Geothermal planting system and intelligent control method

Abstract

The geothermal type planting system comprises a water storage containing cavity, a water pipe extending upwards from the bottom of the water storage containing cavity, a motor connected with the water pipe, a storage battery electrically connected with the motor and a solar panel located at the top of the water pipe. The water storage containing cavity comprises a middle heat insulation plate, a hot water storage cavity and a cold water storage cavity, the hot water storage cavity and the cold water storage cavity are separated through the heat insulation plate, a water inlet of the water pipe is connected with the hot water storage cavity and the cold water storage cavity, the circulation amount of cold water and hot water is controlled through the motor, and the cold water and the hot water flow out of a water spraying pipe at an opening in the top end of the water pipe. And the ground temperature is maintained. The hot water storage cavity circulates hot water to a water pipe located at the root system position of a planted plant, and the soil temperature is kept constant under the action of the storage battery, so that the soil temperature is constant. The soil temperature can be accurately controlled, and the method is superior to natural climate conditions on which a greenhouse depends seasonal. Compared with a greenhouse, the investment cost is low, sustainable utilization of resources is achieved, and green development and long-term stability are promoted.

Description

Technical Field

[0001] The present invention belongs to the field of geothermal planting, and in particular relates to a geothermal planting system and an intelligent control method. Background Art

[0002] With the development of urbanization, urban residents have a growing demand for fresh and organic agricultural products, which has led to the transformation of traditional agriculture into a modern and intensive one, which requires the support of efficient and energy-saving planting technology. As the world pays more attention to sustainable agriculture, geothermal planting technology is increasingly in line with the international direction of sustainable development.

[0003] like Figure 1 The table of main root depth and temperature requirements of vegetable crops is shown. It can be seen from the figure that only by providing temperature conditions suitable for the growth and development of various crops can the normal growth and development of various fruit and vegetable crops be met. The existing conventional greenhouses have the following four problems: 1. Large investment and low efficiency. Conventional greenhouses have high construction costs, difficult maintenance, and low efficiency; 2. Easy to damage and difficult to reuse. Plastic greenhouses are easy to damage and difficult to repair and reuse after damage; 3. There is no technology to actively adjust the temperature, and it is impossible to timely and actively increase the soil temperature to maintain the suitable temperature required for plant root growth; 4. Plastic degradation, soil plastic residue, slow natural degradation, and the current degradation technology is costly and inefficient.

[0004] like Figure 2 As shown, the depth of permafrost is getting shallower and shallower, and there is an urgent need for a new type of geothermal planting system that can provide large-scale soil temperature regulators for different geographical locations and weather conditions, so that vegetable crops can grow and develop at a suitable temperature.

[0005] Chinese patent CN2023104147540 discloses a system for planting and breeding using geothermal water, including a pond, a geothermal water pipe unit is wound around the outer wall of the pond, the water inlet of the geothermal water pipe unit is connected to a water filter assembly, the water outlet of the geothermal water pipe unit is connected to the inner side of the pond, the geothermal water pipe unit is used to insulate the side wall of the pond and pour geothermal water into the pond, a water outlet is provided at the bottom of the pond, and a temperature sensor is provided on the inner wall of the pond; a planting shed, an irrigation assembly and a water collection assembly are provided in the planting shed, and the water collection assembly is connected to the inside of the pond; a water temperature cooling unit, the water inlet of the water temperature cooling unit is connected to the water outlet through an outlet pipe, the water outlet of the water temperature cooling unit is connected to the irrigation assembly, and a drainage adjustment unit is provided between the outlet pipe and the pond. The heat utilization rate is high, the water temperature adjustment rate is fast, and the excrement generated by fish activities can be fully utilized for planting and fertilization. Summary of the invention

[0006] In view of the above-mentioned prior art, the purpose of the present invention is to provide a geothermal planting system and intelligent control method, which can provide a large-scale soil temperature regulator for different geographical locations and weather conditions, so that vegetable crops can grow and develop at a suitable temperature.

