Irrigation pipe network control method, device, system and electronic equipment based on hydraulic signal

Abstract

This invention relates to the field of irrigation network control technology, specifically a method, device, system, and electronic equipment for controlling irrigation networks based on hydraulic signals. The method includes acquiring and responding to hydraulic control signals to drive frequency converters in pumping stations to perform corresponding irrigation operations; acquiring a first feedback signal; determining the current position of each node based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station using the first feedback signal, where the first feedback signal represents the real-time parameters of the output pipeline in the pumping station at various time points within a set time period; and determining whether the current position of each node conforms to the hydraulic control signal. This invention only requires the installation of power supply and communication facilities at the pumping station; other nodes do not require such facilities. It eliminates the need for large-scale equipment replacement and auxiliary facility installation in traditional irrigation networks, effectively reducing costs while maintaining irrigation efficiency and accuracy, and is suitable for large-scale agricultural irrigation.

Description

Technical Field

[0001] This invention relates to the field of irrigation network control technology, specifically to an irrigation network control method, device, system, and electronic equipment based on hydraulic signals. Background Technology

[0002] Irrigation networks are pipeline systems used for farmland irrigation. They are an indispensable part of modern agricultural production, delivering water to the fields to provide crops with sufficient moisture, promote crop growth, and improve crop yield and quality.

[0003] With the promotion of smart agriculture, there is a demand for automated control of irrigation networks. However, most existing traditional irrigation networks still use traditional manual control methods. To achieve automated control of irrigation networks, large-scale equipment replacement and auxiliary facility installation are required. The commonly used automated control method for irrigation networks is the Internet of Things-based smart irrigation method. For example, remotely sending signals to control the current opening degree of each valve in the network, monitoring the current water output of each valve, and calculating the adjustment amount of each valve opening based on the current water output and target water output at the front end or remote end. Therefore, the commonly used automated control methods for irrigation networks often require replacing manually controlled valves with electrically controlled valves, setting up sensor acquisition equipment, laying power supply facilities at each valve, dividing the entire irrigation network into several sub-areas, and setting up communication facilities in each sub-area, etc. Furthermore, since the application environment of large-scale irrigation networks is far from residential areas, covers a huge area, and has poor infrastructure, the above methods will greatly increase economic and labor costs. Summary of the Invention

[0004] This invention provides a method, device, system, and electronic equipment for controlling irrigation networks based on hydraulic signals. It overcomes the shortcomings of the prior art and can effectively solve the problems of large-scale equipment replacement and auxiliary facility laying in existing automated control methods for irrigation networks, which greatly increases economic and labor costs.

[0005] One of the technical solutions of this invention is achieved through the following measures: an irrigation network control method based on hydraulic signals, wherein the irrigation network includes pumping stations and one or more nodes, the pumping stations and nodes are connected to each other via pipelines, and each node is a hydraulically driven valve, the method comprising:

[0006] Acquire and respond to hydraulic control signals to drive the frequency converter equipment in the pumping station to perform corresponding water conservancy and irrigation;

[0007] The first feedback signal is obtained. Based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, the current position status of each node is determined using the first feedback signal. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time period.

[0008] Determine whether the current position status of each node conforms to the hydraulic control signal. If not, drive the frequency converter in the pump station to make corresponding adjustments.

[0009] The following are further optimizations and / or improvements to the above-mentioned technical solution:

[0010] The above-mentioned acquisition and response to hydraulic control signals, driving the frequency converter equipment in the pumping station to perform corresponding water conservancy irrigation, includes:

[0011] The start and stop requirements of each node are obtained, the start and stop requirements of each node are encoded, and hydraulic control signals are generated.

[0012] Determine the basic control information for each node in the irrigation area, including the model, operating parameters, and pipeline length between each node and the previous node.

[0013] It receives and responds to hydraulic control signals, decodes the hydraulic control signals based on the basic control information of each node, and generates corresponding hydraulic drive signals, where the hydraulic drive signals are the control signals of the frequency converter equipment in the pumping station;

[0014] The hydraulic drive signal drives the frequency converter in the pumping station to perform the corresponding water conservancy irrigation.

[0015] The above also includes node detection after responding to a hydraulic control signal and driving the pumping station to perform the corresponding irrigation, including:

[0016] Acquire hydraulic detection signals, which are signals that can cause changes in the output signal of the frequency converter in the pumping station;

[0017] After the hydraulic detection signal is executed, the second feedback signal is obtained. Based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, the current position status of each node is determined by the second feedback signal. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time.

