CN110192518A - Pinpoint Intelligent watering method and apparatus - Google Patents
Pinpoint Intelligent watering method and apparatus Download PDFInfo
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- CN110192518A CN110192518A CN201810156908.XA CN201810156908A CN110192518A CN 110192518 A CN110192518 A CN 110192518A CN 201810156908 A CN201810156908 A CN 201810156908A CN 110192518 A CN110192518 A CN 110192518A
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- Prior art keywords
- watering
- water
- poured
- water area
- watering device
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Classifications
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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
-
- 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
- A01G25/165—Cyclic operations, timing systems, timing valves, impulse operations
Abstract
The invention discloses a kind of fixed point Intelligent watering method and apparatus, belong to for watering device field used in gardens or agricultural.The fixed point Intelligent watering method includes step 1: obtaining the top view of water area to be poured；Step 2: obtaining the watering plan of the height and water area to be poured of watering device mobile jib, the watering plan includes the watering time and watering style of plant to be watered, and the watering style includes one of fixed-point type injection, circulating type injection, rainfall type injection, rainfall type, atomizing or a variety of；Step 3: according to the top view and watering plan calculate water area to be poured pour water route and according to the watering coordinates measurement water instruct；Step 4: the watering being planned and instruction of watering is sent to the watering device to treat the plant progress Intelligent watering for pouring water area.Scheduled water intelligently can be sprayed onto specified region with pinpointing by the present invention.
Description
Technical field
The present invention relates to for watering device technical field used in gardens or agricultural, a kind of fixed point Intelligent watering is particularly related to
Method and apparatus.
Background technique
The watering device of existing gardens or agricultural is the pipeline by water to be embedded in underground mostly, and water is by non intelligent spray
Head sprays.Its main problem has, buried pipeline heavy workload, and pipeline is often damaged to be required to modify every year, pours water area
Overlapping leads to water resource waste.Agriculture sprinkler mainly with high pressure, by water spray feed a to geometric type, (such as justify by semicircle, 1/4
Or rectangle) region, nor intelligence, equally also result in the waste of water.
Also there is the watering device not needed in embedded underground water pipe in the prior art, still, such watering device needs make
Water area is poured to be arranged with complicated hardware device, and water cannot be intelligently sprayed onto specified region, at present for such
Watering device is badly in need of providing a kind of fixed point Intelligent watering that scheduled water can be intelligently sprayed onto specified region with pinpointing
Method.
Summary of the invention
The technical problem to be solved in the present invention is to provide one kind scheduled water to be intelligently sprayed onto finger with pinpointing
Determine the fixed point Intelligent watering method and apparatus in region.
In order to solve the above technical problems, present invention offer technical solution is as follows:
A kind of fixed point Intelligent watering method, comprising:
Step 1: obtaining the top view of water area to be poured；
Step 2: obtain watering device mobile jib height and water area to be poured watering plan, the watering plan include to
The watering time and watering style of watering plant, the watering style includes fixed-point type injection, circulating type sprays, rainfall type sprays
It penetrates, one of rainfall type, atomizing or a variety of；
Step 3: pouring water route and according to the watering according to what the top view and watering plan calculated water area to be poured
Coordinates measurement watering instruction, wherein watering instruction pours water spot including several, each pouring water spot includes following watering information:
Yaw angle, pitch angle, hydraulic pressure, watering style, watering time length and to it is next pour water spot before whether still water；
Step 4: the watering being planned and instruction of watering is sent to the watering device to treat the plant for pouring water area
Carry out Intelligent watering.
A kind of fixed point Intelligent watering device, comprising:
First obtains module: for obtaining the top view of water area to be poured；
Second obtains module: described to pour for obtaining the watering plan of the height and water area to be poured of watering device mobile jib
Water plan includes the watering time and watering style of plant to be watered, and the watering style includes fixed-point type injection, circulating type spray
It penetrates, rainfall type injection, rainfall type, one of atomizing or a variety of；
Computing module: water route is poured and according to institute for calculate water area to be poured according to the top view and watering plan
Watering coordinates measurement watering instruction is stated, wherein watering instruction is made of several water spots that pour, it includes as follows for each pouring water spot
Watering information: yaw angle, pitch angle, hydraulic pressure, watering style, watering time length and to it is next pour water spot before whether still pour
Water；
Delivery module: the watering device is sent to for instruction of planning the watering and water and pours water area to treat
Plant carry out Intelligent watering.
Compared with prior art, the invention has the following advantages:
The base of fixed point Intelligent watering method and apparatus of the invention in the existing watering device for not needing embedded underground piping
On plinth, the watering plan of the top view of water area to be poured, the height of watering device mobile jib and water area to be poured is obtained first, then
Pouring water route and generate watering and referring to for water area to be poured is calculated according to the top view of the water area to be poured of acquisition and watering plan
It enables, watering plan and watering instruction is finally sent to watering device, watering device can then plan according to watering and watering instructs
It treats the plant poured in water area and carries out Intelligent watering.When the present invention is by yaw angle, pitch angle, hydraulic pressure, watering style, watering
Between length and to it is next pour that this 6 elements of whether still watering before water spot determine in water area to be poured it is several pour water spot, this
It pours water spot and constitutes watering instruction, and the plant of different location is different relative to the yaw angle of watering device, pitch angle
, thus needed for hydraulic pressure it is also not identical, and watering style, watering time length needed for different types of plant and arrive
It is next pour whether still water before water spot it is also not identical.Therefore, the present invention can spray scheduled water according to watering plan
Intelligent watering is carried out to plant of the specified region to the region, that is, realizes and is poured onto pool to be poured for what scheduled water pinpointed
Domain.
