A backwashing fertigation method based on data fusion

Abstract

This application relates to the field of irrigation technology, specifically to an irrigation method for a backwashing fertigation machine based on data fusion. The method includes: determining the cleaning efficiency of each backwash based on the pressure difference between the upstream and downstream pipelines of the backwashing fertigation machine before and after each backwash, combined with the flow rate before and after backwashing; at each monitoring point, determining the weights of soil moisture and electrical conductivity based on crop growth changes using a controlled variable method, and determining a water-fertilizer matching index; determining the basic irrigation amount and basic fertilizer amount based on the numerical characteristics of the water-fertilizer matching index and preset water and fertilizer requirement reference values; analyzing the decay characteristics of backwashing cleaning efficiency with the number of backwashes to determine a backwashing dynamic adjustment coefficient; obtaining the final irrigation water amount and final fertilizer amount, and generating an irrigation command. This application aims to dynamically adjust the irrigation strategy by combining the decay characteristics of backwashing efficiency with the number of backwashes.

Description

Technical Field

[0001] This application relates to the field of irrigation technology, specifically to an irrigation method for a backwashing fertigation machine based on data fusion. Background Technology

[0002] Backwashing refers to the process of flushing pipes, filters, and other components during the operation of an integrated water and fertilizer machine using reverse water flow or a specific cleaning mechanism. This removes scale or blockages caused by fertilizer residue and impurities, maintaining equipment smoothness and irrigation efficiency. Integrated water and fertilizer irrigation is an integrated technology that precisely mixes irrigation water and fertilizer according to crop needs and delivers them directly to the crop roots through a pipeline system, achieving coordinated control of irrigation and fertilization. Due to the spatial heterogeneity of soil moisture and nutrient distribution in the planting environment, data from a single sensor cannot fully reflect the true water and fertilizer requirements of crops. Furthermore, the effect of backwashing decreases with repeated use. Therefore, a comprehensive analysis combining multi-source soil monitoring data, crop requirement parameters, and historical backwashing information is necessary to overcome the limitations of single data, accurately calculate water and fertilizer amounts, dynamically adapt backwashing strategies, and ultimately achieve the synergistic optimization goal of saving water and fertilizer and reducing equipment maintenance frequency.

[0003] Existing solutions are mostly based on fixed cycles or simple pressure thresholds to trigger backflushing, without considering the characteristic that cleaning efficiency decreases with the number of backflushing cycles. They cannot incorporate the dynamic changes in pipeline cleanliness into irrigation strategy adjustments. This can easily lead to pipe scaling and blockage due to incomplete cleaning, or waste of resources due to excessive flushing, ultimately resulting in low fertilizer utilization, water waste, and high equipment maintenance frequency. Summary of the Invention

[0004] In view of the above, it is necessary to provide a backwashing fertigation method based on data fusion to solve the above problems.

[0005] One embodiment of this application provides an irrigation method for a backwashing fertigation machine based on data fusion, the method comprising:

[0006] Soil moisture and electrical conductivity were collected at preset monitoring points in the planting area; the cleaning efficiency of each backwash was determined based on the pressure difference changes in the upstream and downstream pipelines of the backwash water and fertilizer machine before and after each backwash, combined with the flow rate changes before and after backwashing.

[0007] At each monitoring point, the controlled variable method was used to determine the weights of soil moisture and electrical conductivity at each monitoring point based on the changes in crop growth, and the comprehensive contribution value at each monitoring point was obtained. Based on the distribution characteristics of the comprehensive contribution values ​​at all monitoring points, the water and fertilizer matching index was determined.

[0008] Based on the numerical characteristics of the water and fertilizer matching index, combined with the preset water requirement reference value, fertilizer requirement reference value and planting area, the basic irrigation amount and basic fertilizer amount are determined.

[0009] The cleaning efficiency of backwashing was analyzed to determine the decay characteristics of backwashing efficiency with the number of backwashing cycles. Based on the number of backwashing cycles, the backwashing dynamic adjustment coefficient was determined. The backwashing dynamic adjustment coefficient was used to adjust the basic irrigation water volume and the basic fertilizer volume to obtain the final irrigation water volume and the final fertilizer volume.

