CN117256451A - Multifunctional household intelligent garden irrigation robot - Google Patents
Multifunctional household intelligent garden irrigation robot Download PDFInfo
- Publication number
- CN117256451A CN117256451A CN202310760501.9A CN202310760501A CN117256451A CN 117256451 A CN117256451 A CN 117256451A CN 202310760501 A CN202310760501 A CN 202310760501A CN 117256451 A CN117256451 A CN 117256451A
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- garden
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- multifunctional household
- household intelligent
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- 238000003973 irrigation Methods 0.000 title claims abstract description 23
- 230000002262 irrigation Effects 0.000 title claims abstract description 23
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 17
- 239000002689 soil Substances 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 238000012800 visualization Methods 0.000 claims description 8
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 5
- 239000003086 colorant Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000010413 gardening Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
Abstract
The invention discloses a multifunctional household intelligent garden irrigation robot, which relates to the technical field of forestry robots and is provided with the following scheme: the crawler belt is arranged on the outer ring of the driving wheel; and a robot control panel and sensor assembly are provided. In the invention, whether watering is needed or not is judged by analyzing the soil humidity, so that accurate watering is performed; detecting indoor air pressure and air conditions in real time; reporting weather forecast and wind direction conditions in real time; thereby assisting the normal and accurate operation of the garden housekeeper robot; and the optimal charging route planning based on the grid map modeling is realized through an AI algorithm, so that the efficient charging environment protection is realized, the garden has stronger maneuverability in the garden flat ground, and the garden condition can be monitored on a mobile phone in real time.
Description
Technical Field
The invention relates to the technical field of forestry robots, in particular to a multifunctional household intelligent garden irrigation robot.
Background
The utility model provides a garden robot that patent number is CN210580365U, its product relates to the technical field of robot, it includes the organism, set up the spraying mechanism on the organism, set up the control circuit who is connected with spraying mechanism electricity on the organism, spraying mechanism is including setting up the relative shower nozzle of plant in with the flowerpot on the organism and the feed pipe with the shower nozzle intercommunication, control circuit is including setting up the humidity detector in flowerpot soil, set up the light intensity detector in flowerpot one side, set up the solenoid valve on the feed pipe and set up the control assembly who is connected with the solenoid valve electricity on the organism, the control assembly electricity is connected in humidity detector, the light intensity detector is in order to receive both's signal of telecommunication, when the humidity of soil is less than the setting value and the light intensity is less than the setting value control assembly triggers and controls the solenoid valve and opens.
However, the inventor believes that since the products on the market at present generally adopt a spray structure, plants are easily crushed by directly irrigating the leaf parts of the plants; and the product function singleness in the present market can't carry out actions such as automatic planning route and full-automatic real-time obstacle avoidance, can't carry out functions such as analysis to soil humidity, atmospheric pressure, air condition, wind direction condition in gardens, and then can't realize the effect of accurately watering.
Disclosure of Invention
Aiming at the defects, the technical problem to be solved by the invention is to provide a multifunctional household intelligent garden irrigation robot, which comprises: the crawler belt is arranged on the outer ring of the driving wheel;
the top surface of bottom plate still is fixed with the backup pad, is provided with robot control panel and sensor subassembly on the top surface of backup pad, and installs the water tank on the top surface of backup pad, installs the suction pump on the lateral wall of water tank.
In the above-mentioned technical scheme of multi-functional domestic gardens intelligence watering robot, preferably, include ultrasonic sensor, infrared sensor, camera, soil temperature and humidity sensor and loudspeaker in the sensor module, and ultrasonic sensor, infrared sensor, camera, soil temperature and humidity sensor and loudspeaker all carry out the electricity through wire and robot control panel and be connected.
In the above technical scheme of the multifunctional household intelligent garden irrigation robot, preferably, the water outlet end and the water inlet end of the water pump are both provided with water pipes through pipe joints, and the water pipes on the water inlet end of the water pump penetrate into the inner cavity of the water tank and are communicated with the liquid.
In the above technical scheme of the multifunctional household intelligent garden irrigation robot, preferably, a storage battery for supplying power to the sensor component and the robot control panel is mounted on the top surface of the supporting plate, a solar panel is laid on the top surface of the supporting plate, and an LED lamp is mounted on the side wall of the front end of the supporting plate.