Detailed description of the invention
The structural schematic diagram of the watering device of the fixed point Intelligent watering method of Fig. 1 to realize the present invention；
Fig. 2 is the flow diagram of fixed point Intelligent watering method of the invention；
Fig. 3 is the flow diagram for obtaining top view in fixed point Intelligent watering method of the invention using photographic process；
Fig. 4 is the flow diagram for obtaining top view in fixed point Intelligent watering method of the invention using vivid method of identification；
Fig. 5 is that the flow diagram for pouring water route and watering instruction is obtained in fixed point Intelligent watering method of the invention；
Fig. 6 is the top of the one embodiment for the water area to be poured watered using fixed point Intelligent watering method of the invention
View；
Fig. 7 is one embodiment of the water area to be poured obtained in fixed point Intelligent watering method of the invention using photographic process
Photo schematic diagram；
Fig. 8 is that one embodiment of the water area to be poured obtained using fixed point Intelligent watering method of the invention pours water route
The schematic diagram of diameter and watering instruction；
Fig. 9 be two groups of one embodiment of the water area to be poured obtained using fixed point Intelligent watering method of the invention most
The good schematic diagram for pouring water route；
Figure 10 is using the speed of the water of fountain head ejection when fixed point Intelligent watering method watering of the invention and apart from it
Between relation schematic diagram；
Figure 11 is the structural schematic diagram of fixed point Intelligent watering device of the invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
Firstly, it is necessary to which explanation, fixed point Intelligent watering method of the invention can use watering device as shown in Figure 1
It realizes, which includes pedestal 1, and the height-adjustable mobile jib 3 that is set on pedestal 1 is set to 3 top of mobile jib
The fountain head 5 that can rotate up and down and the control centre 4 to spray water for controlling the fountain head 5, the fountain head 5 with pass through
The connection of the water supply line 2 of pedestal 1 and mobile jib 3.Control centre 4 can control fountain head 5 by water be sprayed onto water area to be poured and
The rotation up and down of fountain head 5 in watering proce.
On the one hand, the present invention provides a kind of fixed point Intelligent watering method, as shown in Fig. 2 to Figure 10, comprising:
Step S1: the top view of water area to be poured is obtained；
What the top view for the water area to be poured that the present invention can be provided by user calculate water area to be poured pours water route,
And it is converted into watering instruction.
Step S2: obtaining the watering plan of the height and water area to be poured of watering device mobile jib, and the watering plan includes
The watering time and watering style of plant to be watered, the watering style include fixed-point type injection, circulating type injection, rainfall type spray
It penetrates, one of rainfall type, atomizing or a variety of；
Watering style provided by the invention is as shown in table 1:
Table 1
Step S3: pouring for water area to be poured is calculated according to the top view, the height of watering device mobile jib and watering plan
Water route is simultaneously instructed according to watering coordinates measurement watering, wherein watering instruction is made of several water spots that pour, is each poured
Water spot includes following watering information: yaw angle, pitch angle, hydraulic pressure, watering style, watering time length and to next watering
Whether still water before point；
In this step, according to the top view and watering plan created, applied mechanics principle calculates most preferably to be poured system
Water route is simultaneously instructed according to the best watering coordinates measurement watering.Since watering instruction includes that several pour water spot, each watering
Point includes yaw angle, pitch angle, hydraulic pressure, watering style, watering time length and whether still waters 6 before water spot to next pour
A watering information, and the information by each pouring water spot can reach the mesh that water is injected to set position using fountain head
's.
Step S4: above-mentioned watering is planned and instruction of watering is sent to the watering device to treat the plant for pouring water area
Carry out Intelligent watering.
In this step, watering plan and watering instruction are sent to by system by bluetooth, wired or wireless transmission mode
The control centre of watering device, the control centre of watering device are that controllable fountain head treats the plant progress intelligence for pouring water area
Watering.
Fixed point Intelligent watering method of the invention is first on the basis of the existing watering device for not needing embedded underground piping
The watering plan of the top view of water area to be poured, the height of watering device mobile jib and water area to be poured is first obtained, then basis obtains
The top view of the water area to be poured taken and watering plan calculate pouring water route and generating watering instruction for water area to be poured, finally
Watering plan and watering instruction are sent to watering device, watering device then can treat watering according to watering plan and watering instruction
Plant in region carries out Intelligent watering.The present invention by yaw angle, pitch angle, hydraulic pressure, watering style, watering time length with
And to it is next pour that this 6 elements of whether still watering before water spot determine in water area to be poured it is several pour water spot, these pour water spot
Watering instruction is constituted, and the plant of different location is different relative to the yaw angle of watering device, pitch angle, thus institute
Need hydraulic pressure it is also not identical, and watering style, watering time length needed for different types of plant and arrive next watering
Whether still water before point also not identical.Therefore, scheduled water can be sprayed onto specified area according to watering plan by the present invention
Domain carries out Intelligent watering to the plant in the region, that is, realizes and be poured onto water area to be poured for what scheduled water pinpointed.