[0010] Specifically, determining the cleaning efficiency for each backwash involves:

[0011] The pressure difference between the upstream and downstream pipelines of the backwashing fertigation unit before each backwash and the pressure difference after each backwash is obtained and recorded as the first difference. The ratio of the first difference to the pressure difference before each backwash is used as the first ratio.

[0012] The difference between the flow rate of the upstream and downstream pipelines of the backwashing water and fertilizer integrated machine after each backwash and the flow rate before each backwash is recorded as the second difference. The ratio of the second difference to the flow rate after each backwash is used as the second ratio.

[0013] The sum of the first ratio and the second ratio is used as the cleaning efficiency for each backwash.

[0014] The process of determining the weights of soil moisture and electrical conductivity at each monitoring point specifically involves:

[0015] For each monitoring point, under the condition of fixed electrical conductivity, the soil moisture was adjusted, and the average rate of change of crop growth indicators with soil moisture was used as the water sensitivity coefficient.

[0016] Under the condition of fixed soil moisture, the electrical conductivity was adjusted, and the average rate of change of crop growth indicators with electrical conductivity was used as the nutrient sensitivity coefficient.

[0017] Calculate the water sensitivity coefficient and its proportion among all obtained sensitivity coefficients to obtain the weight of soil moisture at each monitoring point; calculate the nutrient sensitivity coefficient and its proportion among all obtained sensitivity coefficients to obtain the weight of electrical conductivity at each monitoring point.

[0018] Specifically, the comprehensive contribution value at each monitoring point is the sum of the weighted soil moisture and the weighted electrical conductivity at each monitoring point.

[0019] Specifically, the water-fertilizer matching index is the normalized result of the mean of the comprehensive contribution values ​​of all monitoring points.

[0020] The process of determining the basic irrigation amount and the basic fertilizer amount specifically includes:

[0021] Obtain the difference between the natural number 1 and the water-fertilizer matching index, and combine twice the difference with the planting area; then multiply it by the preset water requirement reference value and fertilizer requirement reference value respectively to obtain the basic irrigation amount and basic fertilizer amount.

[0022] The specific process for determining the backwash dynamic adjustment coefficient is as follows:

[0023] The attenuation coefficient is obtained by fitting the backwash test. The attenuation coefficient is multiplied by the number of backwashes, and the negative correlation mapping of the multiplication result is used as the backwash dynamic adjustment coefficient.

[0024] The specific process of obtaining the attenuation coefficient through backwashing test fitting is as follows:

[0025] Based on the linear relationship between the cleaning efficiency of each backwash and the backwash dynamic adjustment coefficient, a fitting optimization algorithm is used to obtain the attenuation coefficient corresponding to the minimum deviation between the cleaning efficiency of each backwash test and the measured cleaning efficiency.

[0026] Specifically, obtaining the final irrigation water volume and the final fertilizer volume involves:

[0027] Based on the deviation between the real-time collected soil moisture and the target soil moisture, an irrigation water correction term is determined. Based on the deviation between the real-time collected conductivity and the target conductivity, a fertilizer amount correction term is determined. ;

[0028] Final irrigation water volume The formula is: Final fertilizer amount The formula is: In the formula, This represents the backwash dynamic adjustment coefficient. , These represent the basic irrigation water volume and the basic fertilizer volume, respectively.

[0029] The irrigation water correction term is obtained by filtering the deviation between the real-time collected soil moisture and the target soil moisture.

[0030] This application has at least the following beneficial effects:

