CN107024910A - Intelligent gardening system and its maintaining method - Google Patents
Intelligent gardening system and its maintaining method Download PDFInfo
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- CN107024910A CN107024910A CN201710056631.9A CN201710056631A CN107024910A CN 107024910 A CN107024910 A CN 107024910A CN 201710056631 A CN201710056631 A CN 201710056631A CN 107024910 A CN107024910 A CN 107024910A
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- sensing
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- garden
- gardening system
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of intelligent gardening system and its maintaining method, including, sensing device, control device and performs device.Intelligent gardening system gathers different zones data by sensing device or calculates different zones data using preset algorithm, realizes the actual demand for understanding different zones plant, and then different zones are performed with different strategies.The reduction of number of sensors not only avoid the trouble of user's arrangement, improve the intelligent of whole system, also reduce cost, and reduce the difficulty of user's maintenance sensor continuation of the journey.
Description
Technical field
The present invention relates to a kind of intelligent gardening system and its maintaining method.
Background technology
Conventional family's garden scene as shown in figure 1, premises perimeter (such as forward and backward) would generally lay the lawn of full wafer,
Garden elsewhere can also sporadicly or some bushess or flower nursery are arranged in shaping ground.Lawn, flower nursery, shrub in garden etc.
Vegetation needs often to arrange, and such as mows, irrigates, applies fertilizer, therefore, gardening is a difficult task.
The vegetation such as the lawn of different zones, flower nursery, shrub in garden, due to the difference in geographical position or due to shelter
(such as house, bushes) shadow occlusion and the illumination that is subject to can be different, therefore lawn in different zones, flower nursery, shrub
It is different to the demand of water, nutrient Deng vegetation.
For this demand, existing garden maintenance system needs user that garden is divided into multiple areas according to experience
Domain, and in the certain point placement sensor in each region, for the soil moisture in region residing for detection sensor in real time or
Nutrient situation.Multiple sensors, which are transferred data to after the control centre of garden maintenance system, control centre's analyze data, to be judged
Going out which or which region needs water, nutrient, and control centre controls executing agency to work again, and such as Irrigation shower head is to needing water or nutrient
Region is irrigated, cutter device is to needing mowing region to cut.
Collection of the prior art by sensor to the soil regime of different zones, realizes that subregion performs irrigation strategy.By
The soil regime in certain area coverage is only able to display in sensing data, therefore, it is big that one family garden usually requires arrangement
The sensor of amount could fully cover the situation in whole garden region.The arrangement of big quantity sensor needs to expend larger money
Gold, increases the cost of gardening system.And sensor is operated it is necessary to have electric energy supply, when sensing quantity is more
When, user safeguards that each sensor has electric energy continuation of the journey relatively difficult.
The content of the invention
Based on this, the technical problems to be solved by the invention are to provide a kind of intelligent gardening system, to realize use
Lesser amt sensing device just can cover whole garden situation, so as to be safeguarded according to garden implants actual demand.
Based on this, the technical problems to be solved by the invention are to provide a kind of intelligent gardening system, to realize use
Lesser amt sensing device just can cover whole garden situation, so as to be safeguarded according to garden implants actual demand.
To solve the above problems, the present invention can be adopted the following technical scheme that：A kind of intelligent gardening system, including：
Sensing device, for obtaining the related data of plant maintenance needs；Control device, receives the data that sensing device is obtained, and
And the data are analyzed and processed, draw control instruction；Performs device, receives and performs the control instruction of control device with right
Garden is safeguarded；Reference point is provided with the garden, the sensing device is in reference point gathered data, the control device profit
With the data of reference point, the tentative data in other regions is extrapolated using preset algorithm, the control device speculates according to described
Data are directed to the corresponding control instruction of other described Area generations.
It is preferred that, the intelligent gardening system is Intelligent irrigation system, and the sensing device is used for obtaining plant pair
The data of irrigation demand, the control device utilizes the data of reference point, and other irrigated areas are extrapolated using preset algorithm
Tentative data, data irrigate instruction to the control device accordingly for Different Irrigation Area generation by inference, described to perform
Device is irrigates performs device, and the irrigation performs device receives and performs the control instruction of control device to tie up garden
Shield.
It is preferred that, the quantity of the sensing device is one.
It is preferred that, at least one sampled point is provided with the garden, the reference point is one in sampled point.
It is preferred that, multiple sampled points are provided with the garden, the reference point is one in multiple sampled points, described to pass
After induction device is sampled respectively on each sampled point, the sensing device is fixed in the reference point of selection again and continues to gather biography
Feel data, when the sensing data in reference point changes, control device is imputed according to the data variation of reference point using pre-
Method synchronously adjusts the sensing data of other sampled points.
It is preferred that, the reference point is at least one normal place being laid in garden.