Further, due to drawing the work that top view is engineer or courtyard pattern teacher, most users do not have this
Kind ability is reluctant that time and efforts is spent to do.Therefore, in step sl, the present invention provides the assistance of following five kinds of methods
User quickly completes the drafting work of top view.
It is illustrated by taking the top view of water area to be poured shown in fig. 6 as an example below.
(1) engineering draws method: user can go out the top view of water area to be poured using the Software on Drawing that can draw engineering drawing
Figure, the tool of drawing 2D figure, user as being similar to Microsoft Paint can directly draw out the embodiment with this tool
Water area to be poured top view.
The present invention is using the top view of water area to be poured shown in fig. 6 as embodiment, and wherein P1 to P6 and P8 is trees
Or grove, P7 are a pools, L1 and L2 are meadows.Pentagon mark on baseline is that the watering shown in FIG. 1 of user annotation is set
The position of standby pedestal 1, which is first fixed on most suitable place by user, and (pedestal 1 of watering device usually exists
On the corner of water area to be poured, sideline or centre), totally 4 numbers 1., 2., 3. and 4. are marked on pedestal 1 later, it
Correspond respectively to be looped around 4 quadrants around watering device.In this embodiment, only first quartile and the second quadrant quilt
It uses.User needs to measure the vertical and horizontal length of each quadrant when drawing the top view of the water area to be poured.At this
The vertical and horizontal length of first quartile is respectively 9 meters and 7.1 meters in embodiment, and the vertical and horizontal length of the second quadrant is each
For 9 meters and 6.5 meters.In addition, the case where user also will pour water area according to this determines the height of watering device mobile jib, water spray
It is mouthful higher to be conducive to for water to be sprayed onto destination farther out, but watering device mobile jib is excessively high is easier to tilt, and influences the accuracy of jetting.?
There is the fixed bit of top view, the vertical and horizontal length of All Quardrants, the height of watering device mobile jib, watering device to postpone,
System, which just can calculate, most preferably pours water route.
(2) GPS positioning method: user, which can use GPS positioning method and treat the plant poured in water area, to be positioned, still
This method is possible to generate biggish range deviation, therefore is used primarily in biggish region, such as agricultural irrigation etc.
(3) photographic process: when using photographic process, step S1 is preferably included:
Step S1-1: obtaining the photo of the water area to be poured of user's shooting, be equipped with square marker in the photo,
One jiao of the square marker is Chong Die with the center of watering device pedestal；
In this step, user can by one be about 20 meters rope (it is preferably red, what red was shown in photo
It is obvious) it is made into the central area that one 5 × 5 meters of square is laid on water area to be poured, rope of this square is
Be square marker, wherein the one of the square rope jiao (lower left corner or the lower right corner) must just with watering device pedestal 1
Center overlapping, the baseline of the square also should be Chong Die with the baseline of water area to be poured.Subscriber station is on ladder with movement later
Equipment (camera or mobile phone) shoots water area to be poured, obtains photo as shown in Figure 7, therein square because of angular relationship,
It has had changed into trapezoidal.
Step S1-2: the square marker, watering device pedestal, meadow boundary, tree are indicated in the photo
Ebon clump；
In this step, user stores this photo to after computer or mobile device, can be in computer or mobile device
On trapezoidal, watering device pedestal, meadow boundary and the trees grove in photo are identified in different colors (it is such as trapezoidal for red,
Watering device pedestal is grey, meadow is green, and trees grove is brown).
Step S1-3: according to indicate watering device pedestal, meadow boundary, trees grove by the photo be converted to
Pour the top view of water area；
In this step, which can also be waited ratios by system while conversion herein
Meadow and trees grove are displaced to its script position original in top view by example ground.Then, system is only watering device bottom
Seat, meadow and trees grove leave, and remove other things in photo, may finally obtain water area to be poured as shown in FIG. 6
Top view.
(4) vivid method of identification: when using vivid method of identification, step S1 is preferably included:
Step S1-1 ': the photo of the water area to be poured of user's shooting is obtained, is equipped with square mark in the photo
One jiao of object, the square marker is Chong Die with the center of watering device pedestal, meadow, trees grove week in water area to be poured
It encloses and is inserted with corresponding mark；
In this step, user needs meadow in water area to be poured, trees tree before the photo for shooting water area to be poured
Corresponding mark is plugged around clump, wherein meadow mark needs the edge round meadow to enclose around one, and trees grove mark can insert
Beside trees grove.In addition, user also needs to be inserted in using 4 range markers on the corner of 5 × 5 meters of square 4, shape
At square marker, this four range markers are used to replace the rope in photographic process, and one of range marker is set with watering
Standby center overlapping.
Step S1-2 ': using vivid method of identification according to indicate watering device pedestal, meadow boundary, trees grove will
The photo is converted to the top view of water area to be poured.
(5) aerial geographical photographic process: user is filmed water area to be poured using aerial photography, by the similar above face
After colour code is known, top view is finally obtained.The aerial photograph that Google provides can be used, but if there is the thing resistance of big tree etc
Gear, then user needs voluntarily to fill that a part of shortcoming.
