CN117918229A - Intelligent irrigation monitoring system and method for landscape green plant maintenance - Google Patents
Intelligent irrigation monitoring system and method for landscape green plant maintenance Download PDFInfo
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- 238000003973 irrigation Methods 0.000 title claims abstract description 236
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000012423 maintenance Methods 0.000 title claims abstract description 28
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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
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
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- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The application relates to the technical field of vegetation irrigation, in particular to an intelligent irrigation monitoring system and method for landscape green plant maintenance, wherein the system comprises the following components: a plurality of irrigation points; an irrigation sprinkler assembly; the area determining unit is used for determining vegetation area information to be irrigated; the coordinate position determining unit is used for determining the coordinates of each point to be irrigated and the irrigation positions corresponding to the coordinates of each point to be irrigated to generate a plurality of cruising nodes; the number determining unit is used for determining the number of the spray header corresponding to the coordinates of each point to be irrigated; the path generation unit is used for generating a cruising path according to the coordinates of each point to be irrigated; the transmitting unit transmits the cruising path to the cruising device; the cruising device is used for receiving the cruising path from the service end and sequentially reaching irrigation points corresponding to the coordinates of each point to be irrigated according to the cruising path; and sending the spray header numbers corresponding to the coordinates of the points to be irrigated associated with the irrigation points to the irrigation spray head assemblies at the irrigation points. The application has the effect of classifying irrigation of garden vegetation and saving water.
Description
Technical Field
The invention relates to the technical field of vegetation irrigation, in particular to an intelligent irrigation monitoring system and method for landscape green plant maintenance.
Background
Afforestation engineering is the engineering of construction scenery greenery patches, makes subaerial engineering structure and landscape fuse as an organic wholely, in order to make the plant in the gardens can normally grow, need regularly irrigate the plant, traditional gardens irrigation system, like chinese application CN201910535462.6 discloses a remote control irrigation equipment of automation in gardens, including illumination sensor, air humidity sensor, soil pH sensor, temperature sensor, surveillance camera head to link to each other with the CPU one by one. The data transmission processing unit comprises a memory, a CPU, an LED display screen, a signal receiver, a data transmission end and a power supply, wherein the CPU is respectively connected with the memory, the display screen, the data transmission end and the signal receiver. The automatic control unit comprises a safety tube, an irrigation system, a manual master switch, a manual unit and an automatic unit, wherein the automatic unit comprises a remote control switch, a timing switch, a temperature control switch, a light control switch and a soil humidity control switch.
The data monitoring and collecting unit monitors illumination intensity, temperature, air humidity, soil pH and real-time state of plant growth in gardens, and collects data signals; the data transmission processing unit is used for storing, wirelessly transmitting, receiving and processing the garden data monitored in real time; the automatic control unit can control the irrigation system according to soil humidity, air temperature, illumination intensity and a set time range, can realize on-site irrigation control through direct connection of the on-site manual master switch and the irrigation system, can also realize remote control irrigation control through direct connection of the manual master switch and the automatic unit and the remote control switch and the irrigation system under the action of a control signal of a user, and thus realizes on-site control, on-line remote control and automatic control integration of garden irrigation.
However, the irrigation period and water demand of different vegetation are different, the traditional irrigation system is often covered on the whole surface, overirrigation or delayed irrigation can occur, and the water-saving effect is poor.
Disclosure of Invention
In order to carry out classified irrigation on garden vegetation and save water, the application provides an intelligent irrigation monitoring system and method for landscape green plant maintenance.
