Intelligent agricultural remote device control method

Abstract

This invention relates to the field of smart agricultural environment, and in particular to a method for remote control of smart agricultural equipment. The method includes: real-time acquisition of environmental parameter data; calculation of standardized differences of environmental parameters based on the data; calculation of control output values ​​of environmental parameters using these standardized differences; and adjustment of the control output values ​​by dynamically adjusting the weighting coefficients of the environmental parameters. The method further optimizes the control output values ​​by optimizing an objective function to obtain optimized control output values; calculation of equipment operating intensity based on the optimized control output values; and adjustment of equipment operating parameters according to the operating intensity. This invention can uniformly process different environmental parameters, thereby improving control sensitivity and equipment response accuracy, contributing to stable equipment operation and continuous optimization of the crop growth environment.

Description

Technical Field

[0001] This invention relates to the field of smart agricultural environment, and in particular to a method for remote control of smart agricultural equipment. Background Technology

[0002] With the development of smart agriculture, optimizing the agricultural environment through remote monitoring and intelligent control equipment has become an industry trend. Existing technologies typically rely on sensors installed within crop areas to collect environmental parameter data, which is then used to drive corresponding equipment through preset parameter control rules to achieve automatic regulation of the crop growth environment. This approach allows agricultural producers to reduce reliance on manual operation, improve resource utilization efficiency, and ultimately increase crop yield and quality. However, this method struggles to uniformly process different parameters, and in complex environments with multiple parameter adjustments, it is prone to insufficient control or over-adjustment. Therefore, the smart agriculture remote equipment control method proposed in this invention is highly suitable for practical needs. Summary of the Invention

[0003] To overcome the shortcomings of the above technologies, this invention provides a device control method suitable for multiple environmental parameter data. It can uniformly process different environmental parameters, thereby improving the control sensitivity and device response accuracy, and contributing to the stable operation of the device and the continuous optimization of the crop growth environment.

[0004] A method for remote control of smart agriculture equipment includes the following steps:

[0005] S1: Collect environmental parameter data in real time, calculate the standardized difference of environmental parameters based on the environmental parameter data, calculate the control output value of environmental parameters using the standardized difference of environmental parameters, dynamically update the weight coefficient of environmental parameters according to the change of control output value, and adjust the control output value by replacing the weight coefficient of environmental parameters before the update with the updated weight coefficient of environmental parameters.

[0006] S2: Optimize the control output value by optimizing the objective function to obtain the optimized control output value; calculate the equipment operating intensity based on the optimized control output value; adjust the equipment operating parameters according to the equipment operating intensity.

[0007] Preferably, S1 specifically includes:

[0008] The difference between the collected environmental parameter data and the set target value of the environmental parameter is divided by the set standardization factor of the environmental parameter to obtain the relative deviation of the environmental parameter. Based on the relative deviation of the environmental parameter, the hyperbolic tangent function and the exponential function are fused to obtain the standardized difference.

[0009] Preferably, S1 specifically includes:

[0010] The change in control output value refers to the difference between the current control output value and the control output value before the update; the update formula for the weighting coefficients of environmental parameters is:

[0011] ;

[0012] in, It is the updated version of the first i Weighting coefficients for each environmental parameter; i It is an index of environmental parameters; K i It is the current number i The weighting coefficients of each environmental parameter; ζ is sin(Δ C i The adjustment coefficient of the term; η is ln(1+|Δ C i |) adjustment coefficient; Δ C i It is the current control output value. C i Change

[0013] Preferably, S2 specifically includes:

[0014] The purpose of optimizing the objective function is to achieve a comprehensive balance of the control output values ​​for each environmental parameter. The first part of the objective function is the sum of the weighted deviations between the control output values ​​and the standardized differences. The second part is a nonlinear penalty applied to the changes in the control output values. The sum of the two parts yields the numerical value of the objective function, as shown in the formula:

[0015] ;

[0016] in, J It is a comprehensive control performance indicator; m It refers to the number of environmental parameters; i It is an index of environmental parameters; w i It is the first i Deviation control weights for each environmental parameter; C i It is the first i The control output value of each environmental parameter; K i It is the current number i Weighting coefficients for each environmental parameter; D i It is the first i The standardized difference of each environmental parameter; λ is the smoothing control coefficient; ν ξ is the difference adjustment coefficient; ξ is the output change adjustment coefficient; Δ Ci It is the current control output value. C i The change in quantity.