In step S2, watering plan both can by system according to the top view of the height of equipment mobile jib and water area to be poured from
It is dynamic to generate, it can also voluntarily be formulated by user according to the actual conditions of water area implants to be poured.Wherein, it waters to be poured in the works
The setting of the watering time of water plant is essentially the same with the watering plan of watering device in the prior art, be it is specified weekly where
A little days which when to water.
For water area to be poured shown in fig. 6, system is according to the height of watering device mobile jib and the top view of water area to be poured
The watering plan that figure automatically generates is as shown in table 2 and table 3:
Table 2
| Plant accession | Watering time length | Water style |
| P1 | 3 | Circulating type injection |
| P2 | 3 | Circulating type injection |
| P3 | 3 | Circulating type injection |
| P4 | 3 | Circulating type injection |
| P5 | 3 | Circulating type injection |
| P6 | 3 | Circulating type injection |
| P8 | 3 | Atomizing |
Table 3
Wherein, what table 2 was listed is the watering plan of trees grove, and what table 3 was listed is the watering plan on meadow.Table 2 and table 3
It is that system thinks most suitable default value, watering time length can be set to every piece of meadow each tree ebon clump respectively,
Middle digital 1 to 7 indicate the length of watering time, and 1 is most short, and 7 be longest, and 3 be default value.
Due to trees or grove P1~P6 apart from watering device farther out, system default is that " circulating type injection " pours spray
Sample.And trees or grove P8 are close apart from watering device, to avoid water jets under high pressure that hole, computer or mobile device are projected in ground
System default be " atomizing " watering style.
But default value can be changed to other selections according to its special needs by user.For example, if certain trees or grove
Have obstacle between watering device, the lower jetting of angle may be blocked, as shown in fig. 6, in water area to be poured trees or
Grove P1~P3 is stopped by trees or grove P4 and P5, and trees or grove P4 and P5 are then stopped by trees or grove P6, then pouring
The high angle jetting of spray sample " rainfall type injection " is exactly preferable selection.If water area to be poured has pool, in Fig. 6
P7, user wishes that a water will be poured to pool at regular intervals, and watering only need to add some water every time, then watering style
" fixed-point type injection " and watering time length 1 are most suitable.If it is apart from close trees, such as the P8 in Fig. 6, then watering
Style " rainfall type " or " atomizing " are preferably to select.In this way, the watering plan in table 2 can be changed to pouring in table 4 by user
Water plan.
Table 4
| Plant accession | Watering time length | Water style |
| P1 | 3 | Rainfall type injection |
| P2 | 3 | Rainfall type injection |
| P3 | 3 | Rainfall type injection |
| P4 | 3 | Rainfall type injection |
| P5 | 3 | Rainfall type injection |
| P6 | 3 | Circulating type injection |
| P7 | 1 | Fixed-point type injection |
| P8 | 3 | Atomizing |
If meadow L2 is the meadow of novel species, watering time length doubles can be changed to 6 by user.And meadow L2 distance
Watering device is closer, its watering style " rainfall type " can be changed to watering style " rainfall type " and " atomizing " by user, also
It is that rainfall type is allowed to be used in combination with atomizing.Under this selection, system can be closer to farther away part in the L2 of meadow with rainfall
Part is sprayed in spraying mode waters.
In addition, system can also draw a circle watering at meadow edge automatically to make up the watering deficiency of frontier zone, such as 3 institute of table
Show.If deliberately to allow the meadow of edge zone to be grown up relatively slow by user, user can click [] and √ is cancelled.In this way, table
3 just at following table 5.
Table 5
User can set multiple watering plans, so that different seasons uses.
As an improvement of the present invention, step S3 is instructed and is preferably used with lower section in calculating watering plan and generation watering
Method:
Step S3-1: top view and watering plan based on the water area to be poured created, system mechanics principle meter
That calculates water area to be poured pours water route, wherein the watering path is using watering device as the center of circle, with the plant of water area to be poured
Distance away from the watering device is the circle of diameter, described to pour water route plant farthest apart from watering device from water area to be poured
Object is starting point, and radius gradually becomes smaller, until plant nearest apart from watering device in water area to be poured is terminal；
Step S3-2: by it is described pour water route and be converted into several pour water spot dj, pour water spot djIt is determined by 6 elements, i.e. x, y,
P, w, t, i；
Wherein: j=1,2,3 ..., n, n are total number a little, and x indicates yaw angle, and y indicates the elevation angle or the angle of depression, and p indicates water
Pressure, w indicate that watering style, t indicate watering time length, and i indicates whether continuously, i.e., from pouring water spot djTo pouring water spot dj+1It is intermediate
Whether still water, if not needing to water, if needing to water on meadow between two trees.
The relationship of the pitch angle of water, hydraulic pressure and distance that fountain head sprays can be determined using following force equation:
The pressure for the water that fountain head sprays and the relationship of speed are calculated first:
If: the water jet sectional area of fountain head is S (m2), the volume for spraying water is V (m3), when spraying used in V water
Between be t (s), the speed of the water that fountain head has just sprayed is v (m/s), and acceleration is a (m/s2), the density of water is ρ (kg/m3)；
Then: the quality for the water that fountain head sprays: m=ρ V (kg)；
The active force for the water that fountain head sprays: F=m a (kg.m/s2)；
The hydraulic pressure for the water that fountain head sprays: P=F/S (kg/m.s2)；
Since the power of pressure acting is F=S P, it is L=V/S that fountain head, which sprays the distance done work required for the water of volume V,.
