the object of the present invention is to provide a water and fertilizer integration device for a traveling sprinkler irrigation machine with stable fertilizer injection flow rate, which can accurately control the fertilizer application concentration and amount through an irrigation and fertilization strategy, and realize the full-automatic precise operation of water and fertilizer integration based on the control method. At the same time, based on the water and fertilizer integration strategy of segmented reciprocating irrigation and fertilization, the problems of frequent shutdowns, evaporation of fertilizer solution, etc. during the water and fertilizer integration process of the traveling sprinkler irrigation machine are effectively solved, and the operation efficiency of the water and fertilizer integration of the traveling sprinkler irrigation machine, the system operation stability and the fertilizer utilization rate can be effectively improved.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A control method for water and fertilizer integration of a traveling sprinkler irrigation machine provided in the first aspect of the present invention is used to control the water and fertilizer integration equipment of the traveling sprinkler irrigation machine. The water and fertilizer integration equipment of the traveling sprinkler irrigation machine includes a traveling sprinkler irrigation machine, a fertilizer injection pump and a fertilizer storage unit connected to each other. The control method includes:

[0009] Obtain the inherent parameters of the sprinkler irrigation machine, and set the length of the irrigation plot, the amount of fertilizer applied per mu, the irrigation quota and the fertilizer type for the current irrigation and fertilization;

[0010] Collect the inlet flow rate of the sprinkler irrigation machine before the start of the current fertilizer injection irrigation, and the E c value or pH value of the clear water in the main pipeline of the sprinkler irrigation machine;

[0011] According to the inherent parameters of the sprinkler irrigation machine, the length of the irrigation plot, the amount of fertilizer applied per mu, the irrigation quota and the fertilizer type for the current irrigation and fertilization, and the inlet flow rate of the sprinkler irrigation machine before the start of fertilizer injection, calculate the working parameters of the sprinkler irrigation machine and the fertilizer injection pump to form the current irrigation and fertilization strategy. Specifically, divide the irrigation plot into several sub-plots, and perform irrigation and fertilization operations on each sub-plot in sequence. For the current working sub-plot, adopt the strategy of first spraying fertilizer solution forward, then spraying clear water backward, and then spraying clear water forward, and prepare the fertilizer solution required for the next sub-plot during the spraying of clear water;

[0012] Control the water and fertilizer integration equipment of the traveling sprinkler irrigation machine to execute the current irrigation and fertilization strategy;

[0013] During the process of controlling the water and fertilizer integration equipment of the traveling sprinkler irrigation machine to execute the current irrigation and fertilization strategy, monitor and feedback-adjust the concentration of the sprayed fertilizer solution: select the corresponding fertilizer solution concentration inversion prediction model according to the fertilizer type, and obtain the E c predicted value or pH predicted value of the sprayed fertilizer solution for the current irrigation and fertilization according to the sprayed fertilizer solution concentration and the selected fertilizer solution concentration inversion prediction model, compare this predicted value with the E c value or pH value of the sprayed fertilizer solution collected after the start of fertilizer injection, and form a control command for the water and fertilizer integration equipment of the traveling sprinkler irrigation machine based on the comparison result.

[0014] Further, the inherent parameters of the sprinkler include the overall length of the sprinkler, the range of the sprinkler head installed at the end of the sprinkler, the utilization coefficient of field sprinkler water, the field surface slip coefficient, the rated speed of the drive motor, the effective radius of the supporting tires, the transmission ratio of the drive motor reducer, the transmission ratio of the wheel reducer, the rated frequency of the fertilizer injection pump, and the actual flow rate of the fertilizer injection pump after verification.

[0015] Further, the c E value and the pH value are respectively collected by an EC sensor and a pH sensor installed downstream of the confluence of the fertilizer injection pipeline and the main pipeline of the sprinkler, and the inlet flow rate of the machine is collected by a flow meter installed at the water inlet of the main pipeline of the sprinkler.

[0016] Further, the specific steps for forming the irrigation and fertilization strategy for this time include:

[0017] Preset program: Determine the coverage area A0 of the sprinkler according to the inherent parameters of the sprinkler;

[0018] Sprinkler fertilizer solution: Determine the total fertilizer injection amount V of the sprinkler fertilizer solution for this time according to the maximum solubility S of the given fertilizer at room temperature, the fertilizer application amount M per mu, and the coverage area A0 of the sprinkler f , and according to the total fertilizer injection amount V of the sprinkler fertilizer solution for this time f and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the number of fertilizer mixing times N for the sprinkler fertilizer solution for this time, and take the number of sub - plots divided in the irrigation plot to be equal to the number of fertilizer mixing times N; According to the number of fertilizer mixing times N for the sprinkler fertilizer solution for this time and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the actual fertilizer injection amount V of the sprinkler fertilizer solution for this time, and determine the length l and area a of a single divided sub - plot according to the length L of the irrigation plot b , the coverage area A0 of the sprinkler, and the number of fertilizer mixing times N for the sprinkler fertilizer solution for this time; Determine the shortest time t for the sprinkler to run one trip in a single sub - plot according to the length l of the sub - plot and the maximum walking speed of the sprinkler min ; According to the inlet flow rate Q0 of the sprinkler, the fertilizer solution depth h during the sprinkler fertilizer solution process f , the coverage area A0 of the sprinkler, and the shortest time t for the sprinkler to run one trip in a single sub - plot min Determine the percentage timer setting value x of the sprinkler during the sprinkler fertilizer solution process in a single sub - plot f ; According to the shortest time t for the sprinkler to run one trip in a single sub - plot min and the percentage timer setting value x of the sprinkler during the sprinkler fertilizer solution process in a single sub - plot f , calculate the running duration t of the sprinkler during the sprinkler fertilizer solution process in a single sub - plot f ; According to the rated frequency f of the fertilizer injection pump d, the actual flow rate of the fertilizer injection pump after verification q d The running time of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot is t f Determine the operating frequency f of the fertilizer injection pump;

[0019] Sprinkler irrigation water: According to the current irrigation quota h and the fertilizer liquid depth h during the sprinkler irrigation process f Calculate the irrigation depth h of sprinkler irrigation water w According to the input flow Q0 of the sprinkler, the coverage area A0 of the sprinkler, and the shortest time t for the sprinkler to run in a single sub-plot, min And the irrigation depth of sprinkler water h w , determine the percentage timer setting value x of the sprinkler during the water cleaning process of a single sub-plot w ; Based on the shortest time t that the sprinkler machine runs in a single sub-plot min And the percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w , calculate the running time t of the sprinkler machine during the water purification process of a single sub-plot sprinkler irrigation w ;

[0020] Finally, according to the above calculation, the running time of the sprinkler during the fertilizer liquid irrigation process of a single sub-plot is t f The working frequency f of the fertilizer injection pump and the running time t of the sprinkler during the water cleaning process of a single sub-plot sprinkler irrigation are w , the running time of a single subplot is t a =t f +t w , and the total duration of the sprinkler irrigation and fertilizer integration operation t = Nt a , forming the irrigation and fertilization strategy.

[0021] Furthermore, the coverage area A0 of the sprinkler is calculated according to the following formula:

[0022]

[0023] Where, L s is the length of the sprinkler, R1 and R2 are respectively installed at the range of the sprinkler nozzle at the end of the sprinkler; for a single-side translation sprinkler, L s The distance between the main driving trolley and the nozzle at the end of the truss water pipe is R2 = 0; for double-side translation sprinkler, L s It is the distance between the nozzles at the ends of the water pipes on both sides of the sprinkler truss;

[0024] The total injection amount of fertilizer V of the current sprinkler irrigation fertilizer solution f , calculated according to the following formula:

[0025]

[0026] Where k is the coefficient set to ensure that the fertilizer is fully dissolved, which is set to 1.3-1.6;

[0027] The actual injection amount V of the fertilizer solution for this sprinkler irrigation is calculated according to the following formula:

[0028] V=NV t

[0029]

[0030] Where, N is the number of times the fertilizer solution is dispensed during this irrigation, V t is the volume of the fertilizer storage container in the fertilizer storage unit, and the N value obtained by the above formula is rounded up as the number of fertilizer distribution times for this sprinkler irrigation;

[0031] The length l and area a of a single sub-plot are calculated according to the following formula:

[0032]

[0033] The shortest time t that the sprinkler machine runs in a single sub-plot min , calculated according to the following formula:

[0034]

[0035] Where i1 is the transmission ratio of the drive motor reducer; i2 is the transmission ratio of the wheel reducer; n is the rated speed of the drive motor; r is the effective radius of the matching tire; η is the field surface slip coefficient, which depends on the tire pattern, tire pressure and soil compaction, and is taken as 0.92 to 0.97;

[0036] The percentage timer setting value x of the sprinkler during the fertilizer liquid irrigation process of the single sub-plot f , calculated as follows and rounded down:

[0037]

[0038] Where η p is the field spraying water utilization coefficient, which is related to the wind speed. When the wind speed is lower than 3.4m / s, η p Take 0.8~0.9, when the wind speed is 3.4~5.4m / s, η p Take 0.7~0.8; the fertilizer liquid depth h of a single sub-plot during the fertilizer liquid spraying process f The value shall not be less than 5mm;

[0039] The running time of the sprinkler machine during the fertilizer liquid sprinkling process of a single sub-plot is t f , calculated according to the following formula:

[0040]

[0041] The working frequency f of the fertilizer injection pump is calculated according to the following formula:

[0042]

[0043] The irrigation depth h of clear water sprayed on a single sub-plot w , is calculated according to the following formula:

[0044] h w = h - h f

[0045] The set value x of the percentage timer of the sprinkler during the process of spraying clear water on a single sub-plot w , is calculated and rounded down according to the following formula:

[0046]

[0047] The running duration t of the sprinkler during the process of spraying clear water on a single sub-plot w , is calculated according to the following formula:

[0048]

[0049] Furthermore, during the process of controlling the translation type sprinkler integrated water and fertilizer equipment to execute the current irrigation and fertilization strategy, the fertilizer solution concentration is monitored and feedback adjusted, specifically including:

[0050] Calculate the concentration of the original fertilizer solution prepared in the fertilizer solution container of the fertilizer storage unit during the process of the sprinkler spraying the fertilizer solution according to the following formula:

[0051]

[0052] In the formula, C is the concentration of the original fertilizer solution; M is the fertilizer application rate per mu; A0 is the coverage area of the sprinkler; V is the actual fertilizer injection amount of the current fertilizer solution spraying;

[0053] Calculate the fertilizer solution concentration according to the inlet flow Q0 of the sprinkler, the actual flow q of the calibrated fertilizer injection pump d and the concentration of the prepared original fertilizer solution. The calculation formula is as follows:

[0054]

[0055] In the formula, C s is the fertilizer solution concentration;

[0056] Select the corresponding fertilizer solution concentration inversion prediction model according to the fertilizer type. This fertilizer solution concentration inversion prediction model is used to reflect the functional relationship between the fertilizer solution concentration and the E c value or pH value of the fertilizer solution;

[0057] The sprayed fertilizer solution concentration Cs Bring it into the fertilizer solution concentration inversion prediction model to obtain the E of the sprinkler irrigation fertilizer solution for this irrigation and fertilization c predicted value and the pH predicted value, and compare them with the E c value or pH value of the sprayed fertilizer solution after the start of fertilizer injection. If the comparison result exceeds the set threshold, a shutdown signal is sent and a shutdown report is generated. If the comparison result does not exceed the set threshold, the current irrigation and fertilization strategy is continued until the running time of the sprinkler reaches the total running time of the integrated water and fertilizer operation of the sprinkler, and this irrigation and fertilization ends.

[0058] Further, when the fertilizer is a strong electrolyte, the fertilizer solution concentration inversion prediction model is:

[0059] E c = aC s + b

[0060] In the formula, E c is the conductivity; a is the first coefficient, which needs to be calibrated through experiments; b is the E of the irrigation clear water before the start of fertilizer injection c value;

[0061] When the fertilizer is an acidic or alkaline fertilizer, the fertilizer solution concentration inversion prediction model is:

[0062] pH = yC s + z

[0063] In the formula, pH is the acidity and alkalinity; y is the second coefficient, which needs to be calibrated through experiments; z is the pH value of the irrigation clear water before the start of fertilizer injection.

[0064] Further, the current irrigation and fertilization strategy further includes replacing the fertilizer solution preparation operation during the sprinkler irrigation of the clear water in the last sub-plot with an operation of backwashing the fertilizer injection pump, and setting the running time t c and the rated working frequency f c of the fertilizer injection pump during the backwashing process; among them, t c is set as a fixed time, generally taken as 10 min; f c is taken as the rated frequency of the fertilizer injection pump.

[0065] A translational sprinkler integrated water and fertilizer device according to the control method of any one of the first aspects of the present invention provided by the second aspect of the present invention includes a fertilization device, a main driving trolley of the sprinkler, a control system and a plurality of pipelines. The fertilization device includes a fertilizer injection pump and a fertilizer storage unit. The main driving trolley includes a traveling mechanism, a main driving trolley bracket installed on the traveling mechanism, and a sprinkler main pipeline installed in the middle of the main driving trolley bracket;

[0066] The fertilizer injection pump is connected between the main pipeline of the sprinkler irrigation machine and the fertilizer storage unit through a pipeline, and injects the fertilizer solution in the fertilizer storage unit into the main pipeline of the sprinkler irrigation machine according to the control instruction of the control system. Among them, the inlet of the fertilizer injection pump is connected to the fertilizer outlet at the bottom of the fertilizer storage container in the fertilizer storage unit through a fertilizer suction pipeline; the outlet of the fertilizer injection pump is connected to the main pipeline of the sprinkler irrigation machine through a fertilizer injection pipeline; the main pipeline of the sprinkler irrigation machine is connected to the inlet of the fertilizer storage container through a water replenishing pipeline, and a backwashing pipeline is connected between the water replenishing pipeline and the fertilizer suction pipeline, and the fertilizer injection pump is flushed through the backwashing pipeline during the sprinkler irrigation of the last sub-plot.

[0067] The fertilizer storage unit is used to prepare fertilizer solutions with corresponding concentrations according to the control instructions of the control system. The fertilizer storage unit includes a connected fertilizer storage container and a fertilizer mixer.

[0068] The control system includes a sensing unit, a valve group, and a first control cabinet and a second control cabinet that are installed on one side of the main driving trolley bracket and communicate with each other. Among them,

[0069] The sensing unit includes a liquid level sensor installed on the top of the fertilizer storage container, a pressure switch installed on the fertilizer injection pipeline, and a flow meter, an EC sensor, and a pH sensor installed in sequence on the main pipeline of the sprinkler irrigation machine.

[0070] The valve group includes a water replenishing electric valve, a fertilizer suction electric valve, a fertilizer injection electric valve, and a backwashing electric valve, which are respectively installed on corresponding pipelines.

[0071] The second control cabinet is used to calculate the working parameters of the sprinkler irrigation machine and the fertilizer injection pump according to the parameters set by the user and the incoming machine flow rate of the sprinkler irrigation machine collected by the flow meter before the start of fertilizer injection, form the irrigation and fertilization strategy for this time and display it to the user; control the operation of the fertilization equipment, the sensing unit, and the valve group according to the irrigation and fertilization strategy for this time, and monitor and feedback-adjust the concentration of the sprinkler irrigation fertilizer solution during the control process.

[0072] The first control cabinet is used to control the start and stop, walking speed, and running time of the sprinkler irrigation machine, and the opening and closing of the main water supply pump of the sprinkler irrigation machine according to the irrigation and fertilization strategy for this time.

[0073] Further, the second control cabinet includes a frequency converter and a second controller disposed inside the second cabinet body, and a human-machine interaction unit disposed outside the second cabinet body. An irrigation and fertilization strategy generation module and an irrigation fertilizer solution concentration control module are integrated in the second controller. The second controller controls the working frequency of the fertilizer injection pump through the frequency converter. The second controller is connected to the sensing unit, the valve group and the fertilizer mixer. The first control cabinet includes a percentage timer and a first controller respectively disposed outside and inside the first cabinet body. Communication is carried out between the first controller and the second controller. The first controller controls the traveling speed of the sprinkler through the percentage timer.

[0074] A fertilizer suction filter and a fertilizer suction manual valve are further installed on the fertilizer suction pipeline. A water replenishment filter and a water replenishment manual valve are further installed on the water replenishment pipeline. A check valve and a fertilizer injection manual valve are further installed on the fertilizer injection pipeline. A manual drain valve is installed at the bottom of the fertilizer storage container.

[0075] Features and beneficial effects of the present invention:

[0076] 1) The present invention discloses a water and fertilizer integration control strategy for a reciprocating irrigation and fertilization of a block-type traveling sprinkler. Compared with the traditional irrigation and fertilization strategy, the field is divided into several sub-plots, and the sub-plots are alternately irrigated in a reciprocating manner by the irrigation method of spraying fertilizer solution forward, spraying clear water backward, and spraying clear water forward. During the period of spraying clear water, the fertilizer solution is soaked and mixed, avoiding the frequent shutdown and fertilizer mixing problems of the traveling sprinkler during the water and fertilizer integration process, effectively improving the operation efficiency of the water and fertilizer integration of the traveling sprinkler and the system operation stability. In addition, the strategy significantly reduces the time interval between spraying fertilizer solution and spraying clear water. After spraying the fertilizer solution, the fertilizer solution intercepted by the crop canopy is immediately washed by irrigating clear water, effectively avoiding the evaporation of the fertilizer solution, improving the fertilizer utilization rate and preventing the fertilizer residue from damaging the crop leaves. At the same time, according to the relevant parameters of the traveling sprinkler and the fertilizer injection device, and given the irrigation depth and fertilization amount of this time, the working parameters such as the set value of the percentage counter of the sprinkler and the working frequency of the piston-type fertilizer injection pump can be calculated, forming an irrigation and fertilization strategy, and the traveling speed of the sprinkler and the frequency of the fertilizer injection pump are accurately controlled through the control system, realizing the full-automatic precise operation of water and fertilizer integration.

[0077] 2) The present invention discloses a water and fertilizer integration device for a moving sprinkler irrigation machine. The device uses a plunger type fertilizer injection pump as the core fertilization equipment. Compared with other fertilization equipment, the present invention can achieve precise adjustment of the fertilizer injection amount without using metering equipment such as flow meters, avoiding problems such as large fluctuations in the water pressure of large sprinkler irrigation machines leading to large changes in fertilization concentration, and realizing precise application of water and fertilizer synergistically while reducing costs. A water and fertilizer integration device for a moving sprinkler irrigation machine disclosed by the present invention is equipped with an anti-flushing function. During the period of spraying clear water on the last sub-plot, the residual fertilizer liquid inside the fertilizer injection pump and the connecting pipeline can be cleaned through the anti-flushing pipeline, preventing the damage to the water and fertilizer integration system caused by the residual fertilizer liquid. A water and fertilizer integration device for a moving sprinkler irrigation machine disclosed by the present invention is equipped with a manual valve. When the system is powered off or the electric valve cannot work properly, the water and fertilizer integration device can be controlled through the manual valve. A water and fertilizer integration device for a moving sprinkler irrigation machine disclosed by the present invention is equipped with a safety protection device. A pressure switch is installed on the fertilizer injection pipeline. When the fertilizer injection pipeline is blocked or the fertilizer injection device fails, and the pressure of the fertilizer injection pipeline reaches the upper limit, the control system will automatically stop the process of spraying fertilizer liquid and feedback to the man-machine interaction unit, preventing damage to the system caused by excessive water pressure and improving the operation safety of the system.

