Irrigation equipment and control method thereof

Abstract

The invention provides irrigation equipment and a control method thereof. The irrigation equipment comprises a water outlet pipe, a valve, a driving motor and a controller, the valve is arranged on the water outlet pipe, the driving motor is connected with the valve, the controller controls the driving motor to rotate, and the driving motor adjusts the water pressure in the water outlet pipe by adjusting the opening degree of the valve. The control method comprises the steps that the driving motor is controlled to rotate in the first direction so that the opening degree of the valve can be set at the initial opening degree; initial water pressure information in the water outlet pipe corresponding to the initial opening degree is obtained; the driving motor is controlled to rotate by a unit angle in the second direction; acquiring current water pressure information in the water outlet pipe after the driving motor rotates by a unit angle; judging whether the current water pressure information and the initial water pressure information meet preset conditions or not; if yes, determining an error compensation angle of the driving motor based on the unit angle of rotation; wherein the first direction is opposite to the second direction.

Description

Technical Field

[0001] The present application relates to the technical field of irrigation equipment, and in particular, to an irrigation equipment and a control method thereof. Background Art

[0002] In modern agriculture and horticulture, the use of irrigation equipment is becoming increasingly popular to meet the water requirements for plant growth. Moreover, intelligent precision irrigation equipment has gradually become an important tool for improving water resource utilization efficiency and crop yields. This precision irrigation equipment can precisely adjust the water output, thereby effectively controlling the amount of water for irrigation and the irrigation range. In irrigation equipment, the water output of the irrigation equipment is generally adjusted by the opening degree of a valve, and the opening degree of the valve is usually driven by a motor and realized through a gear reduction mechanism. However, due to the existence of a fitting clearance during the gear transmission process, the motor will inevitably generate a transmission error when changing the direction, and it is necessary to compensate for such a transmission error when the motor changes the direction. However, when the irrigation equipment is in use, the error is usually determined based on experience, and the accuracy of the obtained error is relatively low, or even the error cannot be obtained.

[0003] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of the present application, and does not constitute a description of the information of the known technology to those of ordinary skill in the art. Summary of the Invention

[0004] According to a first aspect of the present disclosure, there is provided a control method for an irrigation equipment. The irrigation equipment includes a water outlet pipe, a valve, a driving motor, and a controller. The valve is provided on the water outlet pipe, the driving motor is connected to the valve, and the controller controls the driving motor to rotate. The driving motor adjusts the water pressure in the water outlet pipe by adjusting the opening degree of the valve. Wherein, the control method includes: controlling the driving motor to rotate in a first direction to set the opening degree of the valve at an initial opening degree; obtaining the initial water pressure information in the water outlet pipe corresponding to the initial opening degree; controlling the driving motor to rotate a unit angle in a second direction; obtaining the current water pressure information in the water outlet pipe after the driving motor rotates the unit angle; and determining whether the current water pressure information and the initial water pressure information meet a preset condition. If so, determining an error compensation angle of the driving motor based on the rotated unit angle, where the first direction is opposite to the second direction.

[0005] In one example, the initial water pressure information includes one or more of the maximum water pressure, minimum water pressure, average water pressure, and water pressure variance within a first predetermined time period; and the current water pressure information includes one or more of the maximum water pressure, minimum water pressure, average water pressure, and water pressure variance within a second predetermined time period.

[0006] In one example, the preset condition includes one or more of the following conditions: the absolute value of the difference between the maximum water pressure within the second preset duration and the minimum water pressure within the first preset duration is greater than or equal to a first preset difference; or, the absolute value of the difference between the minimum water pressure within the second preset duration and the maximum water pressure within the first preset duration is greater than or equal to a second preset difference; or, the absolute value of the difference between the average water pressure within the second preset duration and the average water pressure within the first preset duration is greater than or equal to a third preset difference; or, the absolute value of the difference between the variance of the water pressure within the second preset duration and the variance of the water pressure within the first preset duration is greater than or equal to a fourth preset difference.

[0007] In one example, if the initial water pressure information and the current water pressure information do not meet the preset condition, the control method further includes: sequentially repeating the control step of driving the motor to rotate by the unit angle and the step of obtaining the current water pressure information until the initial water pressure information and the current water pressure information meet the preset condition.

[0008] In one example, the control method further includes: after determining the error compensation angle, when controlling the driving motor to rotate and the current rotation direction of the driving motor is different from the previous rotation direction, performing error compensation on the current rotation of the driving motor according to the error compensation angle.

[0009] In one example, performing error compensation on the current rotation of the driving motor according to the error compensation angle includes: controlling the rotation angle of the driving motor to be the sum of the expected angle and the error compensation angle.

