Intelligent Irrigation System and Device for Municipal Greening Projects

Abstract

The present invention relates to the technical field of irrigation control, and particularly relates to an intelligent irrigation system and device for municipal greening projects. According to the degree of water pressure loss between each branch pipe of the irrigation system and its adjacent branch pipes and the difference in water pressure values at each control moment, the internal irrigation loss value of each branch pipe at each control moment is obtained; according to the difference in 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 point to the sprinkler on each branch pipe, the external irrigation loss value of each branch pipe at each control moment is obtained; by combining the internal irrigation loss value and the external irrigation loss value, the motor power of the booster of each branch pipe at each control moment and its next control moment is controlled. The present invention controls the booster of the branch pipe through the influence of internal blockage and external blockage of the irrigation system, reduces the influence of branch pipe blockage on the irrigation effect, and improves the spraying effect of the branch pipe.

Description

Technical Field

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

[0002] The urban greening irrigation system mainly consists of parts such as a water source, a water conveyance system, a distribution system, and an automatic control system. It is an important part of modern urban greening management, aiming to ensure the healthy growth of urban greening plants and improve the urban environmental quality while saving water resources to the greatest extent through scientific and reasonable irrigation methods.

[0003] With the increase in the service time of irrigation equipment, the nozzles of irrigation equipment may become blocked for various reasons, resulting in problems such as uneven irrigation spraying or inability to spray to the target position, thus affecting the sprinkler irrigation effect. Existing methods reduce the blockage probability by optimizing the structure of irrigation spraying equipment. However, some external interferences such as fallen leaves and mud stains generated by sprinkler irrigation are difficult to directly remove by optimizing the spraying structure, resulting in poor irrigation effects. Summary of the Invention

[0004] In order to solve the technical problem that blockage caused by external interference of irrigation equipment leads to poor irrigation effects, the purpose of the present invention is to provide an intelligent irrigation system and device for municipal greening projects, and the specific technical solutions adopted are as follows:

[0005] The present invention proposes an intelligent irrigation system for municipal greening projects, and the system includes:

[0006] A data acquisition module, configured to obtain the water pressure values of each branch pipe in the irrigation system at each control moment during the working period, and the humidity values of different sampling points in the watering area of each branch pipe at each moment during the working period;

[0007] An internal loss analysis module, configured to obtain the internal watering loss value of each branch pipe at each control moment according to the difference in the water pressure loss degree between each branch pipe and its adjacent branch pipes and the difference in the water pressure values at each control moment;

[0008] An external loss analysis module, configured to obtain the external watering loss value of each branch pipe at each control moment according to the difference in the change trend of the humidity values of different sampling points in the watering area of each branch pipe at all moments before each control moment, and the distance from the sampling point to the nozzle on each branch pipe;

[0009] A watering control module, configured to control the motor power of the booster of each branch pipe at each control moment and its next control moment by combining the internal watering loss value and the external watering loss value.

[0010] Further, the obtaining of the internal irrigation loss value of each branch pipe at each control moment includes:

[0011] Obtain 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;

[0012] 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; Multiply the sum of the flow demand values of all branch pipes between each branch pipe and the water inlet of the main pipe by the distance from each branch pipe to the water inlet of the main pipe as the pressure loss value of each branch pipe.

[0013] Obtain the internal irrigation loss value of each branch pipe at each control moment according to the difference in water pressure values between each branch pipe and its adjacent branch pipe at each control moment and the difference in the pressure loss value.

[0014] Further, the obtaining of the internal irrigation loss value of each branch pipe at each control moment according to the difference in water pressure values between each branch pipe and its adjacent branch pipe at each control moment and the difference in the pressure loss value includes:

[0015] Take the difference in water pressure values and the difference in the pressure loss value between each branch pipe and its adjacent next branch pipe at each control moment as the water pressure difference of each branch pipe and the loss difference of each branch pipe at each control moment, respectively.

[0016] Arrange the water pressure differences of all branch pipes at each control moment in sequence to obtain the water pressure sequence at the corresponding control moment, and arrange the loss differences in sequence to obtain the loss sequence.

[0017] Normalize 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 to obtain the internal irrigation loss value of each branch pipe at each control moment.