[0078] 3) During the process of water and fertilizer integration of the present invention, the water and fertilizer concentration of the main pipeline of the moving sprinkler irrigation machine can be monitored in real time and feedback control can be carried out. First, before the fertilizer injection process, the inflow rate of the main pipeline of the moving sprinkler irrigation machine and the E c and pH value of the irrigation clear water are measured respectively through a flow meter, an EC sensor and a pH sensor. Then, based on the water and fertilizer integration strategy given by the irrigation fertilization control system, the spraying fertilizer liquid concentration of the moving sprinkler irrigation machine is calculated by the above formula, and the corresponding spraying fertilizer liquid concentration and the function relationship between the conductivity and the acidity and alkalinity are selected according to the preset fertilizer type, and the E c or pH value of the spraying fertilizer liquid for this water and fertilizer integration strategy is calculated. Finally, the calculated E c or pH value is compared with the E c or pH value actually measured during the fertilizer injection process. If the difference between the two is greater than the set difference upper limit, the system will automatically stop the process of spraying fertilizer liquid and feedback to the man-machine interaction unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 FIG. 1 is an overall flowchart of a control method for water and fertilizer integration of a moving sprinkler irrigation machine provided by an embodiment of the first aspect of the present invention;

[0080] FIGS. 2(a), 2(b), 2(c), 2(d) are schematic diagrams of the block reciprocating irrigation and fertilization method of the control method shown; Figure 1 FIG. 3 is a schematic diagram of the control method for water and fertilizer integration of a moving sprinkler irrigation machine provided by an embodiment of the second aspect of the present invention;

[0081] Figure 3 FIG. 4 isFigure 1 The flowchart of generating the current irrigation and fertilization strategy by the described control method;

[0082] Figure 4 Based on Figure 1 The flowchart of the method for monitoring and feedback regulation of the fertilizer solution concentration during irrigation and fertilization by the described control method;

[0083] Figure 5 The overall structural schematic diagram of a translation type sprinkler machine integrated water and fertilizer device provided by the second aspect embodiment of the present invention;

[0084] Figure 6 For Figure 5 The structural schematic diagram of the fertilizer storage unit, plunger type fertilizer injection pump and its pipeline in the shown device;

[0085] Figure 7 For Figure 5 The internal structural block diagram of the control system in the shown device. Detailed implementation manners

[0086] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0087] On the contrary, the present application covers any substitutions, modifications, equivalent methods and solutions made within the spirit and scope of the present application defined by the claims. Further, in order to enable the public to have a better understanding of the present application, some specific detailed parts are described in detail in the following detailed description of the present application. Those skilled in the art can fully understand the present application without the description of these detailed parts.

[0088] The structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present application. Therefore, they do not have technical essence. Any modification of the structure, change of the ratio relationship or adjustment of the size, without affecting the effects that the present application can produce and the objectives that can be achieved, should still fall within the scope covered by the technical content disclosed in the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of clear narration and are not used to limit the scope for the implementation of the present application. The change or adjustment of their relative relationships, without substantial change of the technical content, should also be regarded as the scope for the implementation of the present application.

[0089] See Figure 1, A method for integrated control of water and fertilizer in a translational sprinkler irrigation machine according to an embodiment of the first aspect of the present invention is used to control the integrated water and fertilizer equipment of the translational sprinkler irrigation machine. The integrated water and fertilizer equipment of the translational sprinkler irrigation machine includes a translational sprinkler irrigation machine (hereinafter simply referred to as "sprinkler irrigation machine"), a fertilizer injection pump, and a fertilizer storage unit that are connected to each other. The control method of this embodiment includes the following steps:

[0090] Obtain the inherent parameters of the sprinkler irrigation machine, and set the length L of the irrigation plot for this irrigation and fertilization b (unit: m), the fertilizer application rate M per mu (unit: kg), the irrigation quota h (unit: mm), and the fertilizer type;

[0091] Collect the inlet flow rate of the sprinkler irrigation machine before the start of this fertilizer injection irrigation, and the E of the clear water in the main pipeline of the sprinkler irrigation machine c value or pH value;

[0092] According to the inherent parameters of the sprinkler irrigation machine, the set length L of the irrigation plot for this irrigation and fertilization b , the fertilizer application rate M per mu, the irrigation quota h, and the fertilizer type, as well as the inlet flow rate of the sprinkler irrigation machine before the start of fertilizer injection, calculate the working parameters of the sprinkler irrigation machine and the fertilizer injection pump, and form the irrigation and fertilization strategy for this time. This strategy adopts the method of block-by-block reciprocating irrigation and fertilization. Specifically, the irrigation plot is divided into several sub-plots, and irrigation and fertilization operations are carried out on each sub-plot in sequence. Among them, for the current working sub-plot, it is carried out in the order of first spraying fertilizer solution forward, then spraying clear water backward, and then spraying clear water forward, that is, the sprinkler irrigation machine runs three trips in the forward-reverse-forward travel direction in each sub-plot, and prepares the fertilizer solution required for the next sub-plot during the spraying of clear water;

[0093] Control the integrated water and fertilizer equipment of the translational sprinkler irrigation machine to execute the irrigation and fertilization strategy for this time;

[0094] During the process of controlling the integrated water and fertilizer equipment of the translational sprinkler irrigation machine to execute the irrigation and fertilization strategy for this time, monitor and feedback adjust the concentration of the sprayed fertilizer solution: select the corresponding fertilizer solution concentration inversion prediction model according to the fertilizer type, and obtain the E of the sprayed fertilizer solution for this irrigation and fertilization according to the sprayed fertilizer solution concentration and the selected fertilizer solution concentration inversion prediction model c predicted value or pH predicted value, and compare this predicted value with the E of the sprayed fertilizer solution collected after the start of fertilizer injection c value or pH value, and form a control instruction for the integrated water and fertilizer equipment of the translational sprinkler irrigation machine based on the comparison result.

[0095] In some embodiments, the inherent parameters of the sprinkler irrigation machine include the overall length L of the sprinkler irrigation machine s (unit: m), the ranges R1, R2 of the nozzles installed at the end of the sprinkler irrigation machine (unit: m), and the field sprinkler water utilization coefficient η p, the surface slip coefficient η, the rated speed n of the drive motor (unit: r / min), the effective radius r of the supporting tires (unit: m), the transmission ratio i1 of the drive motor reducer, the transmission ratio i2 of the wheel reducer, the rated frequency f of the fertilizer injection pump d (unit: Hz), and the actual flow rate q of the fertilizer injection pump after verification d (unit: L / h), q d can be obtained from the drop value of the liquid level sensor in the fertilizer storage unit within a certain period of time.

[0096] In some embodiments, a flow meter, an EC sensor, and a pH sensor are sequentially arranged on the main pipeline of the sprinkler irrigation machine; among them, the flow meter is located at the water inlet of the main pipeline of the sprinkler irrigation machine and is used to collect the clear water flow rate injected into the main pipeline of the sprinkler irrigation machine before the start of fertilizer injection, that is, the incoming machine flow rate Q0 (unit: m 3 / h); the EC sensor and the pH sensor are installed downstream of the confluence of the fertilizer injection pipeline and the main pipeline of the sprinkler irrigation machine and are used to collect the E c value and the pH value of the irrigation clear water before the start of fertilizer injection, as well as the E c value and the pH value of the sprayed fertilizer solution during the fertilizer injection process.

[0097] In some embodiments, refer to Figures 2(a) to 2(d) , which is a schematic diagram of the block reciprocating irrigation and fertilization method. As shown in Figure 2(a), the irrigation plot is equally divided into several sub-plots, and the number of sub-plots is taken to be equal to the number of fertilizer formulation times N of the sprayed fertilizer solution this time. At this time, the sprinkler irrigation machine is located at B0 (the starting position of the irrigation plot, that is, the starting position of the first sub-plot), and at this time, the translational sprinkler irrigation machine starts to move forward and sprays the fertilizer solution; as shown in Figure 2(b), when the sprinkler irrigation machine walks to B1 (that is, the boundary position between the first sub-plot and the second sub-plot), the sprinkler irrigation machine finishes spraying the fertilizer solution. At this time, the sprinkler irrigation machine starts to move backward and sprays clear water, and at the same time, prepares the fertilizer solution required for the next sub-plot; as shown in Figure 2(c), the sprinkler irrigation machine returns to B0, and at this time, the sprinkler irrigation machine moves forward again and continues to spray clear water until the irrigation quota is met; as shown in Figure 2(d), the sprinkler irrigation machine returns to B1, and at this time, the sprinkler irrigation machine has completed all the water and fertilizer integration processes for the first sub-plot. At the same time, the sprinkler irrigation machine starts to move forward and uses the fertilizer solution that has been prepared during the spraying of clear water in the first sub-plot to start the process of spraying the fertilizer solution on the next sub-plot. Continuously execute the above steps until the sprinkler irrigation machine completes all the water and fertilizer integration processes for the last sub-plot. At this time, the sprinkler irrigation machine is located at B N (the end position of the irrigation plot, that is, the end position of the last sub-plot), and the current irrigation and fertilization process ends.

[0098] It should be noted that during the period of sprinkler irrigation with clear water for the last plot, the operation of preparing the fertilizer solution is not required. Instead, it is replaced by backwashing the fertilizer injection pump and its connecting pipelines to clean the residual fertilizer solution and prevent the residual fertilizer solution from damaging the fertilizer injection pump and its connecting pipelines.

[0099] In some embodiments, referring to Figure 3 , it is a specific flowchart for generating the irrigation and fertilization strategy for this time. In the embodiments of the present invention, the irrigation method of reciprocating irrigation and fertilization in blocks is adopted. The irrigation plot is divided into several sub-plots, and the sub-plots are reciprocally irrigated alternately in the irrigation method of forward sprinkler irrigation of fertilizer solution, reverse sprinkler irrigation of clear water, and forward sprinkler irrigation of clear water. During the period of sprinkler irrigation with clear water, the fertilizer solution is soaked and mixed, avoiding the frequent shutdown and fertilizer preparation problems of the traveling sprinkler in the process of integrated water and fertilizer management, effectively improving the operation efficiency of the integrated water and fertilizer management of the traveling sprinkler and the system operation stability; in addition, this strategy significantly reduces the time interval between sprinkler irrigation of fertilizer solution and sprinkler irrigation of clear water. After sprinkler irrigation of the fertilizer solution, immediately wash the fertilizer solution intercepted by the crop canopy through irrigation with clear water, effectively avoiding the evaporation of the fertilizer solution, improving the fertilizer utilization rate, and preventing the damage of fertilizer residues to the crop leaves.