[0010] In one example, the irrigation device further includes a pressure sensing assembly; obtaining the initial water pressure information includes: obtaining the initial water pressure information through the pressure sensing assembly; and / or, obtaining the current water pressure information includes: obtaining the current water pressure information through the pressure sensing assembly.

[0011] In one example, the irrigation device further includes a transmission gear, and the driving motor is connected to the valve through the transmission gear; wherein, there is a meshing gap between the transmission gears, and the meshing gap forms the error.

[0012] According to a second aspect of the present disclosure, an irrigation device is provided, and the irrigation device can execute the control method described in any one of the foregoing items.

[0013] According to a third aspect of the present disclosure, a control method for an irrigation device is provided. The irrigation device includes a water outlet pipe, a valve, a drive motor, and a controller. The valve is provided in the water outlet pipe, the drive motor is connected to the valve, and the controller controls the rotation of the drive motor. The drive motor adjusts the water pressure in the water outlet pipe by adjusting the opening degree of the valve. Wherein, the control method includes: obtaining the change in water pressure in the water outlet pipe before and after the drive motor changes direction; generating an error compensation value based on the change in water pressure; and performing error compensation on the drive motor when it changes direction based on the error compensation value.

[0014] The embodiments described in this application have the following beneficial effects:

[0015] The water flow of the irrigation device can flow out through the water outlet pipe to spray water on the ground to achieve irrigation. The drive motor can adjust the water outlet pressure in the water outlet pipe by adjusting the opening degree of the valve, thereby adjusting the water outlet volume and range of the irrigation device. This application can obtain the initial water pressure information after the drive motor rotates in the first direction and the current water pressure information after the drive motor rotates in the second direction, and can determine the error compensation angle of the drive motor according to the rotation angle of the drive motor corresponding to the current water pressure information and the initial water pressure information. That is, the error compensation angle of the drive motor is obtained based on the change in water pressure in the water outlet pipe before and after the drive motor changes direction. This can make the error compensation angle of the drive motor more in line with the actual working conditions of the irrigation device, thereby improving the accuracy of controlling the water outlet volume and range of the irrigation device. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. The drawings in the following description are only exemplary embodiments of the present disclosure.

[0017] Figure 1 It is a flowchart of a control method for an irrigation device provided by the present invention;

[0018] Figure 2 It is a flowchart of another control method for an irrigation device provided by the present invention; and

[0019] Figure 3 It is a schematic structural diagram of an irrigation device provided by the present invention.

[0020] Reference Signs

[0021] 10. Water outlet pipe; 20. Valve; 30. Drive motor; 40. Pressure sensing assembly. Detailed Description of the Embodiments

[0022] The technical solutions in the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0023] First, the irrigation device and its control method in the present application will be described with reference to the accompanying drawings.

[0024] Refer to Figure 3 for an exemplary description of the structure of the irrigation device provided in the present application. As Figure 3 shown, the irrigation device includes a water outlet pipe 10, a valve 20, a drive motor 30 and a controller. The valve 20 is provided on the water outlet pipe 10. The drive motor 30 is connected to the valve 20. The controller controls the rotation of the drive motor 30, and the drive motor 30 adjusts the water pressure in the water outlet pipe 10 by adjusting the opening degree of the valve 20.

[0025] The water flow of the irrigation device can flow out through the water outlet pipe 10 to spray water flow onto the ground to achieve irrigation. The drive motor 30 is connected to the valve 20. The drive motor 30 rotates under the control of the controller to drive the valve core of the valve 20 to move, so as to adjust the opening degree of the valve 20. The valve 20 is provided on the water outlet pipe 10. When the opening degree of the valve 20 changes, the water outlet pressure in the water outlet pipe 10 can be adjusted, thereby adjusting the water outlet volume of the water outlet pipe 10. And the larger the opening degree of the valve 20, the greater the water pressure in the water outlet pipe 10, the greater the water outlet volume of the water outlet pipe 10, and the greater the range; the smaller the opening degree of the valve 20, the smaller the water pressure in the water outlet pipe 10, the smaller the water outlet volume of the water outlet pipe 10, and the smaller the range. In this way, the water pressure in the water outlet pipe 10 and the water outlet flow rate of the water outlet pipe 10 can be adjusted by adjusting the opening degree of the valve 20, thereby adjusting the range of the irrigation device to meet the needs of different users in different scenarios.

