Variable sprinkling control system and control method for reel sprinkling machine

Abstract

The invention relates to the technical field of reel type sprinkling machines, in particular to a variable sprinkling control system and method for a reel type sprinkling machine. A controller is in communication connection with a gearbox, a detection mechanism, an electric proportional directional valve, an electric proportional throttle valve and a flow sensor; the controller is used for controlling the gear of the gearbox, the valve position of the electric proportional reversing valve and the opening degree of the electric proportional throttle valve in real time according to received electric signals of the detection mechanism and the flow sensor when the sprinkling irrigation trolley moves so as to conduct real-time compensation when the sprinkling amount is abnormal and deviates from the expectation, and therefore it is ensured that the sprinkling amount meets the expectation in real time.

Description

Technical Field

[0001] This invention relates to the field of reel-type sprinkler irrigation technology, specifically to a variable spraying control system and control method for a reel-type sprinkler irrigation machine. Background Technology

[0002] Currently, reel-type sprinkler systems are mainly used in conventional irrigation with large spray guns or trusses. The sprinkler carriage is connected to a PE pipe wound on the winch of the reel-type sprinkler system. By rotating the winch to wind up and unwind the PE pipe, the sprinkler carriage can be moved to perform the spraying operation.

[0003] Current technology relies solely on manual adjustment of the winch gear and water pressure in the sprinkler head supply lines to adjust the spray volume. This method requires specialized personnel, is cumbersome, lacks automation, and wastes manpower. Furthermore, the water output is significantly affected by water pressure and sprinkler head outlet area. Water pressure is prone to fluctuations, and the sprinkler head outlet area can change during use due to water flow erosion or blockage by impurities. Therefore, current technology, relying solely on manual adjustment of gears and water pressure, cannot guarantee that the spray volume will meet the expected irrigation needs in real time.

[0004] There is an urgent need for a control system that can automatically achieve variable-rate irrigation to meet the expected spraying requirements. Summary of the Invention

[0005] The purpose of this invention is to provide a variable spraying control system and control method for a reel-type sprinkler irrigation machine to solve the technical problems mentioned in the background art.

[0006] In a first aspect, the present invention provides a variable spraying control system for a reel-type sprinkler irrigation machine, comprising: The drive mechanism is used to rotate the winch of the reel-type sprinkler irrigation machine via the gearbox to coil up the PE pipe and move the sprinkler trolley. The detection agency is used to detect the real-time location of the sprinkler truck, whose planned route is determined based on the irrigation prescription map of the current plot and is divided into multiple spraying sections. An electro-proportional directional valve is installed on the water supply pipeline of the nozzle of the irrigation trolley. The spraying mode can be adjusted by switching the valve position of the electro-proportional directional valve. An electro-proportional throttle valve is installed on the water supply pipeline of the sprinkler head of the irrigation trolley. By adjusting the control current of the electro-proportional throttle valve, the valve core opening can be adjusted to control the water supply flow of the sprinkler head by adjusting the pipeline resistance. A flow sensor is installed on the nozzle to detect the spray volume of the nozzle; The controller communicates with the gearbox, detection mechanism, electro-proportional directional valve, electro-proportional throttle valve, and flow sensor. The controller is used for: As the sprinkler trolley moves, it uses the detection data received from the detection mechanism and flow sensor to control the gearbox gear position, the position of the electro-proportional directional valve, and the opening of the electro-proportional throttle valve in real time to ensure that the spraying volume meets expectations in real time.

[0007] Preferably, the detection mechanism includes a position sensor mounted on the sprinkler cart.

[0008] Preferably, the drive mechanism includes a water turbine or a drive motor.

[0009] Preferably, the spraying mode of the sprinkler truck includes water spraying, pesticide application and fertilizer application; The electro-proportional directional valve includes a first working position for performing water spraying, a second working position for performing fertilization, a third working position for performing pesticide spraying, and a shut-off position.