[0100] The specific steps for generating the irrigation and fertilization strategy for this time in this embodiment include:

[0101] Preset program: Determine the coverage area A0 (unit: mu) of the sprinkler according to the inherent parameters of the sprinkler;

[0102] Sprinkler irrigation of fertilizer solution: Determine the total fertilizer injection volume V f (unit: L) of the sprinkler irrigation of fertilizer solution this time according to the maximum solubility S (unit: kg / L) of the given fertilizer at normal temperature, the set fertilizer application rate M per mu, and the coverage area A0 of the sprinkler. And according to the total fertilizer injection volume V f of the sprinkler irrigation of fertilizer solution this time and the volume V t (unit: L) of the fertilizer storage container in the fertilizer storage unit, determine the number of fertilizer preparation times N (unit: times) of the sprinkler irrigation of fertilizer solution this time, which is equal to the number of sub-plots divided for the irrigation plot; According to the number of fertilizer preparation times N of the sprinkler irrigation of fertilizer solution this time and the volume V t (unit: L) of the fertilizer storage container in the fertilizer storage unit, determine the actual fertilizer injection volume V (unit: L) of the sprinkler irrigation of fertilizer solution this time. And according to the length L b (unit: m) of the irrigation plot, the coverage area A0 of the sprinkler, and the number of fertilizer preparation times N of the sprinkler irrigation of fertilizer solution this time, determine the length l and area a of a single divided sub-plot; According to the length l of a single sub-plot and the maximum traveling speed v e (unit: m / min) of the sprinkler, determine the shortest time t min (unit: h) for the sprinkler to run one trip in a single sub-plot; According to the inlet flow rate Q0 (unit: m 3 / h) of the sprinkler and the fertilizer solution depth h during the process of sprinkler irrigation of fertilizer solutionf (Unit: mm), the area a of the sub-plot, and the shortest time t for the sprinkler to run one trip in a single sub-plot min , determine the percentage timer setting value x of the sprinkler during the fertilizer solution spraying process f (Unit: %); according to the shortest time t for the sprinkler to run one trip in a single sub-plot min and the percentage timer setting value x of the sprinkler during the fertilizer solution spraying process f , calculate the running duration t of the sprinkler during the fertilizer solution spraying process for a single sub-plot f (Unit: h); according to the actual fertilizer injection volume V of this fertilizer solution spraying, the rated frequency f of the fertilizer injection pump d , the actual flow rate q of the fertilizer injection pump after calibration d and the running duration t of the sprinkler during the fertilizer solution spraying process for a single sub-plot f , determine the working frequency f of the fertilizer injection pump (Unit: Hz);

[0103] Sprinkling clear water: According to the irrigation quota h (Unit: mm) of this irrigation and the fertilizer solution depth h during the fertilizer solution spraying process f , calculate the irrigation depth h of the clear water for sprinkling w (Unit: mm); according to the inlet flow rate Q0 of the sprinkler, the area a of the sub-plot, the shortest time t for the sprinkler to run one trip in a single sub-plot min and the irrigation depth h of the clear water for sprinkling w , determine the percentage timer setting value x of the sprinkler during the clear water sprinkling process for a single sub-plot w (Unit: %); according to the shortest time t for the sprinkler to run one trip in a single sub-plot min and the percentage timer setting value x of the sprinkler during the clear water sprinkling process for a single sub-plot w , calculate the running duration t of the sprinkler during the clear water sprinkling process for a single sub-plot w (Unit: h, this duration is for the clear water sprinkling in two trips, forward and backward);

[0104] Backwashing process: Set the running duration t of the fertilizer injection pump during the backwashing process c (Unit: min) and the rated working frequency f c (Unit: Hz); among them, the running duration t of the fertilizer injection pump during the backwashing process c is set as a fixed duration, generally taken as 10 min; the working frequency f of the fertilizer injection pump during the backwashing process c is taken as the rated frequency f of the fertilizer injection pump d ;

[0105] Finally, according to the running duration t of the sprinkler for the fertilizer solution spraying process for a single sub-plot calculated above f and the working frequency f of the fertilizer injection pump, the running duration t of the sprinkler during the clear water sprinkling process for a single sub-plotw , the operation duration t of the fertilizer injection pump during the backwashing process c and the working frequency f of the fertilizer injection pump c , the operation duration t of a single sub-plot a = t f + t w (unit: h), and the total operation duration t of the sprinkler for integrated water and fertilizer operation = Nt a (unit: h), forming the irrigation and fertilization strategy for this time. It should be noted that the operation duration t of the fertilizer injection pump during the backwashing process c is carried out during the irrigation of clear water for the last sub-plot. Therefore, the operation duration t of the fertilizer injection pump during the flushing process is not considered when calculating the total operation duration t of the sprinkler for integrated water and fertilizer operation c , but only determined by the product of the sum of the operation duration t of the sprinkler during the fertilizer spraying process f and the operation duration t of the sprinkler during the clear water spraying process w and the number of sub-plots.

[0106] Furthermore, the coverage area A0 of the sprinkler refers to the total irrigation area controlled by the traveling sprinkler, which is also the fertilization area. The calculation formula is as follows:

[0107]

[0108] The total fertilizer injection volume V of the sprinkler for this fertilizer spraying f can be expressed as:

[0109]

[0110] In the formula, S is the maximum solubility of the fertilizer at normal temperature (generally taken as 20 °C), kg / L; k is a coefficient, and to ensure the full dissolution of the fertilizer, it is taken as 1.3 - 1.6;

[0111] The actual fertilizer injection volume V of this fertilizer spraying can be expressed as:

[0112] V = NV t

[0113]

[0114] In the formula, N is the number of fertilizer mixing times (unit: times) of this fertilizer spraying, V t is the volume of the fertilizer storage container in the fertilizer storage unit. Since the number of fertilizer mixing times is an integer, the obtained N value is rounded up conservatively as the number of fertilizer mixing times of this fertilizer spraying;

[0115] The lengths and areas of the sub-plots divided for the irrigated land can be expressed as:

[0116]

[0117] wherein, l is the length of the sub-plot (unit: m); a is the area of the sub-plot (unit: m 2 ).

[0118] The shortest time t for the sprinkler to run once in a single sub-plot min depends on the maximum walking speed v of the sprinkler e (unit: m / min) and the length l of the sub-plot. The calculation formula is as follows:

[0119]

[0120] wherein, η is the field surface slip coefficient, which depends on tire tread, tire pressure, soil compactness, etc., and generally takes 0.92 - 0.97.

[0121] The percentage timer setting value x of the sprinkler during the process of spraying fertilizer solution in a single sub-plot f determines the walking speed of the sprinkler during the process of spraying fertilizer solution. x f can be expressed as:

[0122]

[0123] wherein, since the percentage setting value of the sprinkler is usually an integer, for the sake of conservatism, the obtained x f value is rounded down to be used as the percentage timer setting value of the sprinkler during the process of spraying fertilizer solution in a single sub-plot; η p is the field sprinkling water utilization coefficient, which is related to the wind speed. When the wind speed is lower than 3.4 m / s, η p takes 0.8 - 0.9. When the wind speed is 3.4 - 5.4 m / s, η p takes 0.7 - 0.8; According to relevant research, when the single irrigation depth of the sprinkler is less than 5 mm, it is considered ineffective irrigation. To prevent excessive volatilization after fertilizer application, a 10 mm irrigation depth can be set as the fertilizer solution depth during the process of spraying fertilizer solution by the sprinkler in a single sub-plot, that is, h f = 10 mm.

[0124] The running duration t of the sprinkler during the process of spraying fertilizer solution in a single sub-plot f can be expressed as:

[0125]

[0126] The working frequency f of the fertilizer injection pump can be calculated by the following formula:

[0127]

[0128] wherein, the rated frequency f of the fertilizer injection pump is taken d = 50 Hz.

[0129] The irrigation depth h of spraying clear water in a single sub-plotw It can be expressed as:

[0130] h w = h - h f

[0131] In the formula, h is the irrigation quota for the integrated operation of water and fertilizer by the sprinkler irrigation machine, in mm.

[0132] The set value x of the percentage timer of the sprinkler irrigation machine during the process of spraying clear water on a single sub - plot w Determines the walking speed of the sprinkler irrigation machine during the process of spraying clear water, x w It can be expressed as:

[0133]

[0134] In the formula, the obtained x w The value is rounded down to be used as the set value of the percentage timer of the sprinkler irrigation machine during the process of spraying clear water on a single sub - plot.

[0135] The running duration t of the sprinkler irrigation machine during the process of spraying clear water on a single sub - plot w Can be expressed as:

[0136]

[0137] In some embodiments, referring to Figure 1 , the specific steps to control the integrated water and fertilizer equipment of the traveling - type sprinkler irrigation machine to execute this irrigation and fertilization strategy are as follows:

[0138] First, according to this irrigation and fertilization strategy, an appropriate amount of fertilizer is added to the fertilizer storage container of the fertilizer storage unit, and at the same time, clear water is injected. When the set water level is reached, the water - fertilizer solution in the fertilizer storage container of the fertilizer storage unit is fully mixed; First, according to this irrigation and fertilization strategy, an appropriate amount of fertilizer is added to the fertilizer storage container of the fertilizer storage unit, and at the same time, clear water is injected. When the set water level is reached, the water - fertilizer solution in the fertilizer storage container of the fertilizer storage unit is fully mixed; After the fertilizer solution is fully dissolved, based on this irrigation and fertilization strategy, the sprinkler irrigation machine and the fertilizer injection pump are precisely regulated, and the sprinkler irrigation machine starts to spray the fertilizer solution; When the fertilizer solution in the fertilizer storage unit is sprayed out, at the same time, the sprinkler irrigation machine walks to the end of the sub - plot, and based on this irrigation and fertilization strategy, the sprinkler irrigation machine is controlled, and the sprinkler irrigation machine starts the reverse process of spraying clear water; After the sprinkler irrigation machine returns to the starting position of the sub - plot, the sprinkler irrigation machine starts the forward process of spraying clear water until the sprinkler irrigation machine walks to the end of the sub - plot again and meets the irrigation quota of this sub - plot for this time; According to this irrigation and fertilization strategy, it is judged whether the fertilization process is over. If not, the above - mentioned sprinkler irrigation process is repeated until this irrigation and fertilization process ends; In addition, by collecting the inlet flow rate of the sprinkler irrigation machine and E in real - time cBased on data such as values and pH values, select the corresponding fertilizer solution concentration inversion prediction model according to the preset fertilizer solution type, and inversely predict the water and fertilizer application amount information in the irrigation and fertilization process in real time, that is, obtain the E of the fertilizer solution sprayed in this irrigation and fertilization c predicted value or pH predicted value to provide feedback on the irrigation and fertilization process.