[0026] For example, the valve 20 may include a valve seat, a valve core, and a valve stem. The valve seat is provided with a water flow channel that communicates with the inside of the outlet pipe 10. The valve core is rotatably disposed within the water flow channel. One end of the valve stem is connected to the valve core, and the other end of the valve stem is directly or indirectly connected to the drive motor 30. The drive motor 30 drives the valve core to rotate through the valve stem. During the rotation of the valve core, the water flow rate passing through the outlet of the water flow channel increases or decreases. Exemplarily, the water flow rate passing through the outlet of the water flow channel increases linearly (or nearly linearly) or decreases linearly (or nearly linearly), that is, the water flow rate passing through the valve 20 changes regularly. For example: By setting the shape of the outlet of the valve 20, when the drive motor 30 drives the valve 20 to rotate, the opening degree of the outlet of the water flow channel of the valve 20 changes linearly, and further, the water pressure and the water flow rate flowing through the valve 20 and the outlet pipe 10 change linearly. By adjusting the water pressure within the outlet pipe 10, the water flow rate of the outlet pipe 10 can be adjusted, and further, the range of the irrigation device can be adjusted to meet the needs of different users in different scenarios. The valve 20 may be, for example, a ball valve.

[0027] It can be understood that the description of the valve 20 in this application is only exemplary. As long as the opening degree of the valve 20 can be changed under the drive of the drive motor 30 to adjust the water pressure within the outlet pipe 10, the specific structure and specifications of the valve 20 are not specifically limited herein.

[0028] Exemplarily, as Figure 3 shown, the irrigation device may further include a pressure sensing assembly 40 that can acquire the water pressure within the outlet pipe 10.

[0029] For example, the pressure sensing assembly 40 may include a bourdon tube pressure sensor, a diaphragm pressure sensor, or a bellows pressure sensor. <opposite

[0030] The bourdon tube pressure sensor utilizes the elastic deformation characteristics of the bourdon tube to measure pressure. This sensor may, for example, include a bourdon tube. One end of the bourdon tube is connected to the outlet pipe 10, and the other end of the bourdon tube is connected to a measuring device. When water flow within the outlet pipe 10 exerts pressure, the water pressure within the bourdon tube causes the bourdon tube to deform. The degree of this deformation is proportional to the applied pressure, and this deformation can be converted into an electrical signal or other form of output, thereby realizing the detection of pressure.

[0031] The diaphragm pressure sensor realizes pressure measurement through the deformation of a flexible diaphragm. This sensor may, for example, include a thin film. One side of the diaphragm is exposed to the inside of the outlet pipe 10, and the other side of the diaphragm is connected to a reference pressure or a vacuum. When the water flow to be measured exerts pressure, the diaphragm will bend or compress. The degree of deformation is proportional to the applied pressure. The deformation of the diaphragm causes a change in resistance or a change in capacitance value. These changes can be converted into measurable electrical signals through an electronic circuit to realize the detection of pressure.

[0032] The bellows pressure sensor utilizes the elastic deformation characteristics of the bellows to measure pressure. For example, the sensor may include a bellows, and the inner cavity of the bellows is used to receive the pressure to be measured. When water flow applies pressure, the pressure inside the bellows causes it to deform axially and radially. The degree of this deformation is proportional to the applied pressure. This deformation can be converted into an electrical signal or other forms of output to achieve the measurement and monitoring of pressure.

[0033] It should be noted that the description of the pressure sensing component 40 in this application is only exemplary. As long as it can detect the water flow pressure in the water pipe 10, it is not specifically limited here.

[0034] Exemplarily, the watering device may further include transmission gears, and the drive motor 30 may be connected to the valve 20 through the transmission gears. Among them, there is a meshing gap between the transmission gears, and the meshing gap forms an error.

[0035] The drive motor 30 is connected to the valve 20 through the transmission gears. The number of transmission gears can be multiple. The transmission gears can change the rotational speed output by the drive motor 30 to the valve 20. Through the combination of multiple transmission gears, the high rotational speed of the drive motor 30 can be converted into a lower rotational speed, and the torque output to the valve 20 can be increased, improving the adjustment effect on the valve 20. There is a meshing gap between the multiple transmission gears. When the rotation direction of the drive motor 30 changes, the rotation direction of the transmission gears also changes. Due to the existence of the meshing gap, the transmission gears need to rotate by an angle first so that the teeth of this transmission gear contact the teeth of another transmission gear before this transmission gear can drive the other transmission gear, thereby driving the valve 20 to rotate. Therefore, when the rotation direction of the drive motor 30 changes, due to the meshing gap between the transmission gears, the drive motor 30 cannot synchronously adjust the opening degree of the valve 20, and there is an error in the rotation between the drive motor 30 and the valve 20.

