WO2023163080A1

WO2023163080A1 - Watering system and control device

Info

Publication number: WO2023163080A1
Application number: PCT/JP2023/006610
Authority: WO
Inventors: 勇一朗守谷
Original assignee: 株式会社デンソー
Priority date: 2022-02-28
Filing date: 2023-02-23
Publication date: 2023-08-31

Abstract

A watering system (10) individually monitors the respective environments of a plurality of divided areas in a field (20), with monitoring units (300) corresponding to each divided area. The supply of water in each divided area is controlled individually by a corresponding monitoring unit (300) and water supply valve (152). The watering system (10) is provided with a plurality of distribution tubes (136) which are provided in the field (20) where plants are grown, and in which are formed a plurality of through-holes for sprinkling water on the field (20). The watering system (10) is provided with water supply valves (152) that control the pressure of water which flows downstream to distribution tubes (136). Microcomputers (330) of the monitoring units (300) control the degree of opening of the water supply valves (152) and thereby control the water discharge distance of water discharged from the distribution tubes (136) via the through-holes.

Description

Irrigation system and controller

Cross-reference to related applications

This application is based on Patent Application No. 2022-029005 filed in Japan on February 28, 2022, and the content of the underlying application is incorporated by reference in its entirety.

The disclosure in this specification relates to an irrigation system and control device for controlling the supply of irrigation water to fields.

Patent Document 1 discloses an irrigation system.

WO2019/016684

According to Patent Document 1, the supply and stop of water supply from the drip tube is controlled by opening and closing a valve that permits or blocks the supply of water to the drip tube. In this manner, when the valve is open, water seeps out of the drip tube and can be applied to the soil in the vicinity of the tube. However, it is not possible to irrigate the soil at a desired position away from the drip tube as appropriate. For this reason, the irrigation system of Patent Document 1 has room for improvement in terms of precisely providing irrigation to the required location.

An object of the disclosure in this specification is to provide an irrigation system and a control device that can adjust the water spray distance from the distribution tube during irrigation.

The multiple aspects disclosed in this specification employ different technical means to achieve their respective objectives. In addition, the symbols in parentheses described in the claims are an example showing the corresponding relationship with the specific means described in the embodiment described later as one aspect, and do not limit the technical scope.

One of the disclosed irrigation systems includes a distribution tube provided in a field where plants grow and having a plurality of through-holes for spraying irrigation water on the field, and controlling the pressure of the irrigation water flowing down to the distribution tube. and a control device for controlling the opening degree of the water supply valve to control the splashing distance of the sprinkling water discharged from the distribution tube through the through hole.

According to this irrigation system, by controlling the valve opening of the water supply valve to control the pressure of the irrigation water, it is possible to control the spray distance of the irrigation water discharged from the distribution tube. Therefore, this irrigation system can carry out accurate irrigation with an adjustable water spray distance from the distribution tube. The irrigation system is capable of spraying water to the soil where it is needed in accordance with the growth of plants, thereby suppressing wasteful irrigation and realizing water saving.

One of the disclosed control devices is a control device for controlling the spraying distance of irrigation water supplied from a distribution tube having a plurality of through-holes to a plant-growing field. A calculation unit that determines the opening of the water supply valve that controls the pressure of the water supply, and a control signal that controls the opening of the water supply in order to control the splashing distance of the water that is discharged from the distribution tube through the through hole. an output that outputs to the valve.

According to this control device, the calculation unit determines the opening of the valve, and the output unit outputs a control signal for controlling the opening of the valve to the water supply valve in order to control the water spray distance. This makes it possible to control the splash distance of the irrigation water discharged from the distribution tube. Therefore, this control device can carry out accurate irrigation with an adjustable spray distance from the distribution tube. This control device is capable of spraying water to required areas of the soil in accordance with the growth of plants, suppressing wasteful irrigation and realizing water saving.

BRIEF DESCRIPTION OF THE DRAWINGS It is a conceptual diagram which shows the watering system of 1st Embodiment provided in the field. It is a partial view showing a water supply pipe and a pipe module. It is a lineblock diagram of an irrigation system. It is a block diagram which shows a monitoring part. FIG. 3 shows a radio signal; 4 is a flowchart for explaining sensor processing; 4 is a flowchart for explaining update processing; 4 is a flowchart for explaining monitoring processing; 6 is a flowchart for explaining water supply processing; It is a flow chart for explaining irrigation processing. 8 is a flowchart for explaining user update processing; 4 is a flowchart for explaining forced update processing; It is a cross-sectional view showing a valve device that can be applied as a water supply valve. It is a figure which shows the structure of the drive part with which a valve apparatus is provided. It is a perspective view which shows the valve|bulb with which a valve apparatus is equipped. It is a graph which shows the relationship between the rotation angle and flow volume in a valve apparatus. It is a block diagram which shows the monitoring part which concerns on 2nd Embodiment. It is a flowchart which shows the operation|movement of the water supply valve which concerns on 2nd Embodiment. It is a figure for demonstrating an example of watering which concerns on 2nd Embodiment. It is a flowchart which shows the operation|movement of the water supply valve which concerns on 3rd Embodiment. It is a flowchart which shows the operation|movement of the water supply valve which concerns on 4th Embodiment. It is a flow chart which shows the operation of the water supply valve concerning a 5th embodiment. It is a figure for demonstrating watering which concerns on 5th Embodiment. It is a figure which shows the relationship between a valve|bulb opening degree and a soil water content. FIG. 5 is a diagram showing the relationship between the valve opening degree and the splash distance in lamp operation. FIG. 10 is a diagram showing the relationship between the valve opening degree and the splash distance in step operation; It is a figure which shows the positional relationship of a distribution tube, a water supply valve, and a water pressure sensor. 9 is a flow chart showing an example of valve opening degree control in another mode. 9 is a flow chart showing an example of valve opening degree control in another mode. FIG. 30 is a timing chart at the time of valve opening control of FIG. 29; FIG. 9 is a flow chart showing an example of valve opening degree control in another mode. FIG. 32 is a timing chart when controlling the valve opening of FIG. 31; FIG.

A plurality of modes for carrying out the present disclosure will be described below with reference to the drawings. In each form, the same reference numerals may be given to the parts corresponding to the matters described in the preceding form, and overlapping explanations may be omitted. When only a part of the configuration is described in each form, the previously described other forms can be applied to other parts of the configuration. Not only combinations of parts that are explicitly stated that combinations are possible in each embodiment, but also partial combinations of embodiments even if they are not explicitly stated unless there is a particular problem with the combination. is also possible.

<First embodiment>
A first embodiment disclosing an example of an irrigation system will be described with reference to FIGS. 1 to 16. FIG. In the following, the three directions that are orthogonal to each other are referred to as x-direction, y-direction, and z-direction. The plane defined by the x-direction and the y-direction is along the horizontal plane in this document. The z-direction is along the vertical direction. In the drawings, description of "direction" is omitted, and x, y, and z are simply described.

<field>
The irrigation system 10 is applied to an open field 20 cultivated on hills and plains. As shown in FIG. 1, a form in which the irrigation system 10 is applied to a field 20 cultivated in a plain will be described. The area of this field 20 ranges from several tens of square meters to several thousand square kilometers. A field 20 is provided with a plurality of growing places such as ridges extending in the x direction. A plurality of growth sites extending in the x-direction are spaced apart in the y-direction. Seeds and seedlings of the plant 30 are buried in each of these growing places. Plants 30 include, for example, grapes, corn, almonds, raspberries, leafy vegetables, and cotton.

A plurality of plants 30 are grown in one growing place. A plurality of plants 30 are aligned in the x-direction to form one row. A plurality of plants 30 arranged in a row in the x direction are hereinafter referred to as a plant group 31 . In the field 20, a plurality of plant groups 31 are lined up with a space in the y direction. The y-direction shortest distance between the plurality of plant groups 31 is longer than the x-direction shortest distance between the plurality of plants 30 included in one plant group 31 . The distance between the plant groups 31 in the y direction can be varied according to the type of growing plants 30 and the undulations and climate of the field 20 . The distance between the plant groups 31 in the y direction is about 1 m to 10 m. Even if the plants 30 are overgrown with foliage in the y direction, at least a width is ensured that allows a person to move between the two plant groups 31 in the x direction.

<Irrigation system>
The irrigation system 10 includes a water supply device 100 and a control device 200 . The water supply device 100 supplies irrigation water to the plants 30 in the field 20 . The control device 200 determines the supply time and amount of water to be supplied from the water supply device 100 to the plants 30 during the watering period. Controller 200 determines the irrigation schedule for water supply system 100 .

<Water supply device>
The water supply device 100 has a pump 110 , a water supply pipe 130 and a pipe module 150 . Pump 110 supplies irrigation water to water supply line 130 . The piping module 150 controls the amount of irrigation water supplied to the water supply piping 130 .

<Pump>
Pump 110 is always in a driven state. Alternatively, the pump 110 is in a daytime running state. The pump 110 pumps irrigation water stored in a tank or reservoir and supplies it to the water supply pipe 130 . Irrigated water includes well water, river water, rain water, and city water. As will be described later, the water supply pipe 130 is provided with a plurality of water supply valves 152 . When each of the plurality of water supply valves 152 is in a closed state and there is no leakage of sprinkling water from the water supply pipe 130, the water supply pipe 130 is filled with sprinkling water. At this time, the water pressure in the water supply pipe 130 becomes a value (also referred to as pump pressure) that depends on the discharge capacity of the pump 110 . When the water supply valve 152 changes from the closed state to the open state, irrigation water is discharged from the water supply pipe 130 to the farm field 20 . When the discharge amount of sprinkling water is stabilized on average over time, the water pressure in the water supply pipe 130 becomes a fluid pressure that is lower than the pump pressure.

<Water supply piping>
The water supply pipe 130 includes a main pipe 131 and a supply pipe 132 . A main pipe 131 is connected to the pump 110 . The supply pipe 132 is connected to the main pipe 131 . The pump 110 supplies sprinkling water from the main pipe 131 to the supply pipe 132 . Irrigated water is supplied to the field 20 from the supply pipe 132 .

<Main pipe>
The main pipe 131 includes a vertical pipe 133 and a horizontal pipe 134 . The vertical pipe 133 extends in the y direction. The horizontal pipe 134 extends in the x direction. The vertical pipe 133 and the horizontal pipe 134 are connected to each other. Due to such a configuration, water flows in the main pipe 131 in the y-direction and the x-direction. In the example shown in FIG. 1, one vertical pipe 133 is connected to one pump 110 . A plurality of horizontal pipes 134 extend in the x direction from the vertical pipes 133 extending in the y direction. The position of the lateral pipe 134 in the z-direction is set to be farther from the ground than the top of the mature plant 30 .

The configuration shown in FIG. 1 is only an example. The number of pumps 110 and vertical pipes 133 provided in the field 20, the number of vertical pipes 133 connected to one pump 110, the number of vertical pipes 133 connected to one horizontal pipe 134, and the number of horizontal pipes 134 and vertical pipes 133 The position of the pipe 133 in the z direction is not particularly limited.

A plurality of horizontal pipes 134 are arranged with a space in the y direction. The y-direction shortest distance between the plurality of lateral pipes 134 is equivalent to the y-direction shortest distance between the plurality of plant groups 31 . One of the multiple lateral pipes 134 is provided to one of the multiple plant groups 31 . The horizontal pipe 134 extends along the direction in which the plants 30 included in the plant group 31 are arranged. A supply pipe 132 is connected to the lateral pipe 134 .

<Supply piping>
A plurality of supply pipes 132 are connected to one horizontal pipe 134 . A plurality of supply pipes 132 connected to one horizontal pipe 134 are spaced apart in the x direction and arranged side by side. As shown in FIG. 2, supply piping 132 includes connecting piping 135 and distribution tube 136 . The connecting pipe 135 hangs down from the horizontal pipe 134 in the z-direction. Two connecting ports opening in the x direction are formed on the tip side of the connecting pipe 135 . A distribution tube 136 is connected to these two connection ports.

The distribution tube 136 includes a first distribution tube 136a connected to one of the two connection ports and a second distribution tube 136b connected to the other of the two connection ports. The first distribution tube 136a and the second distribution tube 136b extend in opposite directions in the x-direction from the connection position with the connection pipe 135. As shown in FIG.