It is preferred that, the reference point is on the plurality of standard position being laid in garden, the plurality of standard position
One sensing device, the data of the residing normal place of sensing device detection are set respectively, and are transmitted to control dress
Put.
It is preferred that, the normal place is the corner of garden, at house flex point, it is one or more kinds of in sudden change region
Combination.
It is preferred that, the preset algorithm includes the relativeness of each normal place, with the biography with all normal place points
Feel data to combine, extrapolate the sensing data in other regions of garden.
It is preferred that, the preset algorithm includes the running parameter that changes with geographical position of sunshine situation, for mark
Level, which is put, detects that obtained sensing data is combined, and extrapolates the sensing data in other regions garden Nei.
It is preferred that, the detection type of the sensing device includes soil ph value, soil moisture, soil nutrient content, air
One or more kinds of combinations of humidity, temperature or light conditions.
It is preferred that, the performs device include rainer, drip irrigation appliance, one kind for penetrating in filling device and mobile water tank or
A variety of combinations.
It is preferred that, the preset algorithm includes geographical position from plant to the relation maintenance needs and/or different plants
Relation between maintenance needs.
It is preferred that, the geographical position and plant include different latitude and plant to the relation between maintenance needs and needed to safeguarding
Relation and/or different soils and plant between asking is to the relation between maintenance needs.
The technical problems to be solved by the invention are to provide a kind of intelligent gardening system, with realization lesser amt
Sensing device just can cover whole garden situation, so as to be safeguarded according to garden implants actual demand.
To solve the above problems, the present invention can also be adopted the following technical scheme that：A kind of intelligent gardening system, bag
Include：Sensing device, for obtaining the related data of plant maintenance needs；Control device, receives the data that sensing device is obtained,
And the data are analyzed and processed, control instruction is drawn；Performs device, receive and perform control device control instruction with
Garden is safeguarded；The sensing device obtains the data of different zones in garden, the control device using move mode
According to the data in different zones corresponding control instruction is generated for different zones.
It is preferred that, the intelligent gardening system is Intelligent irrigation system, and the sensing device is used for obtaining plant pair
The data of irrigation demand；Control device, receives the data that sensing device is obtained, and the data are analyzed and processed, and obtains
Go out control instruction；Performs device, receives and performs the control instruction of control device；The sensing device is obtained using move mode
The data of different zones in garden, the control device is directed to Different Irrigation Area generation according to the data in Different Irrigation region
It is corresponding to irrigate instruction.
It is preferred that, the move mode, which is included on a mobile platform, sets the sensing device, and the sensing device exists
When mobile platform moves to different zones, the data of respective regions are gathered.
It is preferred that, the mobile platform includes intelligent grass-removing.
It is preferred that, the sensing device includes broken careless analyzer, and the broken careless analyzer is mowed by analyzing the intelligence
The disconnected broken grass of machine cut obtains the moisture and/or nutrient data of grass.
It is preferred that, the sensing device includes capacitance sensor, when the capacitance sensor is used as medium by perceiving grass
Dielectric constant or dielectric constant mediated physical amount.
The technical problems to be solved by the invention are to provide a kind of maintaining method of intelligent gardening system, to realize
Whole garden situation just can be covered with lesser amt sensing device, so as to be safeguarded according to garden implants actual demand.
To solve the above problems, the present invention can also be adopted the following technical scheme that：A kind of dimension of intelligent gardening system
Maintaining method, at least comprises the following steps：
Step 1：Gathered data, the sampled point set up by least one sensing device to garden gathers related transducer number
According to the data of collection are transferred into control device；
Step 2：Analyzing and processing data, the sensing data that control device receiving step 1 is transmitted, and by the sensing of sampled point
Data are compared analyzing and processing with a predetermined threshold value, so as to obtain control instruction；
Step 3：Control command is performed, performs device receives the control instruction that control device is sent out, to garden respective area
Domain performs maintenance work.
It is preferred that, the step 1 further comprises：Gathered data, it is flat that the intelligent gardening system includes a movement
Platform, on a mobile platform, the sensing device is different by the mobile acquisition of mobile platform for the setting of the sensing device activity
The sensing data in region, and the grade sensing data is transferred to control device.
It is preferred that, the garden sets up at least one sampled point.
It is preferred that, the step 1 further comprises：Gathered data, the quantity of the sensing device is one, the garden
It is interior to be provided with multiple sampled points, the first sensing data is obtained to multiple sampling point samplings of garden by a sensing device, will be multiple
Several first sensing datas are transferred to control device, then choose a reference point in multiple sampled points, and sensing device is solid again
Determine onto reference point to collect the second sensing data, the second sensing data in reference point is transferred to control device by continuation.
It is preferred that, the step 2 further comprises：Analyzing and processing data, the first, second of control device receiving step 1
Sensing data, and the first sensing data change according to the second sensing data in reference point relative to the reference point, using default
Algorithm synchronously the first sensing data of other sampled points is updated adjustment so that the sensing number that each sampled point is updated
Analyzing and processing is compared according to a predetermined threshold value, control instruction is obtained.
