Intelligent irrigation system and device for municipal greening engineering

Abstract

The invention relates to the technical field of irrigation control, in particular to an intelligent irrigation system and device for municipal greening engineering. The method comprises the following steps: acquiring an irrigation internal loss value of each branch pipe at each control moment according to a water pressure loss degree of each branch pipe and an adjacent branch pipe of an irrigation system and a water pressure value difference at each control moment; the irrigation external loss value of each branch pipe at each control moment is obtained according to the difference of the humidity value change trend of different sampling points in the irrigation area of each branch pipe at the moment before each control moment and the distance from the sampling points to the spray head on each branch pipe; and in combination with the irrigation internal loss value and the irrigation external loss value, controlling the motor power of the supercharger of each branch pipe at each control moment and the next control moment. The pressurizers of the branch pipes are controlled through the influence of internal blockage and external blockage of the irrigation system, the influence of blockage of the branch pipes on the irrigation effect is reduced, and the spraying effect of the branch pipes is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of irrigation control, and in particular to an intelligent irrigation system and device for municipal greening projects. Background Art

[0002] The urban greening irrigation system is mainly composed of water sources, water delivery systems, distribution systems and automatic control systems. It is an important part of modern urban greening management. It aims to ensure the healthy growth of urban greening plants and improve the quality of the urban environment while saving water resources to the maximum extent through scientific and reasonable irrigation methods.

[0003] As the irrigation equipment is used for a longer time, the nozzles of the irrigation equipment may become clogged due to various reasons, resulting in uneven irrigation spraying or failure to spray to the target location, thus affecting the effect of the sprinkler irrigation. Existing methods reduce the probability of clogging by optimizing the structure of the irrigation spraying equipment, but some external interferences such as fallen leaves and mud generated by sprinkler irrigation are difficult to remove directly by optimizing the spraying structure, resulting in poor irrigation effect. Summary of the invention

[0004] In order to solve the technical problem that the irrigation equipment is blocked due to external interference, resulting in poor irrigation effect, the purpose of the present invention is to provide an intelligent irrigation system and device for municipal greening projects. The technical solutions adopted are as follows: The present invention proposes an intelligent irrigation system for municipal greening projects, the system comprising: A data acquisition module is used to obtain the water pressure value of each branch pipe of the irrigation system at each control moment during the working period, and the humidity value of different sampling points in the irrigation area of ​​each branch pipe at each moment during the working period; An internal loss analysis module is used to obtain the internal loss value of each branch pipe at each control moment according to the difference in water pressure loss between each branch pipe and its adjacent branches and the difference in water pressure value at each control moment; The external loss analysis module is used to obtain the external loss value of each branch pipe at each control moment according to the difference in the humidity value change trend of different sampling points in the irrigation area of ​​each branch pipe at all times before each control moment, and the distance from the sampling point to the sprinkler on each branch pipe; The irrigation control module is used to combine the internal irrigation loss value and the external irrigation loss value to control the motor power of the supercharger of each branch pipe at each control moment and the next control moment.

[0005] Furthermore, the step of obtaining the internal loss value of each branch pipe at each control moment includes: Obtain the length of each branch pipe of the irrigation system, the number of sprinklers on the branch pipe, and the distance from each branch pipe to the water inlet of the main pipe; Calculate the product of the length of each branch pipe and the number of nozzles on the branch pipe as the flow demand value of the corresponding branch pipe; take the cumulative sum of the flow demand values ​​of all branches between each branch pipe and the water inlet of the main pipe and the product of the distance from each branch pipe to the water inlet of the main pipe as the pressure loss value of each branch pipe; According to the difference in water pressure values ​​between each branch pipe and its adjacent branch pipes at each control moment and the difference in the pressure loss value, the irrigation internal loss value of each branch pipe at each control moment is obtained.

[0006] Furthermore, the method of obtaining the irrigation internal loss value of each branch pipe at each control moment according to the difference in water pressure value between each branch pipe and its adjacent branch pipes at each control moment and the difference in pressure loss value comprises: The difference in water pressure between each branch pipe and its adjacent next branch pipe at each control moment and the difference in pressure loss values ​​are used as the water pressure difference of each branch pipe at each control moment and the loss difference of each branch pipe respectively; The water pressure differences of all branches at each control moment are arranged in sequence to obtain a water pressure sequence at the corresponding control moment, and the loss differences are arranged in sequence to obtain a loss sequence; The absolute value of the difference between the subscript value of the water pressure difference of each branch pipe at each control moment in the water pressure sequence and the subscript value of the loss difference in the loss sequence is normalized to obtain the internal loss value of irrigation of each branch pipe at each control moment.