[0018] Determine whether the current position status of each node conforms to the hydraulic control signal. If not, drive the frequency converter in the pump station to make corresponding adjustments.

[0019] The real-time parameters of the output pipeline in the pumping station at each time point within the above-mentioned set time period include flow rate and pressure value.

[0020] The process of determining the current position state of each node using the first feedback signal is the same as the process of determining the current position state of each node using the second feedback signal. The process of determining the current position state of each node using the first feedback signal includes:

[0021] A corresponding parameter change curve group is established based on the first feedback signal, wherein the parameter change curve group includes one or more parameter change curves.

[0022] The parameter change curve is compared with the standard library to determine the current position state of each node. The standard library includes various parameter change curves corresponding to different combinations of position states for each node.

[0023] The above also includes, after obtaining the first or second feedback signal, using a functional relationship to determine whether the current position state of each node conforms to the hydraulic control signal, including:

[0024] Based on experimental data from various sensors or analysis of historical normal irrigation data, functional relationships are constructed.

[0025] Substituting the hydraulic drive signal into the functional relationship, we obtain the target values ​​at various time points within a set time period after the frequency converter in the pumping station executes the hydraulic drive signal.

[0026] Using each time point in the first feedback signal as the true value, determine whether the difference between the target value and the true value is within the set range. If not, drive the frequency converter in the pump station to make corresponding adjustments.

[0027] The second technical solution of the present invention is achieved through the following measures: an irrigation network control method and apparatus based on hydraulic signals, comprising:

[0028] The hydraulic control unit acquires and responds to hydraulic control signals, driving the frequency converter in the pumping station to perform corresponding water conservancy irrigation.

[0029] The first feedback adjustment unit includes:

[0030] The feedback module acquires the first feedback signal and determines the current position of each node based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time period.

[0031] The judgment module determines whether the current position status of each node conforms to the hydraulic control signal. If it does not, it drives the frequency converter in the pumping station to make corresponding adjustments.

[0032] The following are further optimizations and / or improvements to the above-mentioned technical solution:

[0033] The above also includes a first detection control unit, comprising:

[0034] The detection output module acquires hydraulic detection signals, which are signals that can cause changes in the output signals of the frequency converters in the pumping station.

[0035] The detection and evaluation module acquires the second feedback signal after the hydraulic detection signal is executed, and determines the current position status of each node based on the second feedback signal, wherein the second feedback signal is the hydraulic output signal collected at the pumping station;

[0036] The detection and adjustment module determines whether the current position status of each node conforms to the hydraulic control signal. If not, it drives the frequency converter in the pumping station to make corresponding adjustments.

[0037] The above also includes a second feedback adjustment unit, comprising:

[0038] The target value determination module analyzes experimental data from various sensors or historical normal irrigation data to construct a functional relationship; it then substitutes the hydraulic drive signal into the functional relationship to obtain the target value at each time point within a set time after the frequency converter in the pumping station executes the hydraulic drive signal.

[0039] The difference analysis module takes each time point in the first feedback signal as the true value and determines whether the difference between the target value and the true value is within the set range. If not, it drives the frequency converter in the pump station to make corresponding adjustments.

[0040] The above also includes a second detection control unit, comprising:

[0041] The detection output module acquires hydraulic detection signals, which are signals that can cause changes in the output signals of the frequency converters in the pumping station.

[0042] The target value determination module analyzes experimental data from various sensors or historical normal irrigation data to construct a functional relationship; it then substitutes the hydraulic drive signal into the functional relationship to obtain the target value at each time point within a set time after the frequency converter in the pumping station executes the hydraulic drive signal.

[0043] The detection and evaluation module acquires the second feedback signal after the hydraulic detection signal is executed, takes each time point in the second feedback signal as the true value, and determines whether the difference between the target value and the true value is within the set range. If not, it drives the frequency converter in the pump station to make corresponding adjustments.

[0044] The third technical solution of the present invention is achieved through the following measures: an irrigation network control system based on hydraulic signals, comprising an irrigation network and an irrigation network control device based on hydraulic signals;

[0045] The irrigation network includes pumping stations and one or more nodes, and the pumping stations and nodes, as well as the nodes themselves, are connected by pipelines.

[0046] Each of the aforementioned nodes is a hydraulically driven valve;

[0047] The pumping station includes a water pump, a sensor group, and a frequency converter. An irrigation network control device is installed in the pumping station and is connected to both the sensor group and the frequency converter. The sensor group collects real-time parameters of the output pipeline in the pumping station, including flow rate and pressure. The frequency converter controls the operation of the water pump.