Therefore fountain head work done is W=SPV/S=VP.
First according to theorem of kinetic energy, fountain head work done and the kinetic energy (0.5mv given2) it is the same.Also that is, VP=
0.5m v2；
(ρ V) is replaced into m, then is obtained: VP=0.5 (ρ V) v2；
The relationship between the speed of water that the hydraulic pressure and fountain head of the water sprayed this makes it possible to obtain fountain head have just sprayed:
P=0.5 ρ v2(formula 1).
Above-mentioned (formula 1) can carry out verifying its correctness, Darcy-Weisbach using Darcy-Weisbach formula
Formula is as follows:
Wherein, the pressure decline Δ p/L of per unit length is the equation being made of following four factor in pipeline:
ρ is fluid density (kg/m3)；D is nozzle diameter (m)；V is liquid mean flow rate (m/s)；fDIt rubs for Darcy and is
Number.
Constant (i.e. L, f in this formula (formula 1)D, ρ and D) become with duct size and material.For some product
For, they can be simplified as the constant C that can be obtained in an experiment.In this way, Darcy-Weisbach formula just by
It is simplified to:
Δ p=Cv2(formula 2)
Thus (formula 2) can be seen that square v of liquid pressure Δ p and flow rate of liquid2It is directly proportional.That is, if thinking
Flow velocity is allowed to double, then liquid pressure will be transferred to original 4 times.
Because the hydraulic pressure of water jet has been 0, as the Δ p in (formula 2) is meant that with the P in (formula 1)
's.
Then the relationship between the speed, angle and distance for the water that watering device fountain head sprays is calculated:
As shown in Figure 10, the speed v for the water that fountain head sprays is a vector, it can be broken down into lateral velocity vxWith it is vertical
To speed vy.The speed v for the water that then fountain head sprays:
In Figure 10, l is the height of water jet, h1The fore-and-aft distance of highest point, h are risen to after spraying for water2=h1+ l is water
Drop to the fore-and-aft distance on ground from highest point, d is lateral distance of the water blow-off point to level point, and y is that fountain head sprays water
The elevation angle.If t1Rise time used in highest point, t after spraying for water2When dropping to used in ground for water from highest point
Between, then it is ejected into from water and drops to the time used in ground as t=t1+t2.According to barodynamics formula:
t1=vy/g；
h2=0.5g t2 2；
It obtains: h1+ l=0.5g t2 2
So
It is discussed to simplify, we assume that always air drag is 0.But in fact, the factor of air drag can make really
The distance of water-drop point is slightly less than theoretical value d.Therefore, (formula 3) reforms into:
Wherein c is constant, is slightly less than 1.
Due to vx=vcosy, vy=vsiny；
Then according to (formula 1) and (formula 3) you can get it hydraulic pressure P and pitch angle y and fountain head ejection water distance d relationship
Are as follows:
D=2cPsinycosy/ ρ g+2ccosy (P (siny)2/ρ2g+l/g)1/2(formula 5)；
Wherein, c is constant and is slightly less than the density that 1, ρ is water, and g is acceleration of gravity, and l is the height of water jet.
The style that system can be set according to table 1 determines that elevation angles are to spend 45 to 90,0 to 45 degree or negative value.
The product of each model can find its optimal constant value c in (formula 5) after experiment.In this way, to any one
It is a to pour water spot dj, system can determine its corresponding 6 numerical value.
Step S3-3: described several are poured into water spot djIt is set as watering instruction, i.e., the described watering instruction is dj: (xj, yj, pj,
wj, tj, ij), wherein j=1,2,3 ..., n, n are total number a little.
As shown in figure 8, watering instruction is just at following pattern:
Watering device control centre controls watering device fountain head and instructs according to above-mentioned watering from d1Go to dnTo meadow into
Row watering.That is, watering device control centre, which controls watering device fountain head, is first carried out d when starting1, fountain head is inclined at this time
Boat angle is x1, the elevation angle or the angle of depression are y1, hydraulic pressure P1, watering style is w1, watering time length is t1Second.After completion, if
i1It is just interrupted to interrupt water flow, otherwise continues to be sprayed onto d always with style and the hydraulic pressure water spray of similarly watering2Point.So by d1It opens
Beginning is continued until dn, just complete the pouring to meadow.
Water route and watering instruction are poured for trees grove, user can draw circle according to the size of tree.For larger
Circle, the system of computer or mobile device can award more water and wider watering range.
In addition, pouring water area watering unevenness to solve the problems, such as that watering device is treated, the present invention, which has been done, further to be changed
Into, i.e., in step s3, calculate water area to be poured pour water route after, the water route that pours is done along pouring the half of water route
The displacement in diameter direction is poured water route using this two groups and is treated and pour water area and water so that obtaining two groups pours water route.
As shown in figure 9, the solid line in meadow L1 and L2 is that the watering device that system-computed goes out pours meadow L1 and L2
First group of path of most preferably spraying water of water, in first group of optimal path, it is assumed that using watering device as two adjacent phases in the center of circle
Mutually parallel the distance between solid line is g, then system can recalculate another group of path complementary with first group of optimal path, i.e.,
Dotted line shown in Fig. 9, wherein the distance between dotted line solid parallel lines adjacent thereto are 0.5g.Treating the grass for pouring water area
When ground is watered, this two groups of optimal paths are used alternatingly in watering device control centre, have so just reached large area water is equal
The even purpose poured on meadow.