[0007] Furthermore, the step of obtaining the external watering loss value of each branch pipe at each control moment includes: According to the difference in the change trend of humidity values ​​at different sampling points in the irrigation area of ​​each branch pipe at all times before each control time, the spraying unevenness of each branch pipe at each control time is obtained; Obtain the distance from each nozzle on each branch pipe to each sampling point in its irrigation area; obtain the humidity change value of each branch pipe at each control moment according to the moment when the humidity value change trend of the sampling point in the irrigation area of ​​each branch pipe at all times before each control moment is significant and the shortest distance from the sampling point to the nozzle on the branch pipe; According to the spraying unevenness and the humidity change value, the irrigation external loss value of each branch pipe at each control moment is obtained; the spraying unevenness and the humidity change value are both positively correlated with the irrigation external loss.

[0008] Further, the step of obtaining the spraying unevenness of each branch pipe at each control moment includes: During the working period, a curve fitting is performed on the humidity values ​​of each sampling point in the irrigation area of ​​each branch pipe at all times before each control time to obtain the humidity curve of the corresponding sampling point at each control time; Obtain the concentrated value of the humidity values ​​at all times between each inflection point of the humidity curve and each adjacent inflection point; take the difference between each inflection point of the humidity curve and the concentrated values ​​of the next adjacent inflection point and the previous inflection point as the overall humidity difference of each inflection point of the humidity curve; Select the time of the inflection point corresponding to the largest overall humidity difference from all inflection points of the humidity curve, and record it as the humidity rising time of each sampling point in the irrigation area of ​​each branch pipe at each control time; The spraying unevenness of each branch pipe at each control moment is obtained according to the time interval of the humidity rising moment at different sampling points in the irrigation area of ​​each branch pipe at each control moment and the overall humidity difference of the inflection point corresponding to the humidity rising moment.

[0009] Furthermore, the spraying unevenness of each branch pipe at each control moment is obtained according to the time interval of the humidity rising moment at different sampling points in the irrigation area of ​​each branch pipe at each control moment and the overall humidity difference of the inflection point corresponding to the humidity rising moment, including: Calculate the average of the humidity rising time of all sampling points in the irrigation area of ​​each branch pipe at the same control time as the overall rising time of each branch pipe at each control time; The average of the products of the time interval between the humidity rising moment and the overall rising moment and the overall humidity difference at the inflection point corresponding to the humidity rising moment for all sampling points in the irrigation area of ​​each branch pipe at each control moment is taken as the spraying unevenness of each branch pipe at each control moment.

[0010] Further, the step of obtaining the humidity change value of each branch pipe at each control moment includes: For each sampling point in the irrigation area of ​​each branch pipe, a negative correlation mapping is performed on the product of the shortest distance from the sampling point to the nozzle on the branch pipe and the humidity rising time of the sampling point at each control time, to obtain the local humidity change value of the sampling point at each control time; The average of the local humidity change values ​​of all sampling points in the irrigation area of ​​each branch pipe at each control time is used as the humidity change value of each branch pipe at each control time.

[0011] Furthermore, the combining of the internal watering loss value and the external watering loss value to control the motor power of the supercharger of each branch pipe at each control moment and the next control moment includes: Normalizing the product of the internal watering loss value and the external watering loss value to obtain the blocking coefficient of each branch pipe at each control moment; Based on the water pressure value of each branch pipe at each control moment, the proportional gain of the PID controller at each control moment is obtained; the proportional gain is weighted by the sum of the constant 1 and the blocking coefficient to obtain the adjusted proportional gain of each branch pipe at each control moment; The adjustment proportional gain is input into a PID controller, and the PID controller outputs a control signal for each branch at each control moment; the control signal is used as the motor power of the supercharger of each branch at each control moment and its next control moment.

[0012] Furthermore, the concentration value is equal to the average of the humidity values ​​at all times between each inflection point of the humidity curve and each adjacent inflection point.

[0013] An intelligent irrigation device for municipal greening projects, the device comprising a processor, and the processor, when executed, implements the intelligent irrigation system for municipal greening projects as described above.

[0014] The present invention has the following beneficial effects: In the embodiment of the present invention, since the branch pipe will divert the water in the main pipe and the friction between the water and the pipe will cause the water pressure loss in the main pipe, the factor causing the pressure loss is a fixed condition, then the difference in the water pressure loss degree between the branch pipe and its adjacent branch pipes represents the theoretical value of the pressure change between the corresponding branches, and the difference in the water pressure value between the branch pipe and its adjacent branch pipes at the control time represents the actual value of the pressure change between the corresponding branches. The difference between the two can measure the degree of internal loss of the irrigation system caused by the blockage of the branch pipe at the control time, thereby obtaining the internal loss value of irrigation; uneven spraying due to external blockage of the branch pipe The difference in the humidity change trend of different sampling points in the irrigation area of ​​the branch pipe before the control time can be used to measure the degree of external loss of the irrigation system caused by branch pipe blockage. Combined with the distance from the sampling point to the sprinkler on each branch pipe, the accuracy of the analysis of external loss value of irrigation can be improved. The influence of internal and external blockages of the irrigation system can be comprehensively analyzed to adaptively control the motor power of the booster of the branch pipe, reduce the influence of branch pipe blockage on the irrigation effect during irrigation, and effectively improve the spraying effect of the branch pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are 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 work.