[0010] Secondly, the present invention provides a control method for a variable spraying control system of a reel-type sprinkler irrigation machine, comprising: The electro-proportional directional valve is switched to the corresponding valve position according to the required spraying mode. The gearbox gear and the opening of the electro-proportional throttle valve core are used as spraying parameters. The required spraying volume for each spraying section is determined according to the irrigation prescription diagram. The spraying parameters for each spraying section are determined according to the spraying volume. The sprinkler truck passes through each spraying section along the planned route. When the detection agency detects that the real-time position of the sprinkler truck has reached the starting point of each spraying section, the spraying parameters are updated to the corresponding spraying parameters to carry out the spraying operation until the next spraying section is reached. When spraying is carried out in each spraying section according to the corresponding spraying parameters, if the spraying volume detected by the flow sensor is abnormal and deviates from the expected amount, the flow sensor will send a warning signal to the controller. After receiving the warning signal, the controller will select the corresponding warning strategy according to the abnormal operating conditions and adjust the gearbox gear position and the opening of the electric proportional throttle valve core accordingly.

[0011] Preferably, determining the spraying parameters for each spraying section based on the spraying volume includes: Select the corresponding spray volume-spray parameter association table according to the spraying mode, and determine the corresponding spray parameters by looking up the spray volume in the spray volume-spray parameter association table; or, The spray volume and spray pattern are input into a pre-trained deep learning model to predict the corresponding spray parameters. The deep learning model is trained using historical data of the spray volume, spray pattern, and spray parameters.

[0012] Preferably, if the spray volume detected by the flow sensor fluctuates abnormally and deviates from the expected judgment criteria, the following criteria shall apply: A safe working range is set at a first ratio above and below the expected spray volume, and a dangerous working range is set at a second ratio above and below the expected spray volume, wherein the second ratio is greater than the first ratio. If the cumulative duration of the spray volume exceeding the safe working range but remaining within the dangerous working range within the first time period reaches a preset duration threshold, it is determined to be an abnormal working condition of the nozzle. If the cumulative number of sprayings outside the dangerous working area during the second time period reaches a preset threshold, and there are cases where the spraying volume is greater than the upper limit of the dangerous working area and less than the lower limit of the dangerous working area during the second time period, it is determined to be an abnormal water pressure fluctuation condition. The first time period is longer than the second time period.

[0013] Preferably, after receiving the warning signal, the controller selects an appropriate warning strategy based on the abnormal operating conditions to adjust the gearbox gear position and the opening of the electronic proportional throttle valve core, including: When the nozzle is in abnormal operating condition; If the cumulative duration of the spraying volume exceeding the upper limit of the safe working range reaches a preset duration threshold, the valve core opening reduction ratio of the electro-proportional throttle valve is determined based on the average value of the spraying volume within the first time period. If the reduction ratio of the valve core opening is less than the preset safety ratio, the gearbox gear remains unchanged and the control current is adjusted according to the reduction ratio of the valve core opening to reduce the valve core opening of the electric proportional throttle valve; if the reduction ratio of the valve core opening is greater than or equal to the preset safety ratio, the gearbox gear is switched to a higher gear and the control current is adjusted according to the preset safety ratio to reduce the valve core opening of the electric proportional throttle valve. If the cumulative duration of the spray volume being lower than the lower limit of the safe working range reaches a preset duration threshold, the valve core opening of the electro-proportional throttle valve is increased by a certain percentage based on the average value of the spray volume in the first time period. If the valve core opening increase ratio is less than the preset safety ratio, the gearbox gear position remains unchanged and the control current is adjusted according to the valve core opening increase ratio to increase the valve core opening of the electric proportional throttle valve. If the valve core opening increases by a ratio greater than or equal to a preset safety ratio, the gearbox shifts to a lower gear, and the control current is adjusted according to the preset safety ratio to increase the valve core opening of the proportional throttle valve.