Each tube of the first distribution tube 136a and the second distribution tube 136b is formed with a plurality of through-holes that communicate the inside and outside of the tube through which sprinkling water flows. A plurality of through-holes are arranged side by side at predetermined intervals in the axial direction of the tube in each tube. Moreover, in each tube, the through-holes may be arranged side by side at predetermined intervals in the circumferential direction of the tube.

The distance between the plurality of through-holes in the axial direction (eg, x direction) is the same as the distance between the plurality of plants 30 in the x direction. In the example shown in FIG. 2, each of the first distribution tube 136a and the second distribution tube 136b has three through holes arranged in the axial direction. Moreover, the spacing between the plurality of through-holes and the spacing between the plurality of plants 30 may be different. The number of through holes formed in each tube is not limited to three.

<Irrigation flow>
The sprinkling water supplied to the vertical pipe 133 by the pump 110 flows in the vertical pipe 133 in the y direction. This sprinkling water is supplied to each of the plurality of horizontal pipes 134 connected to the vertical pipes 133 . Sprinkled water flows in the x-direction through each of the plurality of horizontal pipes 134 . The irrigation water flowing in the horizontal pipe 134 flows down to the distribution tube 136 via the connecting pipe 135 . The irrigation water is discharged from each through-hole in each of the first distribution tube 136a and the second distribution tube 136b and supplied to the plants 30 .

In the example shown in FIG. 1, each of the first distribution tube 136a and the second distribution tube 136b is positioned closer to the ground side of the farm field 20 than to the top side of the plant 30 in the height direction. The irrigation water supplied from the through-holes of the first distribution tube 136a and the second distribution tube 136b is mainly supplied to the trunk of the plant 30 and its roots.

It is preferable that the through-hole is provided at a position higher than the portion facing the ground in each tube. The sprinkling water discharged from the through-hole at such a position spreads in a radial direction with respect to the central axis of the tube, and can be sprayed at a position away from the tube.

<Piping module>
As shown in FIG. 2, the piping module 150 is provided on the supply piping 132 . The piping module 150 has a storage box 151 , a water supply valve 152 and a water pressure sensor 153 . A water supply valve 152 and a water pressure sensor 153 are housed inside the storage box 151 .

<Water supply valve>,
The water supply valve 152 is provided in the connecting pipe 135 at a position close to each of the first distribution tube 136a and the second distribution tube 136b. All through-holes are provided between the tip portions of the first distribution tube 136 a and the second distribution tube 136 b respectively, which are separated from the connecting pipe 135 and the water supply valve 152 .

When the water supply valve 152 is opened, the connecting pipe 135 communicates with the through hole. As a result, sprinkling water is discharged from the through holes. Conversely, when the water supply valve 152 is closed, communication between the connecting pipe 135 and the through hole is cut off. This stops sprinkling water from the through holes.

The opening degrees of the water supply valve 152 provided on the first distribution tube 136a and the water supply valve 152 provided on the second distribution tube 136b are independently controlled by the control device 200. Such opening degree control independently controls the discharge of sprinkling water from the through hole of the first distribution tube 136a and the discharge of sprinkling water from the through hole of the second distribution tube 136b.

The control device 200 arbitrarily controls the opening of the water supply valve 152 from a predetermined opening to full opening. The predetermined opening is set to a value that includes a slightly opened opening or 0% opening, that is, fully closed. The control device 200 controls the discharge flow rate or discharge flow rate per unit time discharged from each through-hole by controlling the valve opening degree of the water supply valve 152 . With this control, the controller 200 can control the splash distance, which is the distance at which the sprinkling water discharged from the distribution tube 136 lands away from the distribution tube 136 . The water splashing distance is the distance between the distribution tube 136 and the ground landing point of the water sprayed from the distribution tube 136 through the through-hole. According to this technology for controlling the distance of water splashing, it is possible to efficiently irrigate areas in need of irrigation, which contributes to saving water.

The control device 200 determines the watering distance based on the type of the plant 30 to be watered, the range of the soil layer of the field 20, and the like. Control device 200 controls the valve opening degree of water supply valve 152 so that the determined splash distance is obtained. For example, the valve opening degree of the water supply valve 152 is controlled so as to increase the splash distance when the plant 30 has wide roots or when the soil layer is shallow and wide. Also, the valve opening degree of the water supply valve 152 is controlled so as to keep the splashing distance small when the plant 30 has deep roots or when the plowing layer is located near the distribution tube 136 . It can be said that the valve opening at which the determined splash distance is obtained is the target opening of the valve. The splashing distance can be rephrased as the sprinkling distance.

<Water pressure sensor>
The water pressure sensor 153 is provided near a portion of the connecting pipe 135 where the first distribution tube 136a and the second distribution tube 136b are connected. Each water pressure sensor 153 detects the water pressure inside the connecting pipe 135 . The water pressure detected by the water pressure sensor 153 is output to the control device 200 . The water pressure sensor 153 is provided between the connection portion of the first distribution tube 136 a to the connection pipe 135 and the water supply valve 152 and between the connection portion of the second distribution tube 136 b to the connection pipe 135 and the water supply valve 152 . may The water pressure sensor 153 may be provided in the vicinity of the connecting portion of the connecting pipe 135 with the lateral pipe 134 . The water pressure sensor 153 may be located closer to the side pipe 134 than the water supply valve 152 in the water flow path of the supply pipe 132 .

When the water supply valve 152 is closed and the connecting pipe 135 is filled with sprinkling water, the water pressure sensor 153 detects the pump pressure. When the water supply valve 152 changes from the closed state to the open state, sprinkling water is discharged from the distribution tube 136 . When the amount of sprinkling water is stabilized on average over time, the water pressure sensor 153 detects the flow pressure. When the water supply valve 152 changes from the open state to the closed state, the sprinkling water from the water supply pipe 130 stops. The water pressure in the water supply pipe 130 gradually recovers from fluid pressure to pump pressure. The water pressure sensor 153 detects the transitional water pressure in which the flow pressure gradually recovers to the pump pressure.

When the water supply pipe 130 or the water supply valve 152 is damaged and sprinkling water is leaking from the damaged area, the water pressure detected by the water pressure sensor 153 decreases. This makes it possible to detect whether damage has occurred. This damage detection processing is executed by the control device 200 .

<Control device>
As shown in FIGS. 1 and 3 , control device 200 includes monitoring section 300 , integrated communication section 400 , information storage section 500 , and integrated operation section 600 . In the drawing, the integrated communication unit 400 is written as an ICD. The control device 200 has a plurality of monitoring units 300 . Each of the multiple monitoring units 300 corresponds to a predetermined divided area in the agricultural field 20 . One monitoring unit 300 is provided corresponding to, for example, one piping module 150 . The monitoring unit 300 and the piping module 150 are electrically connected.

The water pressure detected by the water pressure sensor 153 is input to the monitoring unit 300 . The monitoring unit 300 detects environmental values, which are physical quantities related to the environment of the field 20 . Each of the multiple monitoring units 300 outputs the water pressure and the environmental value to the integrated communication unit 400 by wireless communication.

The integrated communication unit 400 outputs the water pressure and environmental value input from each monitoring unit 300 to the information storage unit 500 by wireless communication. The information storage unit 500 stores these water pressure and environmental values. An example of the information storage unit 500 is a so-called cloud. The integrated calculation unit 600 reads various information such as water pressure and environmental values stored in the information storage unit 500 . The integrated calculation unit 600 appropriately processes the read information, and displays the information and processing results on the monitor 700 of the user's smart phone or personal computer.

The integrated calculation unit 600 is included in the user's smartphone, personal computer, or the like. The integrated operation unit 600 has an information processing operation device 610 , a memory 620 and a communication device 630 . In the drawing, the information processor 610 is denoted by IPCE, the memory 620 by MM, and the communication device 630 by CD. The information processing computing device 610 includes a processor. The information processing arithmetic device 610 performs arithmetic processing related to sprinkling. Such functions are realized by downloading the watering application program to the information processing device 610 .

The memory 620 is a non-transitional physical storage medium that non-temporarily stores various programs and various information that can be read by a computer or processor. Memory 620 includes volatile memory and non-volatile memory. The memory 620 stores various information input to the communication device 630 and processing results of the information processing arithmetic device 610 . The information processing arithmetic device 610 executes various arithmetic processing using information stored in the memory 620 .

The communication device 630 has a wireless communication function. The communication device 630 converts the received radio signal into an electrical signal and outputs the electrical signal to the information processing device 610 . The communication device 630 outputs the processing result of the information processing device 610 as a radio signal. Hereinafter, the technical content of the present embodiment will be described using an integrated computing unit 600 as a generic term without distinguishing between the information processing computing device 610, the memory 620, and the communication device 630. FIG. The information processing arithmetic device 610 corresponds to a processing arithmetic section.

The user inputs user instructions related to the watering process and watering schedule to the integrated calculation unit 600 using the input device 800 such as a touch panel and keyboard. Based on this user instruction and various information read from the information storage unit 500, the integrated calculation unit 600 outputs a watering treatment command and determines a watering schedule. If there is no instruction from the user, the integrated calculation unit 600 automatically determines the watering schedule based on various information.

When the integrated calculation unit 600 detects an irrigation processing command or determines that it is time to start supplying irrigation water in the irrigation schedule, it outputs an instruction signal for controlling the water supply valve 152 to the information storage unit 500 . This instruction signal is input from the information storage section 500 to the monitoring section 300 via the integrated communication section 400 . The monitoring unit 300 controls output and non-output of the water supply signal to the water supply valve 152 based on the instruction signal. Thereby, the open/close state of the water supply valve 152 is controlled. As a result, the supply of irrigation water to the field 20 is controlled. At least one of the instruction signal and the water supply signal corresponds to the control signal.

<divided area>
As shown in FIG. 1, one monitoring unit 300 is provided for one supply pipe 132 . As shown in FIG. 3 as an example, the plurality of monitoring units 300 are arranged in a matrix with the water supply valves 152 and the water pressure sensors 153 of the plurality of piping modules 150 in the field 20 with the x direction as the row direction and the y direction as the column direction. be done.

With such a configuration, the environment of each of a plurality of divided areas partitioned in the row direction and the column direction is individually monitored by the monitoring unit 300 corresponding to each divided area. Furthermore, the supply of irrigation water in each of the plurality of divided areas is individually controlled by the corresponding monitoring unit 300 and piping module 150 .

<Monitoring part>
As shown in FIGS. 3 and 4, the monitoring section 300 has an environment sensor 310 and a control section 320 . The water supply valve 152 and the water pressure sensor 153 of the piping module 150 are electrically connected to the controller 320 . In the drawing, the environment sensor 310 is denoted by ES, the water supply valve 152 by WB, and the water pressure sensor 153 by WPS.

A plurality of environment sensors 310 are arranged in a matrix in the field 20 together with the piping module 150 . Each environmental sensor 310 detects the environmental value of each of the plurality of divided areas. Each water pressure sensor 153 detects the water pressure of each of the plurality of divided areas. The detected environmental value and water pressure of each of the plurality of divided areas are stored in the information storage unit 500 .

As shown in FIG. 4, the control unit 320 includes a microcomputer 330, a communication unit 340, an RTC 350, and a power generation unit 360. Microcomputer is an abbreviation for microcomputer. RTC is an abbreviation for Real Time Clock. In the drawing, the communication unit 340 is denoted as CDP.

Environmental values and water pressure are input to the microcomputer 330. The microcomputer 330 outputs these environmental values and water pressure to the integrated communication section 400 via the communication section 340 . An instruction signal is input to the microcomputer 330 from the integrated communication unit 400 . The microcomputer 330 outputs a water supply signal to the water supply valve 152 based on this instruction signal. The microcomputer 330 corresponds to an arithmetic processing unit. The microcomputer 330 is a control device that controls the operation of the water supply valve 152 .

The microcomputer 330 has sleep mode and normal mode as operation modes. The sleep mode is a state in which the microcomputer 330 stops arithmetic processing. The normal mode is a state in which the microcomputer 330 is executing arithmetic processing. Normal mode consumes more power than sleep mode.

The communication unit 340 performs wireless communication with the integrated communication unit 400. The communication unit 340 outputs the electrical signal output from the microcomputer 330 to the integrated communication unit 400 as a radio signal. In addition, the communication unit 340 receives the radio signal output from the integrated communication unit 400 and converts it into an electrical signal. Communication unit 340 outputs the electrical signal to microcomputer 330 . If the electrical signal contains the instruction signal, the microcomputer 330 switches from sleep mode to normal mode.