[0016] Figure 1 A system structure diagram of an intelligent irrigation system for municipal greening projects provided by one embodiment of the present invention; Figure 2 A partially simplified schematic diagram of an irrigation system provided by one embodiment of the present invention; Figure 3 A structural diagram of an external loss analysis module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of an intelligent irrigation system and device for municipal greening projects proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0018] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0019] The following is a detailed description of a specific solution of an intelligent irrigation system and device for municipal greening projects provided by the present invention in conjunction with the accompanying drawings.

[0020] Embodiment 1: See also Figure 1 , which shows a system block diagram of an intelligent irrigation system for municipal greening projects provided by an embodiment of the present invention. The system includes: a data acquisition module 110, an internal loss analysis module 120, an external loss analysis module 130, and a watering control module 140.

[0021] The data acquisition module 110 is used to obtain the water pressure value of each branch pipe of the irrigation system at each control moment during the working period, and the humidity value of different sampling points in the irrigation area of ​​each branch pipe at each moment during the working period.

[0022] The irrigation system consists of a main pipe and multiple branch pipes. A pressure sensor is installed at the connection between each branch pipe and the main pipe to analyze the water pressure changes of each branch pipe during the irrigation process and collect the water pressure value of each branch pipe at each control moment during the working period. The working period is the time period when the irrigation system is running.

[0023] Figure 2 A simplified schematic diagram of a local irrigation system provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, Figure 2 Among them, 1 represents the main pipe, 2 represents the first branch pipe, 3 represents the second branch pipe, 4 represents the third branch pipe, 5 represents the fourth branch pipe, 6 represents the connection position of the main pipe 1 and the first branch pipe 2, 7 represents the connection position of the main pipe 1 and the second branch pipe 3, 8 represents the connection position of the main pipe 1 and the third branch pipe 4, 9 represents the connection position of the main pipe 1 and the fourth branch pipe 5, and 10 represents the water inlet of the main pipe.

[0024] There are multiple sprinkler heads installed on each branch pipe. In order to analyze the blocking effect of sprinkler heads in the sprinkler irrigation system, a humidity sensor is installed at each sampling point in the irrigation area of ​​each branch pipe to analyze the soil moisture in the irrigation area and collect the humidity value of each sampling point in the irrigation area of ​​each branch pipe at each moment during the working period.

[0025] In one implementation of the embodiment of the present invention, the irrigation area of ​​the branch pipe is a rectangular area, the branch pipe is located at the horizontal or vertical center line of its irrigation area, and the distance from the branch pipe to the boundary of its irrigation area is set to 2 meters.

[0026] In an implementation of the embodiment of the present invention, the data collection frequency of the humidity sensor is set to once per minute, and the time interval between two adjacent control moments is set to 1 hour, which can be set by the implementer according to the specific situation.

[0027] The internal loss analysis module 120 is used to obtain the irrigation internal loss value of each branch pipe at each control moment according to the difference in water pressure loss degree between each branch pipe and its adjacent branches and the difference in water pressure value at each control moment.

[0028] During the water supply process of the main pipe, the water pressure in the main pipe will be lost because the branch pipe will divert the water in the main pipe and the water and pipe will produce friction. The factors that cause the pressure loss are fixed conditions such as the length of the branch pipe, the distance from the branch pipe to the water inlet of the main pipe, etc. The difference in the degree of water pressure loss between each branch pipe and its adjacent branches represents the theoretical value of the pressure change between the corresponding branches; and the difference in the water pressure value between each branch pipe and its adjacent branches at the control moment represents the actual value of the pressure change between the corresponding branches. The difference between the two can measure the degree of internal loss of the irrigation system caused by blockage of each branch pipe at the control moment, thereby obtaining the internal loss value of irrigation.

[0029] Preferably, in some possible implementations of the present invention, the method for obtaining the internal loss value of irrigation includes: obtaining the length of each branch pipe of the irrigation system, the number of nozzles on the branch pipe, and the distance from each branch pipe to the water inlet of the main pipe; calculating the product of the length of each branch pipe and the number of nozzles on the branch pipe as the flow demand value of the corresponding branch pipe; taking the cumulative sum of the flow demand values ​​of all branches between each branch pipe and the water inlet of the main pipe and the product of the distance from each branch pipe to the water inlet of the main pipe as the pressure loss value of each branch pipe; obtaining the internal loss value of irrigation for each branch pipe at each control moment according to the difference in water pressure value and pressure loss value between each branch pipe and its adjacent branches at each control moment. Among them, the distance from each branch pipe to the water inlet of the main pipe is the distance from the connection position of each branch pipe with the main pipe to the water inlet of the main pipe.

