WO2020047593A1 - Système d'irrigation automatique avec outil de cartographie d'humidité du sol en 3d - Google Patents

Système d'irrigation automatique avec outil de cartographie d'humidité du sol en 3d Download PDF

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Publication number
WO2020047593A1
WO2020047593A1 PCT/AU2019/050942 AU2019050942W WO2020047593A1 WO 2020047593 A1 WO2020047593 A1 WO 2020047593A1 AU 2019050942 W AU2019050942 W AU 2019050942W WO 2020047593 A1 WO2020047593 A1 WO 2020047593A1
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WO
WIPO (PCT)
Prior art keywords
soil moisture
irrigation
water
geographical area
profile
Prior art date
Application number
PCT/AU2019/050942
Other languages
English (en)
Inventor
Harrie Van Oirsouw
Jesse S. READER
Liam P. BARR
Phil VERGERS
Original Assignee
Robert Bosch (Australia) Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2018903290A external-priority patent/AU2018903290A0/en
Application filed by Robert Bosch (Australia) Pty Ltd filed Critical Robert Bosch (Australia) Pty Ltd
Publication of WO2020047593A1 publication Critical patent/WO2020047593A1/fr

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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
    • A01G25/16—Control of watering
    • A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G01N33/246—Earth materials for water content
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G01N33/245—Earth materials for agricultural purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2625—Sprinkler, irrigation, watering

