Water, fertilizer and pesticide integrated control system

Abstract

The invention relates to the technical field of land planting, and discloses a water, fertilizer and pesticide integrated control system which comprises a plurality of unit areas formed after a planting area is divided, and collecting modules for collecting land states are arranged in the unit areas. Land state information collected by the collection module is subjected to secondary processing through a scoring module, the score of each unit area is obtained, and a numerical value obtained through weighted calculation of the scores adjusted by the scoring module provides reference for a power adjustment module; the acquisition module monitors the land state in the unit area in the unit area, the acquisition parameters of the acquisition module are scored through the scoring module, the scoring mode is obtained according to the ratio of the actual parameters to the standard parameters, the final numerical value is processed through weighting, and if the irrigation operation is carried out through light, the irrigation score is independently taken out and calculated. The lowest score obtained after weighting reflects the maximum putting amount, so that the use energy consumption of the comprehensive water and fertilizer putting machine is gradually reduced.

Description

Technical Field

[0001] The invention relates to the technical field of land planting, in particular to a water, fertilizer and pesticide integrated control system. Background Art

[0002] Irrigation, fertilization and pest control need to be considered during the crop planting process. The irrigation parameters are mainly based on land humidity, accompanied by factors affecting transpiration such as wind speed and temperature as reference factors for irrigation, while soil ion concentration is used as a reference indicator for fertilization, and the number of pests is used as a reference indicator for pest control. Under these three reference factors, irrigation, pest control and fertilization of the land according to the reference factors can ensure that the soil is in the best condition.

[0003] The integrated water, fertilizer and pesticide machine can realize irrigation, fertilization and pest control of the land. The whole equipment carries an irrigation box, a fertilizer box and a pesticide box. When in use, they can be switched back and forth or used in parallel according to needs. The integrated water, fertilizer and pesticide machine can be used for large areas of land, but due to the wide coverage of large areas of land, there are errors in the land in different areas. Irrigation, fertilization and pest control according to the standardization will result in local overdose or underdose. In addition, the drugs required to be carried for large-scale movement of large areas of land are large in volume and heavy in weight, so the long-stroke movement causes a waste of power energy. Summary of the invention

[0004] The purpose of the present invention is to provide a water-fertilizer-pesticide integrated control system to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A water, fertilizer and pesticide integrated control system, comprising a plurality of unit areas formed by dividing a planting area, wherein a collection module for collecting land status is arranged inside the unit area, and the land status information collected by the collection module is processed for a second time by a scoring module to obtain a score for each unit area, and a value obtained after weighted calculation of the score adjusted by the scoring module is provided as a reference for a power adjustment module, and the power adjustment module adjusts the delivery power according to the parameter value of the scoring module, and the integrated water and fertilizer delivery machine controls the delivery unit to spray the target area according to the control information of the power adjustment module;

[0007] The score of the scoring module is counted by a one-way travel sum calculation module and planned by a trajectory planning module. The trajectory planning module includes an x-direction execution unit and a y-direction execution unit. The one-way travel sum calculation module uses the lowest value of the average sum of the unit area scores in the x-direction or y-direction of the target point as a single path trajectory. The trajectory planning module generates a complete trajectory from low to high according to the one-way travel sum average calculated by the calculation module.

[0008] As a further solution of the present invention: the collection module includes an irrigation influencing factor collection module, a pest influencing factor collection module, and an ion concentration collection module; the scoring module includes an irrigation scoring unit, a drug administration scoring unit, and a fertilization scoring unit; the power adjustment module includes an irrigation power adjustment unit, a drug administration power adjustment unit, and a fertilization power adjustment unit.

[0009] As a further solution of the present invention: the irrigation influencing factor acquisition module collects land parameters including soil moisture, wind speed, and temperature; the irrigation scoring unit uses the ratio of soil moisture, wind speed, temperature to target soil moisture, target wind speed, and target temperature as an irrigation score; and the irrigation power adjustment unit adjusts the input power according to the irrigation score.

[0010] As a further solution of the present invention: the pest impact factor acquisition module includes an insect attractant, an insect counter, and an image collector for comprehensive acquisition; the drug administration scoring unit uses the ratio of the total number of records to the total number of targets as a drug administration score; the drug administration power adjustment unit adjusts the administration power according to the drug administration score; and the drugs include powders and solvents.

[0011] As a further solution of the present invention: the ion concentration acquisition module includes a soil automatic sampler and a soil analyzer, the fertilization scoring unit uses the ratio of the ion concentration collected by the ion concentration acquisition module to the target ion concentration as a fertilization score, and the fertilization power adjustment unit adjusts the application power according to the score value of the fertilization scoring unit.