The RTC 350 has a clock function that keeps time and a timer function that measures time. The RTC 350 outputs a wakeup signal to the microcomputer 330 when a preset time has come or a preset time has elapsed. When this wakeup signal is input to the microcomputer 330 in sleep mode, the microcomputer 330 switches from sleep mode to normal mode.

The power generation unit 360 converts the light energy obtained by the solar cell into electrical energy. The power generation unit 360 functions as a power supply source for the monitoring unit 300 . Power is continuously supplied from generator 360 to RTC 350 . This prevents the clock function and timer function of the RTC 350 from being impaired.

<Environmental sensor>
One of the environmental values assumed to be different for each divided area of the field 20 is the soil water content. Environment sensor 310 detects the environmental value in the corresponding divided area. The environment sensor 310 includes a soil sensor 311 that detects soil moisture content and the like. A plurality of soil sensors 311 detect the soil moisture content of a plurality of divided areas arranged in the field 20 . In the drawing, the soil sensor 311 is indicated as SMS.

Depending on the undulations of the field 20 and the growing conditions of the plants 30, the amount of solar radiation is one of the environmental values that are assumed to differ for each divided area. In this specification, each environmental sensor 310 has a solar radiation sensor 312 that detects the amount of solar radiation. A plurality of solar radiation sensors 312 detect the amount of solar radiation in a plurality of divided areas in the agricultural field 20 . In the drawings, the solar radiation sensor 312 is denoted as SRS.

The monitor 700 displays a map of the soil moisture content distribution and the solar radiation distribution in the field 20 by arranging the soil moisture content and the solar radiation detected in a plurality of divided areas in a matrix. Similarly, by arranging the water pressure detected by the plurality of water pressure sensors 153 in a matrix on the monitor 700 , the water pressure distribution of the water supply pipe 130 in the field 20 is displayed on the monitor 700 as a map. Such map display processing is performed by the integrated calculation unit 600 .

The environmental values in the field 20 include rainfall, temperature, humidity, atmospheric pressure, and wind volume. Sensors that detect these environmental values are a rain sensor 313 , a temperature sensor 314 , a humidity sensor 315 , an air pressure sensor 316 and a wind sensor 317 . These are included in at least one environmental sensor 310 of the plurality of monitoring units 300 .

The environment sensor 310 of the monitoring unit 300 includes various sensors that detect environmental values of the entire field 20 . An example of the environment sensor 310 is shown in FIG. In the drawing, the rain sensor 313 is denoted by RS, the temperature sensor 314 by TS, the humidity sensor 315 by MS, the atmospheric pressure sensor 316 by PS, and the wind sensor 317 by WS. The wind sensor 317 may be configured to detect not only the wind volume but also the wind direction. At least one of the rain sensor 313 , temperature sensor 314 , humidity sensor 315 , atmospheric pressure sensor 316 and wind sensor 317 may be arranged in rows and columns in the field 20 .

In such a configuration, the amount of rainfall, temperature, humidity, air pressure, and wind volume change greatly for each divided area, for example, because the field 20 is large, the field 20 is rugged, or the climate of the field 20 changes drastically. effective when it is easy to By arranging the rainfall amount, temperature, humidity, air pressure, and wind volume detected by these sensors in a matrix, it is possible to display these environmental values on the monitor 700 on a map. Outputs of these sensors are output to the communication unit 340 via the integrated communication unit 400 . Along with this, the outputs of these sensors are stored in the information storage section 500 via the integrated communication section 400 .

<Soil water content>
Among the various environmental values described so far, the environmental value controlled by the watering system 10 includes the soil water content. The irrigation system 10 controls the supply time and supply amount of irrigation water for each divided area. By doing so, the soil water content for each divided area is individually controlled.

The plant 30 is rooted in the soil layer of the field 20. The growth of the plant 30 depends on the amount of water contained in the soil of this plowing layer (also called soil water content). When the soil water content exceeds the growth-inhibiting water point, the plant 30 becomes diseased. If the soil moisture content drops below the permanent wilting point, the plant 30 will not wilt. Although the growth inhibition water point and the permanent wilting point differ depending on the type of plant 30, their values are known. These values are stored in the information storage unit 500 .

The current value of the soil moisture content is detected by the soil sensor 311. Physical quantities related to soil water content include soil water content tension (pF value) and soil dielectric constant (ε). The soil sensor 311 of this specification detects the pF value.

The soil moisture content of the plowing layer increases or decreases due to environmental changes in the field 20 . When it rains on the field 20, the soil water content increases. As water evaporates from the topsoil layer, the soil moisture content decreases. Also, when the plant 30 absorbs water or water permeates to a lower layer than the plowing layer, the soil water content decreases. A rain sensor 313 detects the amount of rain (rainfall) that falls on the plowed layer. The amount of water that evaporates from the soil layer (evaporation) depends on the amount of solar radiation, temperature, humidity, and airflow. These are detected by solar sensor 312 , temperature sensor 314 , humidity sensor 315 and wind sensor 317 .

The amount of water absorbed by the plant 30 per unit time can be estimated in advance depending on the type of the plant 30 . The amount of water permeating into layers below the plowing layer per unit time can be estimated in advance from the water retention capacity of the soil. These estimated values are stored in the information storage unit 500 .

As described above, the environment sensor 310 detects the current value of the soil moisture content of the plowed layer, the predicted value related to the prediction of the increase from the current value of the soil moisture content of the plowed layer due to environmental changes, and the prediction of the decrease. To detect. These are stored in the information storage unit 500 as environment values. The information storage unit 500 stores the growth inhibition water point and permanent wilting point of the plant 30, the amount of water absorbed by the plant 30 per unit time, and the water retention capacity of the soil. Instructions from the user (user instructions) described above are stored in the information storage unit 500 . In this way, the information storage unit 500 stores various information for determining the watering schedule.

<Microcomputer>
As shown in FIG. 4 , the microcomputer 330 has an acquisition section 331 , a signal output section 332 , a storage section 333 and a processing section 334 . In the drawing, the acquisition unit 331 is denoted by AD, the signal output unit 332 by SOU, the storage unit 333 by MU, and the processing unit 334 by PU.

The environmental value detected by the environment sensor 310 is input to the acquisition unit 331 . The water pressure detected by the water pressure sensor 153 is input to the acquisition unit 331 . Acquisition unit 331 and each of environment sensor 310 and water pressure sensor 153 are electrically connected. A wire 160 shown in FIG. 1 is an example of a wire connecting the acquisition unit 331 and the soil sensor 311 and a wire connecting the acquisition unit 331 and the water pressure sensor 153 .

The signal output section 332 is electrically connected to the water supply valve 152 . A control signal (water supply signal) for controlling the opening degree of the water supply valve 152 is output from the signal output section 332 to the water supply valve 152 . The water supply valve 152 is closed when the water supply signal is not input. The water supply valve 152 is open when the water supply signal is input.

The storage unit 333 is a non-transitional material storage medium that non-temporarily stores programs and data readable by computers and processors. The storage unit 333 has a volatile memory and a nonvolatile memory. The storage unit 333 stores a program for the processing unit 334 to execute arithmetic processing. This program includes at least a portion of the irrigation application program described above. The storage unit 333 temporarily stores data when the processing unit 334 executes arithmetic processing. Storage unit 333 stores various data input to acquisition unit 331 and communication unit 340 and acquisition times of the various data.

When the wakeup signal is input from the RTC 350, the processing unit 334 switches from sleep mode to normal mode. In the normal mode, the processing unit 334 reads programs and various data stored in the storage unit 333 and executes arithmetic processing. This calculation processing includes calculation of the valve opening necessary for causing the water splashed through the through hole of the distribution tube 136 to reach the desired watering position. The processing unit 334 corresponds to a computing unit.

The processing unit 334 reads from the RTC 350 the acquisition times of the various sensor signals input to the acquisition unit 331 and the instruction signal input to the communication unit 340 . The processing unit 334 causes the storage unit 333 to store the instruction signal and the acquisition time.

The processing unit 334 stores the environmental value and water pressure input from the environment sensor 310 and the water pressure sensor 153 and their acquisition times in the information storage unit 500 via the communication unit 340 and the integrated communication unit 400 . The processing unit 334 sends a water supply signal to the water supply valve 152 through the signal output unit 332 based on the instruction signal input from the integrated calculation unit 600 through the information storage unit 500, the integrated communication unit 400, and the communication unit 340. Output.

<Communication part>
The communication unit 340 converts the electrical signal input from the processing unit 334 into a radio signal. Communication unit 340 outputs this radio signal to integrated communication unit 400 . The communication unit 340 converts the radio signal output from the integrated communication unit 400 into an electrical signal. The communication section 340 outputs this electrical signal to the processing section 334 .

The radio signal output by the communication unit 340 includes an address 341 and data 342, which are simply shown in FIG. In the drawing, the address 341 is written as ADD, and the data 342 is written as DAT.

As shown in FIG. 3, radio signals are transmitted and received between the plurality of communication units 340 and the integrated communication unit 400 . The address 341 included in the radio signal is an identification code indicating from which one of the plurality of communication units 340 the signal is output. In other words, the address included in the radio signal is an identification code indicating from which one of the plurality of processing units 334 the address is output. A unique address 341 is stored in each of the plurality of storage units 333 .

The address 341 is also included in the radio signal output from the integrated communication unit 400 . The radio signal data 342 includes the instruction signal. Each of the plurality of communication units 340 receives this radio signal. This radio signal is converted into an electric signal by each of the plurality of communication units 340 . This electrical signal is then input to each of the plurality of processing units 334 . Among the plurality of processing units 334, only the processing unit 334 having the same address 341 as the address 341 included in the electrical signal executes arithmetic processing based on the electrical signal.

As will be described later, the microcomputer 330 intermittently drives the sleep mode and the normal mode alternately. Therefore, wireless communication between the communication unit 340 and the integrated communication unit 400 is not frequently performed. The time interval for wireless communication between the communication unit 340 and the integrated communication unit 400 is lengthened. This makes it possible to increase the amount of data that can be included in the data 342 in one wireless communication.

<Power Generation Department>
Power generation unit 360 includes solar cell 361 , power storage unit 362 , current sensor 363 , and power sensor 364 . In the drawing, the solar battery 361 is denoted by SB, the power storage unit 362 by ESU, the current sensor 363 by CS, and the power sensor 364 by PS. Solar cell 361 converts light energy into electrical energy. The power storage unit 362 stores the electrical energy (power). The power stored in power storage unit 362 is utilized as driving power for monitoring unit 300 .

A current sensor 363 detects the current output from the solar cell 361 to the power storage unit 362 . Power sensor 364 detects power output from power storage unit 362 . The processing unit 334 stores the detected current value and power value in the information storage unit 500 via the communication unit 340 and the integrated communication unit 400 . The driving power of the monitoring section 300 depends on the power generated by the power generation section 360 . Therefore, when the amount of light incident on the power generation section 360 is small, the driving power of the monitoring section 300 may be insufficient. To avoid this, the microcomputer 330 of the monitoring unit 300 is intermittently driven.

<RTC>
The RTC 350 outputs a wakeup signal to the microcomputer 330 each time the intermittent drive time interval (driving cycle) elapses. As a result, the microcomputer 330 alternately repeats sleep mode and normal mode. The drive cycle described above is determined by the integrated calculation unit 600 according to the amount of electric power stored in the power storage unit 362 (the amount of power stored). In other words, the intermittent drive interval is determined by the integrated calculation unit 600 according to the amount of stored electricity.

The integrated calculation unit 600 calculates the amount of stored electricity based on the power stored in the information storage unit 500 . The integration calculation unit 600 sets a longer intermittent drive interval as the amount of stored electricity decreases. The integrated calculation unit 600 sets the intermittent drive interval shorter as the amount of stored electricity increases. The integrated calculation unit 600 includes the intermittent drive interval in the instruction signal. When the processing unit 334 of the microcomputer 330 acquires this instruction signal, the processing unit 334 adjusts the intermittent drive interval. A processing unit 334 adjusts the drive cycle of the RTC 350 . It is rare for the environment of the field 20 to change drastically in units of seconds. Therefore, the intermittent drive interval is several tens of seconds to several tens of hours. Accordingly, the time interval for performing wireless communication is also in units of several tens of seconds to several tens of hours.