In addition, in order to allow the water being sprinkled upon outside specified region minimize or even zero and water must be according to specified amount
It is evenly distributed in specified region, following solution has also been devised in the present invention:
First, fountain head during Jiang Shui is sprayed onto destination some can fall naturally midway, fall
Water amount and the factors such as range and the material of watering device, the orifice design of fountain head it is related.After a test, computer or shifting
The system of dynamic equipment will automatically calculate this deviation, reduce watering automatically for the region for obtaining partway overboard.
Second, meadow edge can also receive less water naturally.It is less to make up frontier zone amount of water sprayed, meter
The system of calculation machine or mobile device can water along one circle of the periphery on meadow detour, to make up the problem of water unevenness.Such as 3 institute of table
Show, system default is automatically to add to spill a circle water at meadow edge.But user, which also can choose, not add watering, such as 5 institute of table
Show.
Due to the difference of water area location to be poured, fixed point Intelligent watering method of the invention is doing last trial operation
When, there are many situations that user is made to be likely to require modification top view and setting.At this time user needs to do these following considerations:
1, the system of computer or mobile device thinks that always ground is smooth when water route and watering formula are poured in calculating
Do not have acclive.If water area to be poured is hillside fields, user should consider that the overboard soil that whether will cause loosens.If so, that
Spray pressure should be selected smaller or the style of dispersion.Due to hillside fields it is therefore, user top view may also be done become larger or
The modification to become smaller.
If the obstacle 2, with high-wall Gao Shu etc between plant to be watered and watering device, then will change
Water style, will be adjusted to be higher than 45 degree for water spray angle.User also needs to inspect whether water suitably falls in across obstacle
Specified point.
3, in order to allow water more uniformly to pour around tree, when water route is poured in calculating, in addition to circle can be drawn it is big it
Outside, user can also respectively draw a circle in the right and left of tree.
On the other hand, it corresponds to the above method, the present invention also provides a kind of fixed point Intelligent watering devices, such as Figure 11 institute
Show, comprising:
First obtains module 100: for obtaining the top view of water area to be poured；
Second obtains module 200: described for obtaining the watering plan of the height and water area to be poured of watering device mobile jib
Watering plan includes the watering time and watering style of plant to be watered, and the watering style includes fixed-point type injection, circulating type
One of injection, rainfall type injection, rainfall type, atomizing are a variety of；
Computing module 300: for being calculated according to the top view, the height of watering device mobile jib and watering plan wait water
Pouring water route and being watered according to the watering coordinates measurement for region instructs, wherein watering instruction pours water spot group by several
At each pouring water spot and include following watering information: yaw angle, pitch angle, hydraulic pressure, watering style, watering time length and
To it is next pour water spot before whether still water；
Delivery module 400: the watering device is sent to treat watering for instruction of planning the watering and water
The plant in region carries out Intelligent watering.
Further, the first acquisition module 100 preferably includes:
First photo obtains module: for obtaining the photo of the water area to be poured of user's shooting, being equipped in the photo
One jiao of square marker, the square marker is Chong Die with the center of watering device pedestal；
Mark module: for indicating the square marker, watering device pedestal, meadow side in the photo
Boundary, trees grove；
First conversion module: for according to the watering device pedestal indicated, meadow boundary, trees grove is by the photo
Be converted to the top view of water area to be poured；
Alternatively, the first acquisition module 100 includes:
Second photo obtains module: for obtaining the photo of the water area to be poured of user's shooting, being equipped in the photo
Square marker, the square one jiao of marker is Chong Die with the center of watering device pedestal, meadow in water area to be poured,
Corresponding mark is inserted with around trees grove；
Second conversion module: for using vivid method of identification according to indicate watering device pedestal, meadow boundary, trees
The photo is converted to the top view of water area to be poured by grove；
Alternatively, first obtains module 100 further are as follows: obtain the pool to be poured that user uses drawing Software on Drawing
The top view in domain；
Alternatively, first obtains module 100 further are as follows: obtain the top for the water area to be poured that user is obtained using GPS method
View.
Further, second obtain module 200 in, if trees or grove to be watered apart from watering device farther out, pour
The injection of spray sample default choice circulating type；If trees or grove to be watered are closer apart from watering device, the style that waters default
Select atomizing；If there are obstacle between trees or grove and watering device to be watered, style default choice of watering drop
The injection of rain formula.
Preferably, computing module 300 may include:
Water path calculation module: for calculating the watering of water area to be poured according to the top view and watering plan first
Path, wherein the watering path be using watering device as the center of circle, with the plant of water area to be poured away from the watering device away from
From the circle for diameter, described to pour water route plant farthest apart from watering device from water area to be poured as starting point, radius is gradually
Become smaller, until plant nearest apart from watering device in water area to be poured is terminal；
Pour water spot conversion module: for by it is described pour water route and be converted into several pour water spot dj, pour water spot djBy 6 elements
It determines, i.e. x, y, p, w, t, i；
Wherein: j=1,2,3 ..., n, n are total number a little, and x indicates yaw angle, and y indicates the elevation angle or the angle of depression, and p indicates water
Pressure, w indicate that watering style, t indicate watering time length, and i indicates whether continuously, i.e., from pouring water spot djTo pouring water spot dj+1It is intermediate
Whether still water；
Watering directive generation module: being set as watering instruction for described several to be poured water spot dj, i.e., the described watering instruction
For dj: (xj, yj, pj, wj, tj, ij), wherein j=1,2,3 ..., n, n are total number a little.