[0012] As a further solution of the present invention: the single stroke of the x-direction execution unit and the y-direction execution unit is the maximum distance in that direction, and after reaching the maximum distance, they move to a unit area in the vertical direction, and use this unit area as a reference point to re-plan the movement direction through the x-direction execution unit and the y-direction execution unit.

[0013] As a further solution of the present invention, a water-fertilizer-pesticide integrated control system includes the following use method:

[0014] S1: Divide the land into several unit areas, and install a collection module in each unit area. The unit area is regularly collected through the collection module. The irrigation influencing factor collection module obtains land humidity, air flow rate, and temperature. The pest influencing factor collection module obtains pest parameters through capture, image processing, and counting. The ion concentration collection module obtains soil ion concentration.

[0015] S2: The irrigation scoring unit, the drug dosing scoring unit, and the fertilization scoring unit obtain the final value by weighting the ratio of the parameters obtained by the irrigation influencing factor collection module, the pest influencing factor collection module, and the ion concentration collection module to the standard parameters. The irrigation power adjustment unit, the drug dosing power adjustment unit, and the fertilization power adjustment unit adjust the delivery power according to the parameters of the irrigation scoring unit, the drug dosing scoring unit, and the fertilization scoring unit.

[0016] S3: The one-way stroke total calculation module calculates the flight trajectory of the integrated water and fertilizer dispenser based on the sum of the x-direction unit scores or the average of the y-direction unit scores. After the maximum single flight distance in the x-direction or y-direction, the unit area moves one grid in the vertical direction, and based on the unit area, recalculates the average of the x-direction or y-direction unit scores to generate a complete trajectory.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The collection module monitors the land status in the unit area and scores the collection parameters of the collection module through the scoring module. The power adjustment module can adjust the discharge speed by adjusting the water pump power or the size of the discharge port. When the movement speed remains unchanged, the change of the discharge speed can control the discharge amount. So that the discharge amount matches the value collected by the scoring module. After the scoring module obtains the score of each unit area, the one-way stroke sum calculation module calculates the sum of the scores of the x and y directions of the entire land and obtains the average value. The direction with the smallest average value is the first priority movement. The ratio of the actual parameter to the standard parameter is obtained in the scoring method. The final value is processed by weighting. If the light irrigation operation is carried out, the irrigation score can be taken out and calculated separately. The lowest score obtained after weighting reflects the maximum delivery amount. Therefore, the flight trajectory of the comprehensive water and fertilizer delivery machine passes through the area with the maximum delivery amount first, thereby effectively reducing the high-load movement distance and gradually reducing the energy consumption of the comprehensive water and fertilizer delivery machine, thereby achieving the purpose of energy saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 This is a schematic diagram of land division in a water-fertilizer-pesticide integrated control system;

[0021] Figure 2 It is a schematic diagram of the scoring trajectory in a water-fertilizer-pesticide integrated control system;

[0022] Figure 3 It is a schematic diagram of irrigation delivery of a water-fertilizer-pesticide integrated control system;

[0023] Figure 4 It is a schematic diagram of trajectory generation for a water-fertilizer-pesticide integrated control system;

[0024] In the figure: 1. Unit area; 2. Integrated water and fertilizer delivery machine; 21. Delivery unit; 3. Collection module; 31. Irrigation influencing factor collection module; 32. Pest influencing factor collection module; 33. Ion concentration collection module; 4. Scoring module; 41. Irrigation scoring unit; 42. Dosing scoring unit; 43. Fertilization scoring unit; 5. Power adjustment module; 51. Irrigation power adjustment unit; 52. Dosing power adjustment unit; 53. Fertilization power adjustment unit; 6. Trajectory planning module; 61. X-direction execution unit; 62. Y-direction execution unit; 7. One-way stroke sum calculation module. DETAILED DESCRIPTION