<Driving the irrigation system>
In the irrigation system 10 , signals are transmitted and received between the multiple monitoring units 300 and the integrated calculation unit 600 and various data are stored in the information storage unit 500 . Each of the plurality of monitoring units 300 and the integrated calculation unit 600 executes a cycle task processed every drive cycle and an event task processed suddenly.

These cycle tasks and event tasks have processing priorities. When the processing timings of these tasks are the same, the processing of the event task is given priority over the processing of the cycle task. As a cycle task, each monitoring unit 300 executes the sensor processing shown in FIG. The integration calculation unit 600 executes the updating process shown in FIG. As event tasks, each monitoring unit 300 executes the monitoring process shown in FIG. 8 and the water supply process shown in FIG. The integrated calculation unit 600 executes the watering process shown in FIG. 10, the user update process shown in FIG. 11, and the forced update process shown in FIG.

The sensor processing and update processing as cycle tasks will be described below based on FIGS. In each drawing showing a flow chart, S indicates the start and E indicates the end.

<Sensor processing>
Before the start shown in FIG. 6, the microcomputer 330 of the monitoring unit 300 is in sleep mode, and a wakeup signal is input from the RTC 350 to this microcomputer 330 . As a result, the microcomputer 330 switches from the sleep mode to the normal mode. At the same time, the microcomputer 330 starts executing the sensor processing shown in FIG. This sensor processing is executed at intermittent drive intervals of the microcomputer 330 . In step S<b>10 , sensor signals input from various sensors are acquired, and the sensor signal acquisition time is acquired based on the output of the RTC 350 . Further, in step S20, the acquired sensor signal and acquisition time are stored. In step S30, the sensor signal as sensor information and the acquisition time are output from the communication section 340 to the integrated communication section 400 by wireless communication. This sensor information is stored in the information storage unit 500 by the integrated communication unit 400 . The microcomputer 330 shifts to sleep mode and terminates sensor processing.

<Update process>
The integration calculation unit 600 executes the update process shown in FIG. 7 each time the update period elapses. This update period is approximately the same as the intermittent drive interval of the microcomputer 330 . In step S110, various information stored in the information storage unit 500 is read. In the next step S120, the watering schedule for each of the plurality of monitoring units 300 is updated based on the read various information. Also, the integrated calculation unit 600 updates sensor processing in each monitoring unit 300 . The integrated calculation unit 600 updates the intermittent drive interval corresponding to the timing of executing sensor processing. The integrated calculation unit 600 owns the updated watering schedule and the intermittent drive interval, stores them in the information storage unit 500, and ends the update process. As indicated above, the cycle task updates the sensor information, irrigation schedule, and intermittent drive interval.

Next, monitoring processing, water supply processing, sprinkling processing, user update processing, and forced update processing as event tasks will be described with reference to FIGS. 8 to 12. FIG. Each of the monitoring process, the water supply process, and the watering process is performed during the daytime in order to avoid depletion of the driving power of the monitoring unit 300 . Whether it is daytime or not can be detected based on the current time and the amount of solar radiation detected by the solar radiation sensor 312 .

<Monitoring process>
Before the start shown in FIG. 8, the microcomputer 330 of each monitoring section 300 is in sleep mode. An instruction signal is input to the microcomputer 330 from the integrated calculation unit 600 by wireless communication. As a result, the microcomputer 330 switches from the sleep mode to the normal mode and starts executing the monitoring process shown in FIG.

In step S210, the input instruction signal and its acquisition time are stored. In the next step S220, it is determined whether or not the instruction signal includes a water supply instruction to open the water supply valve 152 from the closed state. If the water supply instruction is included in the instruction signal, the process proceeds to step S230. If the water supply instruction is not included in the instruction signal, the process proceeds to step S240.

In step S230, the water supply process shown in FIG. 9 is executed. That is, the microcomputer 330 outputs a water supply signal to the water supply valve 152 in accordance with the water supply instruction in step S231. In step S232, the microcomputer 330 determines whether or not the water supply time included in the instruction signal has elapsed. If the water supply time has not elapsed, the output of the water supply signal to the water supply valve 152 is continued. If the water supply time has elapsed, the process proceeds to step S233.

At step S233, the output of the water supply signal is stopped, and the water supply process ends. In the next step S240, it is determined whether or not the instruction signal includes an instruction to update the intermittent drive interval. If the instruction signal includes an instruction to update the intermittent drive interval, the process proceeds to step S250. If the instruction signal does not include an instruction to update the intermittent drive interval, the process proceeds to step S260. The instruction to update the intermittent drive interval described above is periodically or irregularly output as an instruction signal from the integrated calculation section 600 or the information storage section 500 to each monitoring section 300 .

At step S250, the processing unit 334 of the microcomputer 330 adjusts the time interval for outputting the wakeup signal of the RTC 350. In the next step S260, the sensor processing described based on FIG. 6 is executed. When the water supply process of step S230 is performed, the environment value after water supply is detected in step S260. If the water supply process of step S230 is not executed, the environment value when water is not being supplied is detected in step S260. This environment value is stored in the information storage unit 500 . After completing the sensor processing, the microcomputer 330 shifts to the sleep mode and terminates the monitoring processing.

<Irrigation treatment>
The integrated calculation unit 600 executes the watering process shown in FIG. 10 each time it is time to supply water in the watering schedule of each monitoring unit 300 . In step S310, the integration calculation unit 600 outputs a water supply signal including a water supply instruction to the monitoring unit 300 of the divided area to which water is to be supplied among the plurality of monitoring units 300 . In the next step S320, the water supply instruction includes the start of output of the water supply signal and the output time of the water supply signal (water supply time). Upon receiving this water supply instruction, the monitoring unit 300 executes the monitoring process described with reference to FIG.

When proceeding to step S320, the integrated calculation unit 600 enters a standby state until the monitoring process of the monitoring unit 300 is completed. If the monitoring process has ended, the process proceeds to step S330. A determination as to whether or not the monitoring process has ended is made, for example, based on whether or not a period of time in which the monitoring process is expected to end has elapsed. Whether or not the monitoring process has ended can be determined by inquiring of the monitoring unit 300 . A method for determining the end of the monitoring process is not particularly limited.

<User update process>
The integrated calculation unit 600 executes the user update process shown in FIG. 11 when a user instruction related to adjustment of the watering schedule and the intermittent drive interval is input from the input device 800 . Integrated calculation unit 600 stores the input user instruction in information storage unit 500 in step S410. In the next step S420, the updating process described with reference to FIG. 7 is executed. As described above, the irrigation schedule and the intermittent drive interval are updated based on the user's instructions.

<Forced update process>
The integrated calculation unit 600 executes the forced update process shown in FIG. 12 when a user instruction regarding update of the watering schedule and the intermittent drive interval is input. Integral calculation unit 600 outputs a request signal including a request instruction requesting execution of sensor processing in step S510. This request signal is output to the monitoring unit 300 by wireless communication. In step S520, a standby state is entered until the sensor processing of the monitoring unit 300 is completed.

When the sensor processing has ended, the process proceeds to step S530. A determination as to whether or not the sensor processing has ended can be made, for example, based on whether or not a period of time in which the sensor processing is expected to end has elapsed. Alternatively, it can be performed by inquiring of the monitoring unit 300 whether or not the sensor processing has ended. The method for determining the end of sensor processing is not particularly limited. In step S530, the updating process described with reference to FIG. 7 is executed. As described above, the watering schedule and the intermittent drive interval are updated based on various data at the time of the user's update request.

The monitoring unit 300 determines whether or not water is coming out from the distribution tube 136 in the water supply process shown in FIG. 9 and the watering process shown in FIG. 10, and performs processing according to the determination result. The monitoring unit 300 determines whether water is being discharged based on the water pressure detected by the water pressure sensor 153 . When the monitoring unit 300 determines that the water pressure detected by the water pressure sensor 153 exceeds the abnormal pressure value, the monitoring unit 300 fully closes the water supply valve 152 during watering to stop watering. The abnormal pressure value is set to a pressure value that is impossible when water is being discharged from the distribution tube 136, or a pressure value when water has no place to go and is not discharged to the outside. The abnormal pressure value is stored in the storage unit 333 in advance.

When the water pressure exceeds the abnormal pressure value, the monitoring unit 300 irrigates from the adjacent distribution tube 136 adjacent to the distribution tube 136 for which irrigation has been stopped. For example, the adjacent distribution tube 136 is adjacent to the distribution tube 136 that has ceased irrigation in a direction perpendicular to the axial direction of the tube. The monitoring unit 300 controls the valve opening degree of the water supply valve 152 capable of supplying water to the adjacent distribution tube 136 to a value that allows the water splash distance to reach the targeted target watering position in the stopped watering.

Thus, the controller controls the pressure of the irrigation water flowing down the adjacent distribution tube 136 adjacent to the distribution tube 136 from which irrigation water is not being discharged. to control the valve opening. By controlling the opening of the valve, the controller controls the splash distance of the irrigation water discharged from the adjacent distribution tube 136 so that the target irrigation position aimed at by the irrigation water not discharged is reached. According to this control, it is possible to provide the irrigation system 10 that can solve problems with irrigation due to clogging of the pipes and distribution tubes 136 and failure of the water supply valve 152 .

<Individual irrigation treatment>
As described above with reference to FIGS. 6 to 12, the integrated calculation unit 600 determines the watering schedule for each of the plurality of divided areas. The integrated calculation unit 600 controls the supply of irrigation water based on each irrigation schedule. Moreover, although the watering schedule for each of the plurality of divided areas is determined by the integrated calculation unit 600, a configuration may be adopted in which the water supply based on each watering schedule is individually controlled by each monitoring unit 300.

<Independent update>
As a further example, a configuration may be adopted in which the corresponding monitoring unit 300 independently determines the watering schedule for each divided area. In such a configuration, each monitoring unit 300 executes update processing shown in FIG.

<Weather forecast and irrigation schedule>
The information storage unit 500 stores the current value of the soil moisture content, the predicted value of the decreasing change, and the user's instruction. The information storage unit 500 stores the growth inhibition water point and permanent wilting point of the plant 30, the amount of water absorbed by the plant 30 per unit time, and the water retention capacity of the soil. In addition to these, the information storage unit 500 stores the weather forecast for the field 20 output and distributed from the external information source 1000 . In the drawing, the external information source 1000 is indicated as ESI.

The integrated calculation unit 600 reads various information including the weather forecast from the information storage unit 500 in step S110 of the update process shown in FIG. The integrated calculation unit 600 determines the watering schedule for each monitoring unit 300 in step S120.

<Target value and estimated value>
The integrated calculation unit 600 calculates a target value and an estimated value of the soil water content when determining the watering schedule. The target value for soil moisture is naturally set to a value between the stunted water point and the permanent wilting point. In order to attempt healthy growth of the plant 30, the target value of the soil moisture content is set to a value that is somewhat distant from the theoretical values of the growth inhibition moisture point and the permanent wilting point.

The integrated calculation unit 600 sets the upper limit target value on the growth inhibition moisture point side and the lower limit target value on the permanent wilting point side as the target value of the soil moisture content. The integrated calculation unit 600 determines the watering schedule so that the estimated value of the soil moisture content is between the upper limit target value and the lower limit target value during the watering period of the watering schedule. Even if the estimated soil moisture content is expected to exceed the upper limit target value due to rainfall, the integrated calculation unit 600 determines the watering schedule so that the estimated soil moisture content does not exceed the growth inhibition moisture point.

There is a discrepancy between the growth inhibition water point and the upper target value. This upper limit deviation width is determined based on the climate of the farm field 20 while considering the healthy growth of the plant 30 described above. The climate of the field 20 includes the expected value of the average amount of rainfall in the field 20 during the irrigation period of the irrigation schedule and the total amount of rainfall predicted by the weather forecast during the irrigation period. The expected value of the average amount of rainfall in the field 20 during the watering period is stored in the information storage unit 500 .

There is a gap between the permanent wilting point and the lower target value. This lower limit range of divergence takes into account the healthy growth of the plant 30, and is determined based on the recovery time expected to be restored when a failure occurs in the water supply device 100, the amount of decrease in soil water content per unit time, and the like. . For example, the lower limit deviation width is determined based on a value obtained by multiplying the recovery time by the amount of decrease in the soil moisture content per unit time. The recovery time is stored in the information storage unit 500. FIG.