[0139] In some embodiments, referring to Figure 4 , during the process of controlling the integrated water and fertilizer equipment of the traveling sprinkler to execute this irrigation and fertilization strategy, the specific steps for monitoring and feedback adjustment of the fertilizer solution concentration include:

[0140] The concentration of the original fertilizer solution prepared in the fertilizer storage container during the spraying of the fertilizer solution by the above-mentioned traveling sprinkler can be calculated by the following formula:

[0141]

[0142] In the formula, C is the concentration of the original fertilizer solution, kg / L; M is the fertilizer application amount per mu, kg; A0 is the coverage area of the sprinkler, mu; V is the actual fertilizer injection amount of the fertilizer solution sprayed this time, L.

[0143] Calculate the concentration of the sprayed fertilizer solution according to the inlet flow Q0 of the sprinkler, the actual flow q of the calibrated fertilizer injection pump d and the concentration of the prepared original fertilizer solution. The calculation formula is as follows:

[0144]

[0145] In the formula, C s is the concentration of the sprayed fertilizer solution, kg / L, which refers to the concentration of the fertilizer solution sprayed by the sprinkler nozzle of the sprinkler, that is, the concentration of the fertilizer solution in the main pipeline of the sprinkler.

[0146] Select the corresponding fertilizer solution concentration inversion prediction model according to the fertilizer type. This fertilizer solution concentration inversion prediction model is used to reflect the functional relationship between the concentration of the sprayed fertilizer solution and the E c value or pH value of the sprayed fertilizer solution. Among them,

[0147] For strong electrolytes such as potassium chloride, ammonium dihydrogen phosphate, potassium nitrate, and potassium sulfate, the conductivity of their solutions is very strong, and the following functional relationship exists between the concentration of the sprayed fertilizer solution and the conductivity:

[0148] E c = aC s + b

[0149] In the formula, E cis the conductivity, μS / cm; a is the first coefficient, which is calibrated through experiments (taking potassium chloride as an example, use a conductivity tester to measure the conductivity values of potassium chloride solutions with concentrations of 0.05%, 0.1%, 0.15%, 0.2%, 0.25%, 0.3%, 0.35%, 0.4%, 0.45%, 0.5%, 0.55%, and 0.6% respectively, and obtain the above formula through fitting the experimental results to calibrate the coefficient a); b is the conductivity of the measured clear water, that is, E c The E of the irrigation clear water before the start of fertilizer injection collected by the sensor c value, μS / cm.

[0150] For acidic or alkaline solutions such as urea and compound fertilizer solutions, there is a functional relationship between the spraying fertilizer solution concentration and the pH value:

[0151] pH = yC s +z

[0152] In the formula: pH is the pH value; y is the coefficient, which is calibrated through experiments (the calibration process can refer to the calibration process of the above coefficient a); z is the pH value of the measured clear water, that is, the pH value of the irrigation clear water before the start of fertilizer injection collected by the pH sensor.

[0153] Based on the above functional relationship, the relationship between the spraying fertilizer solution concentration of different types of fertilizers in the main pipeline of the sprinkler and the conductivity or pH value can be constructed;

[0154] Substitute the spraying fertilizer solution concentration into the fertilizer solution concentration inversion prediction model to obtain the E c predicted value and pH predicted value of the sprinkler fertilizer solution for this irrigation and fertilization, and compare them with the E c value or pH value of the sprinkler fertilizer solution after the start of fertilizer injection. If the comparison result exceeds the set threshold, a shutdown signal is sent and a shutdown report is generated. Make the comparison result not exceed the set threshold by adding water or increasing fertilizer, and then continue to execute the irrigation and fertilization strategy for this time until the running time of the sprinkler reaches the total running time t of the integrated water and fertilizer operation of the sprinkler, and this irrigation and fertilization ends.

[0155] See Figures 5 to 7 , a kind of integrated water and fertilizer device for a moving sprinkler provided by the second aspect embodiment of the present invention mainly includes a fertilization device, the main driving trolley 3 of the sprinkler, a control system and several pipelines. The fertilization device includes a fertilizer injection pump 1 and a fertilizer storage unit 2. The main driving trolley 3 includes a traveling mechanism 55, a main driving trolley bracket 51 installed on the traveling mechanism 55, and a main pipeline 52 of the sprinkler installed in the middle of the main driving trolley bracket 51.

[0156] As Figures 5 to 6As shown in the figure, the fertilizer injection pump 1 adopts a plunger - type fertilizer injection pump, which is connected between the main pipeline 52 of the sprinkler irrigation machine and the fertilizer storage unit 2 through pipelines, and injects the fertilizer solution in the fertilizer storage unit 2 into the main pipeline 52 of the sprinkler irrigation machine according to the control instructions of the control system. Specifically, the inlet d1 of the fertilizer injection pump 1 is connected through a fertilizer suction pipeline 11 to the fertilizer outlet at the bottom of the fertilizer storage container 31 in the fertilizer storage unit 2, and a fertilizer suction filter 22 is installed on the fertilizer suction pipeline 11; the outlet d2 of the fertilizer injection pump 1 is connected through a fertilizer injection pipeline 12 to the main pipeline 52 of the sprinkler irrigation machine; the main pipeline 52 of the sprinkler irrigation machine is connected through a water replenishing pipeline 14 to the inlet at the top of the fertilizer storage container 31, and a water replenishing filter 26 is installed on the water replenishing pipeline 14. An anti - flushing pipeline 13 is connected between the water replenishing pipeline 14 and the fertilizer suction pipeline 11. During the irrigation of clear water in the last sub - plot, the fertilizer injection pump 1 is flushed through the anti - flushing pipeline 13 to prevent damage to the fertilizer injection pump 1 caused by residual fertilizer solution.

[0157] As Figure 6 shown, the fertilizer storage unit 2 of this embodiment is used to prepare fertilizer solutions with corresponding concentrations according to the control instructions of the control system, and mainly includes a fertilizer storage container 31, a fertilizer mixer, and a fertilizer storage container top cover 34. The fertilizer storage container 31 is specifically a horizontal fertilizer barrel, placed in front of the main drive trolley 3. The fertilizer mixer consists of a circulation pump 32, a circulation pump inlet pipeline 15, and a circulation pump outlet pipeline 16. The circulation pump 32 is installed on the side of the fertilizer storage container 31. The inlet of the circulation pump 32 is connected through the circulation pump inlet pipeline 15 to the bottom of the fertilizer storage container 31, and the circulation pump outlet pipeline 16 connects the outlet of the circulation pump 32 to the middle part of the fertilizer storage container 31. The circulation pump 32 drives the water - fertilizer solution in the fertilizer storage container 31 to be fully mixed according to the control instructions of the control system. The fertilizer storage container top cover 34 is connected to the fertilizer storage container 31 by threads.

[0158] As Figures 5 to 6 shown, the control system includes a sensing unit, a valve group, and a first control cabinet 53 and a second control cabinet 54 that are suspended and connected on one side of the main drive trolley bracket 51. Among them:

[0159] The sensing unit includes a liquid - level sensor 33 installed on the top of the fertilizer storage container 31, a pressure switch 29 installed on the fertilizer injection pipeline 12, and a flowmeter 61, an E c sensor 62, and a pH sensor 63 that are sequentially installed on the main pipeline 52 of the sprinkler irrigation machine; the liquid - level information in the fertilizer storage container 31 is collected in real - time through the liquid - level sensor 33; the internal pressure of the fertilizer injection pipeline 12 is collected in real - time through the pressure switch 29; the flowmeter 61 is located at the water inlet of the main pipeline 52 of the sprinkler irrigation machine and is used to collect the incoming - machine flow; the E c sensor 62 and the pH sensor 63 installed downstream of the confluence of the fertilizer injection pipeline 12 and the main pipeline 52 of the sprinkler irrigation machine are used to collect the E c value and pH value of the irrigation clear water before the start of fertilizer injection and the E cValue and pH value.

[0160] The valve group includes a manual water replenishing valve 28 and an electric water replenishing valve 27 installed on the water replenishing pipeline 14, a manual drain valve 36 installed at the bottom of the fertilizer storage container 31, a manual fertilizer suction valve 37 and an electric fertilizer suction valve 23 installed on the fertilizer suction pipeline 11, an electric fertilizer injection valve 24, a check valve 67 and a manual fertilizer injection valve 68 installed on the fertilizer injection pipeline 12, and the check valve 67 and the manual fertilizer injection valve 68 are arranged close to the main pipeline 52 of the sprinkler, and an electric backwashing valve 25 installed on the backwashing pipeline 13;

[0161] See Figure 7 , the first control cabinet 53 includes a percentage timer 66 and a first controller respectively arranged on the outer side and the inner side of the first cabinet body; the second control cabinet 54 includes a frequency converter 64 and a second controller arranged inside the second cabinet body, and a human-machine interaction unit 65 arranged on the outer side of the second cabinet body. The second controller integrates an irrigation and fertilization strategy generation module and an irrigation fertilizer solution concentration regulation module (the irrigation and fertilization strategy generation module and the irrigation fertilizer solution concentration regulation module are not shown in Figure 7 ), and the first controller communicates with the second controller in a wireless or wired manner;

[0162] The human-machine interaction unit 65 includes a liquid crystal screen for the user to set the length of the irrigated plot, the amount of fertilizer applied per mu, the irrigation quota and the fertilizer type for the current irrigation and fertilization, and to display the real-time working status of the water and fertilizer integration device of the translational sprinkler to the user;