[0031] This application first collects soil moisture and electrical conductivity data to provide accurate real-time data, which helps to understand the current state of the soil and provides a basis for subsequent analysis and decision-making. Combining the pressure difference and flow rate changes before and after backwashing, the cleaning efficiency is determined. By monitoring the backwashing efficiency, it is ensured that water and energy are not wasted during the cleaning process, optimizing water resource utilization. Improving backwashing efficiency can also reduce equipment failure rate and extend equipment life. The comprehensive contribution value of each monitoring point is calculated using the controlled variable method. Based on the specific impact of soil moisture and electrical conductivity on crop growth, the importance of each monitoring point is determined. This helps to accurately assess the contribution of each monitoring point to crop growth and allows for adjustments based on the needs of different regions. Finally, the water and fertilizer matching index is determined, which helps to... Precisely matching the required water and fertilizer amounts for each area avoids over-irrigation and fertilization, reducing costs and improving resource utilization efficiency. Based on reference values ​​for water and fertilizer requirements and the planting area, the basic irrigation and fertilizer amounts are determined to avoid waste. Analyzing the decay characteristics of backwash cleaning efficiency and determining dynamic adjustment coefficients allows for the development of more flexible adjustment strategies by identifying changes in backwash efficiency over time. This ensures optimal cleaning results at all times during backwashing, preventing over- or under-cleaning and further optimizing the water-fertilizer ratio. Adjusting the final irrigation water and fertilizer amounts based on the backwash dynamic adjustment coefficients ensures that irrigation and fertilization remain precisely matched to crop needs even when equipment efficiency changes. This helps maintain efficient use of water and fertilizer resources, ensuring crop growth while avoiding resource waste. Attached Figure Description

[0032] Figure 1 A flowchart of an irrigation method for a backwashing fertigation machine based on data fusion provided in this application;

[0033] Figure 2 A flowchart for obtaining the final irrigation and fertilizer amounts provided in this application. Detailed Implementation

[0034] In the description of the embodiments in this application, the words "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary," "or," and "for example" is intended to present the relevant concepts in a specific manner.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0036] It should also be noted that the terms "first" and "second" in this application and its accompanying drawings are used to distinguish similar objects, rather than to describe a specific order or sequence. The methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of protection of this application, the execution order of multiple steps can be interchanged, and some steps can also be deleted.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0038] This application proposes a backwashing fertigation method based on data fusion, applicable to the field of irrigation technology. (See attached document.) Figure 1 The method includes the following steps:

[0039] S1: Collect soil moisture and electrical conductivity data at preset monitoring points in the planting area; based on the pressure difference changes in the upstream and downstream pipelines of the backwashing fertigation machine before and after each backwash, and combined with the flow rate changes before and after backwashing, determine the cleaning efficiency of each backwash.

[0040] In this application, the soil moisture sensor is a frequency domain reflectance (FDR) type sensor, with N monitoring points evenly distributed in the planting area. The sensor insertion depth matches the main distribution layer of the crop root system. As an example, if the corn root system is concentrated in the 20cm~30cm range, the insertion depth is 25cm; in this embodiment, N is 6.

[0041] The conductivity sensor uses a four-electrode EC sensor, which is deployed at the same point as the humidity sensor to indirectly reflect the soil nutrient concentration. The EC value is positively correlated with the soluble salt content.

[0042] Pressure and flow sensors are installed on the main pipeline of the fertigation machine to record backwashing events. A counter is also configured to record the number of backwashing operations, n.

[0043] Soil moisture is collected at various monitoring points via a LoRa gateway in a sensor network at a fixed frequency (every 30 minutes in this application). The frequency is then increased to once every 5 minutes for the first 30 minutes of irrigation, and further increased to once every 5 seconds during irrigation. and conductivity Each backflushing trigger increments the counter, while a pressure sensor records the pressure difference between upstream and downstream pipelines before and after backflushing. Combined with flow sensor data on flow rates before and after backflushing, the cleaning efficiency for a single cycle is calculated. .

[0044] Specifically, single cleaning efficiency The formula is: ,in, , These represent the pressure difference between the upstream and downstream pipelines before and after backflushing, respectively. , These represent the flow rates before and after backwashing, respectively; Recorded as the first difference, Let this be the first ratio, and... This is denoted as the second difference. This is denoted as the second ratio.

[0045] The purpose of backflushing is to remove blockages accumulated in pipes or filter components, which increase the flow resistance of the pipes. After backflushing, the blockages are effectively removed, the flow cross-section of the pipe is restored and the resistance is significantly reduced. Under stable water supply pressure, the resistance that the fluid has to overcome is reduced, resulting in a smaller pressure difference in the pipes. At the same time, the amount of fluid that can pass through per unit time increases, thus increasing the flow rate.