For example, when the weather forecast for one week is stored in the information storage unit 500 from the external information source 1000, the integrated calculation unit 600 determines the watering schedule for one week. During this week, if the weather forecast does not predict any rainfall, the estimated soil moisture content is expected to gradually decrease over time. The amount of decrease per unit time of the estimated soil moisture content is determined based on the predicted value of the decrease change in the soil moisture content of the plow layer. In order to simplify the notation, the estimated value of the soil moisture content will be simply referred to as an estimated value as needed.

As described above, the watering schedule is determined based on the estimated soil moisture content based on environmental values and the weather forecast. According to this, it is possible to prevent the soil water content in the outdoor divided area from becoming unsuitable for the plants 30 due to weather changes such as rainfall and dryness. In addition, it is possible to prevent the soil moisture content from exceeding the growth inhibition moisture point or falling below the permanent wilting point.

The integrated calculation unit 600 determines the target water supply amount so that the estimated soil moisture amount does not exceed the upper limit target value lower than the growth inhibition moisture point during all the watering periods of the watering schedule. The integrated calculation unit 600 determines the deviation range (upper limit deviation range) between the growth inhibition water point and the upper limit target value based on the climate of the field 20 and the like. The climate of the field 20 includes the expected value of the average amount of rainfall in the field 20 during the watering period and the total amount of rainfall predicted by the weather forecast during the watering period. By setting the upper limit deviation range in this way, even if there is more rainfall than the weather forecast after the soil moisture content approaches the upper target value by supplying water, the soil moisture content will not reach the growth inhibition moisture point. Reaching is suppressed.

The integrated calculation unit 600 determines the target water supply amount so that the estimated soil moisture amount in the watering schedule does not fall below the lower limit target value higher than the permanent wilting point. The integrated calculation unit 600 determines the deviation range (lower limit deviation range) between the permanent wilting point and the lower limit target value based on the recovery time and the amount of decrease in the soil moisture content per unit time. By setting the lower limit divergence width in this way, even if the water supply becomes impossible due to a failure of the water supply valve 152 or the like when the soil moisture content is close to the lower target value, , it can suppress the soil moisture content from reaching the permanent wilting point.

The integrated calculation unit 600 waters at the time when the estimated value of the soil moisture content in the watering schedule reaches the lower limit target value. As a result, it is possible to prevent the soil water content from falling below the lower limit target value. The integrated calculation unit 600 makes the rain forecast time and the irrigation water supply time different. According to this, even if there is more rainfall than the rainfall forecast, it is possible to suppress excessive increase in soil water content.

An example of a valve device applicable to the water supply valve 152 will be described below with reference to FIGS. 13 to 15. FIG. This valve device is a so-called rotary valve device. This valve device has one fluid inlet and three fluid outlets. The valve device is mounted to the irrigation system 10 by connecting a supply line 132 to the fluid inlets and a distribution tube 136 to one of the fluid outlets. Further, a closing member may be attached to the fluid outflow portion to which the distribution tube 136 is not connected to close the passage.

The valve device includes a housing 9, a valve 90, a drive section 70, a drive section cover 80, etc., as shown in FIG. The valve device is configured as a ball valve that opens and closes the valve device by rotating the valve 90 around the axis of the shaft 92 . In this specification, the direction along the axis of the shaft 92 will be described as the axial direction DRa, and the direction perpendicular to the axial direction DRa and extending radially from the axial direction DRa will be described as the radial direction DRr.

The housing 9 is an accommodating portion that accommodates the valve 90 . The housing 9 is made of, for example, a resin member. The housing 9 includes a hollow housing main body portion 21 in which the valve 90 is accommodated, a pipe member 50 for discharging cooling water from the housing main body portion 21 , and a partition wall portion 60 attached to the housing main body portion 21 . The housing main body 21 has a substantially rectangular parallelepiped external appearance and is formed in a bottomed shape having an opening on the other side in the axial direction DRa. The housing main body portion 21 has a housing outer wall portion 22 that constitutes the outer peripheral portion of the housing main body portion 21 . The housing outer wall portion 22 forms a cylindrical valve accommodating space 23 having an axis in the axial direction DRa inside the housing main body portion 21 .

An inlet port 251 is formed in the outer wall portion 22 of the housing for allowing cooling water to flow into the valve housing space 23 . The inlet port 251 is formed with a circular opening and is connected to the connecting pipe 135 . The inlet port 251 corresponds to the fluid inlet.

A pipe member 50 is attached to the housing outer wall portion 22 . The housing outer wall portion 22 has a first outlet port 261, a second outlet port 262, and a third outlet port 263 for causing the cooling water that has flowed into the valve housing space 23 through the inlet port 251 to flow out to the pipe member 50. have The first outlet port 261, the second outlet port 262, and the third outlet port 263 correspond to fluid outlets.

A partition wall portion 60 is attached to the housing opening surface 24 of the housing outer wall portion 22 . The housing opening surface 24 is arranged on the other side of the housing body portion 21 in the axial direction DRa. The housing opening surface 24 is formed with a housing opening 241 that allows communication between the valve accommodating space 23 and the outside of the housing main body 21 . The housing opening 241 is closed by attaching the partition wall 60 to the housing opening surface 24 .

The pipe member 50 includes a first pipe portion 51, a second pipe portion 52, and a third pipe portion 53, each of which is cylindrical. The first pipe portion 51 , the second pipe portion 52 and the third pipe portion 53 are connected by a pipe connection portion 54 . The pipe connecting portion 54 is a portion that connects the first pipe portion 51 , the second pipe portion 52 and the third pipe portion 53 and attaches the pipe member 50 to the housing outer wall portion 22 . The upstream side of the first pipe portion 51 is arranged inside the first outlet port 261 . The second pipe portion 52 is arranged inside the second outlet port 262 on the upstream side. The third pipe portion 53 is arranged inside the third outlet port 263 on the upstream side.

The partition wall 60 closes the housing opening 241 and holds the valve 90 housed in the valve housing space 23 . Partition wall portion 60 is disk-shaped with the plate thickness direction in axial direction DRa, and is arranged to fit into housing opening portion 241 from the other side in axial direction DRa toward one side. When the partition 60 is fitted into the housing opening 241 , the outer peripheral portion of the partition 60 abuts against the inner peripheral surface of the housing, thereby closing the housing opening 241 .

The driving section cover 80 accommodates the driving section 70 . The drive section cover 80 is made of resin and has a hollow shape, and a drive section space for accommodating the drive section 70 is formed therein. The driving section cover 80 has a connector section 81 for connecting to the microcomputer 330 . The connector portion 81 connects the valve device to the microcomputer 330 and incorporates terminals to which the driving portion 70 and the rotation angle sensor 73 are connected.

The drive unit 70 includes a motor 71 that outputs a torque for rotating the valve 90 , a gear unit 72 that transmits the output of the motor 71 to the valve 90 , and a rotation angle sensor 73 that detects the rotation angle of the gear unit 72 . contains. The motor 71, as shown in FIG. 14, includes a motor body, a motor shaft 711, a worm gear 712, and motor-side terminals. The motor 71 is configured such that the motor body can output power when power is supplied to the motor-side terminals. The motor body is formed in a substantially cylindrical shape, and a motor shaft 711 protrudes from the other end of the motor body. Power output from the motor main body is output to the gear portion 72 via the motor shaft 711 and the worm gear 712 .

The gear portion 72 is composed of a speed reduction mechanism having a plurality of resin gears, and is configured to be able to transmit the power output from the worm gear 712 to the shaft 92 . The gear portion 72 includes a first gear 721 , a second gear 722 meshing with the first gear 721 , and a third gear 723 meshing with the second gear 722 . A shaft 92 is connected to the third gear 723 . In the gear portion 72, the outer diameter of the second gear 722 is formed larger than the outer diameter of the first gear 721, and the outer diameter of the third gear 723 is formed larger than the outer diameter of the second gear 722. ing.

The first gear 721 , the second gear 722 , and the third gear 723 are arranged so that their axes are orthogonal to the axis of the worm gear 712 . The third gear 723 is arranged so that the axis of the third gear 723 is coaxial with the axis of the shaft 92 . A shaft 92 is connected to the third gear 723 . The drive unit 70 is configured such that the worm gear 712, the first gear 721, the second gear 722, the third gear 723, and the valve 90 rotate integrally, and the respective rotations are correlated with each other. These gears and the shaft 92 have respective rotation angles that are correlated, and are configured so that the rotation angle of any one of the components having the correlation can be calculated from the rotation angles of the other components. there is

A rotation angle sensor 73 for detecting the rotation angle of the third gear 723 is attached to a portion facing the third gear 723 on the inner peripheral portion of the drive section cover 80 . The rotation angle sensor 73 is a Hall sensor incorporating a Hall element, and is configured to detect the rotation angle of the third gear 723 without contact. The rotation angle sensor 73 is connected to the microcomputer 330 via the connector portion 81 . The detected rotation angle of the third gear 723 is transmitted to the microcomputer 330 . The processing unit 334 of the microcomputer 330 is configured to be able to calculate the rotation angle of the valve 90 based on the rotation angle of the third gear 723 transmitted from the rotation angle sensor 73 .

The shaft 92 and the valve 90 will be explained with reference to FIGS. 13 and 15. FIG. The shaft 92 is configured to be rotatable about its axis by the rotational force output by the driving section 70 . The shaft 92 is connected to the valve 90, and is configured to be able to rotate the valve 90 integrally with the shaft 92 when the shaft 92 rotates. The shaft 92 is formed in a columnar shape extending along the axis, and penetrates from one side of the valve 90 to the other side. One side of the shaft 92 in the axial direction DRa is connected to the shaft support portion of the housing main body portion 21 , and the other side is connected to the gear portion 72 . A valve 90 is fixed to the outer circumference of the shaft.

The valve 90 is configured to be able to adjust the flow rate of the output fluid by rotating around its axis. The valve 90 has a shaft 92 inserted therein, and is housed in the valve housing space 23 so as to rotate integrally with the shaft 92 . The valve 90 has a tubular shape having an axis extending along the axial direction DRa. The valve 90 is formed by connecting a first valve 93, a second valve 94, a third valve 95, a cylindrical connecting portion 914, and a cylindrical valve connecting portion 915, each of which is cylindrical. The valve 90 includes a first valve 93, a tubular connecting portion 914, a second valve 94, a tubular valve connecting portion 915, and a third valve 95 arranged from one side toward the other side in the axial direction DRa. are arranged in this order. The first valve 93 and the second valve 94 are connected via a tubular connecting portion 914 . The second valve 94 and the third valve 95 are connected via a tubular valve connection 915 .

The second valve 94 and the cylindrical connecting portion 914 of the valve 90 face the inlet port 251 in the radial direction DRr in the valve accommodating space 23 . The valve 90 has a cylindrical shaft connection portion 916 into which the shaft 92 is inserted in the center. Valve 90 is connected to shaft 92 by inserting shaft 92 into shaft connecting portion 916 . In the valve 90, for example, a first valve 93, a second valve 94, a third valve 95, a cylindrical connecting portion 914, a cylindrical valve connecting portion 915, and a shaft connecting portion 916 are integrally formed by injection molding.

The valve 90 is a valve body for causing the cooling water that has flowed into the valve 90 to flow out to the first outlet port 261 , the second outlet port 262 and the third outlet port 263 . The valves 90 rotate so that the first valve 93 opens and closes the first outlet port 261, the second valve 94 opens and closes the second outlet port 262, and the third valve 95 opens and closes the third outlet port 263. .

The first valve 93 , the second valve 94 and the third valve 95 are arranged so that their axes are coaxial with the axis of the shaft 92 . In each of the first valve 93, the second valve 94, and the third valve 95, the central portion in the axial direction DRa bulges outward in the radial direction DRr compared to both end sides. Each of the first valve 93, the second valve 94, and the third valve 95 is configured so that fluid can flow inside.

As shown in FIG. 15, the first valve 93 has a first valve outer peripheral portion 931 forming an outer peripheral portion, and a first flow path portion 961 is formed inside the first valve outer peripheral portion 931 . The first valve 93 is formed with a first inner opening 936 that allows fluid to flow into the first channel portion 961 . In the first valve 93 , the fluid that has flowed into the valve housing space 23 flows into the first channel portion 961 through the first inner opening 936 . The first channel portion 961 corresponds to the channel portion in the valve device.

