CN108293853A - A kind of intelligence water replanishing device and method - Google Patents
A kind of intelligence water replanishing device and method Download PDFInfo
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- CN108293853A CN108293853A CN201810095122.1A CN201810095122A CN108293853A CN 108293853 A CN108293853 A CN 108293853A CN 201810095122 A CN201810095122 A CN 201810095122A CN 108293853 A CN108293853 A CN 108293853A
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- water
- moisturizing
- nozzle
- mobile vehicle
- current location
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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
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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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
Abstract
The present embodiments relate to industrialized agriculture field, a kind of intelligent water replanishing device and method are disclosed.In the present invention, intelligent water replanishing device, including：Mobile vehicle, driving device, water storage device, control module and the nozzle being arranged on mobile vehicle；Control module is connect with driving device, is moved according to desired guiding trajectory for controlling the driving device driving mobile vehicle；Control module is connect with nozzle, in mobile vehicle moving process, according to preset moisturizing demand and nozzle, current location information judgement to be needed in current location moisturizing, and control nozzle carries out moisturizing from water storage device acquisition water source, and in current location.In this way can be to the specified regional irrigation in farmland, avoiding water replanishing device cannot specify fixed area to irrigate and cause to pour the region that need not be watered more when carrying out field irrigation, or not have the case where being poured onto all regions that need to be watered.
Description
Technical field
The present embodiments relate to industrialized agriculture field, more particularly to a kind of intelligent water replanishing device and method.
Background technology
China is a large agricultural country, and annual agricultural irrigation water accounts for the 60% of every profession and trade total water, and with section
Skill it is growing, agricultural also develops towards the direction that increasingly automates, and automation tools appear in each corner of agricultural, from
Dynamic water replanishing device is an important ring in wherein agricultural automation development, and more and more agriculturists select automatic water supplement
Device irrigation moisturizing is carried out to farmland.
But inventor has found that at least there are the following problems in the prior art：Automatic water-replenishing device in the prior art exists
When irrigated farmland, the farmland of large area can only be irrigated together, and sometimes as worrying large area irrigation method
Waste water resource, and the case where stop watering manually, some regions that should be watered is caused not to be poured onto.
Invention content
Embodiment of the present invention is designed to provide a kind of intelligent water replanishing device and method, can be to the specified area in farmland
Domain is irrigated, and avoiding water replanishing device cannot specify fixed area to irrigate when carrying out field irrigation and cause more to pour and need not water
Region, or there is no the case where being poured onto all regions that need to be watered.
In order to solve the above technical problems, embodiments of the present invention provide a kind of intelligent water replanishing device, including：It is mobile to carry
Body, driving device, water storage device, control module and the nozzle being arranged on mobile vehicle；Control module is connect with driving device,
It is moved according to desired guiding trajectory for controlling the driving device driving mobile vehicle；Control module is connect with nozzle, for being carried mobile
In body moving process, according to preset moisturizing demand and nozzle, current location information judgement is needed in current location moisturizing,
It controls nozzle and obtains water source from water storage device, and moisturizing is carried out in current location.
Embodiments of the present invention additionally provide a kind of intelligent method for supplementing water, including：Control the driving device the mobile load of driving
Body is moved according to desired guiding trajectory；Wherein, mobile vehicle is equipped with nozzle；In the moving process of mobile vehicle, according to preset
Moisturizing demand and nozzle it is current location information judgement need in current location moisturizing, control nozzle from water storage device obtain water
Source, and carry out moisturizing in current location.
In terms of existing technologies, intelligent water replanishing device includes embodiment of the present invention：Mobile vehicle, driving device,
Water storage device, control module and the nozzle being arranged on mobile vehicle；Control module is connect with driving device, driving device and shifting
Dynamic load body connects, and control module is moved for controlling the driving device driving mobile vehicle according to desired guiding trajectory, can be controlled in this way
Mobile vehicle is moved at the farmland for needing to irrigate, and control module is connect with nozzle, and control module is used in mobile vehicle
In moving process, according to preset moisturizing demand and nozzle, current location information judgement is needed in current location moisturizing, control
Nozzle processed obtains water source from water storage device, and carries out moisturizing in current location；When judging that the region needs moisturizing in this way, intelligence is mended
Water installations can will not just carry out moisturizing in other regions for not needing moisturizing, will not occur not to needing to the region moisturizing
The case where region of moisturizing is not poured onto.