[0018] Further, the obtaining of the external irrigation loss value of each branch pipe at each control moment includes:

[0019] Obtain the spraying non-uniformity of each branch pipe at each control moment according to the difference in the humidity value change trends of different sampling points in the irrigation area of each branch pipe at all moments before each control moment.

[0020] Obtain the distance from each nozzle on each branch pipe to each sampling point in its irrigation area; According to the moment when the humidity value change trend of the sampling points in the irrigation area of each branch pipe is significant before each control moment and the shortest distance from the sampling point to the nozzle on the branch pipe, obtain the humidity change value of each branch pipe at each control moment.

[0021] Obtain the external irrigation loss value of each branch pipe at each control moment according to the spraying non-uniformity and the humidity change value; both the spraying non-uniformity and the humidity change value are positively correlated with the external irrigation loss.

[0022] Further, the obtaining of the spraying non-uniformity of each branch pipe at each control moment includes:

[0023] During the working period, perform curve fitting on the humidity values of each sampling point in the irrigation area of each branch pipe at all moments before each control moment to obtain the humidity curve of the corresponding sampling point at each control moment;

[0024] Obtain the central value of the humidity values at all moments between each inflection point of the humidity curve and each adjacent inflection point; take the difference between the central value of each inflection point of the humidity curve and the central values of its adjacent subsequent inflection point and the previous inflection point as the overall humidity difference of each inflection point of the humidity curve.

[0025] Select the moment corresponding to the inflection point with the largest overall humidity difference from all inflection points of the humidity curve, and record it as the humidity rising moment of each sampling point in the irrigation area of each branch pipe at each control moment;

[0026] Obtain the spraying non-uniformity of each branch pipe at each control moment according to the time interval between 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.

[0027] Further, the obtaining of the spraying non-uniformity of each branch pipe at each control moment according to the time interval between 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 includes:

[0028] Calculate the mean value of the humidity rising moments of all sampling points in the irrigation area of each branch pipe at the same control moment as the overall rising moment of each branch pipe at each control moment;

[0029] Take the mean value of the product of the time interval between the humidity rising moment of all sampling points in the irrigation area of each branch pipe at each control moment and the overall rising moment and the overall humidity difference of the inflection point corresponding to the humidity rising moment as the spraying non-uniformity of each branch pipe at each control moment.

[0030] Further, the obtaining of the humidity change value of each branch pipe at each control moment includes:

[0031] For each sampling point within the irrigation area of each branch pipe, perform a negative correlation mapping on the product of the shortest distance from the sampling point to the nozzle on the branch pipe and the humidity rising moment of the sampling point at each control moment, to obtain the local humidity change value of the sampling point at each control moment;

[0032] Take the mean value of the local humidity change values of all sampling points within the irrigation area of each branch pipe at each control moment as the humidity change value of each branch pipe at each control moment.

[0033] Further, the combining the internal irrigation loss value and the external irrigation loss value to control the motor power of the booster of each branch pipe at each control moment and its next control moment includes:

[0034] Normalize the product of the internal irrigation loss value and the external irrigation loss value to obtain the blockage coefficient of each branch pipe at each control moment;

[0035] Based on the water pressure value of each branch pipe at each control moment, obtain the proportional gain of the PID controller at each control moment; use the sum of the constant 1 and the blockage coefficient to weight the proportional gain to obtain the adjusted proportional gain of each branch pipe at each control moment;

[0036] Input the adjusted proportional gain into the PID controller, and the PID controller outputs the control signal of each branch pipe at each control moment; take the control signal as the motor power of the booster of each branch pipe at each control moment and its next control moment.

[0037] Further, the central value is equal to the mean value of the humidity values at all moments between each inflection point of the humidity curve and its adjacent inflection points.

[0038] An intelligent irrigation device for municipal greening projects, the device includes a processor, and when the processor executes, it implements an intelligent irrigation system for municipal greening projects as described above.