The first object of the present application is achieved by the following technical solutions:
an intelligent irrigation monitoring system for maintenance of landscape green plants, comprising:
A plurality of irrigation points distributed on the landscape; an irrigation pipe network is arranged in the landscape, the irrigation pipe network comprises a water supply pipeline buried underground and a plurality of irrigation nozzle assemblies arranged on the ground, the water supply pipeline is used for supplying water to the irrigation nozzle assemblies, and the irrigation nozzle assemblies are distributed at a plurality of irrigation points in a one-to-one correspondence manner;
The irrigation spray head assembly comprises an irrigation controller and a plurality of spray heads, wherein the spray heads face different directions respectively to irrigate vegetation in different directions respectively;
The server side, the server side includes:
The system comprises an area determining unit, a virtual landscape vegetation map and a control unit, wherein the area determining unit is used for determining vegetation area information to be irrigated in the virtual landscape vegetation map according to different vegetation irrigation periods, the virtual landscape vegetation map comprises vegetation area information and irrigation point coordinates in a landscape, and a coordinate system of the virtual landscape vegetation map corresponds to a real world coordinate system;
The coordinate position determining unit is used for determining coordinates of all points to be irrigated and irrigation positions corresponding to the coordinates of all points to be irrigated according to vegetation area information to be irrigated, and generating a plurality of cruising nodes according to the coordinates of all points to be irrigated and the irrigation positions corresponding to the coordinates of all points to be irrigated; the cruising node comprises coordinates of each point to be irrigated and one irrigation azimuth corresponding to the coordinates of each point to be irrigated;
the number determining unit is used for determining the number of the spray header corresponding to each point coordinate to be irrigated according to each point coordinate to be irrigated and the corresponding irrigation azimuth;
The path generation unit is used for generating a cruising path according to the coordinates of each point to be irrigated, and the cruising path is marked with a spray header number corresponding to the coordinates of each point to be irrigated;
A transmitting unit configured to transmit the cruising path to a cruising apparatus;
the cruise device is used for receiving a cruise path from the server, sequentially reaching irrigation points corresponding to coordinates of each point to be irrigated according to the cruise path, and automatically avoiding obstacles in navigation;
when the cruising device reaches the irrigation point, sending a spray header number corresponding to coordinates of the point to be irrigated associated with the irrigation point to an irrigation spray head assembly at the irrigation point;
and the irrigation spray head component controls the corresponding spray heads to spray irrigation after receiving the spray head numbers.
The present application may be further configured in a preferred example to: further comprises:
the cruise device is provided with a camera shooting assembly, and the camera shooting assembly is used for collecting image information behind and below the cruise device;
after the cruising device sends the first preset time of the spray header number, the cruising device controls the camera shooting assembly to collect image information and associates the image information with the coordinates of the point to be irrigated;
the server side further comprises:
An analysis unit for analyzing the image information and combining the cruising route to determine an actual sprinkling irrigation direction;
The judging unit is used for determining whether the spray header sprays water correctly according to the actual spray irrigation direction and the corresponding irrigation direction;
And the log generation unit is used for generating and storing error log information if not, wherein the error log information comprises irrigation point coordinates, corresponding sprinkling irrigation azimuth information and actual sprinkling irrigation directions.
The present application may be further configured in a preferred example to: the analysis unit includes:
The reasoning subunit is used for inputting the image information into the direction judging model to conduct reasoning so as to obtain an image water direction, wherein the image water direction comprises a non-sprinkling irrigation direction, a left direction, a right direction, a near direction and a far direction;
The cruising direction determining subunit is used for determining the cruising direction of the cruising device according to the coordinates of the point to be irrigated corresponding to the image information and the coordinates of the next point to be irrigated on the cruising path;
And the actual sprinkling irrigation direction determining subunit is used for determining the actual sprinkling irrigation direction according to the image water direction and the cruising direction.
The present application may be further configured in a preferred example to: further comprises: the direction discrimination model is obtained by training in the following way:
Labeling each image sample in the image sample training set to label the image water direction of each image sample, wherein the image water direction is associated with all or part of information in the image sample; and training the neural network through the image sample training set subjected to the labeling processing to obtain a direction discrimination model.
The present application may be further configured in a preferred example to: the multiple spray heads in one irrigation spray head assembly are staggered in height.
The present application may be further configured in a preferred example to: further comprises: and the cruising device broadcasts a prompt tone at a second preset time before sending the coordinates of the point to be irrigated.