In addition, mobile vehicle is quadrangle, a nozzle is at least set, and each in the arbitrary a line of mobile vehicle
The nozzle is by control module independent control；The spray pattern of nozzle includes following one or its arbitrary combination：Shower, straight line spray
It spills, discrete spray.The nozzle of mobile vehicle surrounding can carry out moisturizing to the soil of all directions on the move in this way, and full
The moisturizing demand of the various modes of foot.
In addition, sensor is additionally provided on each nozzle, when sensor is used to record the number of nozzle water outlet, is discharged every time
Water yield, go out water inventory in preset duration.It is able to record the data of lower nozzle water yield in this way, facilitates user to water yield
Data are for future reference, and facilitate user timely according to current data and the scheme of spray effect adjustment sprinkling.
In addition, being additionally provided with encoder on mobile vehicle, encoder is used to record the displacement distance of the mobile vehicle.This
Sample can check the distance of mobile vehicle movement for user, and user can be facilitated to understand the distance of mobile vehicle to recognize spray
The distance of head sprinkling.
In addition, mobile vehicle is slidably disposed on guide rail；Wherein, the boundary of guide rail is provided with for stopping movement
The limiter of carrier.It can be prevented in this way when mobile vehicle or driving device break down, mobile vehicle goes out guide rail
The case where presumptive area, occurs.
In addition, being additionally provided with water level limiter on water storage device, water level limiter is for controlling the water storage device water outlet
Number, the water yield that is discharged every time.The case where capable of avoiding the waste water resources such as watering excess in watering in this way, occurs.
In addition, before nozzle carries out moisturizing, further include：Obtain the reference data of third-party spray pattern；Wherein, it sprays
Mode includes following one or its arbitrary combination：Shower, straight line sprinkling, discrete spray；Moisturizing is carried out in current location, it is specific to wrap
It includes：Corresponding spray pattern is selected to carry out moisturizing according to reference data.It can most be closed come selected according to third-party data in this way
Suitable spray pattern improves the efficiency of moisturizing to needing the region of moisturizing to carry out moisturizing.
In addition, after current location carries out moisturizing, obtain all nozzles in nearest preset duration goes out water inventory, and root
Rule is supplemented according to the preset water source to the water storage device, sends the water source supplement early warning of corresponding grade.It in this way being capable of basis
The case where water source currently consumed, sends out the early warning of corresponding grade, and user is reminded to supplement water source.
In addition, water source supplements early warning, specifically include：The early warning sound of corresponding grade is sent out, and generates corresponding grade early warning letter
Breath；
Warning information is fed back to the user terminal of binding.It can either be let the user know that by way of information transmission in this way
There is nervous situation in water source, and the sound that can also send out early warning lets the user know that it is that the water source in farmland at which early warning occurs.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, removes
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the structural schematic diagram of intelligent water replanishing device according to the first embodiment of the invention；
Fig. 2 is the structural schematic diagram of intelligent water replanishing device second embodiment of the invention；
Fig. 3 is the particular flow sheet of the intelligent method for supplementing water of third embodiment according to the present invention；
Fig. 4 is the particular flow sheet of the intelligent method for supplementing water of the 4th embodiment according to the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, it can also realize the application technical solution claimed.
The first embodiment of the present invention is related to a kind of intelligent water replanishing device, the core of present embodiment is intelligent moisturizing
Device includes：Mobile vehicle, driving device, water storage device, control module and the nozzle being arranged on mobile vehicle；Control module
Connect with driving device, driving device is connect with mobile vehicle, control module for control the driving device driving mobile vehicle by
It is moved according to desired guiding trajectory, mobile vehicle can be controlled in this way and be moved at the farmland for needing to irrigate, and control module and nozzle
Connection, control module is used in mobile vehicle moving process, according to the current location information of preset moisturizing demand and nozzle
Judgement is needed in current location moisturizing, and control nozzle obtains water source from water storage device, and carries out moisturizing in current location；In this way
When judging that the region needs moisturizing, intelligent water replanishing device just can be to the region moisturizing, will not be in other regions for not needing moisturizing
Moisturizing is carried out, the case where to needing the region of moisturizing not to be poured onto will not occur not.