[0048] The fourth technical solution of the present invention is achieved through the following measures: an electronic device, characterized in that it includes a processor and a memory, wherein the memory stores a computer program, which is loaded and executed by the processor to implement the steps in the irrigation network control method based on hydraulic signals.

[0049] This invention achieves irrigation network control based on hydraulic control signals. Only power supply and communication facilities need to be laid at the pumping station. The remaining nodes of the irrigation network do not need to be equipped with power supply and communication facilities. This eliminates the need for large-scale equipment replacement and auxiliary facility laying of traditional irrigation networks. While ensuring irrigation efficiency and accuracy, it effectively reduces costs and is suitable for large-scale agricultural irrigation. Attached Figure Description

[0050] Appendix Figure 1 This is a schematic diagram of an irrigation network control method according to an embodiment of the present invention.

[0051] Appendix Figure 2 This is a schematic flowchart of a method for acquiring and responding to hydraulic control signals according to an embodiment of the present invention.

[0052] Appendix Figure 3 This is a schematic diagram of an irrigation network structure provided in one embodiment of the present invention.

[0053] Appendix Figure 4 This is a flowchart illustrating a method for determining the current position and state of each node using feedback signals, as provided in an embodiment of the present invention.

[0054] Appendix Figure 5 This is a schematic diagram of a node detection method provided in one embodiment of the present invention.

[0055] Appendix Figure 6 This is a schematic flowchart of another method for determining the current position state of each node using feedback signals, provided as an embodiment of the present invention.

[0056] Appendix Figure 7 This is a schematic diagram of an irrigation network control device provided in one embodiment of the present invention.

[0057] Appendix Figure 8 This is a schematic diagram of an irrigation network control device provided in one embodiment of the present invention.

[0058] Appendix Figure 9 This is a schematic diagram of an irrigation network structure provided in one embodiment of the present invention. Detailed Implementation

[0059] The present invention is not limited to the following embodiments, and specific implementation methods can be determined according to the technical solutions and actual conditions of the present invention.

[0060] Those skilled in the art will understand that, unless specifically stated otherwise, in the embodiments of the present invention, a "module" or "unit" refers to a computer program or part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0061] In addition, in the embodiments of the present invention, "multiple" refers to two or more, and "first" and "second" are used to distinguish descriptions and should not be construed as implying relative importance.

[0062] This invention provides a method, apparatus, system, and electronic device for controlling irrigation networks based on hydraulic signals. The hydraulic signal-based irrigation network control apparatus can be integrated into a computer device, which can be a server, a terminal, or other similar device; alternatively, it can be executed jointly by a terminal and a server. These examples should not be construed as limiting the invention.

[0063] The aforementioned electronic terminals may include mobile phones, wearable smart devices, tablet computers, laptops, personal computers (PCs), etc., and this invention does not limit them. This invention also does not limit the number of terminal devices.

[0064] The aforementioned server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. This invention does not limit these features.

[0065] For example, the system acquires and responds to hydraulic control signals, driving the frequency converter in the pumping station to perform corresponding irrigation. It acquires a first feedback signal, and based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, determines the current position status of each node using the first feedback signal, where the first feedback signal is the real-time parameter of the output pipeline in the pumping station at each time point within a set time period. It then determines whether the current position status of each node conforms to the hydraulic control signal; if not, it drives the frequency converter in the pumping station to make corresponding adjustments. Therefore, this embodiment of the invention only requires the installation of power supply and communication facilities at the pumping station; the remaining nodes of the irrigation network do not require such facilities. This eliminates the need for large-scale equipment replacement and auxiliary facility installation in traditional irrigation networks, effectively reducing costs while ensuring irrigation efficiency and accuracy, making it suitable for large-scale agricultural irrigation.

[0066] Based on this, the technical solution of the present invention will be described and explained below with reference to several examples.

[0067] Example 1: As shown in the attached document Figure 1 As shown in the figure, this invention discloses a method for controlling an irrigation network based on hydraulic signals. The irrigation network includes pumping stations and one or more nodes. The pumping stations and nodes, and the nodes themselves, are connected by pipelines. Each node is a hydraulically driven valve. The method includes:

[0068] Step S110: Obtain and respond to hydraulic control signals, and drive the pumping station to perform corresponding water conservancy irrigation;

[0069] Step S120: Obtain the first feedback signal. Based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, determine the current position status of each node using the first feedback signal. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time period.

[0070] Step S130: Determine whether the current position status of each node conforms to the hydraulic control signal. If no, drive the frequency converter in the pump station to make corresponding adjustments.