[0007] To solve the above technical problems, in the first aspect, the present application provides a geothermal planting system, comprising a water storage chamber, a water pipe extending upward from the bottom of the water storage chamber, a motor connected to the water pipe, a battery electrically connected to the motor, and a solar panel located on the top of the water pipe, the water storage chamber comprising a middle insulation board, a hot water storage chamber and a cold water storage chamber separated by the insulation board, the water inlet of the water pipe is respectively connected to the hot water storage chamber and the cold water storage chamber, the flow rate of cold water and hot water is controlled by the motor, and flows out from the spray pipe at the top opening of the water pipe to maintain the temperature of the ground.

[0008] Preferably, the solar panel captures solar energy and converts it into electrical energy which is stored in the storage battery.

[0009] Preferably, the hot water storage chamber flows hot water to a water pipe located at the root system of the planted plants, and maintains a constant temperature under the action of a storage battery so that the soil temperature is kept constant.

[0010] Preferably, the system further comprises a humidity sensor, a temperature sensor and an intelligent control system for regulating the actual temperature acquired by the temperature sensor to a target temperature, wherein the target temperature is a suitable temperature for growing plants.

[0011] In a second aspect, the present application provides an intelligent control method, comprising: performing temperature control based on the three basic parameters Kp, Ki, and Kd of the PID, specifically comprising the following steps:

[0012] S1, obtaining the actual temperature and the target temperature and initializing the temperature difference between the actual temperature value and the target temperature value, as well as the rate of change of the difference;

[0013] S2. A mapping between the actual temperature and the target temperature and the fuzzy value in the fuzzy control is established according to the input fuzzy processing quantization factor and the output proportional factor, wherein the calculation formula of the output proportional factor is Ku=yu / h, yu is the basic domain of the controlled object, h is the fuzzy domain output by the controller, and u represents Kp, Ki, and Kd;

[0014] S3, establishing an adaptive coefficient m, wherein the calculation formula of m is m=(ts-ta) / ts, ts is the target temperature, ta is the actual temperature; and correcting the output proportional factor, the correction formula is Ku'=m*Ku;

[0015] S4. Calculate Kp, Ki, and Kd parameters in real time based on the fuzzy control rule table, and use the Kp, Ki, and Kd parameters to perform PID operation to achieve temperature control.

[0016] Preferably, the fuzzy subset in the fuzzy control is {NB, NM, NS, 0, PS, PM, PB}.

[0017] Preferably, the fuzzy domains of the difference E between the actual value of the initialization temperature and the target value and the rate of change of the difference Ec are both [-6, 6], and the basic domains E = [-10, 10] and Ec = [-1, 1];

[0018] The fuzzy domains of the outputs Kp, Ki, and Kd are all [-7,7], and the basic domains are [0,100], [0,10], and [0,20] respectively.

[0019] Preferably, the calculation formula for the quantization factor of the input fuzzy processing is Ke=2n / (Ymax-Ymin), wherein [Ymin, Ymax] is the basic domain of the input, and 2n is the number of elements contained in the fuzzy subset domain of the input.

[0020] Preferably, when setting the fuzzy subsets, each of the fuzzy subsets is provided with a plurality of state values ​​corresponding to the fuzzy variables, and the state values ​​include the change values ​​or amplitudes of the corresponding fuzzy variables.

[0021] Preferably, the fuzzy control rule table is provided with corresponding rules between different fuzzy subsets, and any two fuzzy subsets are provided with a plurality of corresponding rules, and the state values ​​correspond to respective membership values. Specifically, when the input deviation is large, the membership function is smooth, and when the input deviation is small, the membership function changes rapidly.