The realization details of the intelligent water replanishing device of present embodiment is specifically described below, the following contents is only side
The realization details of offer is just provided, the necessary of this programme is not implemented.
The intelligent water replanishing device structure of present embodiment is as shown in Figure 1, include：Mobile vehicle 101, driving device 102, control
Molding block 103, nozzle 104, water storage device 105.
Mobile vehicle 101 drives its advance by driving device 102, and is provided with nozzle 104 on it, in farmland
Middle movement makes nozzle 104 thereon irrigate farmland, and the movement of mobile vehicle 101 can be arranged near farmland,
It is either interspersed on farmland guide rail, certainly, can be not only on guide rail, can also be other for mobile object
It is moved on body, is seldom limited herein, mobile vehicle 101 is carried out in moving process with the nozzle 104 being disposed thereon
The shape of water-refilling operation, mobile vehicle 103 can be set as quadrangle, and in the arbitrary a line of mobile vehicle 103
A nozzle 102 is at least arranged, such as can equidistant in each edge of quadrangle mobile vehicle identical quantity be set
Nozzle, the quantity of nozzle can determine according to the sprinkling distance of nozzle and the size of mobile vehicle, can also according to
Family itself need, such as when the corresponding region in two of which side of quadrangle crops be tomato, and two other side correspond to
Region crops be cucumber when, farming can be set on corresponding side according to the different moisturizing demand of two kinds of crops
The quantity of the required nozzle of object, also, because each nozzle 102 is by 103 independent control of control module, in each edge
Each nozzle independent choice can be turned on or off according to the demand of user, can make 101 surrounding of mobile vehicle in this way
Nozzle 104 can carry out moisturizing to the soil of all directions on the move, meet the irrigation demand of user, certainly, user also may be used
To set the installation position of the shape and nozzle 104 of mobile vehicle 101 according to the irrigation demand of itself, do not repeat herein.
In addition, when mobile vehicle 101 is slidably disposed on guide rail, wherein the boundary of guide rail, which is provided with, to be used for
Stop that the limiter of mobile vehicle 103, limiter can be the range limiter that limitation mobile vehicle 101 moves, setting is being led
The two ends of rail prevent mobile vehicle 101 because in moving process, and when device breaks down, mobile vehicle 101 is gone out predetermined
The case where region, occurs.
In addition, when mobile vehicle 101 is slidably disposed on guide rail, the length and width of guide rail can be limited to cover needs
Each region of moisturizing, the division between each region can be divided by the crop specie of plantation, such as be planted in the areas A
Cucumber is planted in tomato, the areas B, and the areas C plant romaine lettuce etc., may then pass through the size of each region to limit the length and width of track, example
As the track length and width on the tomato planting ground in the areas A could be provided as 100 × 100 (units：Rice), the track on the green cucumber ground in the areas B
Length and width could be provided as 200 × 100 (units：Rice), the track length and width of the romaine lettuce planting site in the areas C could be provided as 200 × 200
(unit：Rice), that is, indicate 100 × 100 (units in the areas A tomato ground：Rice) track with can covering all tomatoes region, B
200 × 100 (units in area cucumber ground：Rice) track with can covering all cucumber region, 200 × 200 in the areas C romaine lettuce ground
(unit：Rice) track with can covering all romaine lettuce region, and can also be on each guide rail of each different zones
Corresponding mobile vehicle is respectively set to carry out moisturizing, such system cover each region with track can be more targetedly to each
The different crops of kind carry out water-refilling operation.
Driving device 102 is connect with control module 103 with mobile vehicle 101 respectively, is controlled and is driven by control module 103
Mobile vehicle 101 is moved according to preset track, and driving device 102 can be servo motor, or other types
Power plant, type voluntarily sets according to demand by user, can be reached for the mobile offer power of mobile vehicle 101 i.e.
Can, it does not repeat herein.I.e. driving device 102 can be that the movement of mobile vehicle 101 provides power support.