[0071] Compared to traditional control valves that rely on power to change the water path, the hydraulically driven valve in this embodiment uses water pressure to change the water path, i.e., to control the valve to open or close, such as the hydraulically controlled rotary valve with patent number CN104696548B.

[0072] This invention is based on hydraulically driven valves and is applicable to irrigation networks formed with hydraulically driven valves as nodes. It uses hydraulic control signals to drive pumping stations to perform corresponding water conservancy irrigation, and detects the execution results of hydraulic control signals based on real-time parameters collected from the output pipelines at the pumping stations, thereby forming an automated closed-loop control that integrates control and detection.

[0073] With the promotion of smart agriculture, there is a demand for automated control of irrigation networks. However, most existing traditional irrigation networks still use traditional manual control methods. To achieve automated control of irrigation networks, large-scale equipment replacement and auxiliary facility installation are required. The commonly used automated control method for irrigation networks is the Internet of Things-based smart irrigation method. For example, remotely sending signals to control the current opening degree of each valve in the network, monitoring the current water output of each valve, and calculating the adjustment amount of each valve opening based on the current water output and target water output at the front end or remote end. Therefore, the commonly used automated control methods for irrigation networks often require replacing manually controlled valves with electrically controlled valves, setting up sensor acquisition equipment, laying power supply facilities at each valve, dividing the entire irrigation network into several sub-areas, and setting up communication facilities in each sub-area, etc. Furthermore, since the application environment of large-scale irrigation networks is far from residential areas, covers a huge area, and has poor infrastructure, the above methods will greatly increase economic and labor costs.

[0074] To address this problem, this invention implements irrigation network control based on hydraulic control signals. The control method disclosed in this embodiment only requires the installation of power supply and communication facilities at the pumping station. The remaining nodes of the irrigation network do not require the installation of power supply and communication facilities, thus eliminating the need for large-scale equipment replacement and auxiliary facility installation for traditional irrigation networks. This effectively reduces costs while ensuring irrigation efficiency and accuracy, making it suitable for large-scale agricultural irrigation.

[0075] Example 2: This embodiment of the invention discloses an irrigation network control method based on hydraulic signals. The irrigation network includes pumping stations and one or more nodes. The pumping stations and nodes, and the nodes themselves, are connected by pipelines. Each node is a hydraulically driven valve. The method includes:

[0076] Step S210: Obtain and respond to the hydraulic control signal, and drive the frequency converter in the pumping station to perform the corresponding water conservancy irrigation.

[0077] As attached Figure 2 As shown, step S210 specifically includes:

[0078] Step S211: Obtain the start and stop requirements of each node, encode the start and stop requirements of each node, and generate hydraulic control signals.

[0079] In this embodiment, the start and stop requirements of each node are set according to the current irrigation plan. The position status (closed or open) of each node, i.e. each hydraulically driven valve in the irrigation network, is set as needed, but must meet the requirements of computer or controller processing. Then, the position status (closed or open) of each node, i.e. each hydraulically driven valve, is encoded. The specific encoding method is set as needed, and the encoded signal is formed into a hydraulic control signal.

[0080] For example, as shown in the appendix Figure 3 As shown, if three hydraulically driven valves, K1, K2, and K3, are installed in the irrigation network, and "1" is set to open and "0" to close, and K1 is required to be open, K2 to be open, and K3 to be closed, the corresponding coding rule is to combine the identifiers of all position states, and the hydraulic control signal generated after coding is "110".

[0081] Step S212: Determine the basic control information of each node in the irrigation area, including the model, operating parameters, and pipeline length between each node and the previous node.

[0082] Step S213: Receive and respond to hydraulic control signals, decode the hydraulic control signals according to the basic control information of each node, and generate corresponding hydraulic drive signals, wherein the hydraulic drive signals are the control signals of the frequency converter in the pumping station.

[0083] In this embodiment, the hydraulic control signal is decoded based on the basic control information of each node to generate the corresponding hydraulic drive signal. That is, the hydraulic drive signal required to execute the hydraulic control signal is determined based on the basic control information of each node. For example, since the working parameters of different models of hydraulic drive valves are different, if the hydraulic control signal "110" is to be executed, the required hydraulic drive signal needs to be determined based on the working parameters of the hydraulic drive valve and the pipe length between the hydraulic drive valve and the previous hydraulic drive valve.