In the above technical solution of a multifunctional domestic intelligent irrigation robot for garden, preferably, the control panel of the robot includes an ESP8266 functional area and a main board; the ESP8266 functional area comprises an ESP8268WIFI transmission module, an LU-AsR01 module (intelligent voice recognition control module) electrically connected with the ESP8268WIFI transmission module, and an EOD display screen electrically connected with the ESP8268WIFI transmission module, and the steering engine is electrically connected with the ESP8268WIFI transmission module. And the ESP8268WIFI transmission module is also connected with an SHT30 temperature sensor, an SGP30 gas sensor and a BMP180 gas sensor.
In the above-mentioned technical scheme of multi-functional domestic gardens intelligence watering robot, preferably, be provided with STM32 singlechip, the DCDC converter that is connected with STM32 singlechip electricity in the mainboard, and STM32 singlechip is connected with ultrasonic sensor, infrared sensor, bluetooth module electricity.
In the above-mentioned technical scheme of multi-functional domestic gardens intelligence watering robot, preferably, still be provided with voltage stabilizing circuit on the solar panel, and the electric power of solar panel passes through the electric wire and is connected with ESP8268WIFI transmission module and DCDC converter.
In the above technical solution of the multifunctional home garden intelligent irrigation robot, preferably, the multifunctional home garden intelligent irrigation robot further includes the following robot path planning program part:
s1: carrying out idealization treatment on the small roads in the garden, considering that the density of vegetation on two sides is extremely high, and neglecting the situation that wind flows into and flows out of the small roads through vegetation gaps, so that the situation of wind speed and wind pressure of the small roads in the garden is simulated by means of Simdorid software;
s2: modeling a garden map; in order to smoothly meet the requirements of projects, modeling is needed to be carried out on garden maps, so that garden map information in reality is converted into data which can be processed by a computer and is convenient for path planning and solving;
s3: solving the selection of an optimal path algorithm scheme; the data after modeling pretreatment is processed by selecting one algorithm which best meets project requirements from the existing multiple path planning algorithms;
s4: visualization of the computational process and the solution results; for the solved result data, visualization is needed to be carried out so that a user can intuitively read and know;
s5: writing a matched program; and for the modeled garden map data file, the functions of importing, viewing, editing in real time and storing are realized.
In the above technical solution of the multifunctional home garden intelligent irrigation robot, preferably, the garden map modeling in the step S2 adopts a grid map; the optimal path algorithm in the step S3 adopts an AI algorithm based on a grid map; the visualization technology in the step S4 adopts a matplotlib drawing library function, and reasonable and attractive dotted line colors and patterns are selected for drawing; the matching program in the step S5 adopts a set of corresponding map data editing and path solving device written based on Python language
According to the technical scheme, the multifunctional household intelligent garden irrigation robot has the following beneficial effects compared with the prior art:
analyzing the soil humidity to judge whether watering is needed or not, and further carrying out accurate watering; detecting indoor air pressure and air conditions in real time; reporting weather forecast and wind direction conditions in real time; reporting the temperature and humidity conditions and lighting the trolley at night through voice; controlling a robot through a mobile phone APP, and directly observing related parameters of a stream of air flowing in from a given inlet and flowing out from a given outlet at different positions at different moments by means of the developed APP; thereby being capable of assisting the normal and accurate operation of the garden housekeeper robot.
Meanwhile, relevant parameters of air pressure and wind speed at different positions of a small road in the garden at the same moment can be observed by adjusting the progress bar of the APP. Solar charging can be realized, and the green life concept is reflected. And (5) realizing an optimal solar charging path by an AI algorithm.
Path planning program section: the program realizes excellent visual output, and the dynamic calculation process display and the final planning scheme display can provide good visual reading experience for users; the accuracy and the time efficiency are both considered when the optimal path is solved, and excessive time is not consumed while the accuracy of the solving result is ensured; the map data file editing program is matched, so that various parameter modifications and visual real-time viewing and editing of map data (such as obstacle blocks and the like) are supported, personalized customization is conveniently carried out by a user based on different requirements, and the map data file editing program has excellent expansibility and universality.