The second object of the present application is achieved by the following technical solutions:
A landscape green plant maintenance intelligent irrigation monitoring method comprises the following steps:
Determining vegetation area information to be irrigated on a virtual landscape vegetation map according to different vegetation irrigation periods, wherein the virtual landscape vegetation map comprises vegetation area information and irrigation point coordinates in a landscape, and a coordinate system of the virtual landscape vegetation map corresponds to a real world coordinate system;
Determining coordinates of points to be irrigated and irrigation positions corresponding to the coordinates of the points to be irrigated according to vegetation area information to be irrigated, and generating a plurality of cruising nodes according to the coordinates of the points to be irrigated and the irrigation positions corresponding to the coordinates of the points to be irrigated; the cruising node comprises coordinates of each point to be irrigated and one irrigation azimuth corresponding to the coordinates of each point to be irrigated;
Determining the spray header number corresponding to each point coordinate to be irrigated according to each point coordinate to be irrigated and the corresponding irrigation azimuth;
generating a cruising path according to the coordinates of each point to be irrigated, wherein the cruising path is marked with a spray header number corresponding to the coordinates of each point to be irrigated;
And sending the cruising path to a cruising device, wherein the cruising device sequentially reaches irrigation points corresponding to coordinates of all the points to be irrigated according to the cruising path, and sending a spray header number corresponding to the coordinates of the points to be irrigated associated with the irrigation points to an irrigation spray head assembly at the irrigation points.
In summary, the present application includes at least one of the following beneficial technical effects:
1. According to different vegetation in different areas and different water requirements and periods, obtaining vegetation area information to be irrigated by matching in a virtual landscape vegetation map according to the irrigation periods of different vegetation, obtaining corresponding irrigation point coordinates and irrigation positions according to corresponding irrigation points and positions of the irrigation points to form a cruising path, and sequentially cruising to each irrigation point through a cruising device to communicate with an irrigation controller so as to drive corresponding spray heads to spray irrigation to irrigate the vegetation area to be irrigated;
2. The spray irrigation image of the spray irrigation point can be acquired during spray irrigation, whether spray irrigation exists or not and whether spray irrigation is striven for or not are obtained through model analysis and comparison, and a log is formed, so that follow-up maintenance is facilitated.
Drawings
FIG. 1 is a schematic diagram of the device and unit connections of an intelligent irrigation monitoring system for maintenance of a landscape green plant in an embodiment of the application;
FIG. 2 is a schematic diagram of the connection of devices and units of an intelligent irrigation monitoring system for maintenance of a landscape green plant in another embodiment of the application;
FIG. 3 is a flow chart of an implementation of a method for intelligent irrigation monitoring for maintenance of a landscape green plant in an embodiment of the application.
Detailed Description
Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
Referring to fig. 1 and 2, the intelligent irrigation monitoring system for the green plant maintenance of the landscape comprises a service end, a cruising device and an irrigation pipe network arranged in the landscape, wherein the irrigation pipe network comprises a water supply pipeline buried underground and a plurality of irrigation spray head assemblies arranged on the ground, the water supply pipeline is used for supplying water to the irrigation spray head assemblies, a plurality of irrigation points are distributed in the landscape, and the irrigation spray head assemblies are distributed at the irrigation points in a one-to-one correspondence manner.
The service end is in wireless communication with a cruising device, the cruising device adopts a cruising unmanned aerial vehicle, and the cruising device is in wireless communication with a plurality of irrigation spray head assemblies; specifically, wireless communication can be realized by using LoRa technology, wiFi/IEEE 802.11 protocol, zigBee/802.15.4 protocol, thread/IEEE 802.15.4 protocol, Z-Wave protocol and the like.
The server may be installed in a terminal, which may be an electronic device such as a mobile phone, a tablet computer, an electronic book reader, a multimedia playing device, a wearable device, a vehicle-mounted terminal, etc.
The irrigation spray head assembly comprises an irrigation controller and a plurality of spray heads, wherein the spray heads face different directions respectively to irrigate vegetation in different directions respectively; and a plurality of spray heads in one irrigation spray head assembly are staggered in height. In the application, the spray heads adopt 90-degree spray heads, and one irrigation spray head component comprises four spray heads which cover a 360-degree peripheral spray range. The four spray heads are respectively arranged in the east, south, west and north directions, and each spray head is provided with a unique spray head number.
The server comprises an area determining unit, a coordinate position determining unit, a number determining unit, a path generating unit, a sending unit, an analyzing unit, a judging unit and a log generating unit, wherein the area determining unit is used for determining vegetation area information to be irrigated in a virtual landscape vegetation map according to different vegetation irrigation periods, and each vegetation area in the virtual landscape vegetation map is associated with corresponding irrigation point coordinates so as to represent that irrigation points at the irrigation point coordinates can be sprayed to the vegetation area.