[0017] Preferably, S2 specifically includes:

[0018] In the process of optimizing the control output value, the gradient descent method is used to gradually adjust the control output value according to the comprehensive control performance index, and the control output value is updated in the direction that minimizes the comprehensive control performance index; the comprehensive control performance index is the value of the optimization objective function.

[0019] Preferably, S2 specifically includes:

[0020] When the change in the comprehensive control performance index is less than the change threshold or the maximum number of iterations is reached, the iteration ends and the optimized control output value is obtained.

[0021] Preferably, S2 specifically includes:

[0022] Based on the optimized control output value and the equipment's gain coefficient, the equipment's operating intensity is calculated using the following formula: ;

[0023] in, P i It is the first i The operational intensity of each piece of equipment; i It is an index of environmental parameters; P min,i and P max,i They are the first i Minimum and maximum operating values ​​for each device; It is the first i Optimized control output values ​​for each environmental parameter; K i It is the first i The gain coefficient of the device corresponding to each environmental parameter.

[0024] Preferably, S2 specifically includes:

[0025] Adjust the corresponding equipment operating parameters according to the equipment operating intensity, and the equipment will adjust in real time according to the specified operating intensity.

[0026] The beneficial effects of the technical solution of the present invention are:

[0027] 1. The smart agriculture remote equipment control method provided by the present invention collects environmental parameter data in real time and generates target environmental parameter data in combination with crop needs. It further utilizes standardized difference vectors and optimized objective functions to balance response speed and stability in the process of adjusting various environmental parameters, ensuring dynamic adaptability and achieving effective balanced response under different environmental parameters, thus meeting the requirements of smart agriculture for refined management.

[0028] 2. By dynamically updating the weighting coefficients in real time, it can more sensitively perceive changes in environmental conditions. Especially when the deviation is large or the environment fluctuates drastically, it can quickly adjust the intensity of equipment operation, thereby improving the response accuracy of the equipment. This not only improves the sensitivity of control, but also reduces the risk of over-adjustment, which helps to stabilize the operation of the equipment and continuously optimize the crop growth environment.

[0029] 3. Based on the optimized control output value, the equipment operating intensity is calculated using the equipment operating intensity formula, thereby controlling the equipment so that the operating intensity can smoothly transition within a small range and accelerate the response under large deviation conditions. This makes the execution process more energy-efficient and the equipment operation more stable and reliable, avoiding frequent start-stop or high-energy-consuming operations caused by over-response. It achieves energy-efficient agricultural environmental control and provides practical value for smart agriculture applications. Attached Figure Description

[0030] Figure 1 This is a flowchart of a smart agriculture remote equipment control method according to the present invention. Detailed Implementation

[0031] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] 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 invention pertains.

[0033] The following description, in conjunction with the accompanying drawings, details a specific scheme for a smart agriculture remote equipment control method provided by the present invention.

[0034] See attached document Figure 1 The diagram illustrates a flowchart of a smart agriculture remote equipment control method according to an embodiment of the present invention, which includes the following steps:

[0035] S1: Collect environmental parameter data in real time, calculate the standardized difference of environmental parameters based on the environmental parameter data, use the standardized difference of environmental parameters to calculate the control output value of environmental parameters, and adjust the control output value by dynamically adjusting the weight coefficient of environmental parameters.

[0036] Sensors for temperature, humidity, light intensity, soil moisture, and carbon dioxide concentration are installed within the crop area. Environmental parameter data is collected in real time via remote monitoring and recorded as an environmental state vector. Environmental parameters include, but are not limited to, temperature, humidity, light intensity, soil moisture, and carbon dioxide concentration. Each element in the environmental state vector is a scalar value. Target values ​​for each environmental parameter are set according to the needs of crop growth, forming a target state vector.