[0084] Furthermore, the hydraulic drive signal is the control signal for the frequency converter in the pumping station. Therefore, the hydraulic drive signal can be a pressure signal, a current signal, etc. Since the hydraulic drive valve is driven to open by the impact pressure of the water flow (or the corresponding flow velocity or flow rate), if the hydraulic drive signal is a pressure signal, it is necessary to decode the hydraulic control signal. Based on the number of hydraulic drive valves to be opened, the correspondence between the opening of the hydraulic drive valve and the pressure signal, and the pipe length between each hydraulic drive valve and the previous hydraulic drive valve, the corresponding pressure signal, i.e., the hydraulic drive signal, is generated. The frequency converter is controlled to operate through this pressure signal, and the frequency converter controls the operation of the pumps in the pumping station.

[0085] Step S214: The hydraulic drive signal drives the frequency converter in the pumping station to perform the corresponding water conservancy irrigation.

[0086] It should also be noted that steps S211 to S213 can be executed in the pumping station or executed remotely and then sent to the pumping station via communication equipment. The present invention does not limit this.

[0087] Step S220: Obtain the first feedback signal. Based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, determine the current position status of each node using the first feedback signal. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time period.

[0088] In this embodiment, the first feedback signal is used to detect the response result after responding to the hydraulic control signal and driving the pump station to perform the corresponding water conservancy irrigation, which is the current position status of each node (hydraulic drive valve) in the irrigation network.

[0089] For details, see attached. Figure 4 As shown, step S220 includes:

[0090] Step S221: Establish a corresponding parameter change curve group based on the first feedback signal, wherein the parameter change curve group includes one or more parameter change curves.

[0091] The aforementioned first feedback signal refers to the real-time parameters of the output pipeline in the pumping station at various time points within a set time period. These real-time parameters include flow rate, pressure, and other parameters. It should be noted that there can be one or more first feedback signals, selected as needed.

[0092] The parameter change curve group established based on the first feedback signal may include, but is not limited to, pressure-flow curves, flow-time curves, and pressure-time curves.

[0093] Step S222: Compare the parameter change curve with the standard library to determine the current position state of each node. The standard library includes various parameter change curves corresponding to different combinations of position states for each node.

[0094] The aforementioned standard library can be established through experimental analysis based on various sensors or analysis of historical normal irrigation data, and this standard library can be continuously updated to ensure the accuracy of the comparison.

[0095] Step S230: Determine whether the current position status of each node conforms to the hydraulic control signal. If no, drive the frequency converter in the pump station to make corresponding adjustments.

[0096] In this embodiment, the variable frequency drive equipment in the driving pump station is adjusted accordingly, that is, the hydraulic drive signal is adjusted. The specific adjustment range is executed according to the set rules. For example, if a node that should not be turned on in the current position state of each node is turned on, the hydraulic control signal is reduced according to the set adjustment range, and vice versa.

[0097] It should also be noted that a limit can be set on the number of feedback adjustments. If the number of feedback adjustments exceeds the limit, the pumping station will stop irrigation and issue an alarm at the front end and send an alarm message to the remote end.

[0098] This embodiment applies the concepts of excitation and response in communication to hydraulic control. That is, the hydraulic drive signal obtained from the hydraulic control signal is a hydraulic excitation. After the hydraulic drive signal drives the frequency converter in the pumping station to perform the corresponding irrigation, the first feedback signal obtained is the hydraulic response corresponding to the above hydraulic excitation. There must be a relationship between the hydraulic excitation and the hydraulic response. Therefore, by analyzing the first feedback signal, the current position status of each node can be effectively identified, and it can be determined whether accurate irrigation control has been achieved.

[0099] Example 3: As shown in the attached document Figure 5 As shown, the embodiments of the present invention are further optimizations of the above embodiments, which further include node detection after responding to the hydraulic control signal and driving the pumping station to perform the corresponding irrigation, including:

[0100] Step S310: Obtain hydraulic detection signal, wherein the hydraulic detection signal is a signal that can cause the output signal of the frequency converter in the pumping station to change;

[0101] Step S320: Obtain the second feedback signal after the hydraulic detection signal is executed. Based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, use the second feedback signal to determine the current position status of each node. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time.

[0102] Step S330: Determine whether the current position status of each node conforms to the hydraulic control signal. If no, drive the frequency converter in the pump station to make corresponding adjustments.

[0103] In this embodiment, a second feedback signal is obtained using a hydraulic detection signal. This second feedback signal is used as the detection response result after responding to the hydraulic control signal and driving the frequency converter in the pumping station to perform the corresponding irrigation, which is the current position state of each node (hydraulic drive valve) in the irrigation network. The specific steps are the same as those in Embodiment 2, which uses the first feedback signal to determine the current position state of each node, and will not be repeated here.