Specifically, the virtual landscape vegetation map includes vegetation area information and irrigation point coordinates in the landscape, the coordinate system of the virtual landscape vegetation map corresponds to the real world coordinate system, a azimuth coordinate system exists, the virtual landscape vegetation map can be generated through unmanned aerial vehicle aerial images, and then later labeling of the vegetation area information, the irrigation point coordinates, establishment of the coordinate systems and the like are performed.
And the date of last irrigation of each vegetation area is recorded and marked in the virtual landscape vegetation map, and then whether irrigation is needed for a certain vegetation area can be calculated by combining the irrigation period and the current date, so that vegetation area information needing irrigation is obtained.
The coordinate position determining unit is used for determining coordinates of each point to be irrigated and irrigation positions corresponding to the coordinates of each point to be irrigated according to vegetation area information to be irrigated, and the irrigation positions are divided into four positions of east facing, south facing, west facing and north facing, and each position occupies 90 degrees.
The coordinate position determining unit is also used for generating a plurality of cruising nodes according to the coordinates of all the points to be irrigated and the irrigation positions corresponding to the coordinates of all the points to be irrigated; the cruise nodes comprise coordinates of points to be irrigated and one irrigation azimuth corresponding to the coordinates of the points to be irrigated; that is, if one point coordinate to be irrigated corresponds to a plurality of irrigation orientations, each irrigation orientation corresponds to an independent cruising node, thereby generating a plurality of cruising nodes corresponding to the number of irrigation orientations. For example, in a set two-dimensional coordinate system, the coordinate x of a point to be irrigated is (a, b), and if the point to be irrigated is a three-dimensional coordinate system, the point to be irrigated can be (a, b, c), and the height is not involved in the application of the application, so that the height dimension can be omitted and only the two-dimensional coordinate system can be applied; two irrigation orientations p and q exist corresponding to the coordinate x of the point to be irrigated, wherein [ (a, b), p ] is a cruising node, and [ (a, b), q ] is a cruising node.
The number determining unit is used for determining the number of the spray header corresponding to each point coordinate to be irrigated according to each point coordinate to be irrigated and the corresponding irrigation direction.
For example, a certain spray header number is [ (a, b), east ], a certain point coordinate (a, b) to be irrigated corresponds to an irrigation azimuth p, and if p corresponds to the eastern position in the real world coordinate system in the virtual map coordinate system, the point coordinate (a, b) to be irrigated corresponds to the spray header number [ (a, b), east ].
The path generation unit is used for generating a cruising path according to the coordinates of each point to be irrigated, and the cruising path is marked with a spray header number corresponding to the coordinates of each point to be irrigated.
Specifically, starting with the flight starting point coordinates of the cruising device, sequentially connecting coordinates of points to be irrigated in series according to the distance from the flight starting point coordinates on the virtual landscape vegetation map to form a cruising path, and then sending the cruising path to the cruising device through a sending unit. The cruising device remains cruising in a preset height range, for example set to 5-8 m height.
The cruising device receives the cruising path from the service end, then sequentially reaches irrigation points corresponding to coordinates of each point to be irrigated according to the cruising path, and is provided with an automatic obstacle avoidance unit, so that the device can automatically avoid obstacles in navigation.
When the cruising device reaches an irrigation point, a spray header number corresponding to coordinates of the point to be irrigated associated with the irrigation point is sent to an irrigation spray head assembly at the irrigation point; specifically, the cruise device sends the spray header number to the irrigation controller, and then the irrigation controller controls the corresponding spray header to spray irrigation.
Therefore, because the vegetation in different areas is different, the water demand and the period are also different, the vegetation area information to be irrigated is obtained by matching in the virtual landscape vegetation map according to the irrigation periods of different vegetation, then the corresponding irrigation point coordinates and the irrigation positions are obtained according to the corresponding irrigation points and the positions of the irrigation points, a cruising path is formed, the cruising device is used for cruising to each irrigation point in sequence and communicating with the irrigation controller, so that the corresponding spray heads are driven to spray irrigation, and the vegetation area to be irrigated is irrigated.