[0022] Preferably, when determining the activation status of the fuzzy control rule base, the process includes obtaining an input value, wherein the input value is a precise control value; determining a membership value corresponding to the precise control value, and confirming the activation status of the rules in the fuzzy control rule base according to the membership value; wherein the fuzzy control rule table is:

[0023] When the difference is negative and large, and the difference changes to negative, the difference has a tendency to increase, and the output is taken to be positive and large to prevent the difference from becoming larger as soon as possible and eliminate the existing negative and large difference;

[0024] When the difference is negative and the difference change is positive, the control system operates in the direction of reducing the difference;

[0025] When the difference value changes to a positive or medium value, it is not suitable to change its trend and the output is taken as zero;

[0026] When the difference changes in a positive direction, the output is in the middle;

[0027] When the difference is negative, the output should change so that the difference is eliminated as quickly as possible, and the output selection should be the same as when the difference is negative;

[0028] When the difference is negative, the system approaches a steady state.

[0029] The beneficial effects of this application are as follows:

[0030] 1. The geothermal planting system of this application can accurately control the soil temperature, which is better than the natural climate conditions that greenhouses rely on seasonally. Compared with greenhouses, it has low investment costs, realizes sustainable resource utilization, and contributes to green development and long-term stability.

[0031] 2. The geothermal planting system of the present application can realize efficient vertical planting in a limited space, saving about 50% of the space compared with the traditional greenhouse and about 30% of the energy consumption compared with the electricity and fossil fuel consumption of the greenhouse.

[0032] 3. The intelligent control method of the present application can also adaptively adjust PID control parameters, automatically set PID parameters according to fuzzy empirical rules to achieve temperature control accuracy and control speed under different conditions, ensure the stability and efficiency of the control system, so that the temperature control accuracy and control speed under different conditions can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 The main vegetable crop group depth and temperature requirements are shown;

[0035] Figure 2 This is the graph showing the current frozen soil depth changing with the year;

[0036] Figure 3 A schematic diagram of the structure of the geothermal planting system provided for this application;

[0037] Figure 4 Flowchart of the intelligent control method provided for this application. DETAILED DESCRIPTION

[0038] As required, detailed embodiments of the present invention are disclosed herein, but it should be understood that the disclosed embodiments are merely exemplary of the present invention, and the present invention may be implemented in different and alternative forms. The accompanying drawings may not be drawn to scale, and certain features may be exaggerated or reduced to show the details of specific components. Therefore, the specific structural and functional details disclosed herein should not be understood as having a limiting meaning, but only as a representative basis to teach those skilled in the art to adopt the present invention differently. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0039] like Figure 1-Figure 3 As shown, this embodiment provides a geothermal planting system, where geothermal energy refers to solar radiation energy, biomass heat and internal heat of the earth, and includes a water storage chamber 1, a water pipe 2 extending upward from the bottom of the water storage chamber 1, a motor 3 connected to the water pipe 2, a battery 4 electrically connected to the motor 3, and a solar panel 5 located at the top of the water pipe 2. The water storage chamber 1 includes a heat insulation board 11 in the middle, a hot water storage chamber 12 and a cold water storage chamber 13 separated by the heat insulation board 11, and the water inlet of the water pipe 2 is connected to the hot water storage chamber 12 and the cold water storage chamber 13 respectively. The flow rate of cold water and hot water is controlled by the motor 3, and flows out from the spray pipe 21 at the top opening of the water pipe 2 to maintain the temperature of the ground. The solar panel 5 obtains solar energy and converts it into electrical energy and stores it in the battery 4. The hot water storage chamber 12 circulates hot water to the water pipe 2 located at the root position of the plant, and maintains a constant temperature under the action of the battery 4 so that the soil temperature is constant.