[0030] If there are more sprinklers on the branch pipe and the branch pipe is longer, the branch pipe will divert more water from the main pipe, and the branch pipe will have more demand for water flow, so the flow demand value will be greater. If the flow demand value of the branch pipe is greater, the more water will be lost in the main pipe due to the branch pipe diversion, and the water pressure loss of the main pipe position where the branch pipe is located will be greater compared to the main pipe water inlet; all branches between the main pipe water inlet and each branch pipe will divert water from the main pipe, resulting in water pressure loss in the main pipe. Therefore, when analyzing the water pressure loss of each branch pipe, it is necessary to consider the sum of the flow demand values ​​of all branches between each branch pipe and the main pipe water inlet. When water enters the main pipe, there is an initial pressure such as the power generated by the water pump or gravity. When water flows in the pipe, the water pressure will gradually decrease due to the friction of the inner wall of the pipe and the pipe structure such as elbows and valves. The farther the branch pipe is from the water inlet of the main pipe, the greater the water pressure loss. Therefore, the cumulative sum of the flow demand values ​​of all branches between each branch and the water inlet of the main pipe, and the distance from each branch to the water inlet of the main pipe are positively correlated with the pressure loss value.

[0031] In the embodiment of the present invention, the specific calculation method of the internal loss value of irrigation is as follows: the difference in water pressure value and pressure loss value between each branch pipe and its adjacent next branch pipe at each control moment are used as the water pressure difference and loss difference of each branch pipe at each control moment; the water pressure difference of all branches at each control moment are arranged in sequence to obtain the water pressure sequence at the corresponding control moment, and the loss difference is arranged in sequence to obtain the loss sequence; the absolute value of the difference between the subscript value of the water pressure difference of each branch pipe in the water pressure sequence and the subscript value of the loss difference in the loss sequence at each control moment is normalized to obtain the internal loss value of irrigation for each branch pipe at each control moment. The internal loss value of irrigation is expressed by the formula: ; In the formula, is the internal loss value of the a-th branch at each control moment; is the subscript value of the water pressure difference of the a-th branch at each control moment in the corresponding water pressure sequence; is the subscript value of the loss difference of the ath branch in the loss sequence; N is the total number of elements in the loss sequence or water pressure sequence; is the absolute value function. The formula uses N pairs of Perform normalization.

[0032] The difference in water pressure and pressure loss between each branch and its next adjacent branch at the control moment represent the actual value and theoretical value of the pressure change between the two branches. During the water delivery process of the main pipe, the branch will divert the water flow in the main pipe, resulting in a smaller water pressure in the branch farther from the main pipe inlet. The smaller the difference in water pressure between the branch farther from the main pipe inlet and its next adjacent branch. Since the units of the pressure loss value and the pressure value are different, in order to facilitate the comparison of the size of the water pressure difference and the loss difference, the water pressure difference and loss difference of all branches are arranged from small to large to obtain the water pressure sequence and loss sequence. In the case that there is no blockage in the irrigation system, the subscript value of the water pressure difference of each branch in the water pressure sequence should be equal to the subscript value of the loss difference in the loss sequence; if the difference between the two subscript values ​​is greater, the difference between the actual pressure change value and the theoretical pressure change value of each branch and its next branch is greater, indicating that the blockage of each branch at the control moment causes the greater degree of internal loss in the irrigation system, and the greater the internal loss value of irrigation.

[0033] It should be noted that the next branch pipe adjacent to each branch pipe is the next branch pipe along the water flow direction in the main pipe. Figure 2 As shown, Figure 2 The next adjacent branch pipe of the second branch pipe 3 is the first branch pipe 2, and the next adjacent branch pipe of the third branch pipe 4 is the fourth branch pipe 5; if there is no next branch pipe between the first branch pipe 2 and the fourth branch pipe 5 along the water flow direction in the main pipe, then there is no water pressure difference or loss difference between the first branch pipe 2 and the fourth branch pipe 5, and they do not need to participate in the analysis of the internal loss value of irrigation.

[0034] The external loss analysis module 130 is used to obtain the external irrigation loss value of each branch pipe at each control moment based on the differences in humidity value change trends at different sampling points in the irrigation area of ​​each branch pipe at all times before each control moment, and the distance from the sampling point to the sprinkler on each branch pipe.