[0039] The present invention has the following beneficial effects:

[0040] In the embodiments of the present invention, since the branch pipes will divert the water in the main pipe and the water and the pipes will generate friction, resulting in pressure loss in the main pipe, and the factors causing the pressure loss are fixed conditions, the difference in the degree of water pressure loss between a branch pipe and its adjacent branch pipe represents the theoretical value of the pressure change between the corresponding branch pipes, while the difference in the water pressure values of a branch pipe and its adjacent branch pipe at the control moment represents the actual value of the pressure change between the corresponding branch pipes. The difference between the two can measure the degree of internal loss of the irrigation system caused by blockage of the branch pipe at the control moment, so as to obtain the internal loss value of irrigation. Since external blockage of the branch pipe causes uneven spraying, there are differences in the process of soil water accumulation at different sampling point positions in the irrigation area of the branch pipe. Then, the difference in the change trend of the humidity values of different sampling points in the irrigation area of the branch pipe before the control moment can measure the degree of external loss of the irrigation system caused by blockage of the branch pipe. Combining the distance from the sampling point to the nozzles on each branch pipe can improve the accuracy of the analysis of the external loss value of irrigation. By comprehensively analyzing the influence degrees of internal blockage and external blockage of the irrigation system, the motor power of the booster of the branch pipe can be adaptively controlled to reduce the influence of blockage of the branch pipe on the irrigation effect during irrigation and effectively improve the spraying effect of the branch pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0042] Figure 1 It is a system structure diagram of an intelligent irrigation system for municipal greening projects provided by an embodiment of the present invention;

[0043] Figure 2 It is a partial simplified schematic diagram of an irrigation system provided by an embodiment of the present invention;

[0044] Figure 3 It is a structure diagram of an external loss analysis module provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following, in combination with the drawings and preferred embodiments, details the specific implementation manners, structures, features and effects of an intelligent irrigation system and device for municipal greening projects proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention pertains.

[0047] The following specifically describes the specific solutions of an intelligent irrigation system and device provided by the present invention in combination with the accompanying drawings for municipal greening projects.

[0048] Example 1:

[0049] Please refer to 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 an irrigation control module 140.

[0050] The data acquisition module 110 is used to obtain the water pressure values of each branch pipe of the irrigation system at each control moment during the working period, and the humidity values of different sampling points in the irrigation area of each branch pipe at each moment during the working period.

[0051] The irrigation system consists of a main pipe and multiple branch pipes. A pressure sensor is installed at the connection position of each branch pipe and the main pipe to analyze the water pressure change of each branch pipe during irrigation and collect the water pressure values of each branch pipe at each control moment during the working period. Herein, the working period is the time period when the irrigation system is running.

[0052] Figure 2 For a partial simplified schematic diagram of an irrigation system provided by an embodiment of the present invention, as Figure 2 shown, Figure 2 in which 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.

[0053] Multiple sprinkler heads are installed on each branch pipe. In order to analyze the blocking effect of the sprinkler heads of 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 humidity in the irrigation area and collect the humidity values of each sampling point in the irrigation area of each branch pipe at each moment during the working period.

[0054] In one implementation manner 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 position of its irrigation area, and the distance from the branch pipe to the boundary of its irrigation area is set to 2 meters.

[0055] In an implementation manner of the embodiment of the present invention, the data acquisition 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, and the implementer can set it according to the specific situation.

[0056] The internal loss analysis module 120 is configured to obtain the internal loss value of irrigation for each branch pipe at each control moment according to the difference in the water pressure loss degree between each branch pipe and its adjacent branch pipe and the difference in the water pressure value at each control moment.

[0057] During the water conveyance process of the main pipe, since the branch pipes will divert the water in the main pipe and the water will generate friction with the pipeline, etc., the water pressure in the main pipe will be lost. The factors causing the pressure loss are fixed conditions such as the length of the branch pipe and the distance from the branch pipe to the water inlet of the main pipe. Then, the difference in the water pressure loss degree between each branch pipe and its adjacent branch pipe represents the theoretical value of the pressure change between the corresponding branch pipes; and the difference in the water pressure value between each branch pipe and its adjacent branch pipe at the control moment represents the actual value of the pressure change between the corresponding branch pipes. The difference between the two can measure the degree of blockage in each branch pipe at the control moment, resulting in internal loss of the irrigation system, so as to obtain the internal loss value of irrigation.