Definitions

  • the present invention relates to residential and commercial irrigation systems, and more particularly, to irrigation systems that use soil moisture data in calculating and executing irrigation of a field or other geographical area.
  • Irrigation systems have long been used in agricultural, commercial and residential applications to water fields and other geographical areas of land.
  • Such irrigation systems typically include an irrigation network having a series of irrigation outlets, such as spray heads, distributed through the geographical area.
  • the irrigation outlets are connected to a water source.
  • An irrigation controller is used to selectively operate the irrigation outlets to apply water to the geographical area at desired times and in desired quantities.
  • irrigation systems have used soil moisture data to activate or deactivate either the entirety of the irrigation network or particular branches of irrigation outlets forming part of the irrigation network based on actual soil moisture conditions.
  • Some irrigation controllers that are designed to work specifically with soil moisture sensors can turn the irrigation on when the soil reaches a dry state, and then turns the controller off when it reaches a moist state.
  • One aspect of the invention provides an irrigation system for applying water or water-borne substances to a geographical area including: a network of soil moisture sensors distributed throughout the geographical area; an irrigation network including a series of selectively operable irrigation outlets distributed throughout the geographical area, the irrigation outlets being in fluid communication with an irrigation source; and an irrigation controller in data communication with the soil moisture sensors and the selectively operable irrigation outlets, the irrigation controller being configured to: construct a 3D soil moisture profile from readings from the soil moisture sensors; use the 3D soil moisture profile to determine one or more zones within the geographical area requiring application of water or water-borne substances; and cause selective operation of one or more of the irrigation outlets to apply water or water-borne substances to the one or more zones.
  • the irrigation controller is further configured to: detect an irrigation or rain event; measure change in soil moisture over time from readings from the soil moisture sensors; develop a full point profile for the field from the measure change in soil moisture, wherein full point profile is used to determine one or more zones within the geographical area requiring application of water or water-borne substances; and progressively learn or improve the full point profile following successive irrigation or rain events.
  • the irrigation controller is further configured to: detect a soil drying event; measure change in soil moisture over time from readings from the soil moisture sensors; develop a re-fill point profile for the field from the measure change in soil moisture, wherein the re-fill point profile is used to determine one or more zones within the geographical area requiring irrigation; progressively learn or improve the re-fill point profile following successive soil drying events.
  • Another aspect of the invention provides a soil moisture measuring system for use with an irrigation system for applying water or water-borne substances to a geographical area including an irrigation network including a series of selectively operable irrigation outlets distributed throughout the geographical area, the irrigation outlets being in fluid communication with an irrigation source, the soil moisture measuring system including: a network of soil moisture sensors distributed throughout the geographical area; an irrigation controller in data communication with the soil moisture sensors, the irrigation controller being configured to construct a 3D soil moisture profile from readings from the soil moisture sensors; and use the 3D soil moisture profile to determine one or more zones within the geographical area requiring application of water or water-borne substances.
  • Yet another aspect of the invention provides a 3D soil moisture mapping tool for use with an irrigation system including an irrigation network including a series of selectively operable irrigation outlets distributed throughout the field, the irrigation outlets being in fluid communication with an irrigation source, and a network of soil moisture sensors distributed throughout a field, the 3D soil moisture mapping tool including: a mapping engine in data communication with the soil moisture sensors, the mapping engine being configured to construct a 3D soil moisture profile from readings from the soil moisture sensors; and use the 3D soil moisture profile to determine one or more zones within the geographical area requiring application of water or water-borne substances, and a display for generating a visual representation of the 3D soil moisture profile.
  • the soil moisture sensors each detect moisture levels at different soil depths.
  • the geographical location of any one or more sensors, or a selected region of the 3D soil moisture profile may be combined with external data such as land contour data or topographic co-ordinate data of the land surface or any subsurface layer, thereby providing a 3D soil moisture profile based upon the 3D contour of the land surface.
  • the 3D soil moisture profile may be displayed as a 3D map or a projection.
  • the soil moisture map depicts a time-based change of a selected region of the 3D soil moisture profile.
  • the irrigation controller or mapping engine is configured to project a desired future irrigation time.
  • the desired future irrigation time is a time at which the refill point will be reached.
  • the irrigation controller or mapping engine is configured to project a desired amount of water or water-borne substance at the desired future irrigation time.
  • Yet another aspect of the invention provides a method of irrigating a geographical area, including the steps of: distributing a network of soil moisture sensors throughout the geographical area; distributing a series of selectively operable irrigation outlets forming part of an irrigation network throughout the geographical area, the irrigation outlets being in fluid communication with an irrigation source; and at an irrigation controller in data communication with the soil moisture sensors and the selectively operable irrigation outlets: constructing a 3D soil moisture profile from readings from the soil moisture sensors; using the 3D soil moisture profile to determine one or more zones within the geographical area requiring application of water or water-borne substances; and causing selective operation of one or more of the irrigation outlets to apply water or water-borne substances to the one or more zones.