The route can be planned through an AI algorithm according to a grid map model of the garden, and then the running condition of the robot is simulated through numerical simulation to set the speed, so that more accurate irrigation is realized. The product can be used for a garden owner to listen to temperature and humidity at any time, and can see the conditions of temperature and humidity, air pressure, weather forecast and the like, so that plants can be cultivated better.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will make brief description and illustrations of the drawings used in the description of the embodiments of the present invention or the prior art. It is obvious that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a control framework of a household intelligent garden irrigation robot;
FIG. 2 is a schematic diagram of the overall structure of the intelligent irrigation robot for the home garden;
FIG. 3 is a schematic diagram of a robot simulating a change in wind speed in a first path;
FIG. 4 is a schematic diagram of a change in air pressure field in a first path simulated by a robot;
FIG. 5 is a schematic diagram of a robot simulating a change in wind speed in a second path;
FIG. 6 is a schematic diagram of a change in air pressure field in a second path simulated by the robot;
FIG. 7 is a schematic diagram of a path planning software interface associated with a robot;
fig. 8 is a schematic diagram of a path planning scheme output in path planning software associated with a robot.
In fig. 2, the corresponding relationship of the parts is as follows:
1. a bottom plate; 2. steering engine; 3. a robot control panel; 4. a water tank; 5. a water pump; 6. a support plate; 7. a sensor assembly; 8. a track; 9. and (3) driving wheels.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to make the explanation and the description of the technical solution and the implementation of the present invention clearer, several preferred embodiments for implementing the technical solution of the present invention are described below.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In addition, the terms herein: the references to "inner, outer," "front, rear," "left, right," "vertical, horizontal," "top, bottom," etc., are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Example 1
Referring to fig. 1 and 2;
mechanical structure and control panel structure of intelligent watering robot in multi-functional domestic gardens:
the embodiment comprises the following steps:
the steering engine comprises a bottom plate 1, four steering engines 2 arranged at four corners of the top surface of the bottom plate 1, and driving wheels 9 connected with output shafts of the steering engines 2 through couplings, wherein crawler belts 8 are arranged on outer rings of the driving wheels 9; a supporting plate 6 is also fixed on the top surface of the bottom plate 1, a robot control panel 3 and a sensor assembly 7 are arranged on the top surface of the supporting plate 6, a water tank 4 is arranged on the top surface of the supporting plate 6, and a water suction pump 5 is arranged on the side wall of the water tank 4.
The sensor assembly 7 comprises an ultrasonic sensor, an infrared sensor, a camera, a soil temperature and humidity sensor and a horn, and the ultrasonic sensor, the infrared sensor, the camera, the soil temperature and humidity sensor and the horn are all electrically connected with the robot control panel 3 through wires; the water outlet end and the water inlet end of the water pump 5 are provided with water pipes through pipe joints, and the water pipe on the water inlet end of the water pump 5 penetrates into the inner cavity of the water tank 4 to be communicated with liquid.
A storage battery for supplying power to the sensor assembly 7 and the robot control panel 3 is mounted on the top surface of the support plate 6, a solar panel is paved on the top surface of the support plate 6, and an LED lamp is mounted on the front end side wall of the support plate 6; the robot control panel 3 comprises an ESP8266 functional area and a main board; the ESP8266 functional area comprises an ESP8268WIFI transmission module, an LU-AsR01 module (intelligent voice recognition control module) electrically connected with the ESP8268WIFI transmission module, and an EOD display screen electrically connected with the ESP8268WIFI transmission module, and the steering engine 2 is electrically connected with the ESP8268WIFI transmission module. And the ESP8268WIFI transmission module is also connected with an SHT30 temperature sensor, an SGP30 gas sensor and a BMP180 gas sensor.
An STM32 singlechip and a DCDC converter electrically connected with the STM32 singlechip are arranged in the main board, and the STM32 singlechip is electrically connected with the ultrasonic sensor, the infrared sensor and the Bluetooth module; and a voltage stabilizing circuit is further arranged on the solar panel, and the electric power of the solar panel is connected with the ESP8268WIFI transmission module and the DCDC converter through electric wires.
Example 2
Referring to fig. 3 to 8;
the path planning process of the multifunctional household intelligent garden irrigation robot comprises the following steps:
the embodiment comprises the following steps:
and establishing a model motion condition by numerical simulation.
Firstly, idealizing a small road in a garden, considering that the density of vegetation on both sides is extremely high, and neglecting the situation that wind flows into and out of the small road through vegetation gaps, thereby simulating the situation of wind speed and wind pressure of the small road in the garden by means of Simdorid software.
The implementation method comprises the following steps: and simulating the air pressure difference of different paths and the change dynamic image of the wind field by means of numerical simulation software Simdorid.