[0014] Preferably, after receiving the warning signal, the controller selects an appropriate warning strategy based on the abnormal operating conditions to adjust the gearbox gear position and the opening of the electronic proportional throttle valve core, including: When abnormal fluctuations occur in the water supply pressure, the gearbox is shifted to a lower gear and enters a preset fluctuation adjustment period. During the fluctuation adjustment period, if the spray volume exceeds the upper limit of the dangerous working range, the opening of the electro-proportional throttle valve is reduced by a preset ratio. If the spray volume is lower than the lower limit of the dangerous working range, the opening of the electro-proportional throttle valve is reduced by a preset ratio. After the fluctuation adjustment period ends, the gearbox gear and the opening of the electro-proportional throttle valve are restored to their original values.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The controller of this invention is communicatively connected to the gearbox, the detection mechanism, the electro-proportional directional valve, the electro-proportional throttle valve, and the flow sensor. The controller is used to control the gearbox gear position, the electro-proportional directional valve position, and the electro-proportional throttle valve opening in real time according to the electrical signals received from the detection mechanism and the flow sensor when the sprinkler trolley is moving. This allows for real-time compensation when the spraying volume deviates from the expected value, thereby ensuring that the spraying volume meets the expected value in real time.

[0016] In this invention, when spraying operations are performed according to the corresponding spraying parameters in each spraying section, if the spray volume detected by the flow sensor deviates from the expected value, the flow sensor sends a warning signal to the controller. Upon receiving the warning signal, the controller selects an appropriate warning strategy based on the abnormal operating condition and adjusts the gearbox gear and the opening of the electro-proportional throttle valve accordingly. Abnormal nozzle operating conditions are mostly caused by nozzle scouring or blockage, which may persist. Therefore, this invention adjusts the opening of the electro-proportional throttle valve when the nozzle is in an abnormal operating condition. If the adjustment ratio exceeds the safe ratio, the spray volume deviation is further compensated by adjusting the gearbox gear. Most abnormal fluctuations in water supply pressure are short-term. Therefore, this invention first switches the gearbox to a lower gear (to reduce speed and wait for the abnormal fluctuation to end, thus reducing the impact of the abnormal fluctuation) and enters a preset fluctuation adjustment period (adaptive adjustment in the short term). During the fluctuation adjustment period, in response to the spray volume exceeding the upper limit of the dangerous working range, the opening of the electro-proportional throttle valve is reduced by a preset ratio. In response to the spray volume falling below the lower limit of the dangerous working range, the opening of the electro-proportional throttle valve is reduced by a preset ratio. After the fluctuation adjustment period ends, the gearbox gear and the opening of the electro-proportional throttle valve are restored to their original values, thereby effectively reducing the impact of fluctuations on the spray volume during the short-term fluctuation period. Attached Figure Description

[0017] Figure 1 A schematic diagram of a variable spray control system for a reel-type sprinkler irrigation machine provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a control method for a variable spraying control system for a reel-type sprinkler irrigation machine, provided as an embodiment of the present invention. Detailed Implementation

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] In the prior art known to the inventors of this invention, irrigation management using traditional reel-type sprinkler systems relies on the operator's experience. The inherent structure of the reel-type sprinkler system makes it difficult to control the travel speed, and fluctuations in nozzle pressure can lead to variations in spray flow, easily resulting in uneven irrigation uniformity in the field, with deviations in coverage and irrigation precision. This not only affects the uniformity of crop growth but also wastes water and fertilizer resources (if fertilization is performed through it).

[0020] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0021] Combination Figure 1This embodiment provides a variable spraying control system for a reel-type sprinkler irrigation machine, comprising a drive mechanism, a detection mechanism, an electro-proportional directional valve, an electro-proportional throttle valve, a flow sensor, and a controller. The drive mechanism, via a gearbox, rotates the reel-type sprinkler irrigation machine winch to reel in the PE pipe and move the irrigation trolley. The drive mechanism includes a water turbine or a drive motor. The detection mechanism detects the real-time position of the irrigation trolley. The planned route of the irrigation trolley is determined based on the irrigation prescription map of the current plot and is divided into multiple spraying sections. The detection mechanism includes a position sensor mounted on the irrigation trolley. The electro-proportional directional valve is located on the water supply line of the sprinkler head of the irrigation trolley. By switching the valve position of the electro-proportional directional valve, the spraying mode can be adjusted. The spraying modes of the irrigation trolley include water spraying, pesticide application, and fertilizer application. The electro-proportional directional valve includes a first working position for water spraying, a second working position for fertilizer application, a third working position for pesticide application, and a stop position. The electro-proportional throttle valve is installed on the water supply pipeline of the sprinkler head of the irrigation trolley. By adjusting the control current of the electro-proportional throttle valve, the valve core opening can be adjusted to control the water supply flow of the sprinkler head by regulating the pipeline resistance. The flow sensor is installed on the sprinkler head to detect the spray volume of the sprinkler head.