[0037] The standardized differences of environmental parameters are calculated, generating a standardized difference vector. The standardized differences are obtained by standardizing the deviations between the current environmental parameter data and the target values. This standardization process keeps the range of the standardized differences within a relatively consistent order of magnitude, helping to ensure a balanced influence of different environmental parameter data in subsequent control calculations.

[0038] Specifically, for each environmental parameter data point, the difference between the data point and the target value is calculated, and then standardized to bring environmental parameter data of different orders of magnitude into a similar range. The standardization process uses the following formula: ;

[0039] Among them, D i Indicates the first i Standardized differences of environmental parameters; i It is an index of environmental parameters, used to distinguish different environmental parameters; It is a hyperbolic tangent function that provides a linear response when the input value is small, but tends to saturate when the input value is large. This allows small deviations to be amplified, while larger deviations are smoothed out, thus avoiding an excessively large response. It is the deviation adjustment coefficient, which is determined based on expert experience. The reference value is 0.3~3.0. It is used to adjust the sensitivity of the standardized difference calculation to control the amplification or reduction of the difference by the hyperbolic tangent function. Increasing the deviation adjustment coefficient will increase the sensitivity to deviation, which is suitable for scenarios that require rapid response. Decreasing the deviation adjustment coefficient will make the response to deviation smoother. M env,i It is the first i These environmental parameter data are acquired in real time from sensor devices and are used to reflect the actual environmental status of the current crop area. M target,i It is the first iThe target values ​​for each environmental parameter are set according to the growth requirements of the crop, representing the environmental values ​​required for the crop to grow under optimal conditions. It is the first i The standardization factor for each environmental parameter is set using expert experience based on the standard deviation or expected range of historical environmental parameter data. This is used to scale environmental parameter data of different orders of magnitude to a similar order of magnitude for unified processing. Historical environmental parameter data comes from sources such as long-term monitoring records of various sensors and historical environmental records of agricultural production areas. It is the adjustment coefficient of the exponential term, which is obtained by the environmental disturbance response experiment method. The reference value range is [0.1, 5]. It is used to control the influence of the exponential term in the formula. A larger adjustment coefficient of the exponential term will increase the effect of the exponential term and tend to smooth out large deviations. A smaller adjustment coefficient of the exponential term will be more sensitive to small deviations. e It is a natural constant; Indicates the first i The relative deviation of an environmental parameter is the proportion of the difference between the current environmental parameter data and the target value of the environmental parameter to the historical normal fluctuation range of that environmental parameter.

[0040] The standardized difference formula integrates multiple nonlinear processing methods, making the numerical values ​​of different environmental parameter data more consistent, which facilitates the uniformity and efficiency of subsequent control calculations.

[0041] The control output values ​​of environmental parameters are calculated using the standardized differences of these parameters, generating a control output vector. The control output values ​​of the environmental parameters are the intensity of the adjustment command calculated based on the standardized differences of each environmental parameter. These commands are used to drive corresponding control equipment, such as heaters, humidity regulators, and irrigation equipment, guiding the control equipment to adjust environmental parameters such as temperature, humidity, light intensity, soil moisture, and carbon dioxide concentration.

[0042] The formula for calculating the control output value is as follows:

[0043] ;