Control module 103 is connected with driving device 102 and nozzle 104 respectively, first, for controlling the driving device 102 drivings
Mobile vehicle is moved according to preset track, preset track can be user be pre-designed in the region for needing moisturizing
Motion track, can be the motion track around whole region, or the two of which of whole region while or at three,
Deng voluntarily being set according to demand by user.For example, mobile reference axis can be arranged for mobile vehicle 101 to control mobile load
Body 101 move, such as tomato moisturizing when, if mobile coordinate is set as (0,0) (50,0), (50,50), (0,50),
Identifying shift motion of the mobile vehicle 101 under the control of driving device 102 is：50m is moved to X-axis positive direction, just to Y-axis
50m is moved in direction, and 50m is moved to X-axis negative direction, and 50m is moved to Y-axis negative direction, that is, completes a wheel watering task, certainly, this
By way of example only, the specific mobile route of mobile vehicle can be by user voluntarily according to benefit for the movement of implementation mobile vehicle 101
Water demand is arranged, and does not repeat herein.Second is that in 101 moving process of mobile vehicle, according to preset moisturizing demand
Current location information judges whether nozzle 104 needs in current location moisturizing with nozzle 104, when judgement is needed in present bit
When setting moisturizing, control nozzle 104 obtains water source progress moisturizing from water storage device 105, wherein preset moisturizing demand can be
Shown in table 1：
| Region | Product | Spray number | Water grade |
| The areas A | Tomato | 1 | 1 |
| The areas B | Cucumber | 2 | 2 |
| The areas C | Romaine lettuce | 3 | 3 |
Table 1
Such as when mobile vehicle 101 with being moved to tomato when, control module detects the position of nozzle with being in tomato,
And according to preset moisturizing demand, need to tomato to carry out a moisturizing that water grade is 1, control module will control
Nozzle obtains water source from water storage device, and in tomato carries out a moisturizing that water grade is 1；If working as mobile vehicle second
It is secondary with being moved to tomato when, control module had carried out a moisturizing in which will detect tomato, then will not control nozzle again
Carry out moisturizing, and control module detects that the position of nozzle is second in cucumber, according to preset moisturizing demand, to control
Module can control nozzle and carry out secondary moisturizing.
And controlled after nozzle completes moisturizing to specified region in control module, preset moisturizing demand can also according to
The investigation result of moisturizing result is carried out in real-time update, such as preset moisturizing demand at family, and the moisturizing number to tomato is 1, is mended
The water grade of water is 1, but after moisturizing, the moisturizing effect on tomato ground is simultaneously bad, and water, which lacks, causes many tomatoes withered
Extremely, then user can update preset moisturizing demand, increase rate of water make-up and moisturizing number to tomato ground, also, moisturizing result
Acquisition can also be acquired by the way that image collecting device is arranged in farmland, then by server by collected picture and tomato
The picture of normal growth is compared, come judge tomato whether normal growth, if tomato normal growth, preset moisturizing demand
Rationally；If the non-normal growth of tomato, the very few or excessive picture of watering that collected picture and tomato are watered carries out
Compare, to judge that preset moisturizing demand is that water is very few or excessive for tomato, server is again according to judging result tune
Whole preset moisturizing demand.In addition, the moisture in moisturizing region can also be acquired by sensor to the investigation result of moisturizing result
Content is compared with preset value, to judge in the effect of moisturizing, such as preset moisturizing demand, to the moisturizing number of tomato
It is 1, the water grade of moisturizing is 1, and after to tomato moisturizing, the tomato ground after moisturizing is acquired by sensor
Moisture, with preset tomato the moisture preset value needed for normal growth are compared, if moisture with it is default
Value is suitable, then preset moisturizing demand is reasonable；If moisture is with preset value, there are gaps, according to comparison result to default
Moisturizing demand be adjusted, moisture is big, then reduces preset moisturizing demand, and moisture is small, then increases preset benefit
Water demand.
In addition, it is necessary to explanation, if mobile vehicle 101 first time by tomato carry out moisturizing when, due to such as
The reasons such as water storage device water shortage, and the amount of first time moisturizing is caused not reach required by preset moisturizing demand
Amount, that mobile vehicle 101 control module when for the second time by tomato can control nozzle and to tomato complete remaining moisturizing
Amount.
Nozzle 104, nozzle 104 are connect with control module 103, are used for during mobile vehicle 101 moves to needing
The farmland of moisturizing carries out moisturizing, and nozzle 104 can be the multifunctional nozzle of field irrigation, the sprinkling side when nozzle 104 sprays
Formula can be one of following spray pattern or its arbitrary combination：Shower, straight line sprinkling, discrete spray, to meet to not
The demand for mode of watering with crops difference, the spray pattern of nozzle 104 can according to the difference of crops come sets itself, and
And the nozzle 104 due to being arrived on mobile vehicle 101 is mutual indepedent, the spray pattern of the nozzle on mobile vehicle can also be according to spray
The direction of head and the number of nozzle are set according to demand by user, are not repeated herein, what when 104 moisturizing of nozzle sprayed
Water source comes from the water storage device 105 being connect with nozzle 104, when nozzle 104 judges to need in 101 moving process of mobile vehicle
When carrying out moisturizing to farmland, water recharging is obtained from water storage device 105.