  • the method further includes the steps of, at the irrigation controller: detecting an irrigation or rain event; measuring change in soil moisture over time from readings from the soil moisture sensors; developing a full point profile for the geographical area from the measure change in soil moisture, wherein full point profile is used to determine one or more zones within the geographical area requiring application of water or water-borne substances; and progressively learning or improving the full point profile following successive irrigation or rain events.
  • the method further includes the steps of, at the irrigation controller: detecting a soil drying event; measuring change in soil moisture over time from readings from the soil moisture sensors; developing a re-fill point profile for the geographical area from the measure change in soil moisture, wherein the re-fill point profile is used to determine one or more zones within the geographical area requiring application of water or water-borne substances; and progressively learning or improving the re-fill point profile following successive soil drying events.
  • Yet another aspect of the invention provides a method of measuring soil moisture using an irrigation system including an irrigation network including a series of selectively operable irrigation outlets distributed throughout a geographical area, the irrigation outlets being in fluid communication with an irrigation source, the method including the steps of: distributing a network of soil moisture sensors throughout the geographical area; distributing a series of selectively operable irrigation outlets forming part of an irrigation network throughout the field, the irrigation outlets being in fluid communication with an irrigation source; and at an irrigation controller in data communication with the soil moisture sensors: constructing a 3D soil moisture profile from readings from the soil moisture sensors; and using the 3D soil moisture profile to determine one or more zones within the geographical area requiring application of water or water-borne substances.
  • Yet another aspect of the invention provides a method of carrying out 3D soil moisture mapping in an irrigation system including an irrigation network including a series of selectively operable irrigation outlets distributed throughout a geographical area, the irrigation outlets being in fluid communication with an irrigation source, and a network of soil moisture sensors distributed throughout the geographical area, the method including the steps of: in a mapping engine in data communication with the soil moisture sensors: constructing a 3D soil moisture profile from readings from the soil moisture sensors; using the 3D soil moisture profile to determine one or more zones within the geographical area requiring application of water or water-borne substances; and generating a visual representation of the 3D soil moisture profile at a display.
  • Figure 1 is a schematic diagram of an irrigation system for applying water or water-borne substances to a field or other geographical area;
  • Figure 2 is a flow chart depicting operations carried out by an irrigation controller forming part of the irrigation system depicted in Figure 1 in order to generate a 3D soil moisture map of the geographical area and selectively operate an irrigation network forming part of the irrigation system;
  • Figures 3 to 5 are exemplary 3D soil moisture maps generated by the irrigation controller forming part of the irrigation system depicted in Figure 1 for display at a user interface forming part of the irrigation system;
  • Figure 6 is a flow chart depicting operations performed by the irrigation controller in order to determine the full point required for correct irrigation of a field or geographical area and to operate the irrigation network as a consequence of the determined full point;
  • Figures 7 to 9 are exemplary 3D soil moisture maps generated by the irrigation controller for display at a user interface;
  • Figure 10 is a flow chart depicting operations performed by the irrigation controller to determine the refill point required for correct irrigation of the field or other geographical area and to then operate the irrigation network in accordance with that determined refill point;
  • Figures 1 1 to 13 are exemplary 3D soil moisture maps depicting soil moisture conditions across the geographical area at a particular depth over time;
  • Figure 14 is a flow chart depicting a series of operations performed by the irrigation controller in order to perform diagnostics when abnormally high soil moisture readings are obtained from soil moisture sensors forming part of the irrigation system shown in figure 1 ;
  • Figures 15 to 17 are exemplary 3D soil moisture maps depicting soil moisture conditions at various depths throughout the geographical area during performance of the various diagnostic steps depicted in Figure 14;
  • Figure 18 is a flow chart depicting a sequence of operations performed by the irrigation controller when carrying out diagnostic operations when abnormally low soil moisture readings are obtained from the soil moisture sensors forming part of the irrigation network; and [0037] Figures 19 to 21 are exemplary 3D soil moisture maps at different depths within the geographical area during performance of the diagnostic operations depicted in Figure 18.
  • FIG. 1 there is shown generally an irrigation system 10 for applying water or water-borne substances, such as fertiliser, to a field or other geographical area.
  • the irrigation system 10 includes a network 12 of soil moisture sensors S1 to S16 distributed throughout the geographical area.
  • the irrigation system 10 also includes an irrigation network 14 including a series of selectively operable irrigation outlets 01 to 015 distributed throughout the geographical area.
  • the irrigation outlets 01 to 015 are connected to and in fluid connection with a water tank 16 or other irrigation source via a network 18 of irrigating piping or channels.
  • a master control valve 20 connects the network of pipes or channels to the irrigation source 16.
  • the irrigation outlets 01 to 015 may typically be spray outlets for applying water or water-borne substances such as fertiliser to a region immediately surrounding the outlet.
  • Each of the irrigation outlets is separately selectively operable so that water or water-borne substances can be applied to some parts of the geographical area but not others.