[0044] Among them, C i It is the first i The control output value of an environmental parameter is used to indicate the adjustment level that the relevant control equipment needs to apply; i It is an index of environmental parameters; k i It is the first i The weighting coefficient of the first environmental parameter determines the weighting coefficient of the second environmental parameter. i Standardized difference D of each environmental parameter i Calculate the control output value C i The greater the influence of the time and the larger the weighting coefficient, the greater the control output value C. i Standardized difference D iThe stronger the response; It is used for adjustment The constant representing the influence of the term, used to provide a more flexible response to deviations of different magnitudes, was obtained through optimization using orthogonal experimental design, with a reference value of 0.5~3.0; D i It is the first i Standardized difference of each environmental parameter; sin(D i () is a sine function, and by introducing nonlinear adjustment, the response to different deviations is smoothed; It is a highly sensitive deviation driving force term, simulating the fast response channel of environmental control, which can accelerate the action speed of control equipment when the deviation is large; δ is used for adjustment The constant of the influence term, with a reference value of 0.1-3, is determined according to the specific environment. It controls large deviations while also providing a smooth response to small deviations; cos(D i ) is based on standardized difference D i The cosine calculation is used to smooth nonlinear control; It is a steady-state regulation and damping control term that suppresses the gain through a logarithmic function when there is a large deviation, and uses cosine oscillation to achieve a smooth control transition.

[0045] Because the influence of environmental parameters changes over time, the weighting coefficients need to be dynamically adjusted in real time to respond to changes in environmental conditions. Therefore, the weighting coefficients are dynamically updated based on the changes in the control output value to improve adaptability and control accuracy. The change in the control output value refers to the difference between the current control output value and the previous control output value, reflecting the trend of environmental parameter regulation and guiding the dynamic adjustment of the weighting coefficients.

[0046] The formula for updating the weighting coefficients is as follows: in, It is the updated version of the first i The weighting coefficient of the i-th environmental parameter represents the weighting coefficient of the i-th environmental parameter. i The importance or influence of each environmental parameter on the control output, after each update. Will replace the old k i Used for the next round of calculations; i It is an index of environmental parameters; k i It is the current number i The weighting coefficients of each environmental parameter are updated after each calculation, reflecting the dynamic changes in current environmental conditions and parameters, in order to adjust the response to different environmental parameters in real time. i The initial value is set using expert experience based on the crop's requirements for different environmental parameters, with a reference value of 0 to 1; yes The adjustment coefficient of the term is used to control The influence of the term in the update formula was obtained through field comparison trials, with a reference value of 0.1 to 2.5. A larger value indicates a lower influence. The value will make the pair The changes are more sensitive, so the adjustment range should be increased; yes The adjustment coefficient of the term is used to control The magnitude of the impact of the item is obtained by optimization using the environmental disturbance response experimental method, with a reference value of 0.1 to 2.5. It is the current control output value C i The change in control output, i.e., the increment of the control output, is obtained by the difference between the current control output value and the control output value of the previous round, reflecting the change in the control output value of the first round. i The trend of environmental parameter regulation and change guides the dynamic adjustment of weight coefficients, with the initial value set to zero; It is a dynamic gain term, used to adjust the weight update rate according to the direction and magnitude of the change in the control output value; It is a smoothing amplification term, mainly used to perform logarithmic mapping on the change range of the control output value, making the response to large-range changes more stable.

[0047] S2: Optimize the control output value by optimizing the objective function to obtain the optimized control output value; calculate the equipment operating intensity based on the optimized control output value; adjust the equipment operating parameters according to the equipment operating intensity.

[0048] An optimization objective function is used to comprehensively balance control output values. The purpose of optimizing the objective function is to comprehensively balance each control output value, ensuring both efficient response to deviations in current environmental parameters and maintaining the smoothness of the adjustment process during the regulation of different environmental parameters. Specifically, the first part of the optimization objective function prioritizes the adjustment of deviations in important environmental parameters by weighting the deviation between the control output value and the standardized difference; the second part limits the regulation amplitude by applying a nonlinear penalty to the change in the control output value, preventing over-regulation and fluctuations, thus balancing response speed and regulation stability. By minimizing the optimization objective function, deviations can be responded to quickly and smoothly when regulating various environmental parameters, gradually bringing the environmental state closer to the target.