[0046] The degree of pipe blockage relief is reflected by the change in pressure difference. The greater the reduction in pressure difference, the more significant the cleaning effect. The flow recovery rate directly reflects the recovery level of pipe flow capacity. The higher the recovery rate, the better the cleaning effect. The combination of the two can quantify the backwash cleaning efficiency, which ranges from 0 to 2.

[0047] Adopt 3 The principle is to identify and remove outliers from the collected data, and to standardize the data by mapping it uniformly to 0~1, thereby eliminating the influence of differences in the range and dimensions of different sensors.

[0048] Crop water requirement reference values Reference values ​​for crop fertilizer requirements Based on the target crop type and growth stage, and with reference to local agricultural technical manuals, the water requirement for maize is estimated at 25 cubic meters per acre, and the potassium fertilizer requirement at 10 kg per acre.

[0049] S2: At each monitoring point, the controlled variable method is used to determine the weight of soil moisture and electrical conductivity at each monitoring point based on the changes in crop growth, so as to obtain the comprehensive contribution value at each monitoring point; the water and fertilizer matching index is determined based on the distribution characteristics of the comprehensive contribution values ​​at all monitoring points.

[0050] Soil moisture or electrical conductivity data alone cannot fully reflect the actual water and nutrient requirements of crop growth. Soil moisture only directly reflects water content but cannot correlate with the abundance or deficiency of dissolved nutrients in the soil; while electrical conductivity can indirectly reflect nutrient concentration, it cannot be used as the sole basis for judging water supply, and soil heterogeneity at different sensor locations can lead to local biases in single-dimensional data. By generating a water-fertilizer matching index through weighted fusion of soil moisture and electrical conductivity data, we can integrate the complementary information of both and adapt the weights to the representative differences of different sensor locations, thus forming a more comprehensive indicator for assessing soil supply and demand. This provides a basis for calculating irrigation water and fertilizer amounts and avoids water and fertilizer supply imbalances caused by relying on a single indicator.

[0051] Specifically, the water and fertilizer matching index The calculation formula is: In the formula, , Let represent the weights of soil moisture and electrical conductivity at the i-th monitoring point, respectively. This represents the normalization function, and N represents the total number of monitoring points. This represents the comprehensive contribution index of the i-th monitoring point. In this embodiment, Min-Max normalization is used, and the maximum and minimum values ​​are the maximum and minimum values ​​of the water-fertilizer matching index obtained in the current and all previous backwashing cycles.

[0052] The weights of soil moisture and electrical conductivity were obtained through field experiments using the controlled variable method. The specific steps were as follows: the location area corresponding to each monitoring point was treated as a sub-region; within this sub-region, electrical conductivity was kept constant, and only soil moisture was adjusted. The rate of change of crop growth indicators under different moisture levels was recorded to obtain the water sensitivity coefficient. Similarly, by keeping the humidity constant and adjusting the electrical conductivity, the rate of change of the same crop's growth indicators is recorded to obtain the nutrient sensitivity coefficient. Then the soil moisture weight at the i-th monitoring point conductivity weight It should be noted that the crop growth index in this embodiment uses growth rate for analysis, because growth rate is intuitive and easy to monitor; the crop height can be measured and converted to time.

[0053] When obtaining the water sensitivity coefficient, the soil conductivity in the area should be kept at a level suitable for crop growth (the ideal soil conductivity range for plant growth is 0.2~0.6 mS / cm). In one experiment, the value was taken as 0.3 mS / cm, that is, the conductivity of the standard nutrient solution or irrigation water was 0.3 mS / cm. Only the irrigation amount was changed to change the soil moisture (the ideal soil moisture for corn is 55~65%), and it was adjusted to be within the ideal moisture range.

[0054] Taking corn as an example, the area was irrigated with the standard nutrient solution or irrigation water for the first five days to keep the soil moisture at around 55%, and the growth rate of the crop was measured during these five days. Similarly, the area was irrigated with the standard nutrient solution or irrigation water for the middle five days and the last five days to keep the soil moisture at around 60% and 65%, respectively, and the growth rates for the middle five days and the last five days were obtained.

