技术领域technical field
本发明涉及农业自动灌溉技术领域，尤其是一种基于水平衡模型的自动灌溉控制方法。The invention relates to the technical field of agricultural automatic irrigation, in particular to an automatic irrigation control method based on a water balance model.
背景技术Background technique
当前的自动灌溉控制基本上分为以下几类，一种是定时灌溉，即事先规定好灌溉时间表，定时开始，定时结束；一种是根据作物蒸腾量进行灌溉，即根据特定的计算公式进行作物蒸腾量的计算，当达到某一设定值时进行灌溉，并根据计算数据确定灌溉量的大小；一种是根据传感器数据进行灌溉，即通过插入或埋入土壤里的土壤湿度传感器实时检测土壤湿度的变化，达到某一设定值时进行灌溉，并根据传感器的检测数据确定灌溉停止时间；还有就是综合利用多种传感器的数据确定灌溉行为，比如根据空气的温湿度、光照、风速等气象参数结合土壤湿度传感器进行综合判断，最终得到灌溉的控制策略。The current automatic irrigation control is basically divided into the following categories, one is timing irrigation, that is, the irrigation schedule is set in advance, and the timing starts and ends at a fixed time; the other is irrigation based on crop transpiration, that is, according to a specific calculation formula. Calculation of crop transpiration, irrigate when a certain set value is reached, and determine the amount of irrigation according to the calculation data; one is to irrigate according to sensor data, that is, real-time detection by soil moisture sensors inserted or buried in the soil Changes in soil humidity, irrigate when a certain set value is reached, and determine the irrigation stop time based on the sensor detection data; there is also a comprehensive use of data from various sensors to determine irrigation behavior, such as air temperature and humidity, light, and wind speed And other meteorological parameters combined with soil moisture sensor to make a comprehensive judgment, and finally get the irrigation control strategy.
以上所述多种自动灌溉控制方法均存在一定的缺陷和不足：一、定时灌溉模式中灌溉制度是静态的，作物所需灌溉用水量及灌溉时间由事先估计来确定，但是作物生长及其环境是动态变化的，作物生长所需灌溉量也是不断随之变化的，该方法无法准确提供作物生长所需用水量，存在多灌或少灌的现象，而且不能根据气象条件灵活变化，即便存在降水情况，仍然会按照时间表进行灌溉控制，如果某段时间天气特别干旱而事先没有估计到，则会造成作物缺水现象。二、根据作物蒸腾量进行灌溉一般会根据气象信息进行作物蒸腾量的估算，并据此进行灌溉控制，虽然相对定时灌溉，灵活程度有所提高，但是仍然属于根据土壤外部环境参数进行估算，不了解土壤内部水分变情况，而且也无法避免降水情况下执行灌溉行为的情况出现，而且当灌溉管道或滴头、喷头等存在堵塞情况时，作物是否得到了应该得到的灌溉用水量，无法根据土壤内水分变化情况进行反馈。三、根据土壤湿度传感器数据进行灌溉，虽然是根据土壤水分变化情况进行调节，但还是存在一些不足。其一、传感器数据是否一直准确无法保证；其二，不能根据具体气象情况进行灵活调整，比如即将有降水出现，但是当前传感器数据显示应该进行灌溉行为，则可能出现刚灌溉完毕，很快出现了降水情况，那么在一定程度上就造成了水资源的浪费。四、综合利用多种气象参数和土壤参数进行灌溉控制，虽然和其它方法相比有所进步，但是该种控制多是采用一些智能算法建立模型，然后根据模型进行灌溉控制，而建立模型需要大量的数据，否则控制精度无法保证。如果采用该种控制方法，需要事先根据本地区的前期大量数据进行训练才能建立相对精确的控制模型，通用性较差，如果无法得到本地区的前期气象、土壤等环境参数，则很难利用这种控制方法；而且如果影响模型的参数过少，即便有大量的数据，也无法保证模型的精度，如果参数过多，比如利用空气温度、空气湿度、光照、土壤温度、土壤湿度、风速、雨量监测等等很多参数，不但增加了数据流，造成模型训练速度过慢，还有可能在多种参数之间存在一些相互矛盾的数据，同时多参数，大数据量也存在数据冗余的情况，直接影响控制模型的计算速度。There are certain defects and deficiencies in the above-mentioned multiple automatic irrigation control methods: one, the irrigation system is static in the regular irrigation mode, and the required irrigation water volume and irrigation time of the crops are determined by prior estimation, but the crop growth and its environment It is dynamic, and the amount of irrigation required for crop growth is also constantly changing. This method cannot accurately provide the amount of water required for crop growth. There is a phenomenon of over-irrigation or under-irrigation, and it cannot be flexibly changed according to meteorological conditions. However, irrigation control will still be carried out according to the schedule. If the weather is particularly dry for a certain period of time and is not estimated in advance, it will cause crop water shortage. 2. Irrigation based on crop transpiration Generally, crop transpiration is estimated based on meteorological information, and irrigation control is carried out accordingly. Although relative to regular irrigation, the degree of flexibility has been improved, but it is still estimated based on external soil environmental parameters. Understand the moisture change inside the soil, and it is impossible to avoid the situation of performing irrigation under the condition of precipitation, and when the irrigation pipes, drippers, sprinklers, etc. are blocked, whether the crops have received the irrigation water they should get, cannot be determined according to the soil. Feedback on changes in internal moisture. 