[0025] See also Figure 1-Figure 4: In this embodiment: it includes a plurality of unit areas 1 formed by dividing the planting area, and a collection module 3 for collecting land status is arranged inside the unit area 1. The land status information collected by the collection module 3 is processed twice by the scoring module 4 and the score of each unit area 1 is obtained. The value obtained after the score adjusted by the scoring module 4 is weighted and calculated provides a reference for the power adjustment module 5. The power adjustment module 5 adjusts the delivery power according to the parameter value of the scoring module 4. The comprehensive water and fertilizer delivery machine 2 controls the delivery unit 21 to spray the target area according to the control information of the power adjustment module 5. The collection module 3 includes an irrigation influencing factor collection module 31, an insect pest influencing factor collection module 32, and an ion concentration collection module 33. The scoring module 4 includes an irrigation scoring unit 41, a drug delivery scoring unit 42, and a fertilization scoring unit 43. The power adjustment module 5 includes an irrigation power adjustment unit 51, a drug delivery power adjustment unit 52, and a fertilization power adjustment unit 53. The whole unit 53, the irrigation influencing factor acquisition module 31 collects land parameters including soil moisture, wind speed, and temperature, the irrigation scoring unit 41 uses the ratio of soil moisture, wind speed, temperature to target soil moisture, target wind speed, and target temperature as the irrigation score, the irrigation power adjustment unit 51 adjusts the delivery power according to the irrigation score, the pest influencing factor acquisition module 32 includes an insect trap, an insect counter, and an image collector for comprehensive acquisition, the drug delivery scoring unit 42 uses the ratio of the total number of records to the target total number as the drug delivery score, the drug delivery power adjustment unit 52 adjusts the delivery power according to the drug delivery score, the drug includes powder and solvent, the ion concentration acquisition module 33 includes a soil automatic sampler and a soil analyzer, the fertilization scoring unit 43 uses the ratio of the ion concentration collected by the ion concentration acquisition module 33 to the target ion concentration as the fertilization score, and the fertilization power adjustment unit 53 adjusts the delivery power according to the score value of the fertilization scoring unit 43.

[0026] In this embodiment: in order to solve the problem of large-area land deviation, the land is divided into multiple unit areas 1, the acquisition module 3 monitors the land status in the unit area 1, and the acquisition parameters of the acquisition module 3 are scored by the scoring module 4. The scoring method of the scoring module 4 is very simple, and a basic value is set. Assume that the basic value is set to 1. Taking the irrigation impact factor acquisition module 31 as an example, the irrigation impact factor acquisition module 31 collects soil moisture A, wind speed B, and temperature C. and When any one of the above occurs, the supplement is controlled separately. The movement speed of the integrated water and fertilizer delivery machine 2 remains unchanged, so the delivery amount can be controlled by adjusting the delivery speed of the delivery unit 21 through the power adjustment module 5. The power adjustment module 5 can adjust the discharge speed by adjusting the water pump power or the size of the discharge port. When the movement speed remains unchanged, the change of the discharge speed can control the discharge amount. Thus, the discharge amount matches the value collected by the scoring module 4.

[0027] In this embodiment: the score of the scoring module 4 is counted by the one-way stroke sum calculation module 7 and planned by the trajectory planning module 6. The trajectory planning module 6 includes an x-direction execution unit 61 and a y-direction execution unit 62. The one-way stroke sum calculation module 7 uses the lowest value of the average sum of the scores of the unit area 1 in the x-direction or y-direction of the target point as a single path trajectory. The trajectory planning module 6 generates a complete trajectory from low to high according to the one-way stroke sum average calculated by the calculation module 7. The single stroke of the x-direction execution unit 61 and the y-direction execution unit 62 is the maximum distance in this direction, and after reaching the maximum distance, it moves to a unit area 1 in the vertical direction, and uses this unit area 1 as a reference point to re-plan the movement direction through the x-direction execution unit 61 and the y-direction execution unit 62.

[0028] In this embodiment: after the scoring module 4 obtains the score of each unit area 1, the one-way travel sum calculation module 7 calculates the sum of the scores in the x-direction and y-direction of the entire land and obtains the average value, and the direction with the smallest average value is the first priority movement, see Figure 2 , the comprehensive water and fertilizer delivery machine 2 is located at the starting position, first moves in the x direction to the extreme position, and then moves one grid in the vertical y direction, and continues to calculate the average value in this grid. At this time, based on this position, the x-direction average value is less than the y-direction average value. At this time, the y-direction movement is performed, and so on. As the scoring method is described above, and the ratio of the actual parameter to the standard parameter is obtained in the scoring method, the final value is processed by weighting. If only irrigation operations are performed, the irrigation score can be taken out and calculated separately. The lowest score obtained after weighting reflects the maximum delivery amount. Therefore, the flight trajectory of the comprehensive water and fertilizer delivery machine 2 preferentially passes through the area with the maximum delivery amount, thereby effectively reducing the high-load movement distance, and gradually reducing the energy consumption of the comprehensive water and fertilizer delivery machine 2, thereby achieving the purpose of energy saving.