[0058] Preferably, in some possible implementation manners of the embodiment 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; multiplying the sum of the flow demand values of all branch pipes between each branch pipe and the water inlet of the main pipe by 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 the water pressure value and the difference in the pressure loss value between each branch pipe and its adjacent branch pipe at each control moment. Wherein, 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 and the main pipe to the water inlet of the main pipe.

[0059] If the number of sprinklers on a branch pipe is larger and the branch pipe is longer, the branch pipe will divert more water from the main pipe, and the greater the demand for water flow in the branch pipe, the larger the flow demand value. If the flow demand value of a branch pipe is larger, more water is lost in the main pipe due to the diversion of the branch pipe, and compared with the water inlet of the main pipe, the greater the water pressure loss at the position of the main pipe where the branch pipe is located; all the branch pipes between the water inlet of the main pipe and each branch pipe will divert the water in 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 the branch pipes between each branch pipe and the water inlet of the main pipe. When water enters the main pipe, there is an initial pressure such as the power generated by a water pump or gravity. When water flows in the pipeline, the water pressure gradually decreases due to the friction of the inner wall of the pipeline and pipeline structures such as elbows and valves. Therefore, the farther a 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 the branch pipes between each branch pipe and the water inlet of the main pipe, and the distance from each branch pipe to the water inlet of the main pipe are both positively correlated with the pressure loss value.

[0060] 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 the difference in pressure loss value between each branch pipe and the next adjacent branch pipe at each control moment are respectively used as the water pressure difference of each branch pipe and the loss difference of each branch pipe at each control moment; the water pressure differences of all branch pipes at each control moment are arranged in sequence to obtain the water pressure sequence corresponding to the control moment, and the loss differences are 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 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. The internal loss value of irrigation is expressed by the formula:

[0061] ; In the formula, is the internal loss value of irrigation of the a-th branch pipe at each control moment; is the subscript value of the water pressure difference of the a-th branch pipe at each control moment in the corresponding water pressure sequence; is the subscript value of the loss difference of the a-th branch pipe in the loss sequence; N is the total number of elements in the loss sequence or the water pressure sequence; is the absolute value function. In the formula, N is used to perform normalization processing.

[0062] The difference in water pressure value and the difference in pressure loss value between each branch pipe and its adjacent next branch pipe at the control moment respectively represent the actual value and the theoretical value of the pressure change between the corresponding two branch pipes. During the process of water conveyance in the main pipe, since the branch pipes will divert the water flow in the main pipe, the water pressure of the branch pipes farther away from the water inlet of the main pipe is smaller, so the difference in water pressure value between the branch pipes farther away from the water inlet of the main pipe and its adjacent next branch pipe is smaller. Since the units of the pressure loss value and the pressure value are different, in order to facilitate the comparison of the magnitude of the water pressure difference and the loss difference, the water pressure differences and loss differences of all branch pipes are respectively arranged from small to large to obtain the water pressure sequence and the loss sequence. When there is no blockage in the irrigation system, the subscript value of the water pressure difference of each branch pipe in the water pressure sequence should be equal to the subscript value of the loss difference in the loss sequence; the greater the difference between the two subscript values, the greater the difference between the actual pressure change value and the theoretical pressure change value of each branch pipe and its next branch pipe, indicating that the degree of blockage in each branch pipe during the control moment causes greater internal loss in the irrigation system, and then the greater the internal loss value of the irrigation.

[0063] It should be noted that the adjacent next branch pipe of each branch pipe is the next branch pipe along the water flow direction in the main pipe. As Figure 2 shown, Figure 2 the adjacent next branch pipe of the second branch pipe 3 in it is the first branch pipe 2, and the adjacent next branch pipe of the third branch pipe 4 is the fourth branch pipe 5; there is no next branch pipe for the first branch pipe 2 and the fourth branch pipe 5 along the water flow direction in the main pipe, so there is no water pressure difference and 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 the irrigation.

[0064] The external loss analysis module 130 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 moments before each control moment, and the distance from the sampling point to the sprinkler on each branch pipe.