  • the irrigation system 10 further includes an irrigation controller 22, a database 24 for storage of soil moisture data obtained from the soil moisture sensors S1 to S16 in communication with the irrigation controller 22 and a user interface 26 including a display 28 in communication with the irrigation controller 22.
  • the irrigation controller 22 is in data communication with the soil moisture sensors S1 to S16 via a data communication network 30 and antenna 32.
  • the soil moisture sensors S1 to S16 communicate with the antenna 32 via a radio link 34, however in other embodiments the connection between the soil moisture sensors S1 to S16 and the irrigation controller 22 may be by way of a wired network or indeed any other form of data communication.
  • irrigation controller 22 is in data communication with the selectively operable irrigation outlet 01 to 015 by means of a data network 36 and antenna 38.
  • Each of these selectively operable irrigation outlets 01 to 015 includes wireless data transmission/reception means and communicates with the antenna 38 by means of a radio link 40.
  • the master valve 20 is selectively operable by the irrigation controller 22 via the data network 36.
  • the irrigation controller 22 is configured to construct a 3D soil moisture profile of the geographical area from readings from the soil moisture sensors S1 to S16. The irrigation controller 22 then uses the 3D soil moisture profile to determine one or more zones within the geographical area requiring application of water or water-borne substances, and then causes selective operation of one or more of the irrigation outlets 01 to 016 to apply water or water-borne substances to the one or more zones.
  • the soil moisture sensors S1 to S16 may each detect moisture levels at a single soil depth only. However, in preferred embodiments, the soil moisture sensors may include sensing units positioned at different soil depths so that moisture levels at those different soil depths can be detected and communicated to the irrigation controller 22.
  • the irrigation controller 22 at step 50 acts to correlate the soil moisture sensor reading from each of the sensors S1 to S16 with its geographical location.
  • the geographical location of each sensor may be determined by a GPS position capturing device forming part of each sensor, or alternatively, may be recorded upon physical positioning of each sensor. This enables the position of each soil moisture sensor S1 to S16 to be captured on a single plane (i.e. plotted on X and Y axis of that plane).
  • the geographical location (X, Y plot) of the soil moisture sensor is correlated to the one or more data sets of soil moisture measured by each sensor.
  • each soil moisture depth reading depth (Z) is correlated with the position (X, Y axis) of a sensor.
  • the sensor data/soil moisture profile may be shown in“absolute” terms; that is, not limited to an abstract plane (which may be effective for flat agricultural land), but following the actual contour surface of the ground to be considered. This is particularly the case where the land where the sensors are placed is not flat - i.e. the sensors may be at different heights above datum.
  • the resulting 3D soil moisture maps may also show the sensor locations in relation to a topographical, cadastral or 3D projection of the surface of the land and not only on an abstract or notional plane).
  • the X, Y, Z data points from adjacent soil moisture sensors are correlated, and at step 56 the set of data points including the geographical location of each soil moisture sensor at a particular measured depth is connected to a single plane.
  • the irrigation controller 22 is configured to generate a visual representation of the soil moisture profile in each plane.
  • FIG. 3 An exemplary visual representation 80 of a 3D soil moisture profile at a depth of 150mm is depicted in Figure 3. It can be seen that the geographical location of each of the sensors is depicted in a grid, in this case shown in isometric view, whilst the soil moisture reading at that depth is depicted by the value shown on the Z axis. Interconnection of the soil moisture values enables a 3D soil moisture map to be displayed to the user, showing differing levels of soil moisture across the field or other geographical area in which the soil moisture sensors are installed.
  • FIG. 90 Similar visual representations 90 and 100 are respectively shown in figures 4 and 5.
  • the visual representation 90 indicates the soil moisture levels detected by each soil moisture sensor at a depth of 300mm
  • the visual representation 100 depicts the soil moisture levels detected by each of the soil moisture sensors at a depth of 600mm. Differing colours are used in these exemplary visual representations to display soil moisture readings falling within a number of predefined ranges.
  • the irrigation controller 22 uses the soil moisture profile or profiles to determine one or more zones within the geographical area requiring application of water or water-borne substances (such as fertiliser).
  • the determination of which zones require irrigation may simply be carried out by the irrigation controller comparing soil moisture sensor readings to one or more predetermined thresholds stored within the database 24. This then enables the boundaries of acceptable and out of range soil moisture data to be determined.
  • a 3D soil moisture map such as those depicted in Figures 3 to 5, is generated on the display 28 for inspection by a user, and at step 62, one or more of the irrigation outlets 01 to 015 are operated to irrigate the geographical area around each irrigation outlet.
  • data from the soil moisture sensors S1 to S16 can be used to determine the full point and refill points required for correct irrigation of crops.
  • a full point is a preferred or intended target value, which may be a percentage of field capacity.
  • Field capacity is an intrinsic characteristic of a particular soil system, based on soil type, topography, density and the like. Therefore, the full point may change depending on intended crop type and need not necessarily equal the field capacity. For example full point may be optimally slightly lower than field capacity in order to reduce irrigation, encourage root growth / robustness, reduce waste / run-off and the like. At field capacity, which may be thought of as a saturation point, there is little/no oxygen in the soil and this is not a desirable state for the crop.