[0035] After the irrigation system sprinkles water on the soil, part of the water is absorbed by the plants, and the soil moisture rises slowly at this time; when the plants absorb enough water, the water gradually accumulates in the soil, and the soil moisture rises quickly at this time. When there is no blockage in the nozzle of the branch pipe, the water in the branch pipe will be evenly sprayed on the irrigation area, so that the humidity value change trend of different sampling points at all times before the control time should be relatively close. Therefore, the difference in the humidity value change trend of different sampling points in the irrigation area at all times before the control time can measure the degree of external loss of the irrigation system caused by the blockage of the branch pipe. When there is external blockage in the nozzle of the branch pipe, the water sprayed by the nozzle of the branch pipe is easy to gather in the area near the nozzle. It is necessary to analyze the distance from the sampling point to the nozzle on each branch pipe, improve the degree of external loss of the irrigation system caused by the nozzle of each branch pipe at the control time, and improve the accuracy of the analysis of the external loss value of irrigation.

[0036] See also Figure 3 , which shows a structural diagram of an external loss analysis module provided by an embodiment of the present invention, the external loss analysis module includes: a spraying effect analysis unit 131, a humidity change analysis unit 132, and an external loss analysis unit 133.

[0037] The spraying effect analysis unit 131 is used to obtain the spraying unevenness of each branch pipe at each control moment according to the difference in the humidity value change trend of different sampling points in the irrigation area of ​​each branch pipe at all times before each control moment.

[0038] Preferably, in some possible implementation modes of the embodiments of the present invention, the method for obtaining the uneven spraying includes: during the working period, performing curve fitting on the humidity values ​​of each sampling point in the irrigation area of ​​each branch pipe at all times before each control moment, to obtain the humidity curve of the corresponding sampling point at each control moment; obtaining the concentrated value of the humidity values ​​at all times between each inflection point of the humidity curve and each adjacent inflection point; taking the difference between each inflection point of the humidity curve and the concentrated values ​​of the next inflection point and the previous inflection point respectively, as the overall humidity difference of each inflection point of the humidity curve; selecting the moment of the inflection point corresponding to the largest overall humidity difference from all inflection points of the humidity curve, and recording it as the humidity rising moment of each sampling point in the irrigation area of ​​each branch pipe at each control moment; obtaining the uneven spraying of each branch pipe at each control moment according to the time interval of the humidity rising moments of different sampling points in the irrigation area of ​​each branch pipe at each control moment and the overall humidity difference of the inflection point corresponding to the humidity rising moment.

[0039] In a specific implementation method of an embodiment of the present invention, a two-dimensional space is constructed with time as the horizontal axis and humidity value as the vertical axis, and the humidity values ​​of each sampling point at all times before each control moment are mapped into the two-dimensional space to obtain corresponding scattered points; further, curve fitting is performed using the least squares method, and the obtained fitting curve is used as the humidity curve of the sampling point at each control moment.

[0040] In the case of uneven spraying of the branch pipe, the time for water accumulation in the soil at different sampling points in the irrigation area is different, resulting in differences in the humidity rise time at the same control time at different sampling points in the irrigation area of ​​the branch pipe. If the time interval between the humidity rise times at each control time at different sampling points in the irrigation area of ​​each branch pipe is larger, it means that the soil humidity in the irrigation area is more uneven, the spraying unevenness is greater, and the branch pipe is more affected by external blockage.

[0041] The moment of humidity rise is the moment when the change trend on the humidity curve is the most drastic or significant, which represents the moment when the soil begins to accumulate water. In the case of uneven spraying of the branch pipe, some soils may find it difficult to achieve the water accumulation process, resulting in the moment of humidity rise at the sampling point located in the soil at the control time not representing the moment when the soil at the sampling point begins to accumulate water. Therefore, there is an error in evaluating the uneven degree of spraying in the irrigation area by the time interval of the humidity rise at different sampling points in the irrigation area at the control time.

[0042] The overall humidity difference reflects the possibility that the moment when the humidity rises is the moment when the soil at the sampling point begins to accumulate water, and the greater the overall humidity difference, the greater the possibility. Therefore, the greater the proportion of the humidity rising moment of the sampling point at the control time in the analysis of spraying unevenness should be. Therefore, the accuracy of the analysis of soil moisture unevenness in the irrigation area of ​​the branch pipe can be effectively improved by adjusting the proportion of the humidity rising moment of the sampling point at the control time in the analysis of spraying unevenness through the overall humidity difference of the inflection point corresponding to the humidity rising moment of the sampling point at the control time.

[0043] In a specific implementation of the embodiment of the present invention, the average of the humidity rising time of all sampling points in the irrigation area of ​​each branch pipe at the same control time is calculated as the overall rising time of each branch pipe at each control time; the average of the product of the time interval between the humidity rising time and the overall rising time of all sampling points in the irrigation area of ​​each branch pipe at each control time and the humidity overall difference of the inflection point corresponding to the humidity rising time is taken as the spraying unevenness of each branch pipe at each control time. The spraying unevenness is expressed by the formula: ; In the formula, is the spraying unevenness of the a-th branch at each control moment; is the total number of sampling points in the irrigation area of ​​the ath branch; is the overall humidity difference of the mth sampling point in the irrigation area of ​​the ath branch pipe at the corresponding inflection point at the humidity rising moment at each control moment; is the humidity rise time of the mth sampling point in the irrigation area of ​​the ath branch at each control time is the overall rising time of the ath branch at each control moment; is the absolute value function.