In addition, the cruising device broadcasts a prompt tone for a second preset time before sending coordinates of the point to be irrigated, and the second preset time can be set to be 20s so as to remind people nearby to avoid.
In one embodiment, the cruising device further comprises a camera assembly mounted at a rear lower position of the cruising device, and the camera assembly is used for collecting image information of the rear lower position of the cruising device.
After the cruise device sends the first preset time of the spray header number, the cruise device controls the camera shooting assembly to collect image information and associates the image information with coordinates of points to be irrigated; the first preset time is set according to the cruising speed of the cruising device, and is generally set by taking the depression angle from the cruising device to an observed irrigation point as a standard, and in one embodiment, can be set to be 3s; the coordinates of the irrigation points to be irrigated, which are associated with the image information, refer to the coordinates of the irrigation points which are just cruised and left, specifically, the cruising device sends the number of the spray header and then leaves the next irrigation point on the cruising route, and the coordinates of the irrigation point which is located before the next irrigation point on the cruising route.
After the cruising device returns, the collected multiple image information and associated irrigation point coordinates are sent to an analysis unit to analyze the image information and combine the cruising route to determine the actual sprinkling irrigation direction; the analysis unit includes: the system comprises an inference subunit, a cruising direction determination subunit and an actual sprinkling direction determination subunit, wherein the inference subunit is used for inputting image information into a direction discrimination model to infer so as to obtain an image water direction, and the image water direction comprises a non-sprinkling direction and four sprinkling directions of southeast, southwest, northwest and northwest; the direction discrimination model is obtained by training in the following way:
Labeling each image sample in the image sample training set to label the image water direction of each image sample, wherein the image water direction is associated with all or part of information in the image sample; and training the neural network through the image sample training set subjected to the labeling processing to obtain a direction discrimination model.
The image samples are obtained through shooting by the cruise device under the angle of depression of 45-60 degrees compared with the irrigation points, the image samples comprise images without sprinkling irrigation examples and images with sprinkling irrigation examples, the images with no sprinkling irrigation examples are marked as non-sprinkling irrigation directions in the directions of four sprinkling irrigation directions including southeast, southwest and northwest, and the images without sprinkling irrigation examples are marked as corresponding sprinkling irrigation directions corresponding to the marks with the images with sprinkling irrigation examples.
The near representation image water faces to the outer side of the front face of the image and faces to the cruising direction of the cruising device during shooting; the far-direction representation image water faces to the outer side of the back of the image and faces away from the cruising direction of the cruising device during shooting.
The cruising direction determining subunit is used for determining the cruising direction of the cruising device according to the coordinates of the point to be irrigated corresponding to the image information and the coordinates of the next point to be irrigated on the cruising path; specifically, the cruising direction of the cruising device can be obtained from the map through the coordinates of the two points to be irrigated; the actual sprinkling irrigation direction determining subunit is used for determining the actual sprinkling irrigation direction according to the image water direction and the cruising direction. For example, if the image water direction is the near direction and the cruising direction of the cruising device is the south, determining that the actual sprinkling irrigation direction is the south; and if the image water direction is the left direction and the cruising direction of the cruising device is the south, determining that the actual sprinkling irrigation direction is the west.
The judging unit determines whether the spray header sprays water correctly according to the actual spray irrigation direction and the corresponding irrigation direction; specifically, if the two spray directions are consistent, the spray is correctly performed, and if the two spray directions are inconsistent, the spray is incorrectly performed, wherein the actual spray direction comprises the non-spray direction.
If not, the log generating unit generates and stores error log information, wherein the error log information comprises irrigation point coordinates, corresponding sprinkling irrigation azimuth information and actual sprinkling irrigation directions. Through this mode, can gather the sprinkling irrigation image of this sprinkling irrigation point when the sprinkling irrigation to through model analysis contrast, obtain whether have the sprinkling irrigation and whether strive for the sprinkling irrigation, and form the log, be convenient for follow-up maintenance.
The application also provides an intelligent irrigation monitoring method for landscape green plant maintenance, which comprises the following steps of:
S1, determining vegetation area information to be irrigated on a virtual landscape vegetation map according to different vegetation irrigation periods.
The virtual landscape vegetation map comprises vegetation area information and irrigation point coordinates in the landscape, and a coordinate system of the virtual landscape vegetation map corresponds to a real world coordinate system.