As shown in FIG. 15, the first valve outer peripheral portion 931 has a first outer peripheral portion that communicates the first flow path portion 961 with the first outlet port 261 via the first seal opening portion 581 when the shaft 92 rotates. An opening 934 is formed. The first valve 93 causes the fluid that has flowed into the first flow path portion 961 to flow out from the first outlet port 261 by connecting the first outer peripheral opening 934 to the first outlet port 261 . A first outer peripheral opening 934 formed in the first valve outer peripheral portion 931 corresponds to an outer peripheral opening formed in the valve outer peripheral portion. The first outer peripheral opening 934 is formed in the first valve outer peripheral portion 931 so as to extend along the circumferential direction of the axis of the shaft 92 . The flow rate of fluid exiting the device from the first valve 93 is adjusted according to the area of overlap between the first outer peripheral opening 934 and the first seal opening 581 when the shaft 92 rotates. The first inner opening 936 functions as a communication passage that communicates the outside of the first valve 93 and the first flow path portion 961 .

The second valve 94 has, as shown in FIG. The second valve 94 is formed with a second inner opening 946 that allows the fluid to flow into the second flow path portion 962 on one side in the axial direction DRa. The second valve 94 is configured such that the fluid that has flowed into the valve housing space 23 through the inlet port 251 can flow through the second flow path portion 962 through the second inner opening 946 . The second channel portion 962 corresponds to the channel portion in the valve device.

As shown in FIG. 15, the second valve outer peripheral portion 941 has a second outer peripheral portion that communicates the second flow path portion 962 with the second outlet port 262 via the second seal opening 582 when the shaft 92 rotates. An opening 944 is formed. The second valve 94 causes the fluid that has flowed into the second flow path portion 962 to flow out from the second outlet port 262 by communicating the second outer peripheral opening 944 with the second outlet port 262 . A second outer peripheral opening 944 formed in the second valve outer peripheral portion 941 corresponds to an outer peripheral opening formed in the valve outer peripheral portion.

The second outer peripheral opening 944 is formed so as to extend in the circumferential direction of the axis of the shaft 92 . The flow rate of fluid flowing out of the device from the second valve 94 is adjusted according to the overlapping area of the second outer peripheral opening 944 and the second seal opening 582 when the shaft 92 rotates. The second inner opening 946 functions as a communication passage that communicates the outside of the second valve 94 and the second flow path portion 962 . The second inner opening 946 faces the first inner opening 936 . The tubular connecting portion 914 is for connecting the first valve 93 and the second valve 94 . The cylindrical connecting portion 914 forms a first inter-valve space 97 between the outer peripheral portion of the cylindrical connecting portion 914 and the inner peripheral surface of the housing. The first channel portion 961 and the second channel portion 962 communicate with each other via the first inter-valve space 97 .

The second valve 94 has a shaft connecting portion 916 that covers the outer peripheral portion of the shaft 92 at substantially the center of the inside. The second valve 94 has a cylindrical valve connecting portion 915 connected to the other side of the second valve outer peripheral portion 941 in the axial direction DRa. The second valve 94 is configured to allow the fluid that has flowed into the second flow path portion 962 to flow into the third valve 95 via the cylindrical valve connecting portion 915 .

A second inter-valve space 98 is formed inside the tubular valve connecting portion 915 . The second inter-valve space 98 communicates with the second channel portion 962 and the third channel portion 963 . The cylindrical valve connecting portion 915 has an outer diameter on one side in the axial direction DRa that is the same as the outer diameter of a portion on the other side in the axial direction DRa of the second valve 94 . The cylindrical valve connecting portion 915 has the same outer diameter on the other side in the axial direction DRa as the outer diameter of the portion on the one side in the axial direction DRa of the third valve 95 . The tubular valve connecting portion 915 is formed so as to continue to the second valve outer peripheral portion 941 and the third valve outer peripheral portion 951 .

As shown in FIG. 15, the third valve 95 has a third valve outer peripheral portion 951 that forms the outer peripheral portion of the third valve 95, and a third flow path portion 963 is formed inside the third valve outer peripheral portion 951. It is The third valve 95 is connected to the cylindrical valve connecting portion 915 on one side of the third valve outer peripheral portion 951 in the axial direction DRa. The third valve 95 allows the fluid that has flowed into the second flow path portion 962 to flow into the third flow path portion 963 via the space 98 between the second valves. The third channel portion 963 corresponds to the channel portion in the valve device.

As shown in FIG. 15, the third valve outer peripheral portion 951 has a third outer peripheral portion that communicates the third flow path portion 963 with the third outlet port 263 via the third seal opening portion 583 when the shaft 92 rotates. An opening 954 is formed. The third valve 95 causes the fluid that has flowed into the third channel portion 963 to flow out of the device through the third outlet port 263 by communicating the third outer peripheral opening 954 with the third outlet port 263 . A third outer peripheral opening 954 formed in the third valve outer peripheral portion 951 corresponds to an outer peripheral opening formed in the valve outer peripheral portion.

The third outer peripheral opening 954 is formed in the third valve outer peripheral portion 951 so as to extend along the circumferential direction of the axis. The flow rate of the fluid flowing out of the device from the third valve 95 is adjusted according to the overlapping area of the third outer peripheral opening 954 and the third seal opening 583 when the shaft 92 rotates. The shaft connecting portion 916 has a cylindrical shape, and connects the valve 90 and the shaft 92 by fixing the inserted shaft 92 . The shaft connecting portion 916 transmits the rotational force of the shaft 92 to the valve 90 via the shaft connecting portion 916 when the shaft 92 rotates. The shaft connecting portion 916 is formed extending from the second valve 94 to the third valve 95 toward the other side in the axial direction DRa.

The operation of the water supply valve 152 will be explained. The microcomputer 330 calculates the rotation angle of the valve 90 for supplying the distribution tube 136 with the required flow rate, that is, the rotation angle of the motor 71 . The microcomputer 330 transmits information on the calculated rotation angle of the motor 71 to the water supply valve 152 . At this time, the two fluid outlets that are not connected to the distribution tube 136 are fitted with blocking members.

The water supply valve 152 rotates the motor 71 based on the rotation angle information received from the microcomputer 330 . The water supply valve 152 rotates the valve 90 via the gear portion 72 and the shaft 92 by rotating the motor 71 , and the necessary water is supplied from the first outer peripheral opening 934 , the second outer peripheral opening 944 , and the third outer peripheral opening 954 . flow of fluid.

For example, a case in which the first outlet port 261 is employed as the fluid outlet that communicates with the distribution tube 136 will be described. The water supply valve 152 rotates the valve 90 to allow the first outer peripheral opening 934 of the first valve 93 to communicate with the first outlet port 261 . The water supply valve 152 adjusts the overlapping area of the first outer peripheral opening 934 and the first seal opening 581 by adjusting the rotational position of the valve 90 . The water supply valve 152 causes the fluid that has flowed into the valve housing space 23 from the inlet port 251 to flow into the first flow path portion 961 through the first inner opening portion 936, and then flows from the first outer peripheral opening portion 934 to the first outlet port 261. let it flow. The microcomputer 330 controls the opening of the valve, which is the overlapping area of the first outer peripheral opening 934 and the first seal opening 581, thereby controlling the splashing distance of sprinkling water and supplying sprinkling water to the required position.

For example, a case where the second outlet port 262 is adopted as the fluid outlet port communicating with the distribution tube 136 will be described. The water supply valve 152 connects the second outer peripheral opening 944 of the second valve 94 to the second outlet port 262 by rotating the valve 90 . The water supply valve 152 adjusts the overlapping area of the second outer peripheral opening 944 and the second seal opening 582 by adjusting the rotational position of the valve 90 . The water supply valve 152 causes the fluid that has flowed into the valve housing space 23 from the inlet port 251 to flow into the second flow path portion 962 via the second inner opening 946, and flows from the second outer peripheral opening 944 to the second outlet port 262. let it flow. The microcomputer 330 controls the opening of the valve, which is the overlapping area of the second outer peripheral opening 944 and the second seal opening 582, thereby controlling the splashing distance of sprinkling water and supplying sprinkling water to the required position.

For example, a case where the third outlet port 263 is employed as a fluid outlet portion that communicates with the distribution tube 136 will be described. The water supply valve 152 rotates the valve 90 to allow the third outer peripheral opening 954 of the third valve 95 to communicate with the third outlet port 263 . The water supply valve 152 adjusts the overlapping area of the third outer peripheral opening 954 and the third seal opening 583 by adjusting the rotational position of the valve 90 . The water supply valve 152 causes the fluid that has flowed into the valve housing space 23 from the inlet port 251 to flow into the third flow path portion 963 via the second flow path portion 962 of the second valve 94, and flows from the third outer peripheral opening 954 to the third flow path portion 963. 3 to exit port 263 . The microcomputer 330 controls the opening of the valve, which is the overlapping area of the third outer peripheral opening 954 and the third seal opening 583, thereby controlling the splashing distance of sprinkling water and supplying sprinkling water to the required position.

The water supply valve 152 adjusts the rotation angle of the motor 71 by detecting the rotation angle of the third gear 723 with the rotation angle sensor 73 and feeding back the detected rotation angle information to the microcomputer 330 .

The relationship between the rotation angle of the shaft 92 and the flow rate of the valve device will be described with reference to the graph of FIG. In FIG. 16, the horizontal axis represents the rotation angle RA of the motor 71, and the vertical axis represents the flow rate FR of the fluid flowing out of the valve device. 16, FO1 is the first valve 93, FO2 is the second valve 94, and FO3 is the third valve 95. In FIG. In FIG. 16, FS indicates that the valve opening is fully open, FC indicates that the valve opening is fully closed, and MO indicates that the valve opening is intermediate. The intermediate degree of opening is the degree of opening between the fully closed state and the fully opened state. A solid line graph in FIG. 16 indicates the relationship between the flow rate of the fluid flowing out from the third valve 95 and the rotation angle. A dashed line graph in FIG. 16 indicates the relationship between the flow rate of the fluid flowing out of the second valve 94 and the rotation angle. A dashed-dotted line graph in FIG. 16 shows the relationship between the flow rate of the fluid flowing out from the first valve 93 and the rotation angle.

As shown in FIG. 16, near the rotation angle of 0 degrees, the third valve 95 is fully open, the other valves are fully closed, and the fluid flows out of the device only through the third valve 95 . When the rotation angle is increased from this state, the third valve 95 shifts to an intermediate opening, and when the rotation angle is further increased, all three valves are fully closed.

When the rotation angle of all three valves is increased from the fully closed state, only the second valve 94 shifts to the fully opened state via an intermediate degree of opening. When the rotation angle is further increased, the first valve 93 shifts to the fully open state via the intermediate opening degree, and the first valve 93 and the second valve 94 are fully opened. When the rotation angle is increased from this state, the second valve 94 shifts to the fully closed state via the intermediate opening degree, and the second valve 94 and the third valve 95 are fully closed. As the rotation angle is further increased, the first valve 93 shifts to the fully closed state via the intermediate opening, and all the valves are fully closed.

As described above, the opening degree of each valve changes according to the rotation angle, and the flow rate of the fluid flowing out from each valve changes. Each water supply valve 152 in the irrigation system 10 is configured to supply fluid from only one of the three valves, thereby controlling the splash distance and water supply amount to the field 20 according to the rotation angle.

A description will be given of the effects of the irrigation system 10 of the first embodiment. The irrigation system 10 comprises a distribution tube 136 for applying irrigation water to the field 20 and a water supply valve 152 for controlling the pressure of the irrigation water flowing down the distribution tube 136 . The irrigation system 10 includes a control device that controls the valve opening of the water supply valve 152 to control the splash distance of the irrigation water discharged from the distribution tube 136 through the through-hole.

According to this irrigation system 10, by controlling the valve opening of the water supply valve 152 to control the pressure of the irrigation water, the splash distance of the irrigation water discharged from the distribution tube 136 can be controlled. Therefore, the irrigation system 10 can perform accurate irrigation with an adjustable distance from the distribution tube 136 . For example, excessive watering to the vicinity of the distribution tube 136 and wasteful use of liquid fertilizer can be suppressed. In addition, since one distribution tube 136 has a large irrigable range, the number of distribution tubes 136 to be installed in the field 20 can be reduced. The irrigation system 10 is capable of spraying water to the necessary places of the soil according to the growth of plants, and can suppress wasteful irrigation and realize water saving, so that irrigation cost can be suppressed.

The control device of the irrigation system 10 controls the splashing distance of the irrigation water supplied from the distribution tube 136 having a plurality of through holes to the field 20 where the plants 30 are grown. The computing portion of the controller determines the opening of the water supply valve 152 that controls the pressure of the irrigation water flowing down the distribution tube 136 . The output section of the controller outputs a control signal to the water supply valve to control the valve opening in order to control the splash distance of the sprinkling water discharged from the distribution tube 136 through the through hole.