[0044] It should be noted that, except for the first and last inflection points on the humidity curve, the remaining inflection points have two adjacent inflection points, including: an adjacent previous inflection point and an adjacent next inflection point of each inflection point.

[0045] In a specific implementation of the embodiment of the present invention, the mean of the humidity values ​​at all times between each inflection point of the humidity curve and each adjacent inflection point is used as the central value of the corresponding two inflection points. The mean, mode and median can measure the concentration level of data, so in other embodiments, the mean can be replaced by the mode or median.

[0046] Humidity change analysis unit 132: used to obtain the distance from each nozzle on each branch pipe to each sampling point in its irrigation area; according to the time when the humidity value change trend of the sampling point in the irrigation area of ​​each branch pipe at all times before each control moment is significant and the shortest distance from the sampling point to the nozzle on the branch pipe, the humidity change value of each branch pipe at each control moment is obtained.

[0047] Preferably, in some possible implementation modes of the embodiments of the present invention, the method for obtaining the humidity change value includes: for each sampling point in the irrigation area of ​​each branch pipe, negatively correlating the product of the shortest distance from the sampling point to the nozzle on the branch pipe and the humidity rise time of the sampling point at each control moment to obtain the local humidity change value of the sampling point at each control moment; taking the average of the local humidity change values ​​of all sampling points in the irrigation area of ​​each branch pipe at each control moment as the humidity change value of each branch pipe at each control moment.

[0048] When there is external blockage in the nozzle of the branch pipe, the water sprayed by the nozzle of the branch pipe tends to gather in the area near the nozzle, causing the soil moisture near the nozzle to increase faster. Therefore, the smaller the humidity rise time of the sampling point at the control time and the smaller the closest distance between the sampling point and the nozzle, the greater the degree of external blockage in the branch pipe. A comprehensive analysis of all sampling points in the irrigation area of ​​the branch pipe is performed to obtain the humidity change value.

[0049] External loss analysis unit 133: used to obtain the external irrigation loss value of each branch pipe at each control moment according to the spraying unevenness and humidity change value.

[0050] The unevenness of spraying and the change in humidity reflect the spraying effect of the sprinkler on each branch pipe. The larger the unevenness of spraying and the change in humidity, the greater the unevenness of the sprinkler spray on each branch pipe, indicating that the sprinkler on each branch pipe is blocked, causing the external loss of the irrigation system to be greater. Therefore, the unevenness of spraying and the change in humidity are positively correlated with the external loss of irrigation. The external loss value of irrigation is expressed by the formula: In the formula, is the external loss value of the a-th branch at each control moment; is the spraying unevenness of the a-th branch at each control moment; is the total number of sampling points in the irrigation area of ​​the ath branch; is the shortest distance from the mth sampling point to all sprinklers in the irrigation area of ​​the ath branch pipe; is the humidity rise time of the mth sampling point in the irrigation area of ​​the ath branch at each control time is the humidity change value of the ath branch at each control moment.

[0051] The irrigation control module 140 is used to combine the irrigation internal loss value and the irrigation external loss value to control the motor power of the supercharger of each branch pipe at each control moment and the next control moment.

[0052] The internal loss value of irrigation and the external loss value of irrigation respectively reflect the influence of the internal blockage and external blockage of the irrigation system on the irrigation process, and the two are combined to obtain the degree of blockage of each branch pipe at each control moment. In a specific implementation of an embodiment of the present invention, the product of the internal loss value of irrigation and the external loss value of irrigation is normalized to obtain the blockage coefficient of each branch pipe at each control moment. It should be noted that this embodiment uses the Norm function for normalization. The larger the blockage coefficient, the greater the loss of each branch pipe in the irrigation process at the control moment, the less ideal the irrigation effect, and the larger the blockage coefficient.

[0053] The pressure sensor of each branch pipe in the irrigation system and the humidity sensor in the irrigation area are connected to the signal input end of the data computing chip. The data collected by the pressure sensor and the humidity sensor are transmitted to the data computing chip through wireless network communication technology. The data computing chip is used for data processing. The chip type is FPGA, which receives information from the pressure sensor of each branch pipe and the humidity sensor in its irrigation area. The data computing chip obtains the blocking coefficient of each branch pipe at each control moment according to the calculation method of the blocking coefficient in the internal loss analysis module 120, the external loss analysis module 130, and the irrigation control module 140.

[0054] A booster is installed in each branch pipe in the irrigation system to control the irrigation effect of the sprinkler head on the branch pipe; the pressure sensor of each branch pipe is connected to the PID controller, and the PID controller is connected to the data calculation chip and the booster of each branch pipe. It should be noted that a booster is installed between the connection position of each branch pipe with the main pipe and the sprinkler head on the branch pipe closest to the main pipe.