[0055] It should be noted that the experiment should be conducted within one growth cycle of the crop, such as the jointing stage of corn, which is 20 to 30 days. This is because the growth rate of crops is similar within one growth cycle, which allows for a better measurement of the impact of soil moisture on crop growth.

[0056] The average rate of change of the three growth rates is taken as the water sensitivity coefficient of the region. Similarly, the nutrient sensitivity coefficient of the region is obtained.

[0057] It should be understood that the water-fertilizer matching index integrates multi-source sensor data through a weighted average method. For the soil moisture and electrical conductivity data of each monitoring point, corresponding weights are assigned respectively. Then, the weighted soil moisture data and weighted electrical conductivity data of each monitoring point are summed to obtain the comprehensive contribution value of each monitoring point. The comprehensive contribution values ​​of all monitoring points are then averaged and normalized. In this way, the scattered single-dimensional water and nutrient correlation information is integrated into a unified water-fertilizer matching index. This not only eliminates the local bias of single sensor data, but also realizes the dynamic response to soil heterogeneity through weight adaptation. Finally, the output is a quantitative indicator that can comprehensively reflect the actual water demand status under the overall water and nutrient background of the region.

[0058] The higher the water and fertilizer matching index, the higher the current soil moisture and nutrient levels, meaning the lower the current water demand of the crop, and the more irrigation water and fertilizer concentration should be reduced. Conversely, a lower index indicates water scarcity or insufficient electrical conductivity, and in this case, irrigation water and fertilizer should be increased.

[0059] S3: Based on the numerical characteristics of the water and fertilizer matching index, combined with the preset water requirement reference value, fertilizer requirement reference value and planting area, determine the basic irrigation amount and basic fertilizer amount.

[0060] The water and fertilizer matching index, by integrating soil moisture and electrical conductivity data, comprehensively reflects the relative degree to which the current soil moisture and nutrient status deviates from the suitable range for crops. It is an abstract assessment indicator of soil status and cannot directly guide the specific operation of the integrated water and fertilizer machine. The calculation of basic water and fertilizer amount, on the other hand, combines the water and fertilizer matching index with the reference values ​​of water and fertilizer requirements of crops at specific growth stages, transforming the status assessment into specific water and fertilizer amounts that can be directly executed, thereby ensuring that irrigation and fertilization operations match the actual needs of crops.

[0061] Specifically, the formula for basic irrigation water volume is as follows: The formula for the amount of basic fertilizer is: Formula explanation: A represents the planting area. The water and fertilizer matching index quantifies the deviation of the current soil moisture and nutrient status from the suitable range for crops. The closer the value is to 0.5, the closer the soil condition is to the ideal value. The ratio of the current state to the ideal state is directly represented. This ratio is then multiplied by twice the water requirement reference value and fertilizer requirement reference value to obtain the supplementary amount per unit area. This is then multiplied by the planting area, and finally the quantitative supplementary demand per unit area is extended to the entire planting area to obtain the adjusted basic irrigation water and basic fertilizer amount.

[0062] S4: Analyze the characteristics of the decrease in cleaning efficiency of backwashing with the number of backwashing cycles, and determine the backwashing dynamic adjustment coefficient based on the number of backwashing cycles; use the backwashing dynamic adjustment coefficient to adjust the basic irrigation water volume and basic fertilizer volume respectively to obtain the final irrigation water volume and final fertilizer volume.

[0063] The cleaning efficiency of backflushing typically decreases with repeated cycles because fertilizer crystals and impurities easily accumulate on the inner walls of pipes, making complete cleaning difficult. Continuing to use a fixed cleaning strategy, such as a fixed cycle or a single calibration value, presents two main problems: First, as the backflushing effect weakens, failure to adjust irrigation parameters in a timely manner can lead to partial pipe blockage and unstable water and fertilizer delivery flow, affecting the accuracy of irrigation volume and fertilizer concentration. Second, over-reliance on frequent backflushing can result in wasted water and energy, and frequent start-ups and shutdowns exacerbate equipment wear. Therefore, adopting a more flexible and intelligent strategy to dynamically adjust backflushing is crucial for ensuring efficient irrigation and a long equipment lifespan.