3. Irrigate according to the soil moisture sensor data. Although it is adjusted according to the change of soil moisture, there are still some deficiencies. First, whether the sensor data is always accurate cannot be guaranteed; second, it cannot be flexibly adjusted according to specific meteorological conditions. For example, there will be precipitation soon, but the current sensor data shows that irrigation should be carried out. Precipitation, then to a certain extent, it has caused a waste of water resources. 4. Comprehensive use of various meteorological parameters and soil parameters for irrigation control. Although compared with other methods, this kind of control mostly uses some intelligent algorithms to establish models, and then performs irrigation control according to the models, and the establishment of models requires a lot of data, otherwise the control accuracy cannot be guaranteed. If this kind of control method is used, it needs to be trained in advance based on a large amount of previous data in the area to establish a relatively accurate control model, which has poor versatility. If the previous environmental parameters such as weather and soil in the area cannot be obtained, it is difficult to use this and if there are too few parameters affecting the model, even if there is a large amount of data, the accuracy of the model cannot be guaranteed. If there are too many parameters, such as using air temperature, air humidity, light, soil temperature, soil humidity, wind speed, and rainfall Monitoring and many other parameters not only increase the data flow, but also cause the model training speed to be too slow, and there may be some contradictory data among various parameters. At the same time, multi-parameters and large data volumes also have data redundancy. It directly affects the calculation speed of the control model.
发明内容Contents of the invention
本发明要解决的技术问题是提供一种基于水平衡模型的自动灌溉控制方法，能够解决现有技术的不足，提高了灌溉控制的精确度和灵活性。The technical problem to be solved by the present invention is to provide an automatic irrigation control method based on a water balance model, which can solve the deficiencies of the prior art and improve the accuracy and flexibility of irrigation control.
为解决上述技术问题，本发明所采取的技术方案如下。In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows.
一种基于水平衡模型的自动灌溉控制方法，包括以下步骤：An automatic irrigation control method based on a water balance model, comprising the following steps:
A、初始化参数，确定种植作物类别、种植日期，得到对应的作物系数Kc；确定土壤类型，得到对应的凋萎含水量WP、田间持水量WHC和灌溉阈值IT；A. Initialize parameters, determine the planting crop category and planting date, and obtain the corresponding crop coefficientKc ; determine the soil type, and obtain the corresponding withering water content WP, field water capacity WHC and irrigation threshold IT;
B、通过土壤湿度传感器参数的检测值，计算当前土壤含水量FCs；B. Calculate the current soil water content FCs through the detection value of the soil moisture sensor parameters;
C、根据土壤类型所对应的调萎含水量WP值，计算当前土壤有效水含量AWC；C. Calculate the current soil effective water content AWC according to the wilting water content WP value corresponding to the soil type;
D、根据空气温度、空气相对湿度、光辐射强度、风速、雨量、饱和水汽压值，计算实际蒸腾量ETc；D. Calculate the actual transpiration ETc according to the air temperature, air relative humidity, light radiation intensity, wind speed, rainfall, and saturated water vapor pressure;
E、根据上一次灌溉量数据、降水数据、以及计算出的当前土壤有效水含量AWC和实际蒸腾量ETc，计算土壤实时有效水含量ΔAWC；E. Calculate the real-time effective soil water content ΔAWC according to the last irrigation data, precipitation data, and the calculated current soil effective water content AWC and actual transpiration ETc ;
F、判断土壤实时有效水含量ΔAWC是否低于灌溉阈值IT，如果低于灌溉阈值IT则进行灌溉；如果不低于灌溉阈值IT，则转步骤E继续计算。F. Determine whether the real-time effective soil water content ΔAWC is lower than the irrigation threshold IT, if it is lower than the irrigation threshold IT, then perform irrigation; if it is not lower than the irrigation threshold IT, go to step E to continue calculation.