[0029] Directions:

[0030] S1: Divide the land into several unit areas 1, and install a collection module 3 in each unit area 1. The unit area 1 is regularly collected through the collection module 3. The irrigation influencing factor collection module 31 obtains the land humidity, air flow rate, and temperature. The pest influencing factor collection module 32 obtains pest parameters through capture, image processing, and counting. The ion concentration collection module 33 obtains the soil ion concentration.

[0031] S2: The irrigation scoring unit 41, the drug administration scoring unit 42, and the fertilization scoring unit 43 obtain the final value by weighting according to the ratio of the parameters obtained by the irrigation influencing factor collection module 31, the pest influencing factor collection module 32, and the ion concentration collection module 33 to the standard parameters, and the irrigation power adjustment unit 51, the drug administration power adjustment unit 52, and the fertilization power adjustment unit 53 adjust the administration power according to the parameters of the irrigation scoring unit 41, the drug administration scoring unit 42, and the fertilization scoring unit 43.

[0032] S3: The one-way stroke total calculation module 7 calculates the flight trajectory of the comprehensive water and fertilizer delivery machine 2 based on the sum of the x-direction unit scores or the average of the y-direction unit scores. After the maximum single flight distance in the x-direction or y-direction, it moves one grid to the unit area 1 in the vertical direction, and based on the unit area 1, recalculates the average of the x-direction or y-direction unit scores to generate a complete trajectory.

[0033] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A water, fertilizer and pesticide integrated control system, characterized by: The invention comprises a plurality of unit areas (1) formed by dividing a planting area, wherein a collection module (3) for collecting land status is arranged inside the unit area (1), the land status information collected by the collection module (3) is processed for a second time by a scoring module (4) and a score of each unit area (1) is obtained, and a value obtained by weighted calculation after the score adjusted by the scoring module (4) is provided as a reference for a power adjustment module (5), and the power adjustment module (5) adjusts the delivery power according to the parameter value of the scoring module (4), and the comprehensive water and fertilizer delivery machine (2) controls the delivery unit (21) to spray the target area according to the control information of the power adjustment module (5); The score of the scoring module (4) is counted by a one-way travel sum calculation module (7) and planned by a trajectory planning module (6), wherein the trajectory planning module (6) comprises an x-direction execution unit (61) and a y-direction execution unit (62), wherein the one-way travel sum calculation module (7) uses the lowest value of the average value of the sum of scores of the unit area (1) in the x-direction or y-direction of the target point as a single path trajectory, and the trajectory planning module (6) generates a complete trajectory from low to high according to the one-way travel sum average value calculated by the calculation module (7).

2. A water-fertilizer-pesticide integrated control system according to claim 1, characterized in that: The collection module (3) comprises an irrigation influencing factor collection module (31), an insect pest influencing factor collection module (32), and an ion concentration collection module (33); the scoring module (4) comprises an irrigation scoring unit (41), a drug administration scoring unit (42), and a fertilization scoring unit (43); and the power adjustment module (5) comprises an irrigation power adjustment unit (51), a drug administration power adjustment unit (52), and a fertilization power adjustment unit (53).

3. A water-fertilizer-pesticide integrated control system according to claim 2, characterized in that: The irrigation influencing factor acquisition module (31) acquires land parameters including soil moisture, wind speed, and temperature; the irrigation scoring unit (41) uses the ratio of soil moisture, wind speed, and temperature to target soil moisture, target wind speed, and target temperature as an irrigation score; and the irrigation power adjustment unit (51) adjusts the input power according to the irrigation score.

4. The integrated water, fertilizer and pesticide control system according to claim 2 is characterized by: The pest impact factor acquisition module (32) includes an insect trap, an insect counter, and an image collector for comprehensive acquisition; the drug administration scoring unit (42) uses the ratio of the total number of records to the total number of targets as a drug administration score; the drug administration power adjustment unit (52) adjusts the administration power according to the drug administration score; and the drugs include powder and solvent.

5. The integrated water, fertilizer and pesticide control system according to claim 2 is characterized by: The ion concentration acquisition module (33) comprises a soil automatic sampler and a soil analyzer, the fertilization scoring unit (43) uses the ratio of the ion concentration collected by the ion concentration acquisition module (33) to the target ion concentration as a fertilization score, and the fertilization power adjustment unit (53) adjusts the delivery power according to the score value of the fertilization scoring unit (43).

6. The integrated water, fertilizer and pesticide control system according to claim 1, characterized in that: The single stroke of the x-direction execution unit (61) and the y-direction execution unit (62) is the maximum distance in that direction, and after reaching the maximum distance, they move to a unit area (1) in the vertical direction, and use the unit area (1) as a reference point to re-plan the movement direction through the x-direction execution unit (61) and the y-direction execution unit (62).

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