According to this control device, the calculation unit determines the valve opening degree, and the output unit outputs a control signal for controlling the valve opening degree to the water supply valve 152 in order to control the splashing distance of sprinkling water. Thereby, the splash distance of the irrigation water discharged from the distribution tube 136 can be controlled. This controller can provide precise irrigation with adjustable distance from the distribution tube 136 . This control device is capable of spraying water to the necessary places in the soil in accordance with the growth of plants, and can also suppress wasteful irrigation and realize water saving, so that irrigation costs can be suppressed.

<Second embodiment>
A second embodiment will be described with reference to FIGS. 17 to 19. FIG. The irrigation system 10 of the second embodiment executes control processing of the water supply valve 152 according to FIG. 18 . Configurations, actions, and effects that are not specifically described in the second embodiment are the same as those in the above-described embodiment, and only different points will be described below.

The control process for the water supply valve 152 shown in FIG. 18 is executed in the water supply process shown in FIG. 9 and the watering process shown in FIG. Integrated calculation unit 600 and microcomputer 330 of monitoring unit 300 that receives the water supply signal output from integrated calculation unit 600 execute water supply processing shown in FIG. In step S600, the integrated calculation unit 600 outputs the longest watering distance to the monitoring unit 300 corresponding to the divided area to be watered.

The degree of root spread of the plant 30 in the field 20 changes depending on the growth state. Therefore, the longest rooting distance, corresponding to the distance between the distribution tube 136 and the end of the root that spreads the most, varies depending on the growing conditions. The longest watering distance corresponds to the longest rooting distance of the relevant plant 30 . The control device 200 controls the irrigation distance in water supply treatment and irrigation treatment from the vicinity of the distribution tube 136 including the distance 0 to the maximum irrigation distance.

The maximum sprinkling distance is the splashing distance at which sprinkling water can land farthest from the distribution tube 136 . The integrated calculation unit 600 estimates the rooting distance of the plant 30 using the image captured by the camera 318 shown in FIG. 17, and determines the longest watering distance based on this rooting distance. In the drawing, the camera 318 is denoted as IS. The integrated calculation unit 600 determines the branching distance of the plant 30 from the image of the plant 30 captured by the camera 318, and estimates the rooting distance from the branching distance. This estimation utilizes the fact that the branching distance is proportional to the rooting distance. The integrated calculation unit 600 uses the estimated rooting distance to determine the maximum irrigation distance, which is the jumping distance that allows water to be supplied to the furthest root position from the distribution tube 136 . Thereby, the irrigation system 10 can perform appropriate irrigation at any time according to the degree of growth of the plants 30 .

In step S610, the microcomputer 330 corresponding to the divided area to be watered determines whether divided watering or continuous watering is set. Divided watering is a form in which water is sequentially watered for each of a plurality of different watering distances from the distribution tube 136 . The continuous irrigation is controlled by continuously changing the opening of the water supply valve 152 so that the splashing distance changes smoothly from the vicinity of the distribution tube 136 to the maximum irrigation distance. The setting of divided irrigation or continuous irrigation may be set in advance by the integrated calculation unit 600, or may be set by the user's operation on the input device 800, for example.

The processing after step S610 is mainly executed by the microcomputer 330 of each monitoring unit 300. If it is determined in step S610 that split watering is performed, the number of watering positions is set in step S620. The irrigation position is also referred to as a division position of irrigation. The number of watering positions corresponds to the number of soil sensors 311 located at different distances from the distribution tube 136 in the vertical direction to the distribution tube 136 within the longest watering distance. In step S630, a target irrigation amount, which is the target water supply amount supplied from the water supply valve 152, is set for each irrigation position. FIG. 19 shows an example in which three watering positions located close to the distribution tube 136 are set in order of the first watering distance D1, the second watering distance D2, and the third watering distance D3. In step S630, the target water supply amount, which is the target water supply amount supplied from the water supply valve 152, is set for each of the first water supply distance D1, the second water supply distance D2, and the third water supply distance D3.

In step S640, the microcomputer 330 controls the valve opening of the water supply valve 152 so that the water splash distance reaches the watering position for watering among the plurality of watering positions, and watering is performed. In step S650, the water pressure sensor 153 and the soil sensor 311 measure the water flow rate during watering. This irrigation operation continues until the detected irrigation flow rate reaches the target irrigation amount in step S660. When the watering flow rate reaches the target watering amount in step S660, the microcomputer 330 executes the process of step S670. In step S670, the microcomputer 330 controls the water supply valve 152 to the fully closed state to end watering at this watering position.

In the next step S680, it is determined whether or not watering has been completed at all watering positions set in step S620. If watering at all watering positions has not ended, the process returns to step S640. In step S640, the microcomputer 330 controls the valve opening of the water supply valve 152 so that the water splash distance reaches the next watering position, and watering is performed. Watering at the next watering position continues until the detected watering flow rate reaches the target watering rate in step S660. If it is determined in step S680 that watering at all watering positions has been completed, water supply valve 152 is controlled to be fully closed in step S690 to end watering.

If continuous watering is determined in step S610, the integrated calculation unit 600 outputs the shortest watering position at the shortest distance from the distribution tube 136 in step S720. The processing after step S730 is mainly executed by the microcomputer 330 of each monitoring unit 300. FIG. The degree of root spread of the plant 30 changes depending on the growth state. Therefore, the shortest root-spreading distance corresponding to the distance from the distribution tube 136 to the nearest root changes depending on the growth state. The shortest watering distance corresponds to the shortest rooting distance of the relevant plant 30 . The control device 200 controls the irrigation distance in water supply processing and irrigation processing from the shortest irrigation distance to the maximum irrigation distance.

The shortest sprinkling distance may be the jumping distance at which sprinkling water can land closest to the distribution tube 136, or the distance at which the sprinkling water seeps out of the distribution tube 136 when the splashing distance is zero. The integrated calculation unit 600 estimates the rooting distance of the plant 30 using the image captured by the camera 318, and determines the shortest watering distance based on this rooting distance. The integrated calculation unit 600 uses the estimated rooting distance to determine the shortest irrigation distance, which is the jumping distance that water can be supplied from the distribution tube 136 to the closest root position. In step S730, a target irrigation amount, which is the target water supply amount supplied from the water supply valve 152, is set over the shortest irrigation distance to the longest irrigation distance. This target watering amount is also the average target watering amount from the shortest watering distance to the longest watering distance. In the example shown in FIG. 19, the first watering distance D1 corresponds to the shortest watering distance, and the third watering distance D3 corresponds to the longest watering distance.

In step S740, the microcomputer 330 controls the valve opening of the water supply valve 152 so that water is continuously sprayed from the shortest watering distance to the longest watering distance, thereby watering. In step S740, the microcomputer 330 controls energization of the water supply valve 152 by, for example, lamp operation shown in FIG. 25 and step operation shown in FIG. With such energization control, the valve opening degree of the water supply valve 152 changes finely and continuously. According to the control in step S740, it is possible to provide an even amount of watering, in which flying water lands on the entire soil in the range from the shortest watering distance to the longest watering distance, and the water is spread all over the soil. In step S750, the water pressure sensor 153 and the soil sensor 311 measure the water flow rate during watering. This irrigation operation continues until the detected irrigation flow rate reaches the target irrigation amount in step S760. When the watering flow rate detected in step S760 reaches the target watering amount, the microcomputer 330 executes the process of step S770. In step S770, the microcomputer 330 controls the water supply valve 152 to the fully closed state to end the continuous irrigation.

A description will be given of the effects of the irrigation system 10 of the second embodiment. The control device changes and controls the valve opening of the water supply valve 152 so that the splashing water distance is continuously changed between the shortest watering position and the longest watering position with respect to the distribution tube 136 . According to this control, when watering is performed, the opening of the valve is always controlled to change the water splash distance over a wide range between the shortest watering position and the longest watering position. This wide-area, continuous watering can provide a near-uniform and even amount of water to the soil areas where the plants require watering.

The control device controls the valve opening of the water supply valve 152 so that the watering distance reaching the longest watering distance determined based on the photographed image of the plant 30 is obtained. According to this, the size of the plant detected from the photographed image of the plant, for example, the rooting range can be obtained according to the branching range, and the maximum watering distance can be determined with high accuracy. For this reason, it is possible to carry out precise watering to a necessary range suitable for the growing state of the plant.

The control device controls the valve opening of the water supply valve 152 to control the water splash distance so as to provide concentrated watering for each watering position for multiple watering positions at different distances from the distribution tube 136. . According to this control, it is possible to control the opening degree of the valve so as to supply the target watering amount to each of the plurality of watering positions when watering is performed. This intensive split irrigation can provide the required amount of water to the entire soil where the plants need to be irrigated, by setting appropriate irrigation positions.

The control device controls the valve opening of the water supply valve 152 when the target watering amount is reached for the watering position where intensive watering is being carried out, changes the water splashing distance, and intensively waters the next watering position. I will provide a. According to this control, when watering is performed, the valve opening degree is sequentially controlled so that the target watering amount is supplied to each of the plurality of watering positions and this is performed sequentially. This sequential control of the valve opening makes it possible to efficiently provide the required amount of water to the entire soil where the plants require watering.

A plurality of soil sensors 311 can detect soil information, and are provided in the field 20 at different distances from the distribution tube 136 . Based on the information detected by the plurality of soil sensors 311, the control device measures the splashing distance in watering. According to this, it becomes possible to detect the soil water content and the watering position at the same time, which contributes to more accurate watering.

<Third Embodiment>
A third embodiment will be described with reference to FIG. The irrigation system 10 of 3rd Embodiment performs the control process of the water supply valve 152 according to FIG. Configurations, functions, and effects that are not specifically described in the third embodiment are the same as those in the above-described embodiment, and only different points will be described below. In the flowchart shown in FIG. 18, the opening of the water supply valve 152 is changed by using the flow rate as a trigger, whereas in the third embodiment, the watering time is used as a trigger to change the opening of the water supply valve 152 .

In the flowchart of FIG. 20, the same step symbols as in FIG. 18 are the same as the processing described in the second embodiment, and the description of the processing will be omitted below. In the following, processing steps that are different from the flow chart of the second embodiment will be described.

The processing of steps S610 to S690 and the processing of steps S730A to S770 are mainly executed by the microcomputer 330 of each monitoring unit 300. Microcomputer 330 sets a target water supply time, which is a target water supply time during which water is supplied from water supply valve 152, for each water supply position in step S630A. The target watering time is set to a value that satisfies the target watering amount that can be supplied to the soil at each watering position when divided watering is performed for each watering position set in step S620. Microcomputer 330 continues until the watering time started to measure in step S650A reaches the target watering time in step S660A. When the microcomputer 330 determines that the detected watering time has reached the target watering time, the microcomputer 330 sequentially executes processing thereafter, and executes processing for ending watering in step S690.

After the integrated calculation unit 600 outputs the shortest watering position in step S720, the microcomputer 330 sets the target watering time in step S730A. The target irrigation time is set to a value that satisfies the target irrigation amount that can be supplied to the soil in the irrigation range when water is continuously irrigated over the range from the shortest irrigation distance to the maximum irrigation distance. Microcomputer 330 continues until the watering time started to measure in step S750A reaches the target watering time in step S760A. When the microcomputer 330 determines that the detected watering time has reached the target watering time, the microcomputer 330 executes a process of ending watering in step S770.

A description will be given of the effects of the irrigation system 10 of the third embodiment. When the target watering time is reached for the watering position where concentrated watering is being performed, the control device controls the valve opening of the water supply valve 152 to change the water splashing distance, and intensively waters the next watering position. I will provide a. According to this control, when watering is performed, the opening degree of the valve is sequentially controlled so that the amount of water corresponding to the target watering time is supplied to each of the plurality of watering positions and this is performed sequentially. Sequential control of the valve opening degree based on the target watering time can efficiently provide the required amount of water to the entire soil where plants need watering.

<Fourth Embodiment>
A fourth embodiment will be described with reference to FIG. The irrigation system 10 of the fourth embodiment executes control processing of the water supply valve 152 according to FIG. 21 . Configurations, actions, and effects that are not specifically described in the fourth embodiment are the same as those in the above-described embodiments, and only different points will be described below. In the flowchart shown in FIG. 21, it is determined whether or not the watering reaches the target flying distance according to the wind speed.