It is preferred that, the sampled point in the step 1 is at least one normal place chosen in garden, the sensing dress
The quantity of normal place of the quantity put with choosing is identical and corresponds, the number of the residing normal place of sensing device detection
According to, and it is transmitted to control device.
It is preferred that, preset algorithm, the preset algorithm and normal place point phase are provided with the control device in the step 2
The sensing data answered combines the sensing data information for obtaining garden, and the grade sensing data information and a predetermined threshold value are carried out
Comparative analysis processing is so as to obtain control instruction.
It is preferred that, what the relativeness and sunshine situation that the preset algorithm includes normal place changed with geographical position
Running parameter.
It is preferred that, the normal place is the corner of garden, at house flex point, one or more kinds of groups in sudden change region
Close.
It is preferred that, the elimination that the method for the intelligent gardening system also includes being arranged between step 1 and step 2 is missed
Poor step, the elimination error step is linear regression method or non-linear regression method or minimum mean-square error null method.
It is preferred that, the predetermined threshold value is to meet the standard sensing data information in the case of plant maintenance needs.
It is preferred that, the intelligent maintenance system is Intelligent irrigation system, and the performs device includes rainer, drip irrigation and filled
The one or more combinations put, penetrated in filling device and mobile water tank.
It is preferred that, the step 3 further comprises：Control command is performed, performs device receives what control device was sent out
Garden respective regions are performed maintenance work, the sensing device detects the sensing data of respective regions, and will pass by control instruction
Data feedback is felt to control device, is then transferred to step 2.
It is preferred that, the intelligent maintenance system is Intelligent irrigation system, and the control instruction that the control device is sent includes
Irrigation volume and/or irrigation duration.
Compared with prior art, intelligent gardening system of the invention can reduce the situation of sensing device quantity
Under, remain able to understand exactly the actual demand of different zones plant.Intelligent gardening system is using portable sensing dress
Put collection different zones data or different zones data are calculated using mathematical modeling, realize the reality for understanding different zones plant
Demand, and then different zones are performed with different maintenance strategies.The reduction of sensing device quantity not only avoid user's arrangement
Bother, improve the intelligent of whole system, and reduce cost, also reduce the difficulty of user's maintenance sensor continuation of the journey.
Brief description of the drawings
Purpose, technical scheme and the beneficial effect of invention described above can realize this hair by following
The detailed description of bright specific embodiment, describes in combination with accompanying drawing and clearly obtains.
Fig. 1 is conventional kitchen garden arrangement schematic diagram.
Fig. 2 is the module map of the intelligent gardening system of an embodiment.
Fig. 3 is the flow chart of the intelligent gardening of an embodiment.
Fig. 4 is the schematic diagram that an embodiment sampled point and reference point are distributed in garden.
Fig. 5 is the schematic diagram that an embodiment normal place is distributed in garden.
Embodiment
Embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention can be more
It is easy to be readily appreciated by one skilled in the art, so as to make protection scope of the present invention apparent and clearly define.It is appended
Accompanying drawing only provide with reference to and explanation, not for being any limitation as to the present invention.
Fig. 2 is referred to, the intelligent gardening system 100 of the present embodiment includes sensing device 20, receives sensing device 20
The control device 30 of measured data, and perform the performs device 40 that control device 30 is sent instructions.
Sensing device 20 includes the sensor of the various nutrient contents of humidity sensor, soil for testing soil humidity
(such as nitrogen content sensor, phosphorus content sensor, other elements content level sensor), P in soil H values sensor, intensity of illumination are passed
Sensor, light irradiation time sensor, air humidity sensor, temperature sensor or other can influence vegetation growth state index
Sensor.As one skilled in the art will appreciate, the sensing device 20 in the present embodiment can be one kind of above-mentioned listed specific sensor
Or the multiple combinations of above-mentioned listed specific sensor.Specifically how using one or a small amount of sensing device 20 is obtained
The data in all regions of garden, so as to draw plant actual demand, can be introduced in the particular embodiment herein.This section institute
Biographies induction device 20 is only the several ways for obtaining plant actual demand data, under different application scenarios, sensing device 20
Also include other types sensor, listed by the specific embodiment as described in herein subsequently.Therefore, sensor type listed by this section is not
It is construed as limiting the invention.
The data of the primary recipient sensing device 20 of control device 30 and analyzed and processed, judgement is specific regional
The actual demand of interior plant, specifically, if desired for mowing, needs moisture or needs nutrient, and then performs device 40 is sent out
Go out corresponding control instruction.
It can be carried out data transmission between control device 30 and sensing device 20 by wireless communication mode, specifically, such as
Wi-Fi devices, cellular communications device, blue-tooth device, GPS device, Zigbee devices, 2.4GHZ radio communication devices, 433MHZ
Radio communication device or Z-WAVE radio communication devices etc..