作为优选，步骤A中，土壤类型包括砂土、壤土、粘土、壤砂土、砂壤土、粘壤土。Preferably, in step A, the soil types include sandy soil, loamy soil, clay, loamy sandy soil, sandy loamy soil, and clay loamy soil.
作为优选，步骤B中，当前土壤含水量FCs的计算方法为，As a preference, in step B, the calculation method of the current soil water content FCs is,
FCs＝FC0.2m×0.5+FC0.4m×0.3+FC0.6m×0.2，FCs =FC0.2m ×0.5+FC0.4m ×0.3+FC0.6m ×0.2,
其中，FC0.2m、FC0.4m和FC0.6m分别为布置在深度20cm，40cm和60cm位置上的土壤湿度传感器检测到的土壤含水率。Among them, FC0.2m , FC0.4m and FC0.6m are the soil moisture content detected by the soil moisture sensors arranged at depths of 20cm, 40cm and 60cm, respectively.
作为优选，步骤C中，当前土壤有效水含量AWC的计算方法为，As a preference, in step C, the calculation method of current soil available water content AWC is,
AWC＝FCs-WP。AWC=FCs -WP.
作为优选，步骤D中，实际蒸腾量ETc的计算方法为，As preferably, in step D, the calculation method of actual transpiration amount ETc is,
ETc＝Kc×ET0，ETc =Kc ×ET0 ,
其中，ET0为参考蒸腾量，利用空气温度、空气相对湿度、光辐射强度、风速、雨量、饱和水汽压值，根据彭曼公式计算得出。Among them, ET0 is the reference transpiration, which is calculated according to the Penman formula by using air temperature, air relative humidity, light radiation intensity, wind speed, rainfall, and saturated water vapor pressure.
作为优选，步骤E中，土壤实时有效水含量ΔAWC的计算方法为，As a preference, in step E, the calculation method of soil real-time effective water content ΔAWC is,
ΔAWC＝AWC+P+I-ETc，ΔAWC=AWC+P+I-ETc ,
其中，P为降水量，I为灌溉量。Among them, P is precipitation and I is irrigation.
作为优选，步骤F中，灌溉量IW的计算方法为，As preferably, in step F, the calculation method of irrigation quantity IW is,
IW＝WHC-ΔAWC。IW=WHC-ΔAWC.
采用上述技术方案所带来的有益效果在于：本发明基于土壤中水平衡模型对当前的实时有效水含量进行计算，作物生长所需水分又是从土壤中得到，所以土壤中存在多少有效水，作物就能利用多少有效水，因此，根据土壤中水平衡模型进行灌溉控制是所有灌溉控制方法中最精确和最直接的。此外，土壤湿度传感器的存在又使整个灌溉系统构成了一个闭环系统，增加了整个系统的控制精确性，而且，相对于其他的一些多传感器数据融合，根据智能灌溉控制算法来说，本发明计算量小，计算速度快，模型简单，更加实用和可靠。The beneficial effect of adopting the above technical solution is that the present invention calculates the current real-time effective water content based on the water balance model in the soil, and the water required for crop growth is obtained from the soil, so how much effective water exists in the soil, Crops can use as much available water, therefore, irrigation control based on the water balance model in the soil is the most accurate and direct method of all irrigation control methods. In addition, the existence of the soil moisture sensor makes the entire irrigation system constitute a closed-loop system, which increases the control accuracy of the entire system. Moreover, compared with other multi-sensor data fusion, according to the intelligent irrigation control algorithm, the present invention calculates The amount is small, the calculation speed is fast, the model is simple, and it is more practical and reliable.
附图说明Description of drawings
图1是本发明一个具体实施方式的流程图。Fig. 1 is a flowchart of a specific embodiment of the present invention.
图2是本发明一个具体实施方式的系统示意图。Fig. 2 is a system schematic diagram of a specific embodiment of the present invention.