[0163] The irrigation and fertilization strategy generation module can calculate the working parameters of the sprinkler and the fertilizer injection pump according to the parameters set by the user and the incoming machine flow rate of the sprinkler collected by the flow meter 61 before the start of fertilizer injection, form the current irrigation and fertilization strategy and transmit it to the human-machine interaction unit 65 for display;

[0164] The irrigation fertilizer solution concentration regulation module is used to monitor and adjust the concentration of the irrigation fertilizer solution during the irrigation fertilizer solution process: select the corresponding fertilizer solution concentration inversion prediction model according to the fertilizer type, and use the E of the irrigation clear water before the start of fertilizer injection c Value and pH value to inversely calculate the water and fertilizer application amount information during the irrigation and fertilization process in real time, compare the water and fertilizer application amount information with the E of the sprayed fertilizer solution after the start of fertilizer injection c Value and pH value, and form a regulation instruction based on the comparison result. Specifically, if the comparison result exceeds the set threshold, the second controller communicates with the first controller, sends a shutdown signal to stop the current irrigation and fertilization, and sends a report to the human-machine interaction unit. During the shutdown period, water is replenished or fertilizer is added to the fertilizer storage container 31 according to the comparison result to make the comparison result not exceed the set threshold, and then the current irrigation and fertilization strategy is continued until the current irrigation and fertilization ends;

[0165] The first controller is directly connected to the percentage timer 66 and is connected to the main water supply pump of the sprinkler through local or remote means. It is used to control the start and stop, operation time of the sprinkler, and the opening and closing of the main water supply pump of the sprinkler according to the current irrigation and fertilization strategy generated by the irrigation and fertilization strategy generation module, and control the traveling speed of the sprinkler through the percentage timer 66.

[0166] The frequency converter 64 is controlled by the second controller and is directly connected to the fertilizer injection pump 1. It is used to change the rotation speed of the fertilizer injection pump motor to achieve the control of the flow rate of the fertilizer injection pump 1.

[0167] The second controller is directly connected to the valve group, the circulation pump 32 in the fertilization equipment, and the liquid crystal screen in the human-machine interaction unit 65, and is linked to the sensing unit through the RS-485 serial bus standard. The second controller controls the operation of the fertilization equipment, the sensing unit, and the valve group according to the current irrigation and fertilization strategy generated by the irrigation and fertilization strategy generation module and the regulation instruction generated by the irrigation fertilizer solution concentration regulation module.

[0168] The following describes the specific working process of a water and fertilizer integration device for a translational sprinkler provided in the second aspect embodiment of the present invention:

[0169] 1) When starting the water and fertilizer integration device of this embodiment and before injecting fertilizer into the main pipeline 52 of the sprinkler, first input the amount of fertilizer applied per mu M and the irrigation quota h for the current irrigation and fertilization in the human-machine interaction unit 65, and set the fertilizer type. Then, the irrigation and fertilization strategy generation module in the second control cabinet 54 can divide the plot into several sub-plots, and calculate working parameters such as the set value of the sprinkler percentage timer, the working frequency of the piston-type fertilizer injection pump, the running duration of a single sub-plot, and the total duration of the water and fertilizer integration operation of the sprinkler, form the current irrigation and fertilization strategy and output it by the human-machine interaction unit 65.

[0170] 2) Open the top cover 34 of the fertilizer storage container and pour the fertilizer required for a single sub-plot. Start the main water supply pump of the translational sprinkler through the first controller in the first control cabinet 53 to fill the main pipeline 52 of the translational sprinkler with water. Then, the second controller opens the makeup water electric valve 27, and injects clear water into the fertilizer storage container 31 through the makeup water pipeline 14. When the liquid level sensor 33 detects that the liquid level in the fertilizer storage container 31 reaches the set water level, the second controller issues a control instruction to close the makeup water electric valve 27 and the first controller issues a control instruction to close the main water supply pump of the sprinkler. At the same time, the second controller opens the circulation pump 32 to fully mix and dissolve the water and fertilizer solution in the fertilizer storage container 31.

[0171] 3) After the fertilizer is fully dissolved, the first controller starts the water supply main pump of the traveling sprinkler irrigation machine to supply water to the main pipeline 52 of the traveling sprinkler irrigation machine. When the sprinkler heads start spraying water, the traveling sprinkler irrigation machine starts to move from the starting position of the current working sub-plot according to the set value of the percentage timer 66; at the same time, the second controller turns on the piston-type fertilizer injection pump 1, the fertilizer suction electric valve 23, and the fertilizer injection electric valve 24. The fully dissolved fertilizer solution passes through the fertilizer suction pipeline 11 from the fertilizer storage container 31, and after being filtered by the fertilizer suction filter  23, it enters the inlet d1 of the piston-type fertilizer injection pump 1. Then, the fertilizer solution at the outlet d2 of the piston-type fertilizer injection pump 1 is injected into the main pipeline 52 of the sprinkler irrigation machine through the fertilizer injection pipeline 12. The traveling sprinkler irrigation machine starts to spray the fertilizer solution on the current working sub-plot. During this period, the second controller controls the flow rate of the piston-type fertilizer injection pump 1 through the frequency converter 64.

[0172] 4) When the liquid level sensor 33 detects that the liquid level in the fertilizer storage container 31 reaches the lower limit, it automatically sends a signal to the second controller through the liquid level sensor 33. The second controller closes the piston-type fertilizer injection pump 1, the fertilizer suction electric valve 23, and the fertilizer injection electric valve 24; after the piston-type fertilizer injection pump 1 stops running, the sprinkler irrigation machine just reaches the end position of the current working sub-plot, and the sprinkler irrigation machine starts the reverse flushing process with clean water. After the sprinkler irrigation machine returns to the starting position of the current working sub-plot, the sprinkler irrigation machine starts the forward flushing process with clean water. For the flushing process with clean water, the first controller controls the traveling sprinkler irrigation machine to continue moving according to the running speed set by the irrigation and fertilization strategy until the sprinkler irrigation machine reaches the end of the current working sub-plot again, and at the same time, it just meets the irrigation quota of this sub-plot for this time; after completing all the integrated water and fertilizer processes of the current working sub-plot, it is judged whether the current integrated water and fertilizer process is over by whether the running time of the integrated water and fertilizer process has reached t. If it is not over, return to step 2) until the integrated water and fertilizer process ends.

[0173] In addition, when the present invention completes the process of spraying the fertilizer solution, if the sprinkler irrigation machine reaches the end of the entire plot, then when starting the process of flushing with clean water in this sub-plot, the backwashing process is carried out simultaneously. For the backwashing process, the second controller opens the backwashing electric valve 25, the fertilizer injection electric valve 24, and the piston-type fertilizer injection pump 1. The clean water is filtered by the water replenishment filter 26 from the main pipeline 52 of the traveling sprinkler irrigation machine, and then enters the inlet d1 of the piston-type fertilizer injection pump 1 through the water replenishment pipeline 14, the backwashing pipeline 13, and the fertilizer suction pipeline 11. Then, the residual fertilizer solution at the outlet d2 of the piston-type fertilizer injection pump 1 is injected into the main pipeline 52 of the sprinkler irrigation machine through the fertilizer injection pipeline 12. When the set backwashing time is reached, that is, the running time t of the injection pump during the backwashing process c has passed, the second controller closes the backwashing electric valve 25, the fertilizer injection electric valve 24, and the piston-type fertilizer injection pump 1, and the backwashing process ends.

[0174] In addition, during the irrigation and fertilization process of the present invention, the fertilizer solution concentration in the main pipeline 52 of the lateral moving sprinkler can be monitored in real time and feedback control can be performed. First, before the fertilization injection process, the inlet flow rate of the main pipeline 52 of the lateral moving sprinkler and the E c and pH value of the irrigation clear water are measured respectively by the flow meter 61, the EC sensor 62, and the pH sensor 63. Then, based on the irrigation and fertilization strategy generation unit's generated irrigation and fertilization strategy for this time, the spraying fertilizer solution concentration of the lateral moving sprinkler is calculated by the above formula, and the function relationship between the spraying fertilizer solution concentration corresponding to the preset fertilizer type and the conductivity and acidity / alkalinity is selected, and the E c or pH value of the fertilizer solution for this integrated water and fertilizer strategy spraying is calculated. Finally, the calculated E c or pH value is compared with the E c or pH value actually measured during the fertilization injection process. If the difference between the two is greater than the set difference upper limit, the first controller and the second controller send a shutdown command to the devices they control respectively to stop the irrigation and fertilization process, and it is feedback to the human-machine interaction unit 65.

[0175] In the above embodiment, the pressure switch 29 is used to monitor the internal pressure of the fertilization injection pipeline 12 in real time and transmit it to the second controller. When a failure occurs in the fertilization injection pipeline 12 or the fertilizer injection pump 1, resulting in the internal pressure being greater than the maximum working pressure of the piston-type fertilizer injection pump 1, the second controller sends a shutdown command to the piston-type fertilizer injection pump 1 to prevent excessive outlet water pressure from damaging the piston-type fertilizer injection pump 1 and the fertilization injection pipeline 12, and at the same time avoid the occurrence of safety accidents.

[0176] In the above embodiment, when a failure occurs in the equipment electric valve, the integrated water and fertilizer application can be manually controlled through the make-up water manual valve 28, the manual drain valve 36, the fertilizer suction manual valve 37, and the fertilizer injection manual valve 68.