Water storage device 105 is connected with nozzle 104, for control module 103 judge nozzle 104 need moisturizing when, for spray
First 104 provide water source supplement, and the type of water storage device can be that movable water storage device, automatic water storing device, tank arrangement etc. are each
Kind water replanishing device, type are voluntarily set according to demand by user, can be reached for the purpose that nozzle 104 provides water source,
This is not repeated.
In addition, being additionally provided with water level limiter on water storage device 105, water level limiter is used to control water storage device water outlet
Number and the water yield being discharged every time, water level limiter obtain the moisturizing region that nozzle is currently located and are preset to the region
Moisturizing water yield and Surfacing frequency, the water yield of water outlet is then detected by flowmeter, is reaching preset water yield
Be by electromagnetic brake closing come control water storage device stop water outlet, meanwhile, can also detect the number of water outlet, reach it is preset go out
Waterside number is closed by electromagnetic brake to be stopped being discharged to the region, and water level limiter is by receiving moisturizing region and preset guarantee
Nozzle realizes the quantifying irrigation to specifying region in watering proce, avoids the occurrence of the situation of the moisturizing excess in moisturizing, such as
Preset moisturizing requires to be to the moisturizing water grade on tomato ground to be 1, and the moisturizing water grade to cucumber ground is 2, then is controlling
When module control nozzle to tomato carries out water-refilling operation, water level limiter can control water storage device, in the water outlet of water storage device
When amount reaches water grade 1, limitation water storage device water outlet, and to cucumber carry out water-refilling operation in control module control nozzle
When, when the water yield of water storage device reaches water grade 2, water level limiter can just limit water storage device water outlet, be achieved
The quantifying irrigation in specified region, avoids the occurrence of the situation of the moisturizing excess occurred when to crops moisturizing.
Compared with prior art, present embodiments provide for a kind of intelligent water replanishing device, intelligent water replanishing device includes：It is mobile
Carrier, driving device, water storage device, control module and the nozzle being arranged on mobile vehicle；Control module connects with driving device
It connects, driving device is connect with mobile vehicle, and control module is moved for controlling the driving device driving mobile vehicle according to desired guiding trajectory
It is dynamic, mobile vehicle can be controlled in this way and is moved at the farmland for needing to irrigate, and control module is connect with nozzle, control module
For in mobile vehicle moving process, according to preset moisturizing demand and nozzle, current location information judgement to be needed current
When the moisturizing of position, control nozzle obtains water source from water storage device, and carries out moisturizing in current location；The region needs are judged in this way
When moisturizing, intelligent water replanishing device just can will not carry out moisturizing to the region moisturizing in other regions for not needing moisturizing, will not
There is the case where not to needing the region of moisturizing not to be poured onto.
Second embodiment of the invention is related to a kind of intelligent water replanishing device, and present embodiment is the base in first embodiment
Further improvement has been done on plinth, has specifically been theed improvement is that：In second embodiment, further include：It is arranged in mobile vehicle
Encoder 206 on 101, the sensor 207 being arranged on nozzle 104.
The intelligent water replanishing device structure of present embodiment is as shown in Fig. 2, include：Mobile vehicle 101, driving device 102, control
Molding block 103, nozzle 104, water storage device 105, encoder 206, sensor 207.
In addition, in present embodiment, device 101 to device 105 and the device 101 in first embodiment to device 105
It is roughly the same, to avoid repeating.Details are not described herein.
Encoder 206 is arranged on mobile vehicle 101, for recording mobile vehicle on the move in mobile vehicle 101
Displacement distance, encoder 206 can be turned by the angular displacement or straight-line displacement that mobile vehicle 101 occurs in moving process
Electric signal is turned to, electric signal is being changed into counting pulse, the displacement of mobile vehicle 101 is indicated with the number of pulse,
Then it is shown by way of digital information, is checked for user, user can be facilitated to consult mobile vehicle by encoder in this way
Mobile distance.