[0022] The controller is communicatively connected to the gearbox, detection mechanism, electro-proportional directional valve, electro-proportional throttle valve, and flow sensor. The controller is used to control the gearbox gear position, electro-proportional directional valve position, and electro-proportional throttle valve opening in real time based on the detection data received from the detection mechanism and flow sensor when the sprinkler trolley is moving, so as to ensure that the spraying volume meets the expectation in real time.

[0023] Combination Figure 2 Specifically, this embodiment provides a control method for a variable spray control system of a reel-type sprinkler irrigation machine, which includes: Step S1: Control the electro-proportional directional valve to switch to the corresponding valve position according to the required spraying mode, use the gearbox gear position and the opening of the electro-proportional throttle valve core as spraying parameters, determine the required spraying volume for each spraying section according to the irrigation prescription diagram, and determine the spraying parameters for each spraying section according to the spraying volume. The determination of spraying parameters for each spraying section based on the spraying volume includes: selecting the corresponding spraying volume-spraying parameter association table according to the spraying mode, and looking up the corresponding spraying parameters in the spraying volume-spraying parameter association table based on the spraying volume; or inputting the spraying volume and spraying mode into a pre-trained deep learning model to predict the corresponding spraying parameters, wherein the deep learning model is trained using historical data of spraying volume, spraying mode, and spraying parameters. The deep learning model can more accurately predict spraying parameters by learning from historical data.

[0024] Step S2: The sprinkler trolley travels along the planned route through each spraying section. When the detection mechanism detects that the real-time position of the sprinkler trolley has reached the starting point of each spraying section, the spraying parameters are updated to the corresponding spraying parameters to carry out the spraying operation until the next spraying section is reached. In this embodiment, the real-time updated spraying parameters can adapt to the spraying needs of different plots. However, in actual operation, the output pressure is greatly affected by the water supply pressure and the nozzle outlet area. The output pressure is prone to fluctuation, and the nozzle outlet area is prone to change due to scouring or blockage, which will cause deviations in the water output. Therefore, in this embodiment, when the spraying volume detected by the flow sensor deviates, the gearbox gear and the opening of the electro-proportional throttle valve core are adjusted to compensate for the spraying volume deviation, thereby ensuring that the spraying volume meets expectations.

[0025] Step S3: When spraying in each spraying section according to the corresponding spraying parameters, if the spraying volume detected by the flow sensor is abnormal and deviates from the expected amount, the flow sensor sends a warning signal to the controller. After receiving the warning signal, the controller selects the corresponding warning strategy according to the abnormal operating conditions and adjusts the gearbox gear position and the opening of the electric proportional throttle valve core accordingly.

[0026] The criteria for determining if the spray volume detected by the flow sensor fluctuates abnormally and deviates from the expected value include: a safe operating range is defined as a first percentage (for example, 5%) above and below the expected spray volume; a dangerous operating range is defined as a second percentage (for example, 15%) above and below the expected spray volume, where the second percentage is greater than the first percentage. If the spray volume exceeds the safe operating range but is within the dangerous operating range (meaning a nozzle malfunction may have occurred), a first time period is entered. If the cumulative duration of the spray volume exceeding the safe operating range but within the dangerous operating range during the first time period reaches a preset duration threshold, it is determined to be a nozzle malfunction. If the spray volume exceeds the dangerous operating range (meaning a water pressure malfunction may have occurred), a second time period is entered. If the cumulative number of times the spray volume exceeds the dangerous operating range during the second time period reaches a preset number of times threshold, and there are instances during the second time period where the volume is both above the upper limit and below the lower limit of the dangerous operating range, it is determined to be a water pressure fluctuation malfunction. The duration of the first time period (for example, it can be set to 1 minute to avoid outliers and trigger anomaly adjustments as promptly as possible) is longer than that of the second time period (for example, it can be set to 5-30 seconds to trigger anomaly adjustments promptly). This is because abnormal nozzle conditions are usually persistent, so a longer first time period is used for monitoring, while abnormal nozzle conditions are usually short-term fluctuations, so a shorter second time period is used for monitoring.