[0040] The main function of the geothermal water pipe 2 is to surround the soil in a circle. Before the geothermal water is poured into the pond, the heat radiated by the geothermal water in the geothermal water pipe 2 is used to insulate the side walls of the soil, thereby slowing down the rate of decrease in the water temperature in the ground; the main function of the motor 3 is to remove fluorine and filter impurities from the geothermal water before the geothermal water enters the pond, and at the same time control the flow rate of the geothermal water; the main function of the temperature sensor is to monitor the temperature changes on the ground surface; the main function of the water spray pipe 21 is to irrigate the plants in the planting shed by using the water in the hot water storage chamber 12 and the cold water storage chamber 13; on the whole, the present invention can use geothermal water to insulate the ground surface and slow down heat loss, and can also make full use of water resources, quickly adjust the surface temperature, and provide a suitable growth environment for planted plants to the greatest extent.

[0041] like Figure 4 Specifically, this embodiment provides an intelligent control method for controlling the temperature of a geothermal planting system, comprising the following steps:

[0042] S10, obtaining the actual temperature and the target temperature and initializing the temperature difference between the actual temperature value and the target temperature value, and the rate of change of the difference;

[0043] E (difference between actual temperature and target temperature): This is the difference between the target temperature and the actual temperature. This value indicates the degree of deviation of the current temperature control. Ec (rate of change of difference): This is the rate of change of error E over time, reflecting the trend of temperature change. E and Ec are the two basic inputs of the temperature control system, which together determine the control strategy of the system.

[0044] S20, establishing a mapping between the actual temperature and the target temperature and the fuzzy value in the fuzzy control according to the input fuzzy processing quantization factor and the output proportional factor, wherein the calculation formula of the output proportional factor is Ku=yu / h, yu is the basic domain of the controlled object, h is the fuzzy domain output by the controller, and u represents Kp, Ki, and Kd;

[0045] The main purpose is to determine the fuzzy set, fuzzy variables, membership function, fuzzy rule base and defuzzification process. Specifically, step S20 is to convert the precise temperature difference (E) and the difference change rate (Ec) into fuzzy values ​​for use in the fuzzy logic controller. The quantization factor Ke is used to determine the distribution of the input value in the fuzzy domain, which affects the fineness of the fuzzification process. At the same time, the output (fuzzy value) of the fuzzy controller is converted back into an accurate control signal for use in actual actuators (such as heaters or coolers). The proportional factor Ku is used to adjust the fuzzy output values ​​to ensure that they are meaningful in actual control, that is, they can be correctly mapped to the operating range of the actuator. The fuzzy subsets in fuzzy control are {NB, NM, NS, 0, PS, PM, PB}, including NB (negative large), NM (negative medium), NS (negative small), 0, PS (positive small), PM (positive medium), PB (positive large). These subsets define the linguistic variables of fuzzy control, which will be used for the formulation of fuzzy rules and fuzzy reasoning. Specifically, the fuzzy domains of the difference E between the actual value of the initial temperature and the target value and the rate of change of the difference Ec are both [-6, 6], and the basic domains are E = [-10, 10] and Ec = [-1, 1]; the fuzzy domains of the outputs Kp, Ki, and Kd are all [-7, 7], and the basic domains are [0, 100], [0, 10], and [0, 20] respectively.

[0046] S30, establishing an adaptive coefficient m, wherein the calculation formula of m is m=(ts-ta) / ts, ts is the target temperature, and ta is the actual temperature; and correcting the output proportional factor, the correction formula is Ku'=m*Ku;

[0047] Ke and Ku: Ke and Ku are interrelated because they work together to ensure that the fuzzy values ​​of input and output can be correctly mapped to the actual temperature control. Ke is responsible for converting the precise input value to the fuzzy value, while Ku is responsible for converting the fuzzy output value back to a precise control signal.

[0048] Ku and m: The relationship between Ku and m is that Ku ensures that the output of the fuzzy controller can effectively control the actuator, while m dynamically adjusts these output values ​​according to the difference between the actual temperature and the target temperature to improve the adaptability and stability of the control.

[0049] Ke and m: Ke affects the accuracy of the fuzzy processing, while m dynamically adjusts the control strategy based on the actual deviation of the temperature. A finer fuzzy processing (determined by Ke) can provide more precise fuzzy values, which helps m adjust the control strategy more accurately.