具体实施方式detailed description
参照图1-2，一种基于水平衡模型的自动灌溉控制方法，包括以下步骤：Referring to Figure 1-2, an automatic irrigation control method based on a water balance model includes the following steps:
A、初始化参数，确定种植作物类别、种植日期，得到对应的作物系数Kc；确定土壤类型，得到对应的凋萎含水量WP、田间持水量WHC和灌溉阈值IT；A. Initialize parameters, determine the planting crop category and planting date, and obtain the corresponding crop coefficientKc ; determine the soil type, and obtain the corresponding withering water content WP, field water capacity WHC and irrigation threshold IT;
B、通过土壤湿度传感器参数的检测值，计算当前土壤含水量FCs；B. Calculate the current soil water content FCs through the detection value of the soil moisture sensor parameters;
C、根据土壤类型所对应的调萎含水量WP值，计算当前土壤有效水含量AWC；C. Calculate the current soil effective water content AWC according to the wilting water content WP value corresponding to the soil type;
D、根据空气温度、空气相对湿度、光辐射强度、风速、雨量、饱和水汽压值，计算实际蒸腾量ETc；D. Calculate the actual transpiration ETc according to the air temperature, air relative humidity, light radiation intensity, wind speed, rainfall, and saturated water vapor pressure;
E、根据上一次灌溉量数据、降水数据、以及计算出的当前土壤有效水含量AWC和实际蒸腾量ETc，计算土壤实时有效水含量ΔAWC；E. Calculate the real-time effective soil water content ΔAWC according to the last irrigation data, precipitation data, and the calculated current soil effective water content AWC and actual transpiration ETc ;
F、判断土壤实时有效水含量ΔAWC是否低于灌溉阈值IT，如果低于灌溉阈值IT则进行灌溉；如果不低于灌溉阈值IT，则转步骤E继续计算。F. Determine whether the real-time effective soil water content ΔAWC is lower than the irrigation threshold IT, if it is lower than the irrigation threshold IT, then perform irrigation; if it is not lower than the irrigation threshold IT, go to step E to continue calculation.
步骤A中，土壤类型包括砂土、壤土、粘土、壤砂土、砂壤土、粘壤土。In step A, the soil types include sandy soil, loamy soil, clay soil, loamy sandy soil, sandy loam soil and clay loam soil.
步骤B中，当前土壤含水量FCs的计算方法为，In step B, the calculation method of the current soil water content FCs is,
FCs＝FC0.2m×0.5+FC0.4m×0.3+FC0.6m×0.2，FCs =FC0.2m ×0.5+FC0.4m ×0.3+FC0.6m ×0.2,
其中，FC0.2m、FC0.4m和FC0.6m分别为布置在深度20cm，40cm和60cm位置上的土壤湿度传感器检测到的土壤含水率。Among them, FC0.2m , FC0.4m and FC0.6m are the soil moisture content detected by the soil moisture sensors arranged at depths of 20cm, 40cm and 60cm, respectively.
步骤C中，当前土壤有效水含量AWC的计算方法为，In step C, the calculation method of the current soil available water content AWC is:
AWC＝FCs-WP。AWC=FCs -WP.
步骤D中，实际蒸腾量ETc的计算方法为，In step D, the calculation method of actual transpiration ETc is:
ETc＝Kc×ET0，ETc =Kc ×ET0 ,
其中，ET0为参考蒸腾量，利用空气温度、空气相对湿度、光辐射强度、风速、雨量、饱和水汽压值，根据彭曼公式计算得出。Among them, ET0 is the reference transpiration, which is calculated according to the Penman formula by using air temperature, air relative humidity, light radiation intensity, wind speed, rainfall, and saturated water vapor pressure.
步骤E中，土壤实时有效水含量ΔAWC的计算方法为，In step E, the calculation method of soil real-time effective water content ΔAWC is:
ΔAWC＝AWC+P+I-ETc，ΔAWC=AWC+P+I-ETc ,
其中，P为降水量，I为灌溉量。Among them, P is precipitation and I is irrigation.
步骤F中，灌溉量IW的计算方法为，In step F, the calculation method of irrigation quantity IW is,
IW＝WHC-ΔAWC。IW=WHC-ΔAWC.
本发明基于土壤中水平衡模型对当前的实时有效水含量进行计算，作物生长所需水分又是从土壤中得到，所以土壤中存在多少有效水，作物就能利用多少有效水，因此，根据土壤中水平衡模型进行灌溉控制是所有灌溉控制方法中最精确和最直接的。此外，土壤湿度传感器的存在又使整个灌溉系统构成了一个闭环系统，增加了整个系统的控制精确性，而且，相对于其他的一些多传感器数据融合，根据智能灌溉控制算法来说，本发明计算量小，计算速度快，模型简单，更加实用和可靠。The present invention calculates the current real-time effective water content based on the water balance model in the soil, and the water required for crop growth is obtained from the soil, so how much effective water exists in the soil can be used by the crops. Therefore, according to the soil The water balance model for irrigation control is the most accurate and direct of all irrigation control methods. In addition, the existence of the soil moisture sensor makes the entire irrigation system constitute a closed-loop system, which increases the control accuracy of the entire system. Moreover, compared with other multi-sensor data fusion, according to the intelligent irrigation control algorithm, the present invention calculates The amount is small, the calculation speed is fast, the model is simple, and it is more practical and reliable.
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
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