[0036] For this error, before and after the rotation direction of the drive motor 30 changes, the controller can obtain the water pressure change in the outlet pipe 10 and determine the error based on the water pressure change. In this way, the way of obtaining the error can correspond to the water pressure change in the outlet pipe 10, improving the accuracy of the obtained error.

[0037] Next, in conjunction with Figure 1 A control method 100 for the watering device according to an embodiment disclosed in this application will be described. Figure 1 The flowchart of a control method 100 for the watering device according to an embodiment is shown. As Figure 1As shown, the control method 100 includes: in step S101, controlling the drive motor to rotate in a first direction to set the opening degree of the valve at an initial opening degree; in step S102, obtaining the initial water pressure information in the outlet pipe corresponding to the initial opening degree; in step S103, controlling the drive motor to rotate a unit angle in a second direction; in step S104, obtaining the current water pressure information in the outlet pipe after the drive motor rotates the unit angle; and, in step S105, determining whether the current water pressure information and the initial water pressure information meet a preset condition, and if so, in step S106, determining the error compensation angle of the drive motor based on the rotated unit angle, where the first direction is opposite to the second direction.

[0038] The control method 100 includes steps S101 to S106. Steps S101 to S106 will be described below.

[0039] In step S101, the drive motor is controlled to rotate in a first direction to set the opening degree of the valve at an initial opening degree.

[0040] When the drive motor rotates in the first direction, the opening degree of the valve can be gradually increased to the initial opening degree or gradually decreased to the initial opening degree. For example, when the drive motor rotates in the first direction and can increase the opening degree of the valve, the opening degree of the valve can be increased from, for example, an opening degree of 0 to the initial opening degree, or the opening degree of the valve can be increased from the current opening degree (for example, other opening degrees except the fully open degree) to the initial opening degree. Again, for example, when the drive motor rotates in the first direction and can decrease the opening degree of the valve, the opening degree of the valve can be decreased to the initial opening degree, or the opening degree of the valve can be decreased from the current opening degree (for example, other opening degrees except the opening degree of 0) to the initial opening degree.

[0041] The initial opening degree can be set to any opening degree between 5% and 95% of the fully open degree, for example, according to reasons such as the factory settings of the irrigation equipment, the usage scenario, and the spraying requirements. For example, the initial opening degree can be 5%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, or 95% of the fully open degree. It can be understood that the specific opening degree values of the initial opening degree described above are only exemplary and are not specifically limited here.

[0042] The first direction is the rotation direction adopted by the drive motor to adjust the valve to the initial opening degree. For example, according to the relationship between the current opening degree and the initial opening degree of the valve, the first direction can be the clockwise direction or the counterclockwise direction. It should be noted that the term "first direction" and the following term "second direction" both represent the rotation direction of the shaft or rotor of the drive motor.

[0043] Next, enter step S102. In step S102, obtain the initial water pressure information in the water outlet pipe corresponding to the initial opening degree.

[0044] For example, the initial water pressure information can be obtained through the pressure sensing component 40. The pressure sensing component 40 can sense the water pressure in the water outlet pipe 10 in real time, or sense the water pressure in the water outlet pipe 10 at a predetermined interval. It can also drive the motor to rotate in the first direction and set the opening degree of the valve 20 to the initial opening degree, and then the controller issues a control instruction to the pressure sensing component 40, and the pressure sensing component 40 senses and obtains the initial water pressure information.

[0045] In step S102, the obtained initial water pressure information can include one or more of the maximum water pressure within the first predetermined time period, the minimum water pressure within the first predetermined time period, the average water pressure within the first predetermined time period, and the water pressure variance within the first predetermined time period. After adjusting the opening degree of the valve to the initial opening degree, the water flow rate in the water outlet pipe changes, and the water flow in the water outlet pipe will not immediately become a stable water pressure. By obtaining various water pressure information within the first predetermined time period, on the one hand, the sensing duration of the water pressure can be increased to facilitate obtaining a stable water pressure value, and on the other hand, obtaining various water pressure information can also improve the accuracy of obtaining the initial water pressure information. In practice, the first predetermined time period can be set by the user or set at the time of factory shipment. For example, the first predetermined time period can be from 1 second to 10 seconds.

[0046] Next, enter step S103. In step S103, control the driving motor to rotate a unit angle in the second direction.

[0047] After obtaining the initial water pressure information corresponding to the initial opening degree, control the driving motor to rotate in the second direction, where the second direction is opposite to the first direction, so that the driving motor can rotate in the reverse direction. For example, if the driving motor rotates in the first direction to increase the opening degree of the valve, then the driving motor rotates in the second direction to decrease the opening degree of the valve; or if the driving motor rotates in the first direction to decrease the opening degree of the valve, then the driving motor rotates in the second direction to increase the opening degree of the valve.