[0055] In a specific implementation of the embodiment of the present invention, based on the water pressure value of each branch at each control moment, the proportional gain of the PID controller at each control moment is obtained; the proportional gain is weighted by the sum of the constant 1 and the blocking coefficient to obtain the adjusted proportional gain of each branch at each control moment; the adjusted proportional gain is input into the PID controller, and the PID controller outputs the control signal of each branch at each control moment; the control signal is used as the motor power of the supercharger of each branch at each control moment and its next control moment. Among them, the horizontal axis of the output signal of the PID controller represents time, and the vertical axis represents the motor power of the supercharger.

[0056] The pressure value collected by the pressure sensor of each branch pipe at each control moment is input into the PID controller, and the proportional gain of the PID controller is obtained using the Ziegler-Nichols method; the proportional gain is input into the data calculation chip, the data calculation chip adjusts the proportional gain using the blocking coefficient, and the adjusted proportional gain is re-input into the PID controller, the control signal output by the PID controller is transmitted to the supercharger, and the motor of the supercharger operates according to the control signal.

[0057] It should be noted that the proportional gain, integral time and differential time of the PID controller can be obtained by using the Ziegler-Nichols method. The sprinkler water pressure of each branch pipe can be adjusted by adjusting the proportional gain, so that the water sprayed from the branch pipe nozzle can flush out the external blockage as much as possible, and reduce the influence of internal blockage on the irrigation effect, so as to obtain a relatively stable flow rate and improve the uniformity of spraying. In this process, the integral time and differential time remain unchanged to avoid introducing unnecessary complexity and instability and ensure the stability of the system.

[0058] So far, the present invention is completed.

[0059] Embodiment 2: Based on the same inventive concept as the above-mentioned embodiment of an intelligent irrigation system for municipal greening projects, an embodiment of the present invention provides an intelligent irrigation device for municipal greening projects, the device includes a processor, and the processor implements the above-mentioned intelligent irrigation system for municipal greening projects when executed. An intelligent irrigation system for municipal greening projects has been described in detail in the above-mentioned embodiment and will not be repeated here.

[0060] Embodiment 3: This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement an intelligent irrigation system for municipal greening projects provided in the above embodiment.

[0061] Among them, the device and computer-readable storage medium provided in this embodiment are used to execute the corresponding system provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding system provided above, and will not be repeated here.

[0062] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0063] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent irrigation system for municipal greening projects, characterized in that: The system includes: A data acquisition module is used to obtain the water pressure value of each branch pipe of the irrigation system at each control moment during the working period, and the humidity value of different sampling points in the irrigation area of ​​each branch pipe at each moment during the working period; An internal loss analysis module is used to obtain the internal loss value of each branch pipe at each control moment according to the difference in water pressure loss between each branch pipe and its adjacent branches and the difference in water pressure value at each control moment; The external loss analysis module is used to obtain the external loss value of each branch pipe at each control moment according to the difference in the humidity value change trend of different sampling points in the irrigation area of ​​each branch pipe at all times before each control moment, and the distance from the sampling point to the sprinkler on each branch pipe; The irrigation control module is used to combine the internal irrigation loss value and the external irrigation loss value to control the motor power of the supercharger of each branch pipe at each control moment and the next control moment.

2. The intelligent irrigation system for municipal greening projects according to claim 1, characterized in that: The method of obtaining the internal loss value of each branch pipe at each control moment includes: Obtain the length of each branch pipe of the irrigation system, the number of sprinklers on the branch pipe, and the distance from each branch pipe to the water inlet of the main pipe; Calculate the product of the length of each branch pipe and the number of nozzles on the branch pipe as the flow demand value of the corresponding branch pipe; take the cumulative sum of the flow demand values ​​of all branches between each branch pipe and the water inlet of the main pipe and the product of the distance from each branch pipe to the water inlet of the main pipe as the pressure loss value of each branch pipe; According to the difference in water pressure values ​​between each branch pipe and its adjacent branch pipes at each control moment and the difference in the pressure loss value, the irrigation internal loss value of each branch pipe at each control moment is obtained.

3. The intelligent irrigation system for municipal greening projects according to claim 2 is characterized in that: The method of obtaining the internal watering loss value of each branch pipe at each control moment according to the difference in water pressure value between each branch pipe and its adjacent branch pipes at each control moment and the difference in pressure loss value comprises: The difference in water pressure between each branch pipe and its adjacent next branch pipe at each control moment and the difference in pressure loss values ​​are used as the water pressure difference of each branch pipe at each control moment and the loss difference of each branch pipe respectively; The water pressure differences of all branches at each control moment are arranged in sequence to obtain a water pressure sequence at the corresponding control moment, and the loss differences are arranged in sequence to obtain a loss sequence; The absolute value of the difference between the subscript value of the water pressure difference of each branch pipe at each control moment in the water pressure sequence and the subscript value of the loss difference in the loss sequence is normalized to obtain the internal loss value of irrigation of each branch pipe at each control moment.