[0065] After the irrigation system sprinkles water on the soil, part of the water is absorbed by the plants, and at this time the soil humidity rises slowly; when the plants have absorbed enough, the water gradually accumulates in the soil, and at this time the soil humidity rises faster. When there is no blockage in the sprinkler of the branch pipe, the water in the branch pipe will be evenly sprayed on the irrigation area, so that the humidity value change trends of different sampling points at all moments before the control moment should be relatively close. Therefore, the difference in the humidity value change trends of different sampling points in the irrigation area at all moments before the control moment can measure the degree of external loss caused by the blockage of the branch pipe in the irrigation system. When there is external blockage in the sprinkler of the branch pipe, the water sprayed by the sprinkler of the branch pipe is likely to gather in the area near the sprinkler, so it is necessary to analyze in combination with the distance from the sampling point to the sprinkler on each branch pipe to improve the degree of external loss caused by the blockage of the sprinkler of each branch pipe at the control moment and improve the accuracy of the analysis of the external loss value of the irrigation.

[0066] Please refer to 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.

[0067] The spraying effect analysis unit 131: is used to obtain the spraying non-uniformity of each branch pipe at each control moment 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 moments before each control moment.

[0068] Preferably, in some possible implementation manners of the embodiment of the present invention, the method for obtaining the spraying non-uniformity includes: during the working period, performing curve fitting on the humidity values at each sampling point in the irrigation area of each branch pipe at all moments before each control moment to obtain the humidity curve of the corresponding sampling point at each control moment; obtaining the central value of the humidity values at all moments 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 central values of its adjacent subsequent inflection point and the previous inflection point as the overall humidity difference of each inflection point of the humidity curve; selecting the moment corresponding to the inflection point with the largest overall humidity difference from all the inflection points of the humidity curve as the humidity rising moment of each sampling point in the irrigation area of each branch pipe at each control moment; and obtaining the spraying non-uniformity of each branch pipe at each control moment according to the time interval between 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.

[0069] In a specific implementation manner of the 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 at all moments before each control moment of each sampling point are mapped into the two-dimensional space to obtain corresponding scatter points; further, curve fitting is performed by the least square method, and the obtained fitting curve is used as the humidity curve of the sampling point at each control moment.

[0070] In the case of uneven spraying of the branch pipe, the time for water accumulation in the soil at different sampling point positions in the irrigation area is different, resulting in a difference in the humidity rising moments of different sampling points in the irrigation area of the branch pipe at the same control moment. If the time interval between the humidity rising moments of different sampling points in the irrigation area of each branch pipe at each control moment is larger, it indicates that the degree of non-uniformity of soil humidity in the irrigation area is greater, then the spraying non-uniformity is greater, and the influence of external blockage on the branch pipe is greater.

[0071] The humidity rising moment is the moment when the change trend on the humidity curve is the most intense or significant, representing the moment when the soil begins to accumulate moisture. In the case of uneven spraying of the branch pipes, it may be difficult for some soil to reach the moisture accumulation process, resulting in the situation that the humidity rising moment of the sampling point in the soil at the control moment does not represent the moment when the soil at the sampling point begins to accumulate moisture. Therefore, there is an error in evaluating the uneven spraying degree of the irrigation area through the time interval of the humidity rising moments of different sampling points in the irrigation area at the control moment.

[0072] The overall humidity difference reflects the possibility that the humidity rising moment is the moment when the soil at the sampling point begins to accumulate moisture, and the greater the overall humidity difference, the greater the possibility. Then, the proportion of the humidity rising moment of the sampling point at the control moment in the process of analyzing the uneven spraying degree should be greater. Therefore, by adjusting the proportion of the humidity rising moment of the sampling point at the control moment in the process of analyzing the uneven spraying degree through the overall humidity difference corresponding to the inflection point of the humidity rising moment of the sampling point, the accuracy of analyzing the uneven degree of soil humidity in the irrigation area of the branch pipe can be effectively improved.