Wherein the changes in wind speed and air pressure field are taken into account when simulating the first path (see fig. 3 and 4); in modeling the second path, the changes in wind speed and air pressure field are again taken into account (see fig. 5 and 6).
Next, referring to fig. 7 and 8, a program is written to output an optimal path planning scheme in the form of a picture on the premise of giving a garden map, a trolley starting point and information of a required path point for watering. In order to facilitate the user to input, view and edit the map data, the matching program supports the functions of importing the existing map data, editing the map data (information such as obstacle blocks, route points and the like), storing the edited map data, solving by one key, generating an optimal route and the like. Parameters such as a path starting point, a path ending point, a grid map model size, a robot collision radius and the like can be freely adjusted by a user.
Path planning program section:
1. modeling of garden maps. In order to smoothly meet the requirements of projects, modeling is needed to be carried out on garden maps, so that garden map information in reality is converted into data which can be processed by a computer and is convenient for path planning and solving. The proposal adopted by the technology is to model a garden into a grid map.
2. And (5) solving the selection of the optimal path algorithm scheme. And selecting one algorithm which best meets project requirements from the existing multiple path planning algorithms to process the data subjected to modeling pretreatment. The technical proposal is that an AI algorithm based on a grid map is used.
3. Visualization of the computational process and the solution results. For the solved result data, visualization is needed to be intuitively read and understood by the user. The scheme adopted by the technology is realized by selecting reasonable and beautiful dotted line colors and patterns to draw through matplotlib drawing library functions.
4. And (5) programming a matched program. For the modeled garden map data file, if functions of importing, viewing, editing in real time, storing and the like can be realized, the user friendliness is greatly improved, and better user experience is brought. The technology writes a set of corresponding map data editing and path solver based on Python language, realizes the functions, and is convenient for user operation.
Finally, it should be further noted that the structures, proportions, sizes, etc. shown in the drawings are merely for the purpose of understanding and reading the disclosure, and are not intended to limit the applicable limitations of the present application, so that any structural modifications, proportional changes, or adjustments of sizes may be made without affecting the efficacy or achievement of the present application and are within the scope of what is disclosed herein.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The present invention is not limited to the above-mentioned preferred embodiments, and any person who can learn the structural changes made under the teaching of the present invention can fall within the scope of the present invention if the present invention has the same or similar technical solutions.
Claims (9)
1. The multifunctional household intelligent garden irrigation robot is characterized by comprising a bottom plate (1), four steering engines (2) arranged at four corners of the top surface of the bottom plate (1), and driving wheels (9) connected with output shafts of the steering engines (2) through couplings, wherein crawler belts (8) are arranged on outer rings of the driving wheels (9);
the water tank is characterized in that a supporting plate (6) is further fixed on the top surface of the bottom plate (1), a robot control panel (3) and a sensor assembly (7) are arranged on the top surface of the supporting plate (6), a water tank (4) is mounted on the top surface of the supporting plate (6), and a water suction pump (5) is mounted on the side wall of the water tank (4).
2. The multifunctional household intelligent garden irrigation robot according to claim 1, wherein the sensor assembly (7) comprises an ultrasonic sensor, an infrared sensor, a camera, a soil temperature and humidity sensor and a horn, and the ultrasonic sensor, the infrared sensor, the camera, the soil temperature and humidity sensor and the horn are electrically connected with the robot control panel (3) through wires.
3. The multifunctional household intelligent garden irrigation robot according to claim 1, wherein the water outlet end and the water inlet end of the water pump (5) are provided with water pipes through pipe joints, and the water pipe on the water inlet end of the water pump (5) penetrates into the inner cavity of the water tank (4) to be communicated with liquid.
4. The multifunctional household intelligent garden irrigation robot according to claim 1, wherein a storage battery for supplying power to the sensor assembly (7) and the robot control panel (3) is mounted on the top surface of the supporting plate (6), a solar panel is paved on the top surface of the supporting plate (6), and an LED lamp is mounted on the front end side wall of the supporting plate (6).
5. A multifunctional household intelligent garden irrigation robot according to claim 1, wherein the control panel (3) of the robot comprises an ESP8266 functional area and a main board; the ESP8266 functional area comprises an ESP8268WIFI transmission module, an LU-AsR01 module (intelligent voice recognition control module) electrically connected with the ESP8268WIFI transmission module and an EOD display screen electrically connected with the ESP8268WIFI transmission module, and the steering engine (2) is electrically connected with the ESP8268WIFI transmission module. And the ESP8268WIFI transmission module is also connected with an SHT30 temperature sensor, an SGP30 gas sensor and a BMP180 gas sensor.