[0048] The term "unit angle" refers to the angle value of a single rotation of the drive motor in the second direction. This unit angle can be set to a relatively small value so that it is less than or equal to the rotation angle required for the drive motor to overcome the meshing clearance between the transmission gears. The unit angle can be set according to the experience of those skilled in the art or obtained through a limited number of experiments during the R & D process, and no specific limitation is provided here. In practice, assuming that the rotation angle of the drive motor corresponding to the meshing clearance between the transmission gears is, for example, 2 degrees, then the unit angle can be set to 0.5 degrees, for example. It should be particularly noted that when the unit angle is small enough, "stepless speed regulation" can be formed. In this case, the rotation of the drive motor in the second direction will be more precise, and the error can be measured more accurately.

[0049] Next, step S104 is entered. In step S104, the current water pressure information in the outlet pipe is obtained after the drive motor rotates by a unit angle.

[0050] For example, the current water pressure information can be obtained through the pressure sensing component 40. Specifically, after the drive motor rotates by the unit angle, the drive motor stops rotating, and then the controller sends a control command to the pressure sensing component 40, and the pressure sensing component 40 senses and obtains the current water pressure information in the outlet pipe 10. Among them, the pressure sensing component 40 can sense the water pressure in the outlet pipe 10 in real time or at a predetermined interval.

[0051] In step S104, the obtained current water pressure information can include one or more of the maximum water pressure within the second predetermined time period, the minimum water pressure within the second predetermined time period, the average water pressure within the second predetermined time period, and the variance of the water pressure within the second predetermined time period. After the motor rotates by a unit angle, obtaining various water pressure information within the second predetermined time period can, on the one hand, increase the sensing duration of the water pressure to facilitate obtaining a stable water pressure value, and on the other hand, obtaining various water pressure information can also improve the accuracy of obtaining the current water pressure information. In practice, the second predetermined time period can be set by the user or set at the time of factory shipment. For example, the second predetermined time period can be from 1 second to 10 seconds.

[0052] Next, step S105 is entered. In step S105, it is determined whether the current water pressure information and the initial water pressure information meet the preset conditions.

[0053] After obtaining the initial water pressure information and the current water pressure information before and after the reverse rotation of the drive motor, by judging the initial water pressure information and the current water pressure information, the change in the water pressure in the outlet pipe after the drive motor rotates in the reverse direction can be detected, so as to judge whether the rotation angle of the drive motor overcomes the meshing clearance between the transmission gears based on this change, thereby laying a foundation for determining the error compensation angle. The preset conditions will be described below with specific examples.

[0054] In step S106, if the current water pressure information and the initial water pressure information meet the preset conditions, the error compensation angle of the drive motor is determined based on the rotation of a unit angle.

[0055] Taking the case where the drive motor rotates in the first direction to increase the opening of the valve and rotates in the second direction to decrease the opening of the valve as an example, the preset conditions may include, for example: the absolute value of the difference between the maximum water pressure within the second preset time period and the minimum water pressure within the first preset time period is greater than or equal to the first preset difference. After the drive motor rotates in the second direction (intended to decrease the valve opening), the water pressure in the outlet pipe should decrease. If the absolute value of the difference between the water pressure in the outlet pipe within the second preset time period and the minimum water pressure within the first preset time period is greater than or equal to the first preset difference, it indicates that the current water pressure information and the initial water pressure information in the outlet pipe meet the preset conditions. This shows that after the drive motor rotates (for example, rotates by a unit angle), the water pressure in the outlet pipe decreases significantly. In other words, the rotation of the drive motor overcomes the meshing clearance between the transmission gears, adjusts the opening of the valve, and changes the water pressure in the outlet pipe. In this way, the rotation angle of the drive motor in the second direction (for example, the unit angle rotated in step S103) can be determined as the error compensation angle of the drive motor.

[0056] Taking the case where the drive motor rotates in the first direction to decrease the opening of the valve and rotates in the second direction to increase the opening of the valve as an example, the preset conditions may include, for example: the absolute value of the difference between the minimum water pressure within the second preset time period and the maximum water pressure within the first preset time period is greater than or equal to the second preset difference. After the drive motor rotates in the second direction (intended to increase the valve opening), the water pressure in the outlet pipe should increase. If the absolute value of the difference between the water pressure in the outlet pipe within the second preset time period and the maximum water pressure within the first preset time period is greater than or equal to the second preset difference, it indicates that the current water pressure information and the initial water pressure information in the outlet pipe meet the preset conditions. This shows that after the drive motor rotates (for example, rotates by a unit angle), the water pressure in the outlet pipe increases significantly. In other words, the rotation of the drive motor overcomes the meshing clearance between the transmission gears, adjusts the opening of the valve, and changes the water pressure in the outlet pipe. In this way, the rotation angle of the drive motor in the second direction (for example, the unit angle rotated in step S103) can be determined as the error compensation angle of the drive motor.