  • the irrigation controller 22 is further configured to detect an irrigation or rain event, in which the change in soil moisture over time from readings from the soil moisture sensors S1 to S16 and develop a full point profile for the geographical area from the measured change in soil moisture. The full point profile is then used by the irrigation controller 22 to determine one or more zones within the geographical area requiring irrigation or application of water-borne fertiliser.
  • the full point allows scaling and display of the 3D soil moisture map, and shows which areas (approaching the full point) have enough water. More directly, the full-point allows estimation when to controlling the irrigation to stop watering (or prevent watering if for example the soil already has enough water from rain). The full- point profile also contributes to the ability to identify (learn) other parameters, including the refill point.
  • the irrigation controller 22 can be configured to progressively learn or improve the full point profile following successive irrigation or rain events.
  • the irrigation controller 22 measures change in soil moisture from readings obtained from the soil moisture sensors S1 to S16 over time in response to a detected irrigation or rain event.
  • the data from the geographical position of the sensors and the soil moisture readings is combined for multiple planes (depths).
  • a 3D soil moisture map is generated and displayed at the display 28.
  • the irrigation controller 22 includes a machine learning or artificial intelligence capability
  • the irrigation controller 22 uses the change in soil moisture over time in order to learn soil or crop water absorption characteristics across the geographical area.
  • the irrigation controller 22 uses the measured change in soil moisture over time and optionally water absorption characteristics learnt from past soil moisture temporal change in response to previous irrigation or rain events, to determine a full point profile across the geographical area.
  • the irrigation controller 22 acts to selectively operate the irrigation network 14 based on the water storage characteristics of the geographical area.
  • the irrigation controller 22 can also be configured to detect a soil drying event, such as a drought, and measure change in soil moisture over time from readings from the soil moisture sensors in response to that soil drying event. A refill point profile can then be developed by the irrigation controller 22 from the measured change in soil moisture.
  • a soil drying event such as a drought
  • the refill point is, from the point of view of irrigation, the point at which crop damage/loss of growth potential is avoided but is likely higher than PWP (permanent wilting point) which, like field capacity, is a characteristic established based on soil type, crop type and other factors.
  • PWP permanent wilting point
  • the refill point profile is then used by the irrigation controller 22 to determine one or more zones within the geographical area requiring irrigation.
  • the irrigation controller 22 can progressively learn or improve the refill point profile following successive soil drying events.
  • the irrigation controller 22 measures a change in soil moisture over time at the different soil depths measured by the soil moisture sensors S1 to S16 in response to a detected soil drying event.
  • soil moisture readings for multiple planes is combined with the geographical positioning data from the soil moisture sensors, and at step 134, the data is used to generate a 3D soil moisture map.
  • Exemplary soil moisture maps 136 to 140 are depicted respectively in Figures 11 to 13, and show a variable reduction in soil moisture levels over a measured geographical area in response to a drought event.
  • the irrigation controller 22 learns soil or crop water storage characteristics of the geographical area being irrigated from successive changes in soil moisture over time.
  • that water storage characteristic information is then used to determine a refill point profile across the geographical area, for use in selectively operating the irrigation network at step 146.
  • the irrigation controller can be configured to project a desired future irrigation time, such as a time which the refill point at one or more locations in the geographical area will be reached.
  • the irrigation controller 22 can be configured to project a desired amount of water or water-borne substance at a desired future irrigation time.
  • the irrigation controller 22 can be configured to carry out a series of diagnostic operations. As depicted in Figure 14, a first series of diagnostic operations can be carried out in response to abnormally high readings being received from one or more of the soil moisture sensors S1 to S16.
  • a soil moisture sensor may detect an abnormally high reading.
  • the irrigation controller 22 verifies readings from adjacent sensors, and at step 154, determines if the adjacent sensor readings are also abnormally high which is indicative of a possible leak in the irrigation system. In this case, a maintenance worker may be sent to investigate whether leakage is actually occurring in the geographical area at the location suggested by the soil moisture sensor generating a higher reading. Flowever, if at step 156, it is determined that the adjacent sensor readings are normal, then an average of surrounding sensor readings may be used in place of the abnormally high reading.
  • Figures 15 to 17 are exemplary visual representations 158 to 162 showing soil moisture profiles at depths of 150mm, 300mm and 600mm respectively in the presence of an abnormally high reading resulting from a leak in the irrigation system shown.
  • a series of diagnostic operations may be carried out when an abnormally low reading is detected.
  • step 170 when an abnormally low reading is detected in a sensor, then at step 172, readings in adjacent sensors may be verified. If the readings from the adjacent sensors are also low, then at step 174 the irrigation controller 22 may alert a user that there is a possible blockage in the irrigation system or a power failure that has adversely impacted the soil moisture sensor or sensors at which an abnormally low reading was detected.
  • the adjacent sensor readings are determined to be normal, then an average of surrounding sensor readings is used in order to construct the soil moisture profile of the geographical area in question.
  • Visual representations 180 to 184 are shown in respectively in Figures 19 to 21 and depict 3D soil moisture profiles across the geographical area in question at depths of 150mm, 300mm and 600mm that may typically be generated for display at the display 28 when a blockage of the irrigation system occurs at one or more sensor locations.