6. The multifunctional household intelligent garden irrigation robot according to claim 5, wherein an STM32 single-chip microcomputer and a DCDC (direct current) converter electrically connected with the STM32 single-chip microcomputer are arranged in the main board, and the STM32 single-chip microcomputer is electrically connected with the ultrasonic sensor, the infrared sensor and the Bluetooth module.
7. The multifunctional household intelligent garden irrigation robot of claim 4, wherein the solar panel is further provided with a voltage stabilizing circuit, and the power of the solar panel is connected with the ESP8268WIFI transmission module and the DCDC converter through wires.
8. A multifunctional home garden intelligent watering robot according to any of claims 1-7 further comprising a robot path planning program section:
s1: carrying out idealization treatment on the small roads in the garden, considering that the density of vegetation on two sides is extremely high, and neglecting the situation that wind flows into and flows out of the small roads through vegetation gaps, so that the situation of wind speed and wind pressure of the small roads in the garden is simulated by means of Simdorid software;
s2: modeling a garden map; in order to smoothly meet the requirements of projects, modeling is needed to be carried out on garden maps, so that garden map information in reality is converted into data which can be processed by a computer and is convenient for path planning and solving;
s3: solving the selection of an optimal path algorithm scheme; the data after modeling pretreatment is processed by selecting one algorithm which best meets project requirements from the existing multiple path planning algorithms;
s4: visualization of the computational process and the solution results; for the solved result data, visualization is needed to be carried out so that a user can intuitively read and know;
s5: writing a matched program; and for the modeled garden map data file, the functions of importing, viewing, editing in real time and storing are realized.
9. The intelligent watering robot for multi-functional home gardening as claimed in claim 8, wherein the garden map modeling in the step S2 adopts a grid map; the optimal path algorithm in the step S3 adopts an AI algorithm based on a grid map; the visualization technology in the step S4 adopts a matplotlib drawing library function, and reasonable and attractive dotted line colors and patterns are selected for drawing; the matching program in the step S5 adopts a set of corresponding map data editing and path solving device written based on Python language.
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| CN202310760501.9A CN117256451A (en) | 2023-06-27 | 2023-06-27 | Multifunctional household intelligent garden irrigation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310760501.9A CN117256451A (en) | 2023-06-27 | 2023-06-27 | Multifunctional household intelligent garden irrigation robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03266920A (en) * | 1990-03-16 | 1991-11-27 | Fukuroi Uchiyama Shokai:Kk | Watering robot for cultivation bed |
| US20150359185A1 (en) * | 2014-06-17 | 2015-12-17 | Jonathan Guy | Untethered Irrigation Device and Method |
| US20170020087A1 (en) * | 2011-12-19 | 2017-01-26 | Younis Technologies, Inc. | Robotic irrigation system |
| CN106737729A (en) * | 2016-12-07 | 2017-05-31 | 上海点甜农业专业合作社 | Reading intelligent agriculture pours service robot |
| CN109601349A (en) * | 2019-01-21 | 2019-04-12 | 重庆师范大学 | Comprehensive avoidance Intelligent watering robot and control method based on single ultrasonic sensor |
| US20190320601A1 (en) * | 2018-04-18 | 2019-10-24 | Agrome Inc. | Robotic agricultural irrigation and analysis system |
-
2023
- 2023-06-27 CN CN202310760501.9A patent/CN117256451A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03266920A (en) * | 1990-03-16 | 1991-11-27 | Fukuroi Uchiyama Shokai:Kk | Watering robot for cultivation bed |
| US20170020087A1 (en) * | 2011-12-19 | 2017-01-26 | Younis Technologies, Inc. | Robotic irrigation system |
| US20150359185A1 (en) * | 2014-06-17 | 2015-12-17 | Jonathan Guy | Untethered Irrigation Device and Method |
| CN106737729A (en) * | 2016-12-07 | 2017-05-31 | 上海点甜农业专业合作社 | Reading intelligent agriculture pours service robot |
| US20190320601A1 (en) * | 2018-04-18 | 2019-10-24 | Agrome Inc. | Robotic agricultural irrigation and analysis system |
| CN109601349A (en) * | 2019-01-21 | 2019-04-12 | 重庆师范大学 | Comprehensive avoidance Intelligent watering robot and control method based on single ultrasonic sensor |
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