[0027] After receiving the warning signal, the controller selects the appropriate warning strategy based on the abnormal operating conditions and adjusts the gearbox gear position and the opening of the electronic proportional throttle valve core accordingly, including: When the nozzle is in abnormal operating condition; If the cumulative duration of the spray volume exceeding the upper limit of the safe working range reaches a preset duration threshold, the valve core opening reduction ratio of the electro-proportional throttle valve is determined based on the average value of the spray volume within the first time period. If the valve core opening reduction ratio is less than the preset safety ratio, the gearbox gear remains unchanged, and the control current is adjusted according to the valve core opening reduction ratio to reduce the valve core opening of the electro-proportional throttle valve. If the valve core opening reduction ratio is greater than or equal to the preset safety ratio, the gearbox gear is switched to a higher gear, and the control current is adjusted according to the preset safety ratio to reduce the valve core opening of the electro-proportional throttle valve. The strategy of this embodiment prioritizes compensation through adjustment of the valve core opening of the electro-proportional throttle valve. If the valve core opening of the electro-proportional throttle valve needs to be adjusted by too large a ratio, it means that the compensation capability of the electro-proportional throttle valve is insufficient to completely compensate for the deviation, which may affect normal operation. In this case, further compensation is selected by adjusting the gearbox gear in conjunction with the electro-proportional throttle valve.

[0028] Similarly, if the cumulative duration for which the spray volume is below the lower limit of the safe operating range reaches a preset duration threshold, the valve core opening of the electro-proportional throttle valve is increased by a certain percentage based on the average spray volume during the first time period. If the valve core opening increase percentage is less than the preset safe percentage, the gearbox gear remains unchanged, and the control current is adjusted according to the valve core opening increase percentage to increase the valve core opening of the electro-proportional throttle valve. If the valve core opening increase percentage is greater than or equal to the preset safe percentage, the gearbox gear is shifted to a lower gear, and the control current is adjusted according to the preset safe percentage to increase the valve core opening of the electro-proportional throttle valve.

[0029] In addition, after receiving the warning signal, the controller selects the corresponding warning strategy according to the abnormal operating conditions to adjust the gearbox gear and the opening of the electro-proportional throttle valve core. This includes: when the water pressure fluctuates abnormally, the gearbox gear is switched to a lower gear and enters a preset fluctuation adjustment period. During the fluctuation adjustment period, in response to the spray volume exceeding the upper limit of the dangerous working range, the opening of the electro-proportional throttle valve core is reduced by a preset ratio; in response to the spray volume falling below the lower limit of the dangerous working range, the opening of the electro-proportional throttle valve core is reduced by a preset ratio. After the fluctuation adjustment period ends, the gearbox gear and the opening of the electro-proportional throttle valve core are restored to their original values. This allows for short-term flexible adjustment when water pressure fluctuations are detected. Usually, the abnormal water pressure fluctuation has ended after the fluctuation adjustment period, and normal operating conditions can be restored at this time.

[0030] In summary, the controller in this embodiment is communicatively connected to the gearbox, detection mechanism, electro-proportional directional valve, electro-proportional throttle valve, and flow sensor. The controller is used to control the gearbox gear position, electro-proportional directional valve position, and electro-proportional throttle valve opening in real time based on the electrical signals received from the detection mechanism and flow sensor when the sprinkler trolley is in operation. This allows for real-time compensation when the spray volume deviates from the expected value due to abnormalities, thereby ensuring that the spray volume meets the expected value in real time.