[0050] The fuzzy control rule table is provided with corresponding rules between different fuzzy subsets, and there are several corresponding rules between any two fuzzy subsets. The state values ​​correspond to their respective membership values. Specifically, when the input deviation is large, the membership function is gentle, and when the input deviation is small, the membership function changes quickly, so an isosceles triangle membership function is selected. When determining the activation of the fuzzy control rule base, it includes obtaining input values, and the input values ​​are precise control values; determining the membership values ​​corresponding to the precise control values, and confirming the activation of the rules in the fuzzy control rule base according to the membership values; wherein the fuzzy control rule table is:

[0051] When the difference is negative and large, and the difference changes to negative, the difference has a tendency to increase, and the output is taken to be positive and large to prevent the difference from becoming larger as soon as possible and eliminate the existing negative and large difference;

[0052] When the difference is negative and the difference change is positive, the control system operates in the direction of reducing the difference;

[0053] When the difference value changes to a positive or medium value, it is not suitable to change its trend and the output is taken as zero;

[0054] When the difference changes in a positive direction, the output is in the middle;

[0055] When the difference is negative, the output should change so that the difference is eliminated as quickly as possible, and the output selection should be the same as when the difference is negative;

[0056] When the difference is negative, the system approaches a steady state. The search range for adjusting parameters according to the fuzzy output value includes determining the corresponding fuzzy variables and membership degrees in the activation state, and determining the control parameters corresponding to the fuzzy variables and the target parameters corresponding to the membership degrees as the search range.

[0057] S40, calculating Kp, Ki, Kd parameters in real time based on the fuzzy control rule table, and performing PID operation with the Kp, Ki, Kd parameters to achieve temperature control.

[0058] In step S40, the output of real-time control is calculated, and the fuzzy clarity adopts the weighted average method. According to the input of the above steps and the fuzzy control rule table, the real-time kp, ki, and kd parameters are calculated. Then, PID operation is performed based on the kp, ki, and kd parameters calculated in real time to obtain the actual output variable to the actuator to control the heating power and achieve the automatic temperature control function.

[0059] Compared with the traditional PID control method: Fixed parameters: In the traditional PID control, the three parameters of proportion (P), integration (I) and differentiation (D) are pre-set fixed values, which usually need to be determined by manual adjustment or empirical formula. Linear control: The PID controller assumes that the system is linear or approximately linear, and it calculates the control signal based on linear control theory. Response adjustment: When facing system parameter changes or external disturbances, the response of the PID controller may not be flexible enough, and the parameters need to be readjusted to adapt to the new situation. Control accuracy: For some complex, nonlinear or time-varying systems, traditional PID control may not be able to achieve very high control accuracy. The present application can solve the problem of poor temperature control accuracy after actual conditions change due to fixed parameters in the general PID control temperature method. The present invention can adaptively adjust the PID control parameters and automatically set the PID parameters according to fuzzy empirical rules to achieve temperature control accuracy and control speed under different conditions.

[0060] The above is a detailed introduction to a geothermal planting system and intelligent control method provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0061] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A geothermal planting system, comprising a water storage chamber (1), a water pipe (2) extending upward from the bottom of the water storage chamber (1), a motor (3) connected to the water pipe (2), a storage battery (4) electrically connected to the motor (3), and a solar panel (5) located on the top of the water pipe (2), characterized in that: The water storage chamber (1) comprises a heat insulation board (11) in the middle, a hot water storage chamber (12) and a cold water storage chamber (13) separated by the heat insulation board (11); the water inlet of the water pipe (2) is connected to the hot water storage chamber (12) and the cold water storage chamber (13), respectively; the flow rate of cold water and hot water is controlled by the motor (3), and flows out from the water spray pipe (21) at the top opening of the water pipe (2) to maintain the temperature of the ground.