4. The intelligent irrigation system for municipal greening projects according to claim 1, characterized in that: The obtaining of the external watering loss value of each branch pipe at each control moment includes: According to the difference in the change trend of humidity values ​​at different sampling points in the irrigation area of ​​each branch pipe at all times before each control time, the spraying unevenness of each branch pipe at each control time is obtained; Obtain the distance from each nozzle on each branch pipe to each sampling point in its irrigation area; obtain the humidity change value of each branch pipe at each control moment according to the moment when the humidity value change trend of the sampling point in the irrigation area of ​​each branch pipe at all times before each control moment is significant and the shortest distance from the sampling point to the nozzle on the branch pipe; According to the spraying unevenness and the humidity change value, the irrigation external loss value of each branch pipe at each control moment is obtained; the spraying unevenness and the humidity change value are both positively correlated with the irrigation external loss.

5. The intelligent irrigation system for municipal greening projects according to claim 4 is characterized in that: The method of obtaining the spraying unevenness of each branch pipe at each control moment includes: During the working period, a curve fitting is performed on the humidity values ​​of each sampling point in the irrigation area of ​​each branch pipe at all times before each control time to obtain the humidity curve of the corresponding sampling point at each control time; Obtain the concentrated value of the humidity values ​​at all times between each inflection point of the humidity curve and each adjacent inflection point; take the difference between each inflection point of the humidity curve and the concentrated values ​​of the next adjacent inflection point and the previous inflection point as the overall humidity difference of each inflection point of the humidity curve; Select the time of the inflection point corresponding to the largest overall humidity difference from all inflection points of the humidity curve, and record it as the humidity rising time of each sampling point in the irrigation area of ​​each branch pipe at each control time; The spraying unevenness of each branch pipe at each control moment is obtained according to the time interval of the humidity rising moment at different sampling points in the irrigation area of ​​each branch pipe at each control moment and the overall humidity difference of the inflection point corresponding to the humidity rising moment.

6. The intelligent irrigation system for municipal greening projects according to claim 5, characterized in that: The method of obtaining the spraying unevenness of each branch pipe at each control moment according to the time interval of the humidity rising moment at different sampling points in the irrigation area of ​​each branch pipe at each control moment and the overall humidity difference of the inflection point corresponding to the humidity rising moment comprises: Calculate the average of the humidity rising time of all sampling points in the irrigation area of ​​each branch pipe at the same control time as the overall rising time of each branch pipe at each control time; The average of the products of the time interval between the humidity rising moment and the overall rising moment and the overall humidity difference at the inflection point corresponding to the humidity rising moment for all sampling points in the irrigation area of ​​each branch pipe at each control moment is taken as the spraying unevenness of each branch pipe at each control moment.

7. The intelligent irrigation system for municipal greening projects according to claim 5, characterized in that: The step of obtaining the humidity change value of each branch pipe at each control moment includes: For each sampling point in the irrigation area of ​​each branch pipe, a negative correlation mapping is performed on the product of the shortest distance from the sampling point to the nozzle on the branch pipe and the humidity rising time of the sampling point at each control time, to obtain the local humidity change value of the sampling point at each control time; The average of the local humidity change values ​​of all sampling points in the irrigation area of ​​each branch pipe at each control time is used as the humidity change value of each branch pipe at each control time.

8. The intelligent irrigation system for municipal greening projects according to claim 1, characterized in that: The method of combining the internal watering loss value with the external watering loss value to control the motor power of the supercharger of each branch pipe at each control moment and the motor power of the supercharger at the next control moment includes: Normalizing the product of the internal watering loss value and the external watering loss value to obtain the blocking coefficient of each branch pipe at each control moment; Based on the water pressure value of each branch pipe at each control moment, the proportional gain of the PID controller at each control moment is obtained; the proportional gain is weighted by the sum of the constant 1 and the blocking coefficient to obtain the adjusted proportional gain of each branch pipe at each control moment; The adjustment proportional gain is input into a PID controller, and the PID controller outputs a control signal for each branch at each control moment; the control signal is used as the motor power of the supercharger of each branch at each control moment and its next control moment.

9. The intelligent irrigation system for municipal greening projects according to claim 5, characterized in that: The concentration value is equal to the average value of humidity values ​​at all times between each inflection point of the humidity curve and each adjacent inflection point.

10. An intelligent irrigation device for municipal greening projects, characterized in that: The device includes a processor, and when the processor is executed, it implements an intelligent irrigation system for municipal greening projects according to any one of claims 1 to 9.

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