In addition, encoder can not only record the displacement distance of mobile vehicle, it can also be in mobile vehicle moving process
It breaks down, for example the displacement distance of mobile vehicle caused by pulley failure exceeds pre-determined distance, when into not specified region, hair
Go out alarm sound and reminds user.
Sensor 207, be arranged on nozzle 104, for nozzle 104 spray process when record water outlet number, every time
Manufacture total amount in the water yield of water outlet, preset duration.Sensor 207 can experience measured information, and can will experience
The information arrived, i.e. water amount information of the nozzle 104 during sprinkling, and water amount information is for conversion into electric signal according to certain rules
Or the information output of other required forms, it is wanted with transmission, processing, storage, display, record and the control etc. that meet water amount information
It asks, the water amount information experienced is converted to digital information recording and got off by sensor, facilitates user for future reference to water yield data, and
And facilitate user timely according to current data and the scheme of spray effect adjustment sprinkling.In addition, sensor can be provided with
Warning function, when detecting the number of water outlet, the water yield being discharged every time, a certain item of manufacture total amount in preset duration or several
When item numerical value difference occurs with preset moisturizing demand, sends out alarm and the water yield of user's nozzle is reminded mistake occur, remind
User's intelligence water replanishing device breaks down, and avoids the economic loss of bigger.
Compared with prior art, present embodiments provide for a kind of intelligent water replanishing device, intelligent water replanishing device includes：It is mobile
Carrier, driving device, water storage device, control module and the nozzle being arranged on mobile vehicle and encoder, sensor.It is convenient
User consults the distance of mobile vehicle movement by encoder, while it is to water yield data for future reference and square to be also convenient for user
Just user is timely according to current data and the scheme of spray effect adjustment sprinkling.
Third embodiment of the present invention is related to a kind of intelligent method for supplementing water, and detailed process is as shown in Figure 3：
Step 301, driving mobile vehicle is controlled the driving device to move according to desired guiding trajectory.
Specifically, control module controls the driving device driving mobile vehicle and is moved according to preset track, presets
Track can be the motion track in the region for needing moisturizing that user is pre-designed, and nozzle, nozzle are additionally provided on mobile vehicle
During mobile vehicle moves moisturizing is carried out for predeterminable area.
Step 302, judge whether to need moisturizing according to the current location information of preset moisturizing demand and nozzle, if so,
303 are then entered step, if not, flow terminates.
Specifically, during mobile vehicle moves, control module is current according to preset moisturizing demand and nozzle
Location information judge whether nozzle needs in current location moisturizing, when judgement is needed in current location moisturizing, then enter
Step 303, moisturizing is not needed such as, then moisturizing flow terminates.
Step 303, water source is obtained from water storage device, in current location moisturizing.
Specifically, nozzle obtains water source in water storage device, is needed in the current location of nozzle in control module judgement
When carrying out moisturizing, water-refilling operation is carried out in current location, also, water level limiter is additionally provided on water storage device, water level limiter
The number that water storage device water outlet can be controlled, the water yield being discharged every time.
In addition, before nozzle carries out moisturizing, the reference data of third-party spray pattern can also be obtained；Wherein, it sprays
The spray pattern of head includes following one or its arbitrary combination：Shower, straight line sprinkling, discrete spray；Nozzle current location into
Corresponding spray pattern can be selected to carry out moisturizing according to third-party reference data before row moisturizing.Third-party data are obtained,
The data of the spray pattern on internet, the data of spray pattern can be obtained by the communication module on such as mobile vehicle
Such as shown in table 2：
| Product | Spray pattern |
| Tomato | Shower |
| Cucumber | Straight line |
| Romaine lettuce | It is discrete |
Table 2
After getting the spray pattern rule corresponding to product from third party, by the corresponding spray pattern of product to right
The agricultural product answered are sprayed, such as when to tomato spraying, and are selected the spray pattern of shower, and to cucumber are being sprayed
When, the spray pattern of straight line sprinkling is selected, in addition, the nozzle on mobile vehicle is all independent and is sprayed by control module control
Head, then the nozzle in the multiple directions on mobile vehicle if it is in face of when being different product area, can be according to spray
The corresponding data for spilling mode selects different corresponding spray patterns to spray different agricultural product, and in movement
In the moving process of carrier, the spray pattern of each nozzle can also because mobile vehicle movement, caused by agricultural product
Variation when change corresponding spray pattern, in this way according to third-party data come the most suitable sprinkling of selected corresponding agricultural product
Mode, and spray pattern is changed according to the variation of agricultural product in real time, to needing the region of moisturizing to carry out moisturizing, to improve pair
The moisturizing efficiency of agricultural product moisturizing.