[0049] The objective function is optimized as follows:

[0050] ;

[0051] in, J It is a comprehensive control performance index, representing the total deviation between the current control output value and the standardized difference response. It is the objective of the optimization process and serves as a metric for measuring control effectiveness, used to control the stability of the control output value. Through optimization... J On the basis of stable adjustment, it gradually approaches the environmental target state;m The number of environmental parameters is determined by the types of environmental parameters being monitored. i It is an index of environmental parameters. ;w i It is the first i The deviation control weights for each environmental parameter are used to adjust the influence of the deviation of each environmental parameter in the optimization objective. The larger the deviation control weight, the more important the deviation of the corresponding environmental parameter. These weights are set using expert experience based on the crop's sensitivity to different environmental conditions. i It is the first i The control output value of each environmental parameter; k i It is the current number i The weighting coefficients of each environmental parameter; D i It is the first i Standardized differences of environmental parameters; These are smoothing control coefficients, used to control the amount of change in the control output value within the objective function. The penalty intensity is such that a larger smoothing control coefficient value will suppress output changes and make the adjustment more stable. It is determined based on expert experience and the value ranges from 0.05 to 1.0. It is the difference adjustment coefficient, used to control |D i The influence of smoothing control was obtained through fitting experiments using historical crop long-term monitoring data extracted from existing databases, with a reference value of 0.1 to 2.0. It is the output change adjustment coefficient, used for control. The influence of smoothing control was obtained through fitting experiments using historical crop long-term monitoring data extracted from existing databases, with a reference value of 0.1 to 3.0. The control output value C reflects the current environmental parameters. i With expected control objectives The weighted deviation between them; Used to limit rapid and large fluctuations in control output, ensuring smooth regulation and equipment lifespan.

[0052] Based on the value of the objective function, i.e., the comprehensive control performance index, C is gradually adjusted using the gradient descent method. i The value of is updated for each C in the direction that minimizes the overall control performance index. i The optimization of the control output value is achieved. The iteration ends when the change in the overall control performance index is less than the change threshold or the maximum number of iterations is reached, yielding the optimized control output value. The change threshold and maximum number of iterations are set according to the specific implementation scenario. Gradient descent is an existing technology and will not be elaborated upon here.

[0053] Based on the optimized control output value, the equipment operating intensity is determined using the equipment operating intensity formula. The equipment operating intensity refers to the actual workload level of the controlled equipment, determined according to the equipment operating parameters based on the optimized control output value, so that environmental conditions gradually approach the target state. The equipment operating intensity formula is as follows: ;

[0054] in, P i It is the first i The operational intensity of a device represents the output level of the device during operation. i It is an index of environmental parameters; P min,i and P max,i They are the first i The minimum and maximum operating values ​​for each device represent the device's lowest and highest operating ranges, respectively. For example, for irrigation equipment, P min,i This is the minimum water flow rate of the water pump. P max,i This is the maximum water flow rate of the water pump for greenhouse heating equipment. P min,i and P max,i These represent the minimum and maximum heating power, respectively. It is the first i Optimized control output values ​​for each environmental parameter; k i It is the first i The gain coefficient of the device corresponding to each environmental parameter is used to adjust and optimize the influence of the control output value on the operating intensity of the device. It is set based on the specific device type and sensitivity requirements using expert experience. It is a response adjustment term used to enhance the control sensitivity of the equipment. When the optimized control output value is small, the increase of the response adjustment term is small, so that the equipment operation intensity increases slowly and the adjustment process is more stable. When the optimized control output value is large, the increase of the response adjustment term is significantly increased, accelerating the increase of the equipment operation intensity and enabling the equipment to respond quickly to environmental requirements. It is a nonlinear amplification term. When the optimized control output value is small, it improves the response capability of the equipment during small-range adjustments, which helps in the adaptive control of subtle environmental changes and increases the stability of equipment regulation. It is a smooth damping control item that provides a smooth damping effect, reduces excessive fluctuations in equipment operating intensity, and ensures a smooth transition in equipment regulation.

[0055] The operating parameters of the equipment are adjusted according to the operating intensity to achieve dynamic response to the environment. For example, for irrigation equipment, the operating intensity will be used to set the water flow rate and irrigation time; for greenhouse heating equipment, the operating intensity will correspond to the power of the heating equipment. The equipment is adjusted in real time according to the specified operating intensity to keep environmental parameters within the target range.