[0057] This application can also determine the average water pressure or the variance of the water pressure of the water outlet pipe before and after the driving motor changes direction. When making the determination, it is applicable to increase or decrease the opening degree of the valve when the driving direction rotates along the first direction. For example, the preset conditions can include, for example: the absolute value of the difference between the average water pressure within the second preset time period and the average water pressure within the first preset time period is greater than or equal to the third preset difference, or the absolute value of the difference between the variance of the water pressure within the second preset time period and the variance of the water pressure within the first preset time period is greater than or equal to the fourth preset difference. In this way, when the water pressure information (i.e., the current water pressure information and the initial water pressure information) before and after the driving motor rotates satisfies the preset conditions, it can all indicate that the water pressure in the water outlet pipe has changed significantly. The rotation angle of the driving motor overcomes the meshing clearance between the transmission gears, adjusts the opening degree of the valve, and changes the water pressure in the water outlet pipe. In this way, the rotation angle of the driving motor along the second direction (such as the unit angle rotated in step S103) can also be determined as the error compensation angle of the driving motor.

[0058] It can be understood that the start times of the terms "first preset time period" and "second preset time period" are both after the corresponding driving motor has completed rotation, and the end times of the "first preset time period" and "second preset time period" can be determined according to the experience of those skilled in the art, or can also be determined according to the following situation: the time required for the water flow rate or water pressure in the water outlet pipe to become stable after the opening degree of the valve changes. The end times of the "first preset time period" and "second preset time period" are not specifically limited here. The terms "first preset difference", "second preset difference", "third preset difference", and "fourth preset difference" can indicate the absolute value of the corresponding difference when the water pressure in the water outlet pipe changes significantly before and after the driving motor changes direction.

[0059] In this way, the error compensation angle of the driving motor can be obtained based on the change in the water pressure in the water outlet pipe before and after the driving motor changes direction, making the error compensation angle of the driving motor more in line with the actual working conditions of the irrigation equipment, thereby improving the accuracy of the error compensation angle, and further improving the accuracy of the valve opening adjustment, and improving the accuracy of the water output and range adjustment of the irrigation equipment.

[0060] Exemplarily, in step S105, if the initial water pressure information and the current water pressure information do not satisfy the preset conditions, the control method can further include: sequentially repeating the control step of rotating the driving motor by a unit angle and the step of obtaining the current water pressure information until the initial water pressure information and the current water pressure information satisfy the preset conditions.

[0061] Specifically, if the initial water pressure information and the current water pressure information do not meet the preset conditions described above, it indicates that the water pressure in the outlet pipe has not changed significantly before and after the reverse rotation of the driving motor. Thus, it can be shown that the reverse rotation of the driving motor does not overcome the meshing clearance between the transmission gears, or the reverse rotation of the driving motor does not completely overcome the meshing clearance between the transmission gears. At this time, the step of controlling the driving motor to rotate a unit angle in the second direction again (i.e., rotating the unit angle in the second direction again) can be performed. And after the driving motor rotates again, the current water pressure information in the outlet pipe within the second preset time period is obtained again (this current water pressure information refers to the corresponding water pressure information in the outlet pipe within the second preset time period recalculated after the driving motor rotates again). The currently obtained current water pressure information is compared with the initial water pressure information. If the currently obtained current water pressure information and the initial water pressure information meet the preset conditions described above, it indicates that the water pressure in the outlet pipe has changed significantly. The successive two rotations of the driving motor in the second direction together overcome the meshing clearance between the transmission gears, adjust the opening degree of the valve, and change the water pressure in the outlet pipe. Thus, the sum of the unit angles of the two rotations of the driving motor can be used as the error compensation angle. Taking the rotation of the driving motor in the first direction as increasing the opening degree of the valve and the rotation of the driving motor in the second direction as decreasing the opening degree of the valve as an example, the currently obtained current water pressure information can be one or more of the maximum water pressure within the second preset time period, the average water pressure within the second preset time period, and the water pressure variance within the second preset time period.