Compared with prior art, present embodiments provide for a kind of intelligent method for supplementing water, including：Control mobile vehicle according to
Desired guiding trajectory moves；Wherein, mobile vehicle is equipped with nozzle；In the moving process of mobile vehicle, according to preset moisturizing need
The current location information judgement of nozzle of summing is needed in current location moisturizing, and control nozzle obtains water source from water storage device, and
Moisturizing is carried out in current location；When this judges that the region needs moisturizing in this way, intelligent water replanishing device just can be to the region moisturizing, no
Moisturizing can be carried out in other regions for not needing moisturizing；Wherein, water storage device is equipped with time for controlling water storage device water outlet
The water level limiter of number, the water yield being discharged every time just can control the amount of water outlet in this way, realize quantifying irrigation, avoid the occurrence of
The situation of moisturizing excess in moisturizing.
Four embodiment of the invention is related to a kind of intelligent water replanishing device, and present embodiment is the base in third embodiment
Further improvement has been done on plinth, has specifically been theed improvement is that：In 4th embodiment, further include：It is mended in front position
After water, obtain all nozzles in preset duration goes out water inventory, and supplements rule, hair according to the preset water source to water storage device
The water source of corresponding grade is sent to supplement early warning.
The detailed process of present embodiment is as shown in Figure 4：
Step 401, driving mobile vehicle is controlled the driving device to move according to desired guiding trajectory.
Step 402, judge whether to need moisturizing according to the current location information of preset moisturizing demand and nozzle, if so,
403 are then entered step, if not, flow terminates.
Step 403, water source is obtained from water storage device, in current location moisturizing.
In present embodiment, the step 301 of step 401 to step 403 and third embodiment to step 303 substantially phase
Together, to avoid repeating, details are not described herein.
Step 404, all nozzles in preset duration are obtained and go out water inventory, and according to the preset water source to water storage device
Supplement rule sends the water source supplement early warning of corresponding grade.
Specifically, after current location carries out moisturizing, obtain all nozzles in preset duration goes out water inventory, and according to
The preset water source to water storage device supplements rule, sends the water source supplement early warning of corresponding grade.I.e. after moisturizing, obtain
The water yield of all nozzles in preset duration, the water source for then sending corresponding grade to user according to total water yield supplement early warning.
Water source supplement early warning is specifically as follows：The early warning sound of corresponding grade is sent out, and generates corresponding grade warning information；By warning information
Feed back to the user terminal of binding.The warning information of total water yield and corresponding grade is for example shown in table 3：
| Product | Today consumes | Warning information |
| Tomato | 100L | Timely moisturizing |
| Cucumber | 100L | Emergency water compensating |
| Romaine lettuce | 200L | Emergency water compensating |
Table 3
For example, preset water pre-warning time could be provided as one day, when the spray of with detecting tomato today mobile vehicle
The total Water of head is consumed if it is 100L, sends out the early warning sound of timely moisturizing, and bear the warning information of timely moisturizing, early warning
Information format can be：Need timely moisturizing to tomato；If it is cucumber the water content consumption of today is 100L, then sends out urgent benefit
The warning information of water, warning information format can be：Need emergency water compensating to cucumber.Warning information can be sent to user bound
On user terminal, the binding terminal of user can be the communication tools such as mobile phone, the tablet computer of user.It can timely allow in this way
User knows that early warning occurs in the water source in farmland at which.
In addition, region is specified at certain, such as tomato, when the frequency for early warning occur is higher than preset value, such as in 5 days benefits
After water conservancy project is made, has the case where needing timely moisturizing or emergency water compensating occur within three days, then send water to the binding terminal of user
Source, the i.e. inadequate information of the capacity of water storage device, reminds the water storage device off-capacity on user tomato ground, and user is reminded to increase storage
Water installations capacity.