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Abstract

La présente invention concerne un système d'irrigation pour appliquer de l'eau ou des substances aqueuses à une zone géographique comprenant : un réseau de capteurs d'humidité du sol répartis à travers la zone géographique ; un réseau d'irrigation comprenant une série d'orifices de sortie d'irrigation pouvant fonctionner sélectivement répartis à travers la zone géographique, les orifices de sortie d'irrigation se trouvant en communication fluidique avec une source d'irrigation ; et un dispositif de commande d'irrigation en communication de données avec les capteurs d'humidité du sol et les orifices de sortie d'irrigation pouvant sélectivement fonctionner, le dispositif de commande d'irrigation étant configuré pour : construire un profil d'humidité du sol en 3D à partir des lecteurs provenant des capteurs d'humidité du sol ; utiliser le profil d'humidité du sol en 3D pour déterminer une ou plusieurs zones à l'intérieur de la zone géographique nécessitant l'application d'eau ou de substances aqueuses ; et amener le fonctionnement sélectif d'un ou plusieurs orifices de sortie d'irrigation pour appliquer de l'eau ou des substances aqueuses à l'une ou plusieurs zones.
PCT/AU2019/050942 2018-09-04 2019-09-04 Système d'irrigation automatique avec outil de cartographie d'humidité du sol en 3d WO2020047593A1 (fr)

Applications Claiming Priority (2)

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AU2018903290 2018-09-04
AU2018903290A AU2018903290A0 (en) 2018-09-04 Automatic irrigation system with 3d soil moisture mapping tool

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WO2022076151A1 (fr) * 2020-10-05 2022-04-14 Lindsay Corporation Dispositif informatique de système d'irrigation pour le traitement de données géospatiales
AT524682A4 (de) * 2021-02-26 2022-08-15 Mohammed Dipl Ing Dr Techn Hassan Intelligentes individuelles lernfähiges Bewässerungssystem und Verfahren zur Bewässerung
WO2023122310A3 (fr) * 2021-12-23 2023-08-31 Echevarria Clint Systèmes d'irrigation à commande sélective

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CN108157147A (zh) * 2018-01-22 2018-06-15 五邑大学 一种基于三维立体土壤湿度图的智能浇灌系统

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WO2022076151A1 (fr) * 2020-10-05 2022-04-14 Lindsay Corporation Dispositif informatique de système d'irrigation pour le traitement de données géospatiales
AT524682A4 (de) * 2021-02-26 2022-08-15 Mohammed Dipl Ing Dr Techn Hassan Intelligentes individuelles lernfähiges Bewässerungssystem und Verfahren zur Bewässerung
AT524682B1 (de) * 2021-02-26 2022-08-15 Mohammed Dipl Ing Dr Techn Hassan Intelligentes individuelles lernfähiges Bewässerungssystem und Verfahren zur Bewässerung
CN114097589A (zh) * 2021-11-05 2022-03-01 河北农业大学 一种基于作物需水量测量的自动灌溉控制方法及控制系统
CN114097589B (zh) * 2021-11-05 2022-12-23 河北农业大学 一种基于作物需水量测量的自动灌溉控制方法及控制系统
WO2023122310A3 (fr) * 2021-12-23 2023-08-31 Echevarria Clint Systèmes d'irrigation à commande sélective

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