[0056] Finally, the environmental status is continuously monitored, and the above-mentioned smart agriculture remote equipment control process is executed cyclically based on the new environmental parameter data to ensure that the equipment operates in a dynamic environment.

[0057] In summary, a method for remote control of smart agricultural equipment has been developed.

[0058] The order of the embodiments is for illustrative purposes only and does not represent the superiority or inferiority of the embodiments. The processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0059] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0060] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for remote control of smart agricultural equipment, characterized in that, Includes the following steps: S1: Real-time acquisition of environmental parameter data; calculation of the standardized difference of environmental parameters based on the data; calculation of the control output value of environmental parameters using the standardized difference; dynamic updating of the weighting coefficients of environmental parameters based on the change in the control output value; the change in the control output value refers to the difference between the current control output value and the control output value before the update; the update formula for the weighting coefficients of environmental parameters is: ; in, It is the updated version of the first The weighting coefficients of each environmental parameter; It is an index of environmental parameters; It is the current number Weighting coefficients for each environmental parameter; yes Adjustment coefficient of the item; yes Adjustment coefficient of the item; It is the current control output value. The change in; The control output value is adjusted by replacing the weight coefficients of the environmental parameters before the update with the weight coefficients of the updated environmental parameters. S2: The control output value is optimized by optimizing the objective function to obtain the optimized control output value. The purpose of optimizing the objective function is to comprehensively balance the control output value for each environmental parameter. The first part of the objective function is the sum of the weighted deviations between the control output value and the standardized difference, and the second part is the nonlinear penalty applied to the change in the control output value. The two parts are added together to obtain the numerical value of the objective function, as shown in the formula: ; in, It is a comprehensive control performance indicator; It refers to the number of environmental parameters; It is an index of environmental parameters; It is the first Deviation control weights for each environmental parameter; It is the first The control output value of each environmental parameter; It is the current number Weighting coefficients for each environmental parameter; It is the first Standardized differences of environmental parameters; It is the smoothing control coefficient; It is the difference adjustment coefficient; It is the output change adjustment coefficient; It is the current control output value. The change in; Based on the optimized control output value, the equipment operating intensity is calculated; and the equipment operating parameters are adjusted according to the equipment operating intensity.

2. The smart agriculture remote equipment control method according to claim 1, characterized in that, S1 specifically includes: The difference between the collected environmental parameter data and the set target value of the environmental parameter is divided by the set standardization factor of the environmental parameter to obtain the relative deviation of the environmental parameter. Based on the relative deviation of the environmental parameter, the hyperbolic tangent function and the exponential function are fused to obtain the standardized difference.

3. The method for remote control of smart agricultural equipment according to claim 1, characterized in that, S2 specifically includes: In the process of optimizing the control output value, the gradient descent method is used to gradually adjust the control output value according to the comprehensive control performance index, and the control output value is updated in the direction that minimizes the comprehensive control performance index; the comprehensive control performance index is the value of the optimization objective function.

4. The smart agriculture remote equipment control method according to claim 3, characterized in that, S2 specifically includes: When the change in the comprehensive control performance index is less than the change threshold or the maximum number of iterations is reached, the iteration ends and the optimized control output value is obtained.

5. The smart agriculture remote equipment control method according to claim 4, characterized in that, S2 specifically includes: Based on the optimized control output value and the equipment's gain coefficient, the equipment's operating intensity is calculated using the following formula: ; in, It is the first The operational intensity of each piece of equipment; It is an index of environmental parameters; and They are the first Minimum and maximum operating values ​​for each device; It is the first Optimized control output values ​​for each environmental parameter; It is the first The gain coefficient of the device corresponding to each environmental parameter.

6. The method for controlling remote equipment in smart agriculture according to claim 5, characterized in that, S2 specifically includes: Adjust the corresponding equipment operating parameters according to the equipment operating intensity, and the equipment will adjust in real time according to the specified operating intensity.

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