[0073] In a specific implementation manner of the embodiment of the present invention, calculate the average value of the humidity rising moments of all sampling points in the irrigation area of each branch pipe at the same control moment as the overall rising moment of each branch pipe at each control moment; take the average value of the product of the time interval between the humidity rising moment of each sampling point in the irrigation area of each branch pipe at each control moment and the overall rising moment and the overall humidity difference corresponding to the inflection point of the humidity rising moment as the uneven spraying degree of each branch pipe at each control moment. The uneven spraying degree is expressed by the formula:

[0074] ; where, is the uneven spraying degree of the a-th branch pipe at each control moment; is the total number of sampling points in the irrigation area of the a-th branch pipe; is the overall humidity difference corresponding to the inflection point of the humidity rising moment of the m-th sampling point in the irrigation area of the a-th branch pipe at each control moment; is the humidity rising moment of the m-th sampling point in the irrigation area of the a-th branch pipe at each control moment is the overall rising moment of the a-th branch pipe at each control moment; is the absolute value function.

[0075] It should be noted that there are two adjacent inflection points among the remaining inflection points on the humidity curve except the first and the last inflection points, including: the adjacent previous inflection point and the adjacent subsequent inflection point of each inflection point.

[0076] In a specific implementation manner of the embodiment of the present invention, the average value of the humidity values at all moments between each inflection point of the humidity curve and each adjacent inflection point is used as the concentration value corresponding to the two inflection points. Since the average value, mode, median, etc. can measure the central tendency of the data, in other embodiments, the average value can be replaced by the mode, median, etc.

[0077] Humidity change analysis unit 132: configured to obtain the distance from each sprinkler on each branch pipe to each sampling point within its irrigation area; and obtain the humidity change value of each branch pipe at each control moment according to the moment with a significant change trend of the humidity values of the sampling points within the irrigation area of each branch pipe at all moments before each control moment and the shortest distance from the sampling point to the sprinkler on the branch pipe.

[0078] Preferably, in some possible implementation manners of the embodiment of the present invention, the method for obtaining the humidity change value includes: for each sampling point within the irrigation area of each branch pipe, performing a negative correlation mapping on the product of the shortest distance from the sampling point to the sprinkler on the branch pipe and the humidity rising moment of the sampling point at each control moment to obtain the local humidity change value of the sampling point at each control moment; and taking the average value of the local humidity change values of all sampling points within the irrigation area of each branch pipe at each control moment as the humidity change value of each branch pipe at each control moment.

[0079] In the case where there is an external blockage of the sprinkler on the branch pipe, the water sprayed by the sprinkler on the branch pipe is likely to gather in the area near the sprinkler, resulting in a relatively fast increase in the soil humidity near the sprinkler. Therefore, when the humidity rising moment of the sampling point at the control moment is smaller and the shortest distance between the sampling point and the sprinkler is smaller, the degree of external blockage of the branch pipe is greater. By comprehensively analyzing all sampling points within the irrigation area of the branch pipe, the humidity change value is obtained.

[0080] External loss analysis unit 133: configured to obtain the external irrigation loss value of each branch pipe at each control moment according to the spraying non-uniformity and the humidity change value.

[0081] Both the spraying non-uniformity and the humidity change value reflect the spraying effect of the sprinklers on each branch pipe. If the spraying non-uniformity and the humidity change value are larger, the non-uniformity degree of the spraying of the sprinklers on each branch pipe is greater, indicating that the degree of blockage of the sprinklers on each branch pipe causing external losses in the irrigation system is greater. Therefore, both the spraying non-uniformity and the humidity change value have a positive correlation with the external irrigation loss. The external irrigation loss value is expressed by the formula:

[0082]

[0083] In the formula, is the external irrigation loss value of the a-th branch pipe at each control moment; is the spraying non-uniformity of the a-th branch pipe at each control moment; is the total number of sampling points in the irrigation area of the a-th branch pipe; is the shortest distance from the m-th sampling point to all nozzles in the irrigation area of the a-th branch pipe; is the humidity rising time of the m-th sampling point in the irrigation area of the a-th branch pipe at each control moment is the humidity change value of the a-th branch pipe at each control moment.

[0084] The irrigation control module 140 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 its next control moment.