Control device 30 includes being set in the fixing device in garden somewhere, be such as set in water source nearby and with button or/
With panel or/and the device of display screen, user can carry out maintenance work setting or/and can check the working condition in region
Or/and check duty history.
Control device 30 includes mobile platform, specifically, such as cell phone, flat board pad, PC or center control
Control server.Mobile platform is provided with corresponding gardening app softwares, and user can carry out maintenance work by app interfaces
Set or/and the working condition in region can be checked or/and duty history is checked.
Control device 30 includes integrated chip, such as microprocessor.Integrated chip can be with direct-coupling or installed in corresponding
Sensing device 20 in or in performs device 40.
Performs device 40 sends instructions according to control device 30 to be operated to respective regions.Performs device 40 includes mowing
Device, snow removal equipment, irrigation rig, fertilizer apparatus, anti-theft device etc..When performs device 40 is performs irrigation rig, specifically
Irrigation method include sprinkling irrigation mode, drip irrigation, penetrate filling mode or mobile water tank mode.
When performs device 40 is sprinkling irrigation mode, arrangement irrigation conduit in garden, and pipeline is spaced apart to be provided with
Shower nozzle.When performs device 40 receives irrigation instruction, the shower nozzle needed in irrigated area can be opened or connected with the shower nozzle
The valve connect is opened and sprayed；Or the valve that the shower nozzle near irrigated area can will be needed to open or be connected with the shower nozzle
Open, and the direction that direction of spraying is gone into required irrigated area is sprayed.
When performs device 40 is drip irrigation, arrangement irrigation conduit in garden, and pipeline is spaced apart to be provided with
Water dropper.When performs device 40 receives irrigation instruction, the water dropper needed in irrigated area can be opened or connected with the water dropper
The valve connect, which is opened, carries out drip irrigation.
When performs device 40 for when penetrating filling mode, arrangement one penetrates filling machine in garden, penetrates filling machine and is connected with water source.User is opening
With before Intelligent irrigation system, it is necessary under the mode of learning for penetrating filling machine regulation penetrate the spray angle and hydraulic pressure of filling machine so that penetrate
Filling machine remembers the most remote areas of injection needed for it, and different spray angles and the corresponding jeting area of hydraulic pressure.When performing dress
When putting 40 and receiving instruction, penetrate filling machine and the spray angle and hydraulic pressure of itself are adjusted according to the memory under mode of learning so that spray
Penetrate region and just correspond to irrigated area signified in instruction.
When performs device 40 is mobile water tank mode, a mobile device is set in garden, the mobile device is provided with one
Water tank.When performs device 40 receives irrigation instruction, the mobile device, which carries water tank and is moved to, to be needed in irrigated area, and
Water in water tank is sprayed in the region.It is preferred that, after water is finished in water tank, the mobile device can be automatically moved
Water is drawn to water source.
Fig. 3 is referred to, the maintenance process of the intelligent gardening system 100 of the present embodiment comprises the following steps：
Step S11：Gathered data.By one or a small amount of sensing device 20 garden (or garden) multiple sampled points
Gather pertinent sensor data.The data of collection are transferred to control device 30.
Step S12：Analyzing and processing data.The data of the receiving step S11 of control device 30 transmission, and analyzing and processing data
So as to obtain control instruction.The method for the analyzing and processing that takes a single example herein：The data of each sampled point are entered with a predetermined threshold value
Row compares, and when comparative result is different from preparatory condition, then judges the region or the sampled point periphery representated by the sampled point
The work such as need to be irrigated, clean, mow, and sending the control instruction that the region needs to irrigate, cleans, mows etc..
Step S13：Perform control command.Performs device 40 is received after the control instruction that control device 30 is sent out, to phase
Region is answered to perform irrigation, cleaning, mowing, fertilising etc..
In a preferred embodiment, a step of elimination error is set between step S11 and step S12.Actually should
With in scene, sensing device 20 due to hardware self reason or inevitable environmental disturbances, what sensing device 20 was collected
Data may have error.Therefore, before analyzing and processing data, error concealment is carried out to data first with related algorithm.
It is specific to eliminate ERROR ALGORITHM, can be linear regression method, non-linear regression method, minimum mean-square error null method, or other
The error cancelling method of type.
In a preferred embodiment, control device 30 is not merely based on which (individual) region needs is the data collected send
The instruction of irrigation, cleaning, mowing etc., the climate parameter that control device 30 can be combined with region residing for garden sends more intelligent
The instructions such as irrigation, cleaning, mowing, fertilising.The climate parameter of region residing for garden can be the local weather based on Network Capture
Forecast, the gas that either climate parameter of sensing device detection or the climate change model drawn based on big data are calculated
Wait parameter.More intelligent irrigation instruction includes which (a little) region needs performs the work such as irrigation, cleaning, mowing or fertilising, with
And suitable when irrigated, cleaned, mowed or applied fertilizer etc., it is necessary to which irrigation volume or dose are many based on what climate parameter was drawn
It is few, or irrigate duration or clean how long duration or mowing duration or fertilising duration are.