[0064] This application quantifies the decay characteristics of backwashing efficiency with the number of cycles by using a dynamic adjustment coefficient. This allows the backwashing effect to be directly linked to the irrigation strategy. When the backwashing efficiency decreases, the water and fertilizer output is corrected by adjusting the coefficient. This ensures that pipeline cleanliness supports irrigation accuracy while avoiding resource waste caused by ineffective backwashing, thus achieving a dynamic balance between equipment maintenance and irrigation efficiency.

[0065] The attenuation coefficient is obtained by fitting the backwash test. The attenuation coefficient is multiplied by the number of backwashes, and the negative correlation mapping of the multiplication result is used as the backwash dynamic adjustment coefficient.

[0066] In this embodiment, the backwash dynamic adjustment coefficient The formula is in the form of: Where: e represents the natural constant, and n represents the number of backwashes. The attenuation parameter is determined by fitting backwash test data. The specific steps are as follows: Multiple backwash tests are conducted on the backwashing fertigation machine, recording the cumulative number of backwashes. Simultaneously, the cleaning efficiency for each backwash cycle is calculated. Since there is a linear relationship between the cleaning efficiency and the backwashing dynamic adjustment coefficient, the least squares method is used for fitting and solving the problem. Value, specifically: that is , where k represents a coefficient that can be solved during the fitting process to minimize the deviation between the calculated backwash dynamic adjustment coefficient and the measured cleaning efficiency.

[0067] The basic water and fertilizer amount is combined with the backwash dynamic adjustment coefficient, and a feedback correction term is introduced to calculate the final irrigation water volume. and final fertilizer amount The formulas are as follows: , ,in: , These represent the irrigation water quantity correction term and the fertilizer quantity correction term, respectively. The irrigation water quantity correction term is obtained by filtering the deviation between the real-time collected soil moisture and the target soil moisture; the fertilizer quantity correction term is obtained by filtering the deviation between the real-time collected electrical conductivity and the target electrical conductivity. This application employs the Kalman filter algorithm. When the measured value is lower than the target value, the correction term is positive to supplement water and fertilizer; conversely, it is negative to reduce the output, thereby offsetting the influence of environmental interference and model error factors on irrigation accuracy and forming a dynamic adjustment closed loop.

[0068] The flowcharts for obtaining the final irrigation amount and the final fertilizer amount are as follows: Figure 2 As shown.

[0069] The irrigation water volume is converted into the opening degree and opening time of the proportional control valve to ensure that it matches the actual water output. The fertilizer amount is converted into the pump speed and running time, and linked to the concentration of the fertilizer mother liquor to ensure that it corresponds to the amount of pure fertilizer injected. The actions of the control valve and the fertilizer injection pump are synchronized to ensure that the water and fertilizer are mixed evenly in proportion in the mixing pipeline. The final command is generated in the form of an electrical signal to drive the actuator.

[0070] During irrigation, the control valve adjusts its opening degree and duration according to the final irrigation water volume command to control the amount of water entering the pipeline; the fertilizer pump adjusts its speed and running time according to the fertilizer volume command to inject fertilizer of the corresponding concentration into the water flow. The two work together to ensure that the water and fertilizer are mixed evenly in proportion and then delivered to the planting area.

[0071] After irrigation is completed or during irrigation breaks, backwashing is performed, and the backwashing record is updated, including the cumulative number of backwashing cycles corresponding to this irrigation and the actual cleaning efficiency.