[0177] Embodiment 1

[0178] In the embodiment of the present application, wheat is taken as an example:

[0179] The fertilizer applied is potassium chloride, the application rate M per mu is 4 kg, and the irrigation quota h for this time is 25 mm. The inlet flow rate of the sprinkler is measured by the sensor to be 150 m 3 / h, and the E c value of the irrigation clear water is 771.48 μS / cm. At normal temperature, 0.342 kg of potassium chloride can be dissolved in each liter of water, then:

[0180] S = 0.342 kg / L

[0181] This sprinkler is a single-sided lateral moving sprinkler. The distance between the main drive trolley and the end nozzle of the truss water delivery pipe is 165 m, the spraying range of the end nozzle installed on the sprinkler is 6 m, and the length of the irrigated land is 750 m. Then the coverage area of the lateral moving sprinkler is:

[0182]

[0183] The total fertilizer injection amount for this fertilization of the translational sprinkler can be expressed as:

[0184]

[0185] In the fertilization equipment for this sprinkler irrigation fertilizer solution, the volume of the fertilizer storage container is 1000 L, then the number of fertilizer mixing times N is:

[0186]

[0187] Rounding up, the number of fertilizer mixing times N = 4 barrels, then the actual fertilizer injection amount V is:

[0188] V = NV t = 4 × 1000 = 4000 L

[0189] During this sprinkler irrigation fertilizer solution process, the lengths and areas of the sub - plots divided are:

[0190]

[0191] The rated speed of the drive motor of this sprinkler is 1425 r / min, the effective radius of the supporting tire is 0.6325 m, the transmission ratio of the drive motor reducer is 40:1, the transmission ratio of the wheel reducer is 50:1, taking the field surface slip coefficient as 0.95, then the shortest time t for the sprinkler to run one trip in a single sub - plot min is:

[0192]

[0193] At this time, the measured wind speed is 2.3 m / s, taking the utilization coefficient of field sprinkling water as 0.85, then the set value of the percentage timer of the translational sprinkler during the sprinkler irrigation fertilizer solution process is:

[0194]

[0195] Rounding down, the set value x of the percentage timer of the translational sprinkler during the sprinkler irrigation fertilizer solution process f = 46%.

[0196] The running time of the sprinkler during the sprinkler irrigation fertilizer solution process in a single sub - plot is:

[0197]

[0198] After the injection pump is checked, the actual rated flow of the injection pump is 625.5 L / h, then the working frequency of the plunger - type injection pump is:

[0199]

[0200] Rounding up, the working frequency f of the plunger fertilizer pump in the process of spraying fertilizer solution is 32 Hz.

[0201] In the integrated water and fertilizer operation of the sprinkler irrigation machine, the spraying of fertilizer solution and clean water should be considered jointly. After each spraying of fertilizer solution, a certain depth of clean water must be sprayed to meet the irrigation quota required by the crops and clean the leaf surface. Then, the depth of clean water sprayed this time is:

[0202] h w = h - h f = 25 - 10 = 15 mm

[0203] The set value of the percentage timer of the traveling sprinkler irrigation machine in the process of spraying clean water is:

[0204]

[0205] Rounding down, the set value x of the percentage timer of the traveling sprinkler irrigation machine in the process of spraying fertilizer solution is w = 62%.

[0206] The running duration of the sprinkler irrigation machine in the process of spraying clean water is:

[0207]

[0208] Then the running duration of a single sub-plot is:

[0209] t a = t f + t w = 2.52 + 3.74 = 6.26 h

[0210] The total running duration of the integrated water and fertilizer sprinkler irrigation machine is:

[0211] t = Nt a = 4 × 6.26 = 25.04 h

[0212] The specific working process of this integrated water and fertilizer operation is:

[0213]

[0214] The concentration C of the original fertilizer solution prepared in the fertilizer solution container during the spraying of fertilizer solution by the sprinkler irrigation machine is:

[0215]

[0216] When the fertilization process starts, the concentration of potassium chloride fertilizer solution in the water-fertilizer mixture in the main pipeline can be calculated as:

[0217]

[0218] From the functional relationship between the concentration of potassium chloride fertilizer solution and the conductivity built into the control system, it is obtained that:

[0219] E c = aC s + b = 2.2441×10 6 ×5.08×10 -4 + 771.48 = 1911.48 μS / cm

[0220] The upper limit of the difference between the calculated value set this time and the measured value is 10%. At this time, the conductivity E' of the water-fertilizer mixture in the irrigation main pipeline of the traveling sprinkler irrigation machine measured by the EC sensor c is 1987.83 μS / cm. It can be obtained that:

[0221]

[0222] Then the water-fertilizer integration device of the traveling sprinkler irrigation machine is in a normal working state at this time.

[0223] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0224] Although the embodiments of the present disclosure have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present disclosure. The scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A control method for integrated water and fertilizer of a translational sprinkler irrigation machine, characterized in that, A control method for a water and fertilizer integration device of a traveling sprinkler irrigation machine. The water and fertilizer integration device of the traveling sprinkler irrigation machine includes a traveling sprinkler irrigation machine, a fertilizer injection pump, and a fertilizer storage unit that are connected to each other. The control method includes: Obtain the inherent parameters of the sprinkler irrigation machine, and set the length of the irrigation plot, the amount of fertilizer applied per mu, the irrigation quota, and the fertilizer type for this irrigation and fertilization. Collect the inlet flow rate of the sprinkler before the start of this fertilizer injection irrigation, and the E c value or pH value of the clear water in the main pipeline of the sprinkler; According to the inherent parameters of the sprinkler irrigation machine, the length of the irrigation plot, the amount of fertilizer applied per mu, the irrigation quota, and the fertilizer type for this irrigation and fertilization, and the inlet flow rate of the sprinkler irrigation machine before the start of fertilizer injection, calculate the working parameters of the sprinkler irrigation machine and the fertilizer injection pump to form a strategy for this irrigation and fertilization. Specifically, divide the irrigation plot into several sub-plots, and perform irrigation and fertilization operations on each sub-plot in sequence. For the current working sub-plot, adopt the strategy of first spraying fertilizer solution forward, then spraying clear water backward, and then spraying clear water forward, and prepare the fertilizer solution required for the next sub-plot during the period of spraying clear water. Control the water and fertilizer integration device of the traveling sprinkler irrigation machine to execute the strategy for this irrigation and fertilization. During the process of the control translation type sprinkler irrigation machine for integrated water and fertilizer equipment executing the current irrigation and fertilization strategy, monitor and feedback regulate the concentration of sprinkler irrigation fertilizer solution: select the corresponding fertilizer solution concentration inversion prediction model according to the fertilizer type, and obtain the E c prediction value or pH prediction value of the sprinkler irrigation fertilizer solution for the current irrigation and fertilization according to the concentration of the sprinkler irrigation fertilizer solution and the selected fertilizer solution concentration inversion prediction model, and compare this prediction value with the E c value or pH value of the sprinkler irrigation fertilizer solution collected after the start of fertilizer injection, and form a control instruction for the integrated water and fertilizer equipment of the translation type sprinkler irrigation machine based on the comparison result.

2. The control method according to claim 1, characterized in that The inherent parameters of the sprinkler irrigation machine include the overall length of the sprinkler irrigation machine, the range of the sprinkler at the end of the sprinkler irrigation machine, the utilization coefficient of field sprinkler water, the field surface slip coefficient, the rated speed of the drive motor, the effective radius of the supporting tires, the transmission ratio of the drive motor reducer, the transmission ratio of the wheel reducer, the rated frequency of the fertilizer injection pump, and the actual flow rate of the fertilizer injection pump after calibration.

3. The control method according to claim 1, wherein The described E c value and the pH value are respectively collected by an EC sensor and a pH sensor installed downstream of the confluence of the fertilizer injection pipeline and the main pipeline of the sprinkler irrigation machine, and the incoming machine flow rate is collected by a flow meter installed at the water inlet of the main pipeline of the sprinkler irrigation machine.

4. The control method according to claim 1, wherein The specific steps for forming the strategy for this irrigation and fertilization include: Preset program: Determine the coverage area A0 of the sprinkler irrigation machine according to the inherent parameters of the sprinkler irrigation machine. Spray irrigation fertilizer solution: Determine the total fertilizer injection volume V of this spray irrigation fertilizer solution according to the maximum solubility S of the given fertilizer at room temperature, the fertilizer application rate M per mu, and the coverage area A0 of the sprinkler f , and according to the total fertilizer injection volume V of this spray irrigation fertilizer solution f and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the number of fertilizer mixing times N for this spray irrigation fertilizer solution, and take the number of sub-plots divided in the irrigation plot to be equal to the number of fertilizer mixing times N; According to the number of fertilizer mixing times N for this spray irrigation fertilizer solution and the volume V of the fertilizer storage container in the fertilizer storage unit t Determine the actual fertilizer injection volume V of this spray irrigation fertilizer solution, and determine the length l and area a of a single sub-plot divided according to the length L of the irrigation plot b , the coverage area A0 of the sprinkler and the number of fertilizer mixing times N of this spray irrigation fertilizer solution; Determine the shortest time t for the sprinkler to run one trip in a single sub-plot according to the sub-plot length l and the maximum walking speed of the sprinkler min ; According to the inlet flow rate Q0 of the sprinkler, the fertilizer solution depth h during the spray irrigation fertilizer solution process f , the coverage area A0 of the sprinkler and the shortest time t for the sprinkler to run one trip in a single sub-plot min Determine the set value x of the percentage timer of the sprinkler during the spray irrigation fertilizer solution process in a single sub-plot f ; According to the shortest time t for the sprinkler to run one trip in a single sub-plot min and the set value x of the percentage timer of the sprinkler during the spray irrigation fertilizer solution process in a single sub-plot f , calculate the running duration t of the sprinkler during the spray irrigation fertilizer solution process in a single sub-plot f ; According to the rated frequency f of the fertilizer injection pump d , the actual flow rate q of the fertilizer injection pump after calibration d and the running duration t of the sprinkler during the spray irrigation fertilizer solution process in a single sub-plot, determine the working frequency f of the fertilizer injection pump; Sprinkler irrigation water: According to the current irrigation quota h and the fertilizer liquid depth h during the sprinkler irrigation process f Calculate the irrigation depth h of sprinkler irrigation water w According to the input flow Q0 of the sprinkler, the coverage area A0 of the sprinkler, and the shortest time t for the sprinkler to run in a single sub-plot, min And the irrigation depth of sprinkler water h w , determine the percentage timer setting value x of the sprinkler during the water cleaning process of a single sub-plot w ; Based on the shortest time t that the sprinkler machine runs in a single sub-plot min And the percentage timer setting value x of the sprinkler during the sprinkler irrigation process of a single sub-plot w , calculate the running time t of the sprinkler machine during the water purification process of a single sub-plot sprinkler irrigation w ; Finally, based on the calculated operation duration \(t\) of the sprinkler during the process of spraying fertilizer solution for a single sub-plot as described above f and the working frequency \(f\) of the fertilizer injection pump, the operation duration \(t\) of the sprinkler during the process of spraying clear water for a single sub-plot w , the operation duration \(t\) of a single sub-plot a \(=t\) f + \(t\) w , and the total operation duration \(t = Nt\) of the sprinkler for the integrated water and fertilizer operation a , thus forming the irrigation and fertilization strategy for this time.