[0104] Example 4: As shown in the appendix Figure 6 As shown, this embodiment of the invention is a further optimization of the above embodiment, which further includes, after obtaining the first feedback signal or the second feedback signal, using a functional relationship to determine whether the current position state of each node conforms to the hydraulic control signal, including:

[0105] Step S410: Based on the experimental data from each sensor or the analysis of historical normal irrigation data, construct a functional relationship;

[0106] Step S420: Substitute the hydraulic drive signal into the function relationship to obtain the target values ​​at each time point within a set time after the frequency converter in the pump station executes the hydraulic drive signal;

[0107] Step S430: Take each time point in the first feedback signal as the true value, and determine whether the difference between the target value and the true value is within the set range. If not, drive the frequency converter in the pump station to make corresponding adjustments.

[0108] In Example 2, the method of determining the current position status of each node using the first feedback signal is achieved through curve comparison. However, curves and functional relationships are interrelated. Therefore, this example uses existing software to analyze experimental data based on each sensor or historical normal irrigation data to construct a functional relationship. The hydraulic drive signal is then substituted into the functional relationship to obtain the target value at each time point within a set time after the frequency converter in the pump station executes the hydraulic drive signal. Then, each time point in the first feedback signal is used as the true value. Whether the current position status of each node conforms to the hydraulic control signal is determined by whether the difference between the target value and the true value is within the set interval.

[0109] Furthermore, the functional relationship here can also be understood as a prediction model obtained by training the network model.

[0110] Example 5: Setup as shown in the attached document Figure 9 The irrigation network shown is attached. Figure 9 The irrigation network shown includes three valves (K1, K2, and K3), i.e., three nodes. The valves are of equal length, and each valve is equipped with 100 drip irrigation tapes. A pressure sensor and a flow sensor are installed at point A of the pumping station to transmit the pressure and flow rate at that point. The irrigation network is controlled using the hydraulic signal-based control method disclosed in this invention, specifically including:

[0111] The start and stop requirements of the three valves are encoded to generate hydraulic control signals. This determines the basic control information of each node in the irrigation area. The system receives and responds to the hydraulic control signals, decodes them based on the basic control information of each node, and generates corresponding hydraulic drive signals. These hydraulic drive signals then drive the frequency converter in the pumping station to perform the corresponding irrigation operations. Finally, the first feedback signal is obtained at point A, meaning pressure and flow data are collected at point A. The pressure-flow relationship in the pumping station is as follows:

[0112]

[0113] Where Q is the outlet flow rate, k is the flow coefficient, H is the pressure head, and x is the flow regime index (value between 0 and 1).

[0114] H0, hf1, hf2, and hf3 represent pressure head losses, and Q1, Q2, and Q3 represent flow rates. Therefore, the pressure-flow relationship in the pumping station in this embodiment is as follows:

[0115]

[0116] The pressure head loss is:

[0117]

[0118] Local head loss is negligible; this embodiment sets... If the distance is less than 0.5 meters, H0 is 12 meters, and L is 120 meters. =94800, D is 150mm, and the drip tape x=0.5. The standard valve flow rate (m³ / s) at point A under various valve configuration combinations can be calculated. 3 / h) as follows:

[0119]

[0120] Therefore, the standard valve flow rate at point A is compared with the first feedback signal to determine whether each valve is in the position required for start-stop.

[0121] Example 6: As shown in the appendix Figure 7 As shown, this embodiment of the invention discloses an irrigation network control method and apparatus based on hydraulic signals, comprising:

[0122] The hydraulic control unit acquires and responds to hydraulic control signals, driving the frequency converter in the pumping station to perform corresponding water conservancy irrigation.

[0123] The first feedback adjustment unit includes:

[0124] The feedback module acquires the first feedback signal and determines the current position of each node based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time period.

[0125] The judgment module determines whether the current position status of each node conforms to the hydraulic control signal. If it does not, it drives the frequency converter in the pumping station to make corresponding adjustments.

[0126] Example 7: As attached Figure 7 As shown, the embodiments of the present invention are further optimizations of the above embodiments, and also include a second feedback adjustment unit, including:

[0127] The target value determination module analyzes experimental data from various sensors or historical normal irrigation data to construct a functional relationship; it then substitutes the hydraulic drive signal into the functional relationship to obtain the target value at each time point within a set time after the frequency converter in the pumping station executes the hydraulic drive signal.