Compared with prior art, present embodiments provide for a kind of intelligent method for supplementing water, are carried out to specified region in nozzle
After moisturizing, rule, hair are supplemented according to water yield of all nozzles in preset time and the preset water source to water storage device
The water source of corresponding grade is sent to supplement early warning.Water shortage can be timely let the user know that in this way, and lets the user know which is
There is early warning in the water source in farmland at one.
That is, it will be understood by those skilled in the art that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are making
It obtains an equipment (can be microcontroller, chip etc.) or processor (processor) executes side described in each embodiment of the application
The all or part of step of method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of intelligence water replanishing device, which is characterized in that including：Mobile vehicle, driving device, water storage device, control module and
Nozzle on the mobile vehicle is set；
The control module is connect with the driving device, drives the mobile vehicle according to pre- for controlling the driving device
If track is moved；
The control module is connect with the nozzle, is used in the mobile vehicle moving process, according to preset moisturizing need
The current location information judgement of the nozzle of summing is needed in current location moisturizing, controls the nozzle from the water storage device
Water source is obtained, and moisturizing is carried out in current location.
2. intelligence water replanishing device according to claim 1, which is characterized in that the mobile vehicle is quadrangle, the shifting
One nozzle is at least set in the arbitrary a line of dynamic load body, and each nozzle is independently controlled by the control module
System；
The spray pattern of the nozzle includes following one or its arbitrary combination：
Shower, straight line sprinkling, discrete spray.
3. intelligence water replanishing device according to claim 2, which is characterized in that be additionally provided with sensing on each nozzle
Device,
The water outlet in water yield, the preset duration when sensor is used to record the number of the nozzle water outlet, is discharged every time
Total amount.
4. intelligence water replanishing device according to claim 1, which is characterized in that be additionally provided with coding on the mobile vehicle
Device,
The encoder is used to record the displacement distance of the mobile vehicle.
5. intelligence water replanishing device according to claim 1, which is characterized in that the mobile vehicle, which is slidably disposed on, leads
On rail；
Wherein, the boundary of the guide rail is provided with the limiter for stopping the mobile vehicle.
6. intelligence water replanishing device according to claim 1, which is characterized in that be additionally provided with water level limit on the water storage device
Position device,
The water level limiter is used to control the number of the water storage device water outlet, the water yield being discharged every time.
7. a kind of intelligence method for supplementing water, which is characterized in that including：
Driving mobile vehicle is controlled the driving device to move according to desired guiding trajectory；Wherein, the mobile vehicle is equipped with nozzle；
In the moving process of the mobile vehicle, judged according to the current location information of preset moisturizing demand and the nozzle
It needs in current location moisturizing, controls the nozzle from water storage device and obtain water source, and moisturizing is carried out in current location.
8. intelligence method for supplementing water according to claim 7, which is characterized in that before the nozzle carries out moisturizing, also wrap
It includes：
Obtain the reference data of third-party spray pattern；Wherein, the spray pattern includes following one or its arbitrary combination：
Shower, straight line sprinkling, discrete spray；
It is described to carry out moisturizing in current location, it specifically includes：
Corresponding spray pattern is selected to carry out moisturizing according to the reference data.
9. intelligence method for supplementing water according to claim 7, which is characterized in that further include：
After the current location carries out moisturizing, obtains all nozzles in preset duration and go out water inventory, and according to preset right
The water source supplement rule of the water storage device sends the water source supplement early warning of corresponding grade.
10. intelligence method for supplementing water according to claim 7, which is characterized in that the water source supplements early warning, specifically includes：
The early warning sound of corresponding grade is sent out, and generates corresponding grade warning information；
The warning information is fed back to the user terminal of binding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810095122.1A CN108293853A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligence water replanishing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810095122.1A CN108293853A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligence water replanishing device and method |
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| Publication Number | Publication Date |
|---|---|
| CN108293853A true CN108293853A (en) | 2018-07-20 |
Family
ID=62867293
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|---|---|---|---|
| CN201810095122.1A Pending CN108293853A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligence water replanishing device and method |
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| CN112262749A (en) * | 2020-10-27 | 2021-01-26 | 河西学院 | Energy-saving agricultural hydraulic engineering irrigation equipment |
| CN113349038A (en) * | 2021-06-30 | 2021-09-07 | 广州极飞科技股份有限公司 | Irrigation operation control method and device, storage medium and irrigation equipment |
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