[0085] The internal irrigation loss value and the external irrigation loss value successively reflect the influence of the internal blockage and external blockage of the irrigation system on the irrigation process. By combining the two, the blockage degree of each branch pipe at each control moment is obtained. In a specific implementation manner of the embodiment of the present invention, the product of the internal irrigation loss value and the external irrigation loss value is normalized to obtain the blockage coefficient of each branch pipe at each control moment. It should be noted that the Norm function is used for normalization in this embodiment. The larger the blockage coefficient, the greater the loss of the irrigation process of each branch pipe at the control moment, and the less ideal the irrigation effect, that is, the larger the blockage coefficient.

[0086] The pressure sensor of each branch pipe in the irrigation system is connected to the signal input end of the data calculation chip with the humidity sensor in the irrigation area. The data collected by the pressure sensor and the humidity sensor are transmitted to the data calculation chip through wireless network communication technology. The data calculation chip is used for data processing. The chip type is FPGA. It receives the information of the pressure sensor of each branch pipe and the humidity sensor of its irrigation area. The data calculation chip obtains the blockage coefficient of each branch pipe at each control moment according to the calculation method of the blockage coefficient in the internal loss analysis module 120, the external loss analysis module 130, and the irrigation control module 140.

[0087] A supercharger is installed in each branch pipe of the irrigation system to control the sprinkler irrigation effect of the nozzles 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 supercharger of each branch pipe. It should be noted that a supercharger is installed between the connection position of each branch pipe and the main pipe and the nozzle on the branch pipe closest to the main pipe.

[0088] In a specific implementation manner of an embodiment of the present invention, based on the water pressure values 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 value of the constant 1 and the blocking coefficient to obtain the adjusted proportional gain of each branch pipe 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 pipe at each control moment; the control signal is used as the motor power of the booster of each branch pipe between each control moment and the next control moment. Wherein, the horizontal axis of the output signal of the PID controller represents time, and the vertical axis represents the motor power of the booster.

[0089] The pressure values collected by the pressure sensors of each branch pipe at each control moment are input into the PID controller, and the proportional gain of the PID controller is obtained by using the Ziegler-Nichols method; the proportional gain is input into the data calculation chip, and the data calculation chip adjusts the proportional gain by using the blocking coefficient, and re-inputs the adjusted proportional gain into the PID controller, and transmits the control signal output by the PID controller to the booster, and the motor of the booster operates according to the control signal.

[0090] It should be noted that the proportional gain, integral time and derivative time of the PID controller can be obtained by using the Ziegler-Nichols method. By adjusting the proportional gain, the sprinkler irrigation water pressure of each branch pipe is adjusted, so that the water sprayed by the nozzles of the branch pipes can flush out the external blocking influence as much as possible, and reduce the influence of internal blockage on the irrigation effect, obtain a relatively stable flow rate, and improve the spraying uniformity; during this process, the integral time and derivative time remain unchanged to avoid introducing unnecessary complexity and instability and ensure the stability of the system.

[0091] So far, the present invention is completed.

[0092] Embodiment 2:

[0093] Based on the same inventive concept as the above embodiment of an intelligent irrigation system for municipal greening projects, an intelligent irrigation device for municipal greening projects provided by an embodiment of the present invention includes a processor, and when the processor executes, it implements the above-mentioned intelligent irrigation system for municipal greening projects. An intelligent irrigation system for municipal greening projects has been described in detail in the above embodiment and will not be repeated here.

[0094] Embodiment 3:

[0095] This embodiment also provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer is enabled to execute the above-mentioned related method steps to implement the intelligent irrigation system for municipal greening projects provided by the above embodiment.

[0096] Among them, the device and computer-readable storage medium provided in this embodiment are both 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 elaborated here.

[0097] It should be noted that the above sequence of embodiments of the present invention is only for description and does not represent the superiority or inferiority of the embodiments. The processes depicted in the 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.

[0098] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments.

[0099] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principle of the present invention shall 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; A watering control module, used to control the motor power of the supercharger of each branch pipe at each control moment and the next control moment by combining the internal watering loss value and the external watering loss value; The motor power of the supercharger controlling each branch pipe at each control moment and the motor power of the supercharger controlling each branch pipe at the next control moment includes: The product of the internal watering loss value and the external watering loss value is normalized 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.

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 5, characterized in that: 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.

9. 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 8.

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