[0062] If the currently obtained current water pressure information and the initial water pressure information still do not meet the preset conditions, the control steps of rotating the driving motor by a unit angle and the steps of obtaining the current water pressure information can be repeated again until the initial water pressure information and the current water pressure information meet the preset conditions, and the sum of the rotation angles of the driving motor repeated multiple times is used as the error compensation angle of the driving motor. In this way, by rotating the driving motor by a small angle each time and gradually accumulating the rotation angle, the error compensation angle of the driving motor can be detected, which can improve the accuracy of the obtained error compensation angle and reduce the situation where the difference between the error compensation angle and the meshing clearance of the transmission gears is large due to a large single rotation angle of the driving motor.

[0063] When successively repeating the control of the driving motor to rotate, the driving motor always rotates in the second direction. Since the corresponding teeth between the transmission gears have meshed when the driving motor rotates in the second direction for the first time, there is no meshing error between the transmission gears when the driving motor adjusts the opening degree of the valve. Therefore, by controlling the driving motor to always rotate in the second direction, the interference of the meshing clearance between the transmission gears during the process of determining the error compensation angle can be reduced, and the accuracy of the determined error compensation angle can be improved.

[0064] Exemplarily, the control method 100 may further include: after determining the error compensation angle, when controlling the driving motor to rotate and the current rotation direction of the driving motor is different from the previous rotation direction, performing error compensation on the current rotation of the driving motor according to the error compensation angle.

[0065] The situation where the current rotation direction of the driving motor is different from the previous rotation direction may be, for example: the previous rotation direction of the driving motor is rotating along the first direction, and the current rotation direction of the driving motor is rotating along the second direction; or, the previous rotation direction of the driving motor is rotating along the second direction, and the current rotation direction of the driving motor is rotating along the first direction. That is to say, the rotation direction of the driving motor changes, and the driving motor performs a reverse rotation.

[0066] In this way, when the driving motor performs a reverse rotation, there is a meshing gap between the transmission gears, and there is an error between the rotation of the driving motor and the actual adjustment opening of the valve. At this time, error compensation can be performed according to the determined error compensation angle and the current rotation angle of the driving motor, so that the current rotation angle of the driving motor can compensate for the meshing gap, adjust the opening of the valve to the desired opening, improve the accuracy of the adjustment of the opening of the valve, and thus improve the accuracy of the adjustment of the water outlet flow rate and range of the irrigation device.

[0067] For example, performing error compensation on the current rotation of the driving motor according to the error compensation angle includes: controlling the rotation angle of the driving motor to be the sum of the expected angle and the error compensation angle.

[0068] If the driving motor performs a reverse rotation, controlling the rotation angle of the driving motor to be the sum of the expected angle and the error compensation angle, so that when the driving motor performs a reverse rotation, it rotates an additional error compensation angle on the basis of rotating the expected angle to compensate for the meshing gap, improve the accuracy of the adjustment of the opening of the valve, and thus improve the accuracy of the adjustment of the water outlet flow rate and range of the irrigation device.

[0069] The term "expected angle" may be the rotation angle of the driving motor required to adjust the opening of the valve to the desired opening in the absence of the meshing gap.

[0070] The present application provides another control method 200 for an irrigation device. The embodiments disclosed in the present application will be described below with reference to the accompanying drawings. Figure 2 The flowchart of a control method 200 for an irrigation device is shown. The control method 200 includes steps S201 to S203. Steps S201 to S203 will be described below. <A

[0071] In step S201, the change in water pressure in the outlet pipe before and after the driving motor changes direction is obtained.

[0072] For example, the initial water pressure information in the outlet pipe can be obtained before the driving motor changes direction, and the current water pressure information in the outlet pipe can be obtained after the driving motor changes direction. It can be understood that the direction change method of the driving motor and the method for obtaining the water pressure change in the outlet pipe before and after the direction change in this control method 200 refer to the methods described in the control method 100 including Figure 1 described in the control method 100 described therein, which will not be elaborated here.

[0073] Next, step S202 is entered. In step S202, an error compensation value is generated based on the water pressure change.

[0074] After obtaining the water pressure change in the outlet pipe, an error compensation value can be generated according to the water pressure change. For example, when the water pressure change meets a preset condition, an error compensation value can be generated according to the direction change angle of the driving motor corresponding to the water pressure change. It can be understood that in this control method 200, the method for generating the error compensation value can refer to Figure 1 the method for determining the error compensation angle in the control method 100 described therein, which will not be elaborated here.

[0075] In step S203, error compensation is performed on the driving motor during the direction change based on the error compensation value.

[0076] Performing error compensation on the driving motor based on the error compensation value during the direction change of the driving motor can enable the driving motor to compensate for the meshing clearance between the transmission gears during rotation, so as to adjust the opening degree of the valve to the desired opening degree, improve the accuracy of the adjustment of the opening degree of the valve, and thus improve the accuracy of the adjustment of the water output flow rate and range of the irrigation equipment.