[0128] The difference analysis module takes each time point in the first feedback signal as the true value and determines whether the difference between the target value and the true value is within the set range. If not, it drives the frequency converter in the pump station to make corresponding adjustments.

[0129] Example 8: As attached Figure 8 As shown, the embodiments of the present invention are further optimizations of the above embodiments, and also include a first detection control unit, comprising:

[0130] The detection output module acquires hydraulic detection signals, which are signals that can cause changes in the output signals of the frequency converters in the pumping station.

[0131] The detection and evaluation module acquires the second feedback signal after the hydraulic detection signal is executed, and determines the current position status of each node based on the second feedback signal, wherein the second feedback signal is the hydraulic output signal collected at the pumping station;

[0132] The detection and adjustment module determines whether the current position status of each node conforms to the hydraulic control signal. If not, it drives the frequency converter in the pumping station to make corresponding adjustments.

[0133] Example 9: As attached Figure 8 As shown, the embodiments of the present invention are further optimizations of the above embodiments, and also include a second detection control unit, including:

[0134] The detection output module acquires hydraulic detection signals, which are signals that can cause changes in the output signals of the frequency converters in the pumping station.

[0135] The target value determination module analyzes experimental data from various sensors or historical normal irrigation data to construct a functional relationship; it then substitutes the hydraulic drive signal into the functional relationship to obtain the target value at each time point within a set time after the frequency converter in the pumping station executes the hydraulic drive signal.

[0136] The detection and evaluation module acquires the second feedback signal after the hydraulic detection signal is executed, takes each time point in the second feedback signal as the true value, and determines whether the difference between the target value and the true value is within the set range. If not, it drives the frequency converter in the pump station to make corresponding adjustments.

[0137] The specific implementation steps of each unit in Examples 5 to 8 are the same as those in Examples 1 to 4 above, so they will not be repeated here.

[0138] Example 10: This embodiment of the invention discloses an irrigation network control system based on hydraulic signals, including an irrigation network and an irrigation network control device based on hydraulic signals as described in the above embodiment;

[0139] The irrigation network includes pumping stations and one or more nodes, and the pumping stations and nodes, as well as the nodes themselves, are connected by pipelines.

[0140] Each of the aforementioned nodes is a hydraulically driven valve;

[0141] The pumping station includes a water pump, a sensor group, and a frequency converter. An irrigation network control device is installed in the pumping station and is connected to both the sensor group and the frequency converter. The sensor group collects real-time parameters of the output pipeline in the pumping station, including flow rate and pressure. The frequency converter controls the operation of the water pump.

[0142] Example 11: This embodiment of the invention discloses an electronic device, including a processor and a memory, wherein the memory stores a computer program, which is loaded and executed by the processor to implement an irrigation network control method based on hydraulic signals.

[0143] The processor described above can be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. It can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The memory can include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory, portable hard drives, magnetic disks, or optical disks.

[0144] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0145] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0146] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0147] The above content is only a specific embodiment of the present invention, which has strong adaptability and implementation effect. However, the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be covered within the protection scope of the present invention. Therefore, equivalent changes made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for controlling irrigation networks based on hydraulic signals, characterized in that, The irrigation network includes pumping stations and one or more nodes, with pumping stations and nodes connected to each other via pipelines. Each node is a hydraulically driven valve. The method includes: Acquire and respond to hydraulic control signals to drive the frequency converter equipment in the pumping station to perform corresponding water conservancy and irrigation; The first feedback signal is obtained. Based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, the current position status of each node is determined using the first feedback signal. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time period. Determine whether the current position status of each node conforms to the hydraulic control signal; if not, drive the frequency converter in the pumping station to make corresponding adjustments. After responding to the hydraulic control signal and driving the pumping station to perform the corresponding irrigation, node detection is performed, including: Acquire hydraulic detection signals, which are signals that can cause changes in the output signal of the frequency converter in the pumping station; After the hydraulic detection signal is executed, the second feedback signal is obtained. Based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station, the current position status of each node is determined by the second feedback signal. The second feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time, including flow rate and pressure value. Determine whether the current position status of each node conforms to the hydraulic control signal; if not, drive the frequency converter in the pumping station to make corresponding adjustments. The process of determining the current position state of each node using the first feedback signal is the same as the process of determining the current position state of each node using the second feedback signal. Specifically, determining the current position state of each node using the first feedback signal includes: A corresponding parameter change curve group is established based on the first feedback signal, wherein the parameter change curve group includes one or more parameter change curves. The parameter change curve is compared with the standard library to determine the current position state of each node. The standard library includes various parameter change curves corresponding to different combinations of position states for each node.