Further, in computing module 300, calculate water area to be poured pour water route after, the water route that pours is done
Along the displacement for the radial direction for pouring water route, so that obtaining two groups pours water route, water route is poured using this two groups and treats watering
It waters in region.
Fixed point Intelligent watering device of the invention is first on the basis of the existing watering device for not needing embedded underground piping
The watering plan of the top view of water area to be poured, the height of watering device mobile jib and water area to be poured is first obtained, then basis obtains
The top view of the water area to be poured taken and watering plan calculate pouring water route and generating watering instruction for water area to be poured, finally
Watering plan and watering instruction are sent to watering device, watering device then can treat watering according to watering plan and watering instruction
Plant in region carries out Intelligent watering.The present invention by yaw angle, pitch angle, hydraulic pressure, watering style, watering time length with
And to it is next pour that this 6 elements of whether still watering before water spot determine in water area to be poured it is several pour water spot, these pour water spot
Watering instruction is constituted, and the plant of different location is different relative to the yaw angle of watering device, pitch angle, thus institute
Need hydraulic pressure it is also not identical, and watering style, watering time length needed for different types of plant and arrive next watering
Whether still water before point also not identical.Therefore, scheduled water can be sprayed onto specified area according to watering plan by the present invention
Domain carries out Intelligent watering to the plant in the region, that is, realizes and be poured onto water area to be poured for what scheduled water pinpointed.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of fixed point Intelligent watering method characterized by comprising
Step 1: obtaining the top view of water area to be poured；
Step 2: obtaining the watering plan of the height and water area to be poured of watering device mobile jib, the watering plan includes wait water
The watering time and watering style of plant, the watering style include fixed-point type injection, circulating type injection, rainfall type injection, drop
One of rain formula, atomizing are a variety of；
Step 3: pouring water route and pouring water route according to described for water area to be poured is calculated according to the top view and watering plan
Watering instruction is generated, wherein watering instruction pours water spot including several, each pouring water spot includes following watering information: yaw
Angle, pitch angle, hydraulic pressure, watering style, watering time length and to it is next pour water spot before whether still water；
Step 4: the watering being planned and instruction of watering is sent to the watering device to treat the plant progress for pouring water area
Intelligent watering.
2. fixed point Intelligent watering method according to claim 1, which is characterized in that the step 1 includes:
Step 1-1: obtaining the photo of the water area to be poured of user's shooting, be equipped with square marker in the photo, described
One jiao of square marker is Chong Die with the center of watering device pedestal；
Step 1-2: the square marker, watering device pedestal, meadow boundary, trees tree are indicated in the photo
Clump；
Step 1-3: the photo is converted to wait water according to the watering device pedestal that indicates, meadow boundary, trees grove
The top view in region；
Alternatively, the step 1 includes:
Step 1-1 ': obtaining the photo of the water area to be poured of user's shooting, be equipped with square marker in the photo, described
One jiao of square marker is Chong Die with the center of watering device pedestal, and meadow in water area to be poured plugs around trees grove
There is corresponding mark；
Step 1-2 ': using vivid method of identification according to the watering device pedestal indicated, meadow boundary, trees grove is by the photograph
Piece is converted to the top view of water area to be poured；
Alternatively, the step 1 is further are as follows: obtain user using the top view of the water area to be poured of drawing Software on Drawing
Figure；
Alternatively, the step 1 is further are as follows: obtain the top view for the water area to be poured that user is obtained using GPS method.
3. fixed point Intelligent watering method according to claim 1, which is characterized in that in the step 2, if tree to be watered
Farther out apart from watering device, then the style default choice circulating type that waters sprays wooden or grove；If trees or grove to be watered away from
It is closer from watering device, then style default choice atomizing of watering；If being deposited between trees or grove and watering device to be watered
In obstacle, then the style default choice rainfall type that waters injection.
4. fixed point Intelligent watering method according to any one of claims 1 to 3, which is characterized in that the step 3 includes:
Step 3-1: water route is poured according to what the top view and watering plan calculated water area to be poured first, wherein the watering
Path is using watering device as the center of circle, and the distance using the plant of water area to be poured away from the watering device is described as the circle of diameter
Pouring water route plant farthest apart from watering device from water area to be poured is starting point, and radius gradually becomes smaller, until water area to be poured
The middle plant nearest apart from watering device is terminal；
Step 3-2: by it is described pour water route and be converted into several pour water spot dj, pour water spot djIt is determined by 6 elements, i.e. x, y, p, w,
T, i；
Wherein: j=1,2,3 ..., n, n are total number a little, and x indicates yaw angle, and y indicates the elevation angle or the angle of depression, and p indicates hydraulic pressure, w
Indicate that watering style, t indicate watering time length, i indicates whether continuously, i.e., from pouring water spot djTo pouring water spot dj+1Whether centre
Still water；
Step 3-3: described several are poured into water spot djIt is set as watering instruction, i.e., the described watering instruction is dj: (xj, yj, pj, wj, tj,
ij), wherein j=1,2,3 ..., n, n are total number a little.