In a preferred embodiment, when performs device receives the control instruction that control device is sent out, to garden respective area
When domain performs maintenance work, sensing device detection respective regions irrigation volume data or dose data or cleaning data or mowing number
According to, and by data feedback to control device, then control device is analyzed and processed to data, is generated control instruction, is so followed
Ring repeatedly, order is generated and generated to be persistently tracked to feed back.Specifically, during performs device is performed, by passing
The lasting tracking of induction device, when irrigation volume or dose or cleaning situation or mowing situation meet plant maintenance needs, control
Device can generate the control instruction for stopping performing in time, and performs device receives control instruction, performs corresponding maintenance work；When
When irrigation volume or dose or cleaning situation or mowing situation are unsatisfactory for plant maintenance needs, control device can generate increasing in time
Or the control instruction performed is reduced, performs device receives control instruction, performs corresponding maintenance work.Certainly in practical application
During, because data transfer and device reaction have hysteresis quality unavoidably, therefore, in practical application, when irrigation volume or fertilising
Amount or cleaning situation or mowing situation are close to when meeting plant maintenance needs, and control device can generate the control for stopping performing in time
System instruction.
In a preferred embodiment, the characteristics of control device 30 can like non-irrigated hygrophilous based on plant or other features, take
Different maintenance strategies.Specifically, the kind of the default storage different zones implants of intelligent gardening system 100, and should
Hygrophilous or happiness drought the characteristic of plant variety.When the sensing data of different zones is transmitted to control device 30, control device
30, first according to the characteristic of the regional geography coordinate matching region implants, in conjunction with the plant characteristic and sensing data, judge
The region whether need irrigate, irrigation volume need how much.
Specifically hereinafter introduce, the plant in all regions of garden how is obtained using an a small amount of or sensing device 20
Actual demand data.Because specific to obtain when gardening is different operating type (such as irrigates, applies fertilizer, mows, sweeps away snow)
The process of data is similar in all regions, therefore, herein only using the irrigation work in gardening as illustrating.
When the plant that Intelligent irrigation system needs zonal control to irrigate is only lawn, user can utilize existing lawn
Machine maintenance (such as intelligent grass-removing, hand mower, riding type mower) obtains whole grass during lawn is safeguarded
Which region needs to irrigate in level ground.The present invention only obtains whole grass using intelligent grass-removing with user during lawn is safeguarded
Which region is needed exemplified by irrigating in level ground.
In one embodiment, sensing device 20 described above is movably disposed on intelligent grass-removing.Specifically, exist
On the bottom of intelligent grass-removing or housing, it can be moved up and down provided with a sensing device 20 and the sensing device 20.Sensing
Device 20 when moving downward, its detecting means position be inserted into the soil on lawn and obtain the related data of soil (such as moisture,
Nutrient).The self-contained positioner of intelligent grass-removing and radio communication device.Specifically, positioner can for GPS device,
Or DGPS devices or inertial nevigation apparatus or RFID device or beacon devices etc..Certainly, it can also be set simultaneously on intelligent grass-removing
Put polytype positioner.Sensing device 20 detects that the coordinate position of obtained data and the test point passes through wireless parties
Formula is transferred to the control device 30 of intelligent gardening system 100.Control device 30 analyzes and processes the sensing data and draws the inspection
Whether the lawn in measuring point region is needed to irrigate, and control command is sent to performs device 40 if it need to irrigate.Performs device 40 connects
Receive after control command, irrigation is performed to respective regions.
Because intelligent grass-removing safeguards that the walking path on lawn can spread all over all regions on lawn, therefore, the embodiment party
Formula can obtain sensing data of the whole lawn about irrigation demand merely with a sensing device 20.
By carrying out software or/and hardware change to intelligent grass-removing, it can control when intelligent grass-removing starts with
The gathered data of sensing device 20 and specific collection point.Specifically, one is set to irrigate data phase with obtaining on intelligent grass-removing
The button of pass, when user starts the button, intelligent grass-removing is carried out the task of gathered data during this mowing,
When user does not start the button, intelligent grass-removing is only normally mowed.Specific sampled point can be by software design patterns by intelligence
Energy hay mover is during mowing, spaced apart or separated in time, in the place gathered data accordingly mowed.
As it is known by the man skilled in the art, this kind changes, simple and mode has many kinds, takes a single example herein.