[0031] In this embodiment, when spraying operations are performed according to the corresponding spraying parameters in each spraying section, if the spray volume detected by the flow sensor deviates from the expected value, the flow sensor sends a warning signal to the controller. Upon receiving the warning signal, the controller selects an appropriate warning strategy based on the abnormal operating condition and adjusts the gearbox gear and the opening of the electro-proportional throttle valve accordingly. Abnormal nozzle operating conditions are mostly caused by nozzle scouring or blockage, which may persist. Therefore, this invention adjusts the opening of the electro-proportional throttle valve when the nozzle is in an abnormal operating condition. If the adjustment ratio exceeds the safe ratio, the spray volume deviation is further compensated by adjusting the gearbox gear. Most abnormal fluctuations in water supply pressure are short-term. Therefore, this invention first switches the gearbox to a lower gear (to reduce speed and wait for the abnormal fluctuation to end, thus reducing the impact of the abnormal fluctuation) and enters a preset fluctuation adjustment period (adaptive adjustment in the short term). During the fluctuation adjustment period, in response to the spray volume exceeding the upper limit of the dangerous working range, the opening of the electro-proportional throttle valve is reduced by a preset ratio. In response to the spray volume falling below the lower limit of the dangerous working range, the opening of the electro-proportional throttle valve is reduced by a preset ratio. After the fluctuation adjustment period ends, the gearbox gear and the opening of the electro-proportional throttle valve are restored to their original values, thereby effectively reducing the impact of fluctuations on the spray volume during the short-term fluctuation period.

[0032] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A variable spray control system for a reel sprinkler, comprising: The drive mechanism drives the reel sprinkler winch to rotate to reel the PE pipe and move the sprinkler trolley through the gearbox. The detection mechanism detects the real-time position of the sprinkler trolley, and the planned route of the sprinkler trolley is determined according to the irrigation prescription map of the current field and is divided into multiple spraying sections. The electric proportional directional valve is arranged on the water supply pipeline of the sprinkler head of the sprinkler trolley, and the adjustment of the spraying mode can be realized by switching the valve position of the electric proportional directional valve. The electric proportional throttle valve is arranged on the water supply pipeline of the sprinkler head of the sprinkler trolley, and the opening of the valve core can be adjusted by adjusting the control current of the electric proportional throttle valve to control the water flow of the sprinkler head by adjusting the pipeline resistance. The flow sensor is arranged on the sprinkler head to detect the spraying amount of the sprinkler head. The controller is in communication connection with the gearbox, the detection mechanism, the electric proportional directional valve, the electric proportional throttle valve and the flow sensor. The controller is used to: According to the detection data received by the detection mechanism and the flow sensor, the gear position of the gearbox, the valve position of the electric proportional directional valve and the opening of the electric proportional throttle valve are controlled in real time to ensure that the spraying amount meets the expectation in real time when the sprinkler trolley moves. The detection mechanism includes a position sensor arranged on the sprinkler trolley.

2. The reel sprinkler variable spray control system of claim 1 wherein, The drive mechanism includes a water turbine or a drive motor.