5. fixed point Intelligent watering method according to claim 4, which is characterized in that in the step 3, calculating wait water
Region pour water route after, displacement along the radial direction for pouring water route is done to the water route that pours, is poured to obtain two groups
Water route pours water route using this two groups and treats and pours water area and water.
6. a kind of fixed point Intelligent watering device characterized by comprising
First obtains module: for obtaining the top view of water area to be poured；
Second acquisition module: for obtaining the watering plan of the height and water area to be poured of watering device mobile jib, the watering meter
Drawing includes the watering time of plant to be watered and the style that waters, and the watering style includes fixed-point type injection, circulating type injection, drop
One of the injection of rain formula, rainfall type, atomizing are a variety of；
Computing module: for calculating pouring water route and pouring according to described for water area to be poured according to the top view and watering plan
Water route generates watering instruction, wherein watering instruction is made of several water spots that pour, each pouring water spot includes watering as follows
Information: yaw angle, pitch angle, hydraulic pressure, watering style, watering time length and to it is next pour water spot before whether still water；
Delivery module: for planning the watering and watering, instruction is sent to the watering device to treat the plant for pouring water area
Object carries out Intelligent watering.
7. fixed point Intelligent watering device according to claim 6, which is characterized in that described first, which obtains module, includes:
First photo obtains module: for obtaining the photo of the water area to be poured of user's shooting, being equipped with pros in the photo
One jiao of shape marker, the square marker is Chong Die with the center of watering device pedestal；
Mark module: for indicating the square marker, watering device pedestal, meadow boundary, tree in the photo
Ebon clump；
First conversion module: for being converted the photo according to the watering device pedestal that indicates, meadow boundary, trees grove
For the top view of water area to be poured；
Alternatively, the first acquisition module includes:
Second photo obtains module: for obtaining the photo of the water area to be poured of user's shooting, being equipped with pros in the photo
Shape marker, one jiao of, in be poured water area meadow, trees Chong Die with the center of watering device pedestal of the square marker
Corresponding mark is inserted with around grove；
Second conversion module: for using vivid method of identification according to indicate watering device pedestal, meadow boundary, trees grove
The photo is converted to the top view of water area to be poured；
Alternatively, the first acquisition module is further are as follows: for obtaining user using drawing Software on Drawing wait water
The top view in region；
Alternatively, the first acquisition module is further are as follows: for obtaining the top for the water area to be poured that user is obtained using GPS method
View.
8. fixed point Intelligent watering device according to claim 6, which is characterized in that described second obtains in module, if to
Farther out apart from watering device, then the style default choice circulating type that waters sprays the trees or grove of watering；If trees to be watered
Or grove is closer apart from watering device, then style default choice atomizing of watering；If trees or grove to be watered set with watering
There are obstacles between standby, then the style default choice rainfall type that waters injection.
9. according to the fixed point Intelligent watering device any in claim 6 to 8, which is characterized in that the calculating mould
Block includes:
Watering path calculation module: for pouring water route according to what the top view and watering plan calculated water area to be poured first
Diameter, wherein the watering path is the distance using watering device as the center of circle, with the plant of water area to be poured away from the watering device
For the circle of diameter, described to pour water route plant farthest apart from watering device from water area to be poured as starting point, radius gradually becomes
It is small, until plant nearest apart from watering device in water area to be poured is terminal；
Pour water spot conversion module: for by it is described pour water route and be converted into several pour water spot dj, pour water spot djIt is determined by 6 elements,
That is x, y, p, w, t, i；
Wherein: j=1,2,3 ..., n, n are total number a little, and x indicates yaw angle, and y indicates the elevation angle or the angle of depression, and p indicates hydraulic pressure, w
Indicate that watering style, t indicate watering time length, i indicates whether continuously, i.e., from pouring water spot djTo pouring water spot dj+1Whether centre
Still water；
Water directive generation module: for described several to be poured water spot djIt is set as watering instruction, i.e., the described watering instruction is dj:
(xj, yj, pj, wj, tj, ij), wherein j=1,2,3 ..., n, n are total number a little.
10. fixed point Intelligent watering device according to claim 9, which is characterized in that in the computing module, calculate to
Pour water area pour water route after, displacement along the radial direction for pouring water route is done to the water route that pours, to obtain two
Group pours water route, pours water route using this two groups and treats and pours water area and water.
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| CN201810156908.XA CN110192518A (en) | 2018-02-24 | 2018-02-24 | Pinpoint Intelligent watering method and apparatus |
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| CN201810156908.XA CN110192518A (en) | 2018-02-24 | 2018-02-24 | Pinpoint Intelligent watering method and apparatus |
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| CN112119731A (en) * | 2020-09-23 | 2020-12-25 | 苏州观临园林建筑营造设计有限公司 | Irrigation system, irrigation method thereof and electronic equipment |
| CN112119886A (en) * | 2020-09-23 | 2020-12-25 | 苏州观临园林建筑营造设计有限公司 | Automatic irrigation system, irrigation method thereof and electronic equipment |
| CN113892399A (en) * | 2021-09-13 | 2022-01-07 | 中国一冶集团有限公司 | Accurate positioning spray-seeding grass planting method and pulse pressure spray-seeding machine |
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