In the above-described embodiments, whether the grass that sensing device 20 can also be obtained using other modes in the region has irrigation
Demand.In one embodiment, sensing device 20 can be broken careless analyte sensors.Broken careless analyte sensors can be broken by analyzing
Grass learns that broken careless nourishment or/and broken careless moisture etc. represent the reference amount of the growing state of grass.Implement another
In example, sensing device 20 can be capacitance type sensor.Grass is used as the medium of electric capacity, the water of nourishment difference, grass when grass
When dividing content different, the medium constant representated by it is also different.By the change of medium constant or by indirect
The moisture etc. of the change of other physical quantitys of reaction medium constant and the nourishment or/and grass that obtain grass represents careless
The reference amount of growing state.
In a preferred embodiment, it can also be closed on intelligent grass-removing in configuration detection light photograph or the related sensing of weather
Device.The control device 30 of intelligent gardening system 100 can provide more intelligent filling using illumination or the related data of weather
Control command is irrigate, duration control, duty control order is such as irrigated.
In a preferred embodiment, can also be by current/voltage when detecting that intelligent grass-removing is mowed on intelligent grass-removing
Size, and the current/voltage value that sampling is pointed out is transferred to the control device 30 of intelligent gardening system 100.Control dress
Put 30 and judge the careless density in the sampled point region by analyzing current/voltage value, so as to judge to need water in respective regions
The size for the amount of asking.
In a preferred embodiment, sensing device 20 can automatically re-scale after each data sampling, prevent last time
Testing result can disturb the detection of next time.
In one embodiment, sensing device 20 can be arranged on a mobile platform.The mobile platform can carry sensing
The different zones that device 20 is moved to garden carry out data acquisition.It is preferred that, can also integrated different work on the mobile platform
Make part, to realize corresponding work.Can be equipped with mowing part or sweep away snow part or snow pushing part or prison on such as mobile platform
Control part or fertilising part etc..
When do not utilize existing lawn maintenance machine or when Intelligent irrigation system need zonal control irrigate plant not
When being only lawn, the plant actual demand in all regions of garden can also be obtained using an a small amount of or sensing device 20
Data.
In one embodiment, as shown in figure 4, first with a multi-point sampling in garden of sensing device 20, and will
The coordinate of sampled point and the sampled point is transferred to control device 30, then sensing device 20 is fixed therein on a sampled point
(being referred to as reference point).When the sensing data in reference point changes, control device 30 is according to the rule of reference point data variation
Rule, the sensing data of all sampled points is synchronously adjusted using default algorithm.It is preferred that, being configured with sensing device 20 is used for
The locator of positioning and the Wireless Transmitter for data transfer.In this way, control device 30 can also be obtained in real time
The sensing data of garden difference sampled point, so as to judge actual need of the plant corresponding to different sampled points in region to irrigation
Ask.
In a preferred embodiment, preset algorithm includes geographical position and plant to the relation between maintenance needs and/or not
With the relation between plant and maintenance needs.Preset algorithm is is set in advance in control device, when control device receives sensing dress
Acquisition data are put, preset algorithm is to start and the data of reception are analyzed, so as to draw control instruction.Wherein, geographical position
Put with plant the relation maintenance needs is included different latitude and plant to the relation and/or different soils between maintenance needs with
Plant is the relation maintenance needs.Come specifically, this sentences irrigation for example, the plant being planted on sand ground needs to moisture
Ask to be more than and be planted in forest land, meadow, the plant on arable land to the demand of moisture.Hygrophilous plant can be more than to the demand of moisture
Demand of the xerophilous plant to moisture.And same plant kind, the close region of planting density is generally larger than plantation to the demand of moisture
The thin region of density.In the present invention, preset algorithm can combine diverse geographic location, different plant varieties and corresponding sensing number
According to, extrapolate respective regions whether need irrigate, irrigation volume need how much.
In another embodiment, as shown in figure 5, only arranging sensing device 20 in the normal place of garden, specifically, such as exist
The southeast corner of garden, southwest corner, northeast corner, northwest corner, at house flex point, sudden change region one sensing device 20 is respectively set.It is few
Amount sensing device 20 detects the data of Location in real time, and is transmitted to control device 30.Set in control device 30
There are mathematical modelling algorithms, the algorithm utilizes the relativeness of normal place, and the corresponding sensing data of all normal places point,
Estimate the data message of garden.The data of normal place are real-time changes, and control device 30 can by mathematical modelling algorithms
To extrapolate the data of other non-standard locations of garden in real time, so as to judge plant in all regions of garden to irrigation
Actual demand.