S2, determining coordinates of points to be irrigated and irrigation positions corresponding to the coordinates of the points to be irrigated according to vegetation area information to be irrigated, and generating a plurality of cruising nodes according to the coordinates of the points to be irrigated and the irrigation positions corresponding to the coordinates of the points to be irrigated.
The cruising node comprises coordinates of each point to be irrigated and an irrigation azimuth corresponding to the coordinates of each point to be irrigated.
S3, determining the spray header numbers corresponding to the coordinates of the points to be irrigated according to the coordinates of the points to be irrigated and the corresponding irrigation orientations.
S4, generating a cruising path according to the coordinates of each point to be irrigated, and marking a spray header number corresponding to the coordinates of each point to be irrigated on the cruising path.
S5, sending a cruising path to a cruising device, enabling the cruising device to sequentially reach irrigation points corresponding to coordinates of all the points to be irrigated according to the cruising path, and sending a spray header number corresponding to the coordinates of the points to be irrigated associated with the irrigation points to an irrigation spray head assembly at the irrigation points.
The specific limitation of the intelligent irrigation monitoring method for the maintenance of the landscape green plants can be referred to as the limitation of the intelligent irrigation monitoring system for the maintenance of the landscape green plants, and the description is omitted here. All or part of the steps of the intelligent irrigation monitoring method for the landscape green plant maintenance can be realized by software, hardware and a combination thereof.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASIC (application specific integrated circuit), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs (also referred to as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution disclosed in the present application can be achieved, and are not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (10)
1. Intelligent irrigation monitoring system is maintained to green planting of view, its characterized in that includes:
A plurality of irrigation points distributed on the landscape; an irrigation pipe network is arranged in the landscape, the irrigation pipe network comprises a water supply pipeline buried underground and a plurality of irrigation nozzle assemblies arranged on the ground, the water supply pipeline is used for supplying water to the irrigation nozzle assemblies, and the irrigation nozzle assemblies are distributed at a plurality of irrigation points in a one-to-one correspondence manner;
The irrigation spray head assembly comprises an irrigation controller and a plurality of spray heads;
The server side, the server side includes:
The system comprises an area determining unit, a virtual landscape vegetation map and a control unit, wherein the area determining unit is used for determining vegetation area information to be irrigated in the virtual landscape vegetation map according to different vegetation irrigation periods, the virtual landscape vegetation map comprises vegetation area information and irrigation point coordinates in a landscape, and a coordinate system of the virtual landscape vegetation map corresponds to a real world coordinate system;
The coordinate position determining unit is used for determining coordinates of all points to be irrigated and irrigation positions corresponding to the coordinates of all points to be irrigated according to vegetation area information to be irrigated, and generating a plurality of cruising nodes according to the coordinates of all points to be irrigated and the irrigation positions corresponding to the coordinates of all points to be irrigated; the cruising node comprises coordinates of each point to be irrigated and one irrigation azimuth corresponding to the coordinates of each point to be irrigated;
the number determining unit is used for determining the number of the spray header corresponding to each point coordinate to be irrigated according to each point coordinate to be irrigated and the corresponding irrigation azimuth;
The path generation unit is used for generating a cruising path according to the coordinates of each point to be irrigated, and the cruising path is marked with a spray header number corresponding to the coordinates of each point to be irrigated;
A transmitting unit configured to transmit the cruising path to a cruising apparatus;
the cruise device is used for receiving a cruise path from the server, sequentially reaching irrigation points corresponding to coordinates of each point to be irrigated according to the cruise path, and automatically avoiding obstacles in navigation;
when the cruising device reaches the irrigation point, sending a spray header number corresponding to coordinates of the point to be irrigated associated with the irrigation point to an irrigation spray head assembly at the irrigation point;
and the irrigation spray head component controls the corresponding spray heads to spray irrigation after receiving the spray head numbers.
2. The intelligent irrigation monitoring system for landscape green plant maintenance as claimed in claim 1, wherein,
The cruise device is provided with a camera shooting assembly, and the camera shooting assembly is used for collecting image information behind and below the cruise device;
And after the cruising device sends the first preset time of the spray header number, the cruising device controls the camera shooting assembly to acquire image information and associates the image information with the coordinates of the point to be irrigated.