2. The geothermal planting system according to claim 1, characterized in that: include: The solar panel (5) captures solar energy and converts it into electrical energy which is stored in the storage battery (4).

3. The geothermal planting system according to claim 1, characterized in that: The hot water storage chamber (12) circulates hot water to the water pipe (2) located at the root system of the planted plants, and maintains a constant temperature under the action of the storage battery (4) so ​​that the soil temperature is kept constant.

4. The geothermal planting system according to claim 1, characterized in that: The system also includes a humidity sensor, a temperature sensor and an intelligent control system, which are used to adjust the actual temperature obtained by the temperature sensor to a target temperature, where the target temperature is a suitable temperature for growing plants.

5. An intelligent control method for realizing the intelligent control system as claimed in claim 4, which performs temperature control based on the three basic parameters Kp, Ki and Kd of PID, characterized in that: include S1, obtaining the actual temperature and the target temperature and initializing the temperature difference between the actual temperature value and the target temperature value, as well as the rate of change of the difference; S2. Establish a mapping between the actual temperature, the target temperature and the fuzzy value in the fuzzy control according to the input fuzzy processing quantization factor and the output proportional factor, wherein the calculation formula of the output proportional factor is: , yu is the basic domain of the controlled object, h is the fuzzy domain of the controller output, and u represents Kp, Ki, and Kd; S3. Establish an adaptive coefficient m, where the calculation formula of m is: , ts is the target temperature, ta is the actual temperature; and the output proportional factor is corrected, the correction formula is: ; S4. Calculate Kp, Ki, and Kd parameters in real time based on the fuzzy control rule table, and use the Kp, Ki, and Kd parameters to perform PID operation to achieve temperature control.

6. The intelligent control method according to claim 5, characterized in that: The fuzzy subset {NB, NM, NS, 0, PS, PM, PB} in the fuzzy control.

7. The intelligent control method according to claim 5, characterized in that: The fuzzy domains of the difference between the actual value of the initial temperature and the target value E and the rate of change of the difference Ec are both [-6,6], and the basic domain and ; The fuzzy domains of the outputs Kp, Ki, and Kd are all [-7,7], and the basic domains are [0,100], [0,10], and [0,20] respectively.

8. The intelligent control method according to claim 5, characterized in that: The calculation formula of the quantization factor of the input fuzzy processing is: , where [Ymin, Ymax] is the basic domain of the input quantity, and 2n is the number of elements contained in the fuzzy subset domain of the input quantity.

9. The intelligent control method according to claim 5, characterized in that: When setting the fuzzy subsets, each of the fuzzy subsets is provided with a number of state values ​​corresponding to the fuzzy variables, and the state values ​​include the change value or amplitude of the corresponding fuzzy variable.

10. The intelligent control method according to claim 5, characterized in that: The fuzzy control rule table is provided with corresponding rules between different fuzzy subsets, and any two fuzzy subsets are provided with several corresponding rules. The state values ​​correspond to their respective membership values. Specifically, when the input deviation is large, the membership function is smooth, and when the input deviation is small, the membership function changes rapidly.

11. The intelligent control method according to claim 5, characterized in that: When determining the activation status of the fuzzy control rule base, it includes obtaining an input value, wherein the input value is a precise control value; determining a membership value corresponding to the precise control value, and confirming the activation status of the rules in the fuzzy control rule base according to the membership value; wherein the fuzzy control rule table is: When the difference is negative and large, and the difference changes to negative, the difference has a tendency to increase, and the output is taken to be positive and large to prevent the difference from becoming larger as soon as possible and eliminate the existing negative and large difference; When the difference is negative and the difference change is positive, the control system operates in the direction of reducing the difference; When the difference value changes to a positive or medium value, it is not suitable to change its trend and the output is taken as zero; When the difference changes in a positive direction, the output is in the middle; When the difference is negative, the output should change so that the difference is eliminated as quickly as possible, and the output selection should be the same as when the difference is negative; When the difference is negative, the system approaches a steady state.

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