3. The reel sprinkler variable spray control system of claim 1 wherein, 4. The variable spraying control system of the reel sprinkler according to claim 1, wherein The spraying mode of the sprinkler trolley includes water spraying, pesticide application and fertilizer application operations; The electric proportional directional valve includes a first working position for water spraying operation, a second working position for fertilizer application operation, a third working position for pesticide application operation and a cut-off position. According to the required spraying mode, the electric proportional directional valve is switched to the corresponding valve position, the gear position of the gearbox and the opening of the valve core of the electric proportional throttle valve are taken as the spraying parameters, the required spraying amount of each spraying section is determined according to the irrigation prescription map, and the spraying parameters of each spraying section are determined according to the spraying amount; 5. A control method of a variable spray control system of a reel sprinkler, characterized by, The sprinkler trolley passes through each spraying section along the planned route, and when the detection mechanism detects that the real-time position of the sprinkler trolley reaches the starting point of each spraying section, the spraying parameters are updated to the corresponding spraying parameters for spraying operation until the next spraying section is performed; When the spraying operation is performed according to the corresponding spraying parameters in each spraying section, if the spraying amount detected by the flow sensor deviates from the expectation due to abnormality, the flow sensor feeds back a warning signal to the controller, and the controller receives the warning signal and selects a corresponding warning strategy according to the abnormal working condition to feedback adjust the gear position of the gearbox and the opening of the valve core of the electric proportional throttle valve. According to the spraying amount, the spraying parameters of each spraying section are determined by: According to the spraying mode, a corresponding spraying amount-spraying parameter correlation table is selected, and the corresponding spraying parameters are determined by looking up the spraying amount-spraying parameter correlation table according to the spraying amount; or 6. The control method of a variable spray control system of a reel sprinkler according to claim 5, wherein, The spraying amount and the spraying mode are input into a pre-trained deep learning model to predict the corresponding spraying parameters, and the deep learning model is trained using historical data of the spraying amount, the spraying mode and the spraying parameters. If the spraying amount detected by the flow sensor deviates from the expected judgment standard due to fluctuation abnormality, it includes: ​ 7. The control method of a variable spray control system of a reel sprinkler according to claim 5, wherein, ​ a first proportion of the expected value of the spraying amount is set as a safe working range, and a second proportion of the expected value of the spraying amount is set as a dangerous working range, the second proportion being greater than the first proportion; if the spraying amount is outside the safe working range and within the dangerous working range, a first time period is entered, and if the spraying amount is outside the safe working range and within the dangerous working range for a cumulative length of time that reaches a preset length threshold in the first time period, it is determined that the spray head is in an abnormal working condition; if the spraying amount is outside the dangerous working range, a second time period is entered, and if the spraying amount is outside the dangerous working range for a cumulative number of times that reaches a preset number threshold in the second time period, and there is a condition that is greater than an upper limit value of the dangerous working range and less than a lower limit value of the dangerous working range at the same time in the second time period, it is determined that the water delivery pressure fluctuation is in an abnormal working condition; the length of the first time period is greater than the length of the second time period.

8. The control method of a variable spray control system of a reel sprinkler according to claim 7, wherein, after the controller receives the early warning signal, feedback adjustment of the gearbox gear position and the valve core opening degree of the electric proportional throttle valve is performed according to the corresponding early warning strategy of the abnormal working condition, including: when the spray head is in an abnormal working condition; if the cumulative length of time that the spraying amount is outside the upper limit value of the safe working range reaches a preset length threshold, the valve core opening degree of the electric proportional throttle valve is determined according to the average value of the spraying amount in the first time period; if the valve core opening degree reduction ratio is less than a preset safety ratio, the gearbox gear position remains unchanged, and the control current is adjusted according to the valve core opening degree reduction ratio to reduce the valve core opening degree of the electric proportional throttle valve; if the valve core opening degree reduction ratio is greater than or equal to the preset safety ratio, the gearbox gear position is switched to a larger level gear position, and the control current is adjusted according to the preset safety ratio to reduce the valve core opening degree of the electric proportional throttle valve; if the cumulative length of time that the spraying amount is below the lower limit value of the safe working range reaches a preset length threshold, the valve core opening degree of the electric proportional throttle valve is determined according to the average value of the spraying amount in the first time period; if the valve core opening degree increase ratio is less than a preset safety ratio, the gearbox gear position remains unchanged, and the control current is adjusted according to the valve core opening degree increase ratio to increase the valve core opening degree of the electric proportional throttle valve; if the valve core opening degree increase ratio is greater than or equal to the preset safety ratio, the gearbox gear position is switched to a smaller level gear position, and the control current is adjusted according to the preset safety ratio to increase the valve core opening degree of the electric proportional throttle valve.

9. The control method of a variable spray control system of a reel sprinkler according to claim 7, wherein, after the controller receives the early warning signal, feedback adjustment of the gearbox gear position and the valve core opening degree of the electric proportional throttle valve is performed according to the corresponding early warning strategy of the abnormal working condition, including: when the water delivery pressure fluctuation is in an abnormal working condition, the gearbox gear position is switched to a smaller level gear position and enters a preset fluctuation adjustment time period, in the fluctuation adjustment time period, in response to the spraying amount being greater than the upper limit value of the dangerous working range, the valve core opening degree of the electric proportional throttle valve is reduced by a preset ratio, and in response to the spraying amount being less than the lower limit value of the dangerous working range, the valve core opening degree of the electric proportional throttle valve is reduced by a preset ratio; after the fluctuation adjustment time period ends, the gearbox gear position and the valve core opening degree of the electric proportional throttle valve are restored to the original values.

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