2. The irrigation network control method based on hydraulic signals according to claim 1, characterized in that, The acquisition and response to hydraulic control signals, driving the frequency converter in the pumping station to perform corresponding irrigation operations, includes: The start and stop requirements of each node are obtained, the start and stop requirements of each node are encoded, and hydraulic control signals are generated. Determine the basic control information for each node in the irrigation area, including the model, operating parameters, and pipeline length between each node and the previous node. It receives and responds to hydraulic control signals, decodes the hydraulic control signals based on the basic control information of each node, and generates corresponding hydraulic drive signals, where the hydraulic drive signals are the control signals of the frequency converter equipment in the pumping station; The hydraulic drive signal drives the frequency converter in the pumping station to perform the corresponding water conservancy irrigation.

3. The irrigation network control method based on hydraulic signals according to claim 1 or 2, characterized in that, It also includes, after acquiring the first or second feedback signal, using a functional relationship to determine whether the current position state of each node conforms to the hydraulic control signal, including: Based on experimental data from various sensors or analysis of historical normal irrigation data, functional relationships are constructed. Substituting the hydraulic drive signal into the functional relationship, we obtain the target values ​​at various time points within a set time period after the frequency converter in the pumping station executes the hydraulic drive signal. Using each time point in the first feedback signal as the true value, determine whether the difference between the target value and the true value is within the set range. If not, drive the frequency converter in the pump station to make corresponding adjustments.

4. An apparatus for applying the irrigation network control method based on hydraulic signals as described in any one of claims 1 to 3, characterized in that, include: The hydraulic control unit acquires and responds to hydraulic control signals, driving the frequency converter in the pumping station to perform corresponding water conservancy irrigation. The first feedback adjustment unit includes: The feedback module acquires the first feedback signal and determines the current position of each node based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station. The first feedback signal is the real-time parameters of the output pipeline in the pumping station at each time point within a set time period. The judgment module determines whether the current position status of each node conforms to the hydraulic control signal. If it does not, it drives the frequency converter in the pumping station to make corresponding adjustments. The first detection and control unit includes: The detection output module acquires hydraulic detection signals, which are signals that can cause changes in the output signals of the frequency converters in the pumping station. The detection and evaluation module determines the current position status of each node based on the relationship between the position status of each node and the real-time parameters of the output pipeline in the pumping station using the second feedback signal. The second feedback signal consists of the real-time parameters of the output pipeline in the pumping station at each time point within a set time period, including flow rate and pressure value. The detection and adjustment module determines whether the current position status of each node conforms to the hydraulic control signal. If it does not, it drives the frequency converter in the pumping station to make corresponding adjustments. The second feedback adjustment unit includes: The target value determination module analyzes experimental data from various sensors or historical normal irrigation data to construct a functional relationship; it then substitutes the hydraulic drive signal into the functional relationship to obtain the target value at each time point within a set time after the frequency converter in the pumping station executes the hydraulic drive signal. The difference analysis module takes each time point in the first feedback signal as the true value and determines whether the difference between the target value and the true value is within the set range. If not, it drives the frequency converter in the pump station to make corresponding adjustments. The second detection and control unit includes: The detection output module acquires hydraulic detection signals, which are signals that can cause changes in the output signals of the frequency converters in the pumping station. The target value determination module analyzes experimental data from various sensors or historical normal irrigation data to construct a functional relationship; it then substitutes the hydraulic drive signal into the functional relationship to obtain the target value at each time point within a set time after the frequency converter in the pumping station executes the hydraulic drive signal. The detection and evaluation module acquires the second feedback signal after the hydraulic detection signal is executed, takes each time point in the second feedback signal as the true value, and determines whether the difference between the target value and the true value is within the set range. If not, it drives the frequency converter in the pump station to make corresponding adjustments.

5. An irrigation network control system based on hydraulic signals, characterized in that, Includes an irrigation network and the apparatus as described in claim 4; The irrigation network includes pumping stations and one or more nodes, and the pumping stations and nodes, as well as the nodes themselves, are connected by pipelines. Each of the aforementioned nodes is a hydraulically driven valve; The pumping station includes a water pump, a sensor group, and a frequency converter. An irrigation network control device is installed in the pumping station and is connected to both the sensor group and the frequency converter. The sensor group collects real-time parameters of the output pipeline in the pumping station, including flow rate and pressure. The frequency converter controls the operation of the water pump.

6. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, which is loaded and executed by the processor to implement the steps of the method as described in any one of claims 1 to 3.

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