Because sunshine is to influence whether plant needs the key factor irrigated, therefore mathematical modeling calculation in this embodiment
Method mainly considers daylight factor.Specifically, can be in related website (such as local meteorological board web, U.S. NASA by network
Website) obtain the sunshine situation of the garden location, with reference to the data source can analyze the sunshine situation of this area with
The changing rule of geographical position change (such as east-west or/and south-north direction).Mathematical modelling algorithms recycle the changing rule,
Obtained sensing data is detected in combined standard position, extrapolates the sensing data in all regions in garden.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (34)
1. a kind of intelligent gardening system, including：
Sensing device, for obtaining the related data of plant maintenance needs；
Control device, receives the data that sensing device is obtained, and the data are analyzed and processed, and draws control instruction；
Performs device, receives and performs the control instruction of control device to safeguard garden；
Characterized in that, being provided with reference point in the garden, the sensing device is in reference point gathered data, the control device
Using the data of reference point, the tentative data in other regions is extrapolated using preset algorithm, the control device is pushed away according to
Survey data and be directed to the corresponding control instruction of other described Area generations.
2. intelligent gardening system according to claim 1, it is characterised in that the intelligent gardening system is intelligence
Energy irrigation system, the sensing device is used for obtaining data of the plant to irrigating demand, and the control device utilizes reference point
Data, the tentative data of other irrigated areas are extrapolated using preset algorithm, data are directed to not the control device by inference
Instructed with corresponding irrigate of irrigated area generation, the performs device is irrigates performs device, and the irrigation performs device is received
And perform the control instruction of control device to safeguard garden.
3. the intelligent gardening system according to any one of claim 1 and 2, it is characterised in that the sensing device
Quantity be one.
4. the intelligent gardening system according to any one of claim 1 and 2, it is characterised in that set in the garden
There is at least one sampled point, the reference point is one in sampled point.
5. intelligent gardening system according to claim 4, it is characterised in that multiple samplings are provided with the garden
Point, the reference point is one in multiple sampled points, after the sensing device is sampled respectively on each sampled point, will be described
Sensing device is fixed in the reference point of selection again to be continued to gather sensing data, when the sensing data in reference point changes
When, control device synchronously adjusts the sensing data of other sampled points using preset algorithm according to the data variation of reference point.
6. the intelligent gardening system according to any one of claim 1 and 2, it is characterised in that the reference point is
It is laid at least one normal place in garden.
7. intelligent gardening system according to claim 6, it is characterised in that the reference point is to be laid in garden
Plurality of standard position, a sensing device is set on the plurality of standard position respectively, and the sensing device detects institute
Locate the data of normal place, and be transmitted to control device.
8. intelligent gardening system according to claim 6, it is characterised in that the normal place is the angle of garden
Fall, at house flex point, one or more kinds of combinations in sudden change region.
9. intelligent gardening system according to claim 6, it is characterised in that the preset algorithm includes each standard
The relativeness of position, is combined with the sensing data with all normal place points, extrapolates the sensing data in other regions of garden.
10. intelligent gardening system according to claim 9, it is characterised in that the preset algorithm includes sunshine feelings
The running parameter that condition changes with geographical position, for detecting that obtained sensing data is combined with normal place, is extrapolated
The sensing data in other regions in garden.
11. the intelligent gardening system according to claim 1 to 2 any one, it is characterised in that the sensing device
Detection type include one kind of soil ph value, soil moisture, soil nutrient content, air humidity, temperature or light conditions
Or a variety of combinations.
12. the intelligent gardening system according to claim 1 to 2 any one, it is characterised in that the performs device
Including rainer, drip irrigation appliance, the one or more combinations penetrated in filling device and mobile water tank.
13. the intelligent gardening system according to claim 1 to 2 any one, it is characterised in that the preset algorithm
Including geographical position from plant the relation between the relation maintenance needs and/or different plants and maintenance needs.
14. intelligent gardening system according to claim 13, it is characterised in that the geographical position is with plant to dimension
Relation between shield demand includes different latitude and plant to be needed to the relation and/or different soils between maintenance needs and plant to safeguarding
Relation between asking.
15. a kind of intelligent gardening system, including：
Sensing device, for obtaining the related data of plant maintenance needs；
Control device, receives the data that sensing device is obtained, and the data are analyzed and processed, and draws control instruction；
Performs device, receives and performs the control instruction of control device to safeguard garden；
Characterized in that, the sensing device obtains the data of different zones in garden, the control device using move mode
According to the data in different zones corresponding control instruction is generated for different zones.
16. intelligent gardening system according to claim 15, it is characterised in that the intelligent gardening system is
Intelligent irrigation system, the sensing device is used for obtaining data of the plant to irrigating demand；Control device, receives sensing device institute
The data of acquisition, and the data are analyzed and processed, draw control instruction；Performs device, receives and performs control device
Control instruction；The sensing device using move mode obtain garden in different zones data, the control device according to
Data in Different Irrigation region irrigate instruction accordingly for Different Irrigation Area generation.
17. the intelligent gardening system according to claim 15 to 16 any one, it is characterised in that the movement side
Formula, which is included on a mobile platform, sets the sensing device, the sensing device when mobile platform moves to different zones,
Gather the data of respective regions.
18. intelligent gardening system according to claim 17, it is characterised in that the mobile platform includes intelligence and cut
Careless machine.