5. The control method according to claim 4, wherein The coverage area A0 of the sprinkler irrigation machine is calculated according to the following formula: Where, L s is the overall length of the sprinkler, and R1 and R2 are the ranges of the sprinkler nozzles installed at the ends of the sprinkler respectively; for a single-side translational sprinkler, L s is the distance between the main drive trolley and the sprinkler nozzle at the end of the truss water pipe, and R2 is taken as 0; for a double-side translational sprinkler, L s is the distance between the sprinkler nozzles at the two ends on both sides of the truss water pipe of the sprinkler; The total fertilizer injection volume V of the current sprinkler irrigation fertilizer solution f , is calculated according to the following formula: In the formula, k is a coefficient set to ensure the full dissolution of the fertilizer, and it is taken as 1.3 - 1.

6. The actual fertilizer injection amount V of this sprinkler irrigation fertilizer solution is calculated according to the following formula: where N is the number of times of fertilizer formulation for this irrigation with fertilizer solution, and V t is the volume of the fertilizer storage container in the fertilizer storage unit. The rounded-up value of N obtained from the above formula is used as the number of times of fertilizer formulation for this irrigation with fertilizer solution; The length l and area a of a single sub-plot are calculated according to the following formula: The shortest time t for the sprinkler to run once in a single sub-plot min , is calculated according to the following formula: In the formula, i1 is the transmission ratio of the drive motor reducer; i2 is the transmission ratio of the wheel reducer, n is the rated speed of the drive motor; r is the effective radius of the supporting tires; η is the field surface slip coefficient, which depends on the tire pattern, tire pressure, and soil compactness, and is taken as 0.92 - 0.

97. The percentage timer setting value x of the sprinkler during the process of spraying fertilizer solution on a single sub-plot f , is calculated according to the following formula and rounded down: In the formula, η p is the utilization coefficient of field sprinkling water, which is related to the wind speed. When the wind speed is lower than 3.4 m / s, η p takes a value of 0.8 - 0.

9. When the wind speed is 3.4 - 5.4 m / s, η p takes a value of 0.7 - 0.8; the depth h f of the fertilizer solution in the process of sprinkling the fertilizer solution for a single sub-plot shall not be less than 5 mm; The operation duration t of the sprinkler during the process of spraying fertilizer solution on a single sub-plot f , is calculated according to the following formula: The working frequency f of the fertilizer injection pump is calculated according to the following formula: The irrigation depth h of clear water for the single sub-plot sprinkler irrigation w is calculated according to the following formula: h w = h - h f The set value x of the percentage timer of the sprinkler during the process of spraying clear water on a single sub-plot w , which is calculated according to the following formula and rounded down to obtain: The operation duration t of the sprinkler during the process of spraying clear water on a single sub-plot w , is calculated according to the following formula:

6. The control method according to claim 1, characterized in that During the process of controlling the water and fertilizer integration device of the traveling sprinkler irrigation machine to execute the strategy for this irrigation and fertilization, monitor and feedback-adjust the fertilizer solution concentration, specifically including: Calculate the concentration of the fertilizer stock solution prepared in the fertilizer solution container of the fertilizer storage unit during the process of the sprinkler irrigation machine spraying the fertilizer solution according to the following formula: In the formula, C is the concentration of the fertilizer stock solution; M is the amount of fertilizer applied per mu; A0 is the coverage area of the sprinkler irrigation machine; V is the actual fertilizer injection amount of this sprinkler irrigation fertilizer solution. According to the inlet flow rate Q0 of the sprinkler irrigation machine and the actual flow rate q of the fertilizer injection pump after verification d calculate the concentration of the sprinkler irrigation fertilizer solution based on the concentration of the prepared original fertilizer solution. The calculation formula is as follows: Where C s is the concentration of the fertigation solution; Select the corresponding fertilizer solution concentration inversion prediction model according to the fertilizer type. This fertilizer solution concentration inversion prediction model is used to reflect the functional relationship between the sprinkler irrigation fertilizer solution concentration and the E c value or pH value of the sprinkler irrigation fertilizer solution; Substitute the concentration C of the sprinkler-applied fertilizer solution s into the inversion prediction model of the fertilizer solution concentration to obtain the E c predicted value and pH predicted value of the sprinkler-applied fertilizer solution during this irrigation and fertilization, and compare them with the E c value or pH value of the sprinkler-applied fertilizer solution after the start of fertilizer injection. If the comparison result exceeds the set threshold, a shutdown signal is sent and a shutdown report is generated. If the comparison result does not exceed the set threshold, the current irrigation and fertilization strategy is continued until the running time of the sprinkler reaches the total running time of the integrated water and fertilizer operation of the sprinkler, and this irrigation and fertilization ends.

7. The control method according to claim 6, characterized in that When the fertilizer is a strong electrolyte, the fertilizer solution concentration inversion prediction model is: E c = aC s + b where E c is the conductivity; a is the first coefficient, which needs to be calibrated through experiments; b is the Ec value of the irrigation clear water before the start of fertilizer injection; When the fertilizer is an acidic or alkaline fertilizer, the fertilizer solution concentration inversion prediction model is: pH = yC s + z In the formula, pH is the acidity and alkalinity; y is the second coefficient that needs to be calibrated through experiments; z is the pH value of the irrigation clear water before the start of fertilizer injection.

8. The control method according to any one of claims 1 to 7, characterized in that The present irrigation and fertilization strategy further includes replacing the fertilizer solution preparation operation during the sprinkler irrigation of clear water in the last sub-plot with an operation of backwashing the fertilizer injection pump, and setting the running duration t of the fertilizer injection pump during the backwashing process c and the rated operating frequency f c ; where, t c is set as a fixed duration, generally taken as 10 min; f c is taken as the rated frequency of the fertilizer injection pump.

9. A translational sprinkler irrigation machine water and fertilizer integration device according to the control method described in claim 8, characterized in that, It includes a fertilizing device, the main driving trolley of a sprinkler irrigation machine, a control system and several pipelines. The fertilizing device includes a fertilizer injection pump and a fertilizer storage unit. The main driving trolley includes a traveling mechanism, a main driving trolley bracket installed on the traveling mechanism, and a main pipeline of the sprinkler irrigation machine installed in the middle of the main driving trolley bracket; The fertilizer injection pump is connected between the main pipeline of the sprinkler irrigation machine and the fertilizer storage unit through a pipeline, and injects the fertilizer solution in the fertilizer storage unit into the main pipeline of the sprinkler irrigation machine according to the control instruction of the control system. Among them, the inlet of the fertilizer injection pump is connected to the fertilizer outlet at the bottom of the fertilizer storage container in the fertilizer storage unit through a fertilizer suction pipeline; the outlet of the fertilizer injection pump is connected to the main pipeline of the sprinkler irrigation machine through a fertilizer injection pipeline; the main pipeline of the sprinkler irrigation machine is connected to the inlet of the fertilizer storage container through a water replenishing pipeline. An anti-flushing pipeline is connected between the water replenishing pipeline and the fertilizer suction pipeline, and the fertilizer injection pump is flushed through the anti-flushing pipeline during the sprinkler irrigation of the last sub-plot; The fertilizer storage unit is used to prepare a fertilizer solution with a corresponding concentration according to the control instruction of the control system. The fertilizer storage unit includes a connected fertilizer storage container and a fertilizer mixer; The control system includes a sensing unit, a valve group, and a first control cabinet and a second control cabinet that are installed on one side of the main driving trolley bracket and communicate with each other. Among them, The sensing unit includes a liquid level sensor installed on the top of the fertilizer storage container, a pressure switch installed on the fertilizer injection pipeline, and a flow meter, an EC sensor and a pH sensor installed in sequence on the main pipeline of the sprinkler irrigation machine; The valve group includes a water replenishing electric valve, a fertilizer suction electric valve, a fertilizer injection electric valve, and an anti-flushing electric valve, which are respectively installed on the corresponding pipelines; The second control cabinet is used to calculate the working parameters of the sprinkler irrigation machine and the fertilizer injection pump according to the parameters set by the user and the incoming machine flow rate of the sprinkler irrigation machine collected by the flow meter before the start of fertilizer injection, form the current irrigation and fertilization strategy and display it to the user; control the operation of the fertilizing device, the sensing unit and the valve group according to the current irrigation and fertilization strategy, and monitor and feedback-adjust the concentration of the sprinkler irrigation fertilizer solution during the control process; The first control cabinet is used to control the start and stop, traveling speed and running time of the sprinkler irrigation machine, and the opening and closing of the main water supply pump of the sprinkler irrigation machine according to the current irrigation and fertilization strategy.

10. The device according to claim 9, characterized in that, The second control cabinet includes a frequency converter and a second controller arranged inside the second cabinet, and a human-machine interaction unit arranged outside the second cabinet. The second controller is integrated with an irrigation and fertilization strategy generation module and an irrigation fertilizer solution concentration regulation module. The second controller controls the working frequency of the fertilizer injection pump through the frequency converter. The second controller is connected to the sensing unit, the valve group and the fertilizer mixer; the first control cabinet includes a percentage timer and a first controller respectively arranged outside and inside the first cabinet. The first controller communicates with the second controller, and the first controller controls the traveling speed of the sprinkler irrigation machine through the percentage timer; A fertilizer suction filter and a fertilizer suction manual valve are also installed on the fertilizer suction pipeline, a water replenishment filter and a water replenishment manual valve are also installed on the water replenishment pipeline, a check valve and a fertilizer injection manual valve are also installed on the fertilizer injection pipeline, and a manual drain valve is installed at the bottom of the fertilizer storage container.

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