[0072] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description; sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0073] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A backwashing water and fertilizer integrated machine irrigation method based on data fusion, characterized in that, The method comprises the following steps: Collecting soil humidity and conductivity of the preset monitoring points in the planting area; determining the cleaning efficiency of each backwashing based on the pressure difference change of the upstream and downstream pipelines of the backwashing water and fertilizer integrated machine before and after each backwashing, and the flow change before and after backwashing; At each monitoring point, the control variable method is used to determine the weight of soil humidity and the weight of conductivity at each monitoring point according to the change of crop growth, and the comprehensive contribution value at each monitoring point is obtained; the water and fertilizer matching index is determined according to the distribution characteristics of the comprehensive contribution values at all monitoring points; Based on the numerical characteristics of the water and fertilizer matching index, the preset water requirement reference value, fertilizer requirement reference value and the area of the planting area are combined to determine the basic irrigation amount and the basic fertilizer amount; The decay characteristics of the cleaning efficiency of backwashing with the number of backwashing are analyzed, and the backwashing dynamic adjustment coefficient is determined combined with the number of backwashing; the backwashing dynamic adjustment coefficient is used to adjust the basic irrigation water amount and the basic fertilizer amount respectively to obtain the final irrigation water amount and the final fertilizer amount; The determination of the cleaning efficiency of each backwashing is specifically: The difference between the pressure difference before each backwashing and the pressure difference after each backwashing of the upstream and downstream pipelines of the backwashing water and fertilizer integrated machine is obtained, and is recorded as a first difference value; the ratio of the first difference value to the pressure difference before each backwashing is taken as a first ratio value; The difference between the flow after each backwashing and the flow before each backwashing of the upstream and downstream pipelines of the backwashing water and fertilizer integrated machine is obtained, and is recorded as a second difference value; the ratio of the second difference value to the flow after each backwashing is taken as a second ratio value; The sum of the first ratio value and the second ratio value is taken as the cleaning efficiency of each backwashing; The process of determining the basic irrigation amount and the basic fertilizer amount is specifically: The difference between the natural number 1 and the water and fertilizer matching index is obtained, and the twice of the difference value is combined with the area of the planting area; and is multiplied by the preset water requirement reference value and fertilizer requirement reference value respectively to obtain the basic irrigation amount and the basic fertilizer amount; The specific process of determining the backwashing dynamic adjustment coefficient is: An attenuation coefficient is obtained through backwashing test fitting, the attenuation coefficient is multiplied by the number of backwashing, and the negative correlation mapping of the multiplication result is taken as the backwashing dynamic adjustment coefficient; The specific process of obtaining the attenuation coefficient through backwashing test fitting is: Based on the linear relationship between the cleaning efficiency of each backwashing and the backwashing dynamic adjustment coefficient, a fitting optimization algorithm is used to obtain the attenuation coefficient corresponding to the minimum deviation between the cleaning efficiency of each backwashing test and the measured cleaning efficiency; The final irrigation water amount and the final fertilizer amount are obtained, and the process of determining the weight of soil humidity and the weight of conductivity at each monitoring point is specifically: According to the deviation between the real-time collected soil humidity and the target soil humidity, a correction term of irrigation water quantity is determined ; according to the deviation between the real-time collected conductivity and the target conductivity, a correction term of fertilizer quantity is determined ; Final irrigation water amount The formula is: Final fertilizer amount The formula is: , wherein, represents a backwash dynamic adjustment coefficient, , respectively represent basic irrigation water amount and basic fertilizer amount.

2. The backflushing water and fertilizer integrated machine irrigation method based on data fusion according to claim 1, characterized in that, For the area where each monitoring point is located, the water sensitivity coefficient is obtained by adjusting the soil humidity under the condition of fixed conductivity, and the nutrient sensitivity coefficient is obtained by adjusting the conductivity under the condition of fixed soil humidity; ​ ​ The water sensitivity coefficient is calculated, and a proportion of a value in all obtained sensitivity coefficients is obtained to obtain a weight of soil humidity of each monitoring point; The nutrient sensitivity coefficient is calculated, and a proportion of a value in all obtained sensitivity coefficients is obtained to obtain a weight of conductivity of each monitoring point.

3. The backflushing water and fertilizer integrated machine irrigation method based on data fusion according to claim 1, characterized in that, The comprehensive contribution value at each monitoring point is specifically a sum of the weighted soil humidity and the weighted conductivity of each monitoring point.

4. The backflushing water and fertilizer integrated machine irrigation method based on data fusion according to claim 1, characterized in that, The water-fertilizer matching index is specifically a normalization result of a mean value of the comprehensive contribution values of all monitoring points.

5. The backflushing water and fertilizer integrated machine irrigation method based on data fusion according to claim 1, characterized in that, The irrigation water quantity correction term is obtained by filtering a deviation between the real-time collected soil humidity and the target soil humidity.

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