[0077] It can be understood that in this control method 200, the method for performing error compensation on the driving motor during the direction change based on the error compensation value can include the method for performing error compensation on the driving motor during the direction change through the error compensation value described above, which will not be elaborated here.

[0078] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0079] Through the descriptions of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the related technologies, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0080] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0081] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise clearly and specifically defined.

[0082] In the present application, unless otherwise stated, the orientation terms such as "upper" and "lower" are usually in the direction shown in the drawings, or in the vertical, perpendicular, or gravitational direction; similarly, for the convenience of understanding and description, "left" and "right" are usually the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contour of each component itself, but the above orientation terms do not limit the present application.

[0083] As described above, it is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope recorded in the present application can easily think of various changes or substitutions, and these should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for an irrigation device, the irrigation device comprising a water outlet pipe, a valve, a drive motor and a controller, the valve being provided in the water outlet pipe, the drive motor being connected to the valve, the controller controlling the rotation of the drive motor, and the drive motor adjusting the water pressure in the water outlet pipe by adjusting the opening degree of the valve, wherein, The control method includes: Controlling the driving motor to rotate in a first direction to set the opening degree of the valve at an initial opening degree; Obtaining initial water pressure information in the water outlet pipe corresponding to the initial opening degree; Controlling the driving motor to rotate a unit angle in a second direction; Obtaining current water pressure information in the water outlet pipe after the driving motor rotates the unit angle; and Judging whether the current water pressure information and the initial water pressure information meet a preset condition. If so, determining an error compensation angle of the driving motor based on the rotated unit angle, wherein the first direction is opposite to the second direction.

2. The control method according to claim 1, wherein, The initial water pressure information includes one or more of the maximum water pressure, minimum water pressure, average water pressure, and water pressure variance within a first predetermined time period; and The current water pressure information includes one or more of the maximum water pressure, minimum water pressure, average water pressure, and water pressure variance within a second predetermined time period.

3. The control method according to claim 2, wherein, The preset condition includes one or more of the following conditions: The absolute value of the difference between the maximum water pressure within the second predetermined time period and the minimum water pressure within the first predetermined time period is greater than or equal to a first predetermined difference; or, The absolute value of the difference between the minimum water pressure within the second predetermined time period and the maximum water pressure within the first predetermined time period is greater than or equal to a second predetermined difference; or, The absolute value of the difference between the average water pressure within the second predetermined time period and the average water pressure within the first predetermined time period is greater than or equal to a third predetermined difference; or, The absolute value of the difference between the water pressure variance within the second predetermined time period and the water pressure variance within the first predetermined time period is greater than or equal to a fourth predetermined difference.

4. The control method according to any one of claims 1-3, wherein, If the initial water pressure information and the current water pressure information do not meet the preset condition, the control method further includes: sequentially repeating the control step of the driving motor rotating the unit angle and the obtaining step of the current water pressure information until the initial water pressure information and the current water pressure information meet the preset condition.

5. The control method according to any one of claims 1 to 3, further includes: After determining the error compensation angle, when controlling the driving motor to rotate and the current rotation direction of the driving motor is different from the previous rotation direction, performing error compensation on the current rotation of the driving motor according to the error compensation angle.

6. The control method according to claim 5, wherein, The performing error compensation on the current rotation of the driving motor according to the error compensation angle includes: Controlling the rotation angle of the driving motor to be the sum of the expected angle and the error compensation angle.

7. The control method according to any one of claims 1 to 3, wherein, The irrigation device further includes a pressure sensing assembly; The obtaining the initial water pressure information includes: obtaining the initial water pressure information through the pressure sensing assembly; and / or, The obtaining the current water pressure information includes: obtaining the current water pressure information through the pressure sensing assembly.

8. The control method according to any one of claims 1 to 3, wherein, The irrigation device further includes a transmission gear, and the driving motor is connected to the valve through the transmission gear; Among them, there is a meshing gap between the transmission gears, and the meshing gap forms the error.

9. An irrigation device, wherein, The watering device can execute the control method according to any one of claims 1 to 8.

10. A control method for an irrigation device, the irrigation device including a water outlet pipe, a valve, a drive motor, and a controller, the valve being provided in the water outlet pipe, the drive motor being connected to the valve, the controller controlling the rotation of the drive motor, and the drive motor adjusting the water pressure in the water outlet pipe by adjusting the opening degree of the valve, wherein, The control method includes: obtaining the water pressure change in the water outlet pipe before and after the driving motor changes direction; generating an error compensation value based on the water pressure change; and performing error compensation on the driving motor during direction change based on the error compensation value.

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