19. the intelligent gardening system according to claim 15 to 16 any one, it is characterised in that the sensing dress
Put including broken careless analyzer, the broken careless analyzer obtains the moisture of grass by analyzing the broken grass that the intelligent grass-removing is cut off
And/or nutrient data.
20. the intelligent gardening system according to claim 15 to 16 any one, it is characterised in that the sensing dress
Put including capacitance sensor, the capacitance sensor is by perceiving grass as between the dielectric constant or dielectric constant during medium
Connect physical quantity.
21. a kind of maintaining method of intelligent gardening system, at least comprises the following steps：
Step 1：Gathered data, the sampled point set up by least one sensing device to garden gathers pertinent sensor data, will
The data of collection are transferred to control device；
Step 2：Analyzing and processing data, the sensing data that control device receiving step 1 is transmitted, and by the sensing data of sampled point
Analyzing and processing is compared with a predetermined threshold value, so as to obtain control instruction；
Step 3：Control command is performed, performs device receives the control instruction that control device is sent out, garden respective regions are held
Row maintenance work.
22. the maintaining method of intelligent gardening system according to claim 21, it is characterised in that the step 1 is entered
One step includes：Gathered data, the intelligent gardening system includes a mobile platform, and the sensing device is movable to be arranged on
On mobile platform, the sensing data for the mobile acquisition different zones that the sensing device passes through mobile platform, and the grade is sensed
Data are transferred to control device.
23. the maintaining method of intelligent gardening system according to claim 21, it is characterised in that the garden is set up
There is at least one sampled point.
24. the maintaining method of intelligent gardening system according to claim 23, it is characterised in that the step 1 is entered
One step includes：Gathered data, the quantity of the sensing device is that multiple sampled points are provided with one, the garden, passes through one
Sensing device obtains the first sensing data to multiple sampling point samplings of garden, and a plurality of first sensing datas are transferred into control
Device, then a reference point is chosen in multiple sampled points, sensing device is fixed in reference point again and collects the second biography
Feel data, the second sensing data in reference point is transferred to control device by continuation.
25. the maintaining method of intelligent gardening system according to claim 24, it is characterised in that the step 2 is entered
One step includes：Analyzing and processing data, first, second sensing data of control device receiving step 1, and according in reference point second
Sensing data changes relative to the first sensing data of the reference point, synchronous by the first of other sampled points using default algorithm
Sensing data is updated adjustment, so that sensing data and a predetermined threshold value that each sampled point is updated are compared at analysis
Reason, obtains control instruction.
26. the maintaining method of intelligent gardening system according to claim 21, it is characterised in that in the step 1
Sampled point be at least one normal place for being chosen in garden, the quantity of the sensing device and the normal place chosen
Quantity is identical and corresponds, the data of the residing normal place of sensing device detection, and is transmitted to control device.
27. the maintaining method of intelligent gardening system according to claim 26, it is characterised in that in the step 2
Control device in be provided with preset algorithm, corresponding with the normal place point sensing data of the preset algorithm is with reference to obtaining other areas
The sensing data in domain, and the grade sensing data and a predetermined threshold value are compared analyzing and processing to obtain control instruction.
28. the maintaining method of intelligent gardening system according to claim 27, it is characterised in that the preset algorithm
The running parameter that relativeness and sunshine situation including normal place change with geographical position.
29. the maintaining method of intelligent gardening system according to claim 26, it is characterised in that the normal place
For the one or more combination at the corner of garden, house flex point, in sudden change region.
30. the maintaining method of intelligent gardening system according to claim 21, it is characterised in that the intelligent garden
The method of maintenance system also includes the elimination error step being arranged between step 1 and step 2, and the elimination error step is line
The property Return Law or non-linear regression method or minimum mean-square error null method.
31. the maintaining method of intelligent gardening system according to claim 21, it is characterised in that the predetermined threshold value
To meet the standard sensing data information in the case of plant maintenance needs.
32. the maintaining method of the intelligent gardening system according to claim 21 to 31 any one, it is characterised in that
The intelligent maintenance system is Intelligent irrigation system, and the performs device includes rainer, drip irrigation appliance, penetrates filling device and shifting
One or more combinations in dynamic water tank.
33. the maintaining method of intelligent gardening system according to claim 21, it is characterised in that the step 3 is entered
One step includes：Control command is performed, performs device receives the control instruction that control device is sent out, garden respective regions are performed
Maintenance work, the sensing device detects the sensing data of respective regions, and sensing data is fed back into control device, Ran Houzhuan
Enter step 2.
34. the maintaining method of intelligent gardening system according to claim 33, it is characterised in that the intelligent maintenance
System is Intelligent irrigation system, and the control instruction that the control device is sent includes irrigation volume and/or irrigates duration.
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| CN201610068916 | 2016-02-01 | ||
| CN201610068916X | 2016-02-01 |
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