3. The intelligent irrigation monitoring system for landscape green plant maintenance as claimed in claim 2, wherein the server side further comprises:
The analysis unit is used for analyzing the image information and combining the cruising route to determine the actual sprinkling irrigation direction;
The judging unit is used for determining whether the spray header sprays water correctly according to the actual spray irrigation direction and the corresponding irrigation direction;
And the log generation unit is used for generating and storing error log information if not, wherein the error log information comprises irrigation point coordinates, corresponding sprinkling irrigation azimuth information and actual sprinkling irrigation directions.
4. A landscape green plant maintenance intelligent irrigation monitoring system according to claim 3, wherein the analysis unit comprises:
The reasoning subunit is used for inputting the image information into the direction judging model to conduct reasoning so as to obtain an image water direction, wherein the image water direction comprises a non-sprinkling irrigation direction, a left direction, a right direction, a near direction and a far direction;
The cruising direction determining subunit is used for determining the cruising direction of the cruising device according to the coordinates of the point to be irrigated corresponding to the image information and the coordinates of the next point to be irrigated on the cruising path;
And the actual sprinkling irrigation direction determining subunit is used for determining the actual sprinkling irrigation direction according to the image water direction and the cruising direction.
5. The intelligent irrigation monitoring system for landscape green plant maintenance as claimed in claim 4, wherein the direction discrimination model is trained by:
Labeling each image sample in the image sample training set to label the image water direction of each image sample, wherein the image water direction is associated with all or part of information in the image sample; and training the neural network through the image sample training set subjected to the labeling processing to obtain a direction discrimination model.
6. The intelligent irrigation monitoring system for landscape green plant maintenance of claim 1, wherein the plurality of spray heads are oriented in different orientations, respectively, to irrigate vegetation in different orientations, respectively.
7. The intelligent irrigation monitoring system for maintenance of a landscape green plant of claim 1, wherein the plurality of showerheads in one irrigation sprinkler assembly are staggered in height.
8. The intelligent irrigation monitoring system for maintenance of a landscape green plant as claimed in claim 1, wherein the intelligent irrigation monitoring system for maintenance of a landscape green plant further comprises: and the cruising device broadcasts a prompt tone at a second preset time before sending the coordinates of the point to be irrigated.
9. A landscape green plant maintenance intelligent irrigation monitoring method, which is characterized in that the landscape green plant maintenance intelligent irrigation monitoring system based on any one of claims 1-8 comprises the following monitoring methods:
Determining vegetation area information to be irrigated on a virtual landscape vegetation map according to different vegetation irrigation periods, wherein the virtual landscape vegetation map comprises vegetation area information and irrigation point coordinates in a landscape, and a coordinate system of the virtual landscape vegetation map corresponds to a real world coordinate system;
Determining coordinates of points to be irrigated and irrigation positions corresponding to the coordinates of the points to be irrigated according to vegetation area information to be irrigated, and generating a plurality of cruising nodes according to the coordinates of the points to be irrigated and the irrigation positions corresponding to the coordinates of the points to be irrigated; the cruising node comprises coordinates of each point to be irrigated and one irrigation azimuth corresponding to the coordinates of each point to be irrigated;
Determining the spray header number corresponding to each point coordinate to be irrigated according to each point coordinate to be irrigated and the corresponding irrigation azimuth;
generating a cruising path according to the coordinates of each point to be irrigated, wherein the cruising path is marked with a spray header number corresponding to the coordinates of each point to be irrigated;
And sending the cruising path to a cruising device, wherein the cruising device sequentially reaches irrigation points corresponding to coordinates of all the points to be irrigated according to the cruising path, and sending a spray header number corresponding to the coordinates of the points to be irrigated associated with the irrigation points to an irrigation spray head assembly at the irrigation points.
10. The intelligent irrigation monitoring method for landscape green plant maintenance as claimed in claim 9, wherein the cruising device is provided with a camera assembly, and the camera assembly is used for collecting image information behind and below the cruising device; and after the cruising device sends the first preset time of the spray header number, the cruising device controls the camera shooting assembly to acquire image information and associates the image information with the coordinates of the point to be irrigated.
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