In the flowchart of FIG. 21, the same step symbols as in FIG. 18 are the same as the processing described in the second embodiment, and the description of the processing will be omitted below. In the flow chart of FIG. 21, different processing steps are described with respect to the flow chart of the second embodiment. The flowchart of FIG. 21 differs from the flowcharts described in the second and third embodiments in steps S652 to S656 and S751 to S753.

The processing of steps S632, S652 to S656, and the processing of S751 to S753 are mainly executed by the monitoring unit 300 corresponding to each divided area. In step S632, an allowable value for the wind speed is set for each watering position. This permissible value is set to a value at which it can be estimated that, if this value is exceeded, water sprayed from the distribution tube 136 will not reach the target watering position. This allowable value is stored in the storage unit 333, for example. After detecting the water flow rate during watering in step S650, the current wind speed detected by the wind sensor 317 or the like is acquired in step S652. In step S654, it is determined whether or not the current wind speed during watering is equal to or less than the allowable value.

If it is determined in step S654 that the current wind speed is equal to or less than the allowable value, then the target watering position has been watered, so the process proceeds to step S660 to continue watering. If it is determined in step S654 that the current wind speed exceeds the allowable value, it can be estimated that the target watering position has not been watered. Therefore, in step S656, the water supply valve 152 is controlled to be fully closed to stop watering at the current position. Further, in step S656, the amount of watering performed so far is calculated and stored in the storage unit 333, and the process proceeds to step S640 to perform watering at the next watering position. Through the above processing, when it can be estimated that water cannot be sprayed to a desired watering position due to the current wind speed state, wasteful watering can be suppressed. In this way, watering can be performed again in step S640 after a determination of NO is made in step S680 for the watering position once treated as non-performing watering.

After detecting the irrigation flow rate during irrigation in step S750, the current wind speed detected by the wind sensor 317 or the like is acquired in step S751. In step S752, similarly to step S654, it is determined whether or not the current wind speed during watering is below the allowable value. If it is determined in step S752 that the current wind speed is equal to or less than the allowable value, watering can be performed at the target watering position in continuous watering, so the process proceeds to step S760 to continue watering. If it is determined in step S752 that the current wind speed exceeds the allowable value, it can be estimated that water cannot be applied to the target watering position in continuous watering. Therefore, in step S753, the water supply valve 152 is controlled to be fully closed to stop continuous watering. Further, in step S753, the amount of watering performed so far is calculated and stored in the storage unit 333, and the process proceeds to step S753, in which watering is stopped until the current wind speed becomes equal to or less than the allowable value.

When it is determined in step S752 that the current wind speed is equal to or less than the allowable value, continuous watering is resumed, and in step S760 continuous watering is continued until the watering amount reaches the target watering amount. As the amount of watering to be determined in step S760, the sum of the amounts of watering stored in the storage unit 333 in step S753 is used. As described above, when it can be estimated that a situation has occurred in which water cannot be splashed to a desired watering position due to the current wind speed, watering can be immediately stopped to suppress unnecessary continuous watering.

A description will be given of the effects of the irrigation system 10 of the fourth embodiment. The control device stops controlling the splash distance of watering when the wind speed of the field 20 exceeds the allowable value. According to this control, it is possible to prevent watering that does not reach the desired splash distance due to the influence of the wind. Therefore, wasteful watering can be suppressed, watering costs can be reduced, and accurate watering that contributes to the growth of the plants 30 can be provided.

The control device stops controlling the watering distance when the wind speed in the field 20 exceeds the allowable value. In addition, the controller controls the valve opening of the water supply valve 152 to control the splash distance so as to provide concentrated irrigation to the next irrigation position. According to this control, when the desired flying distance cannot be reached due to the influence of the wind, water is applied to the next watering position to efficiently use water. Therefore, it is possible to reduce watering costs by suppressing wasteful watering, and to try watering again when the situation becomes less susceptible to wind.

<Fifth Embodiment>
A fifth embodiment will be described with reference to FIGS. 22 and 23. FIG. The irrigation system 10 of the fifth embodiment executes control processing of the water supply valve 152 according to FIG. 22 . Configurations, actions, and effects that are not specifically described in the fifth embodiment are the same as those in the above-described embodiments, and only different points will be described below. In the flowchart shown in FIG. 22 , each monitoring unit 300 performs processing for controlling watering by increasing or decreasing the amount of watering according to the detection information of the soil sensor 311 .

The control processing of the water supply valve 152 shown in FIG. 22 is executed in the water supply processing shown in FIG. 9 and the watering processing shown in FIG. The microcomputer 330 of the monitoring unit 300 that has received the water supply signal output from the integrated calculation unit 600 mainly executes the water supply process shown in FIG.

The microcomputer 330 corresponding to the divided area to be watered sets the position of the soil sensor 311 installed in the field 20 in step S800. The soil sensor 311 is installed in each divided area in advance, and its position is stored in the storage unit 333 . Next, in step S810, a target sensor value is set for each soil sensor 311 that has been set. FIG. 23 shows an example in which the soil sensors 311 are set at three positions close to the distribution tube 136 in order of the first watering distance D1, the second watering distance D2, and the third watering distance D3. In step S810, a target watering amount, which is a target sensor value supplied from the water supply valve 152, is set for each of the first watering distance D1, the second watering distance D2, and the third watering distance D3.

The target sensor value is a value related to the target watering amount required for the watering position corresponding to the position of the soil sensor 311 . The soil sensor 311 is a device capable of detecting various types of soil information contained in soil.

For example, when the soil sensor 311 detects the current soil moisture content, the irrigation system 10 sets the target sensor value to the target irrigation amount required for the plants 30 to grow properly. In this case, a watering process is required to replenish the amount of moisture that is insufficient with respect to the target sensor value. Also, when the soil sensor 311 detects the soil temperature, the ease of absorbing water in the soil can be calculated from the current soil temperature, for example. Based on this data on the ease of absorbing water, it is possible to obtain the target sensor value of how much target irrigation water should be supplied to the soil to reach the water supply required for growth.

When the soil sensor 311 detects a water potential value related to the degree of ease of water absorption by roots, a target watering amount corresponding to the water potential value is set as the target sensor value. When the osmotic pressure of the soil is detected as the water potential value, if the detected osmotic pressure is greater than the set value, the water absorption is good. Therefore, the irrigation system 10 is set to suppress the target irrigation amount, which is the target sensor value. If the detected osmotic pressure is less than the set value, the water absorption is not good, so the irrigation system 10 sets the target irrigation amount, which is the target sensor value, to be higher than in the former case.

When the soil sensor 311 detects the electrical conductivity related to the fertilizer amount of the soil, the target sensor value is set to the target watering amount according to the electrical conductivity. The irrigation system 10 is set to suppress the target irrigation amount, which is the target sensor value, if the detected electrical conductivity is greater than the set value. The irrigation system 10 sets the target irrigation amount, which is the target sensor value, to be larger than in the former case if the detected electrical conductivity value is equal to or less than the set value.

In step S820, the microcomputer 330 controls the valve opening of the water supply valve 152 so that the water splash distance reaches the watering position for watering among a plurality of watering positions corresponding to the position of the soil sensor 311. Carry out irrigation. In step S830, the sensor value during watering is detected using the measured value by the soil sensor 311. FIG. This irrigation practice continues until the detected sensor value reaches the target sensor value in step S840. When the sensor value in step S840 reaches the target sensor value, the microcomputer 330 controls the water supply valve 152 to the fully closed state in step S850 to end watering at this watering position.

In the next step S860, it is determined whether or not watering at all the watering positions set in step S800 has ended. If watering has not been completed at all watering positions, the process returns to step S820. In step S820, microcomputer 330 controls the degree of opening of water supply valve 152 so that the water splash distance reaches the next watering position, and watering is performed. Irrigation at the next irrigation position continues until the detected sensor value reaches the target sensor value in step S840. If it is determined in step S860 that watering at all watering positions has been completed, water supply valve 152 is controlled to be fully closed in step S870 to end watering.

<Other embodiments>
The disclosure in this specification is not limited to the illustrated embodiments. The disclosure encompasses the illustrated embodiments and variations thereon by those skilled in the art. For example, the disclosure is not limited to the combination of parts and elements shown in the embodiments, and various modifications can be made. The disclosure can be implemented in various combinations. The disclosure can have additional parts that can be added to the embodiments. The disclosure encompasses abbreviations of parts and elements of the embodiments. The disclosure encompasses the permutations, or combinations of parts, elements between one embodiment and another. The disclosed technical scope is not limited to the description of the embodiments. The disclosed technical scope is indicated by the description of the claims, and should be understood to include all modifications within the meaning and range of equivalents to the description of the claims.

Steps S630, S650, and S660 described using FIG. 21 may be replaced with S630A, S650A, and S660A in FIG. 21, respectively. Also, steps S730, S750 and S760 in FIG. 21 can be replaced with S730A, S750A and S760A in FIG. 21, respectively. In this case, in steps S<b>656 and S<b>753 , the storage unit 333 may store the watering time so far.

An example of valve opening degree control in the water supply valve 152 will be described with reference to FIG. FIG. 24 is an example showing the relationship between the valve opening degree of the water supply valve 152 and the soil water content AW during watering. In FIG. 24, the horizontal axis is time and the vertical axis is valve opening and soil moisture content. The soil moisture content at each location can be detected by a corresponding soil sensor 311 . The valve opening degree is controlled in three stages with a relationship of VO1<VO2<VO3. FIG. 24 shows changes in soil water content at watering positions of the first watering distance D1, the second watering distance D2, and the third watering distance D3. The microcomputer 330 energizes the motor 71 at time T1 and time T2 in FIG. 24, and controls the valve opening of the water supply valve 152 to increase stepwise. The energization at time T1 increases the valve opening from VO1 to VO2. The energization at time T2 increases the valve opening from VO2 to VO3. Data relating to the valve opening degree and the watering distance as described above are stored in the storage unit 333 . The processing unit 334 determines the necessary valve opening degree by calculation using the data stored in the storage unit 333 . The signal output unit 332 outputs a control signal for controlling the opening of the valve to the water supply valve 152 .

Due to this control, until time T1, the water splashing distance from the distribution tube 136 corresponds to the first watering distance D1, and the amount of water in the first watering distance D1 continues to increase. From time T1 to T2, the flying water distance reaches the second watering distance D2, the water content in the first watering distance D1 becomes constant, and the water content in the second watering distance D2 continues to increase. After time T2, the flying water distance reaches the third watering distance D3, the water contents of the first watering distance D1 and the second watering distance D2 become constant, and the water content of the third watering distance D3 continues to increase. become. The monitoring unit 300 executes such energization control related to the valve opening degree control with a predetermined time as a trigger. The monitoring unit 300 measures the splashing distance from the distribution tube 136 based on the detection values of a plurality of soil sensors 311 installed in advance.

<Lamp operation energization>
An example of valve opening degree control in the water supply valve 152 will be described with reference to FIG. 25 . FIG. 25 is an example showing the relationship between the valve opening degree of the water supply valve 152 and the splashing distance during watering. Since the valve opening is proportional to the value of the current applied to the motor 71, FIG. 25 plots time on the horizontal axis and the current value and the water splash distance on the vertical axis. A solid line graph in FIG. 25 indicates a current value or a valve opening indicating lamp operation. FIG. 25 shows the relationship between the valve opening degree and the splash distance in lamp operation. The dashed line graph in FIG. 25 indicates the splash distance.

The microcomputer 330 energizes the motor 71 by operating the lamp indicated by the solid line in FIG. The microcomputer 330 repeats and continues the energization of a current waveform whose start and end times are zero and whose median value is the maximum current value mCV at times 0 to T1, times T1 to T2, and times T2 to T3, respectively. Such a current waveform is also called lamp operation. At this time, the splashing distance with respect to the distribution tube 136 is controlled so that it is zero at the start and end, and the median value is the maximum opening mFD. Data relating to the energization data due to lamp operation and the splashing distance is stored in the storage unit 333 . The processing unit 334 determines the necessary valve opening for lamp operation by calculation using the data stored in the storage unit 333 . The signal output unit 332 outputs a control signal to the water supply valve 152 for controlling the opening degree of the valve.

Thus, the output section of the control device outputs to the water supply valve 152 a control signal for energizing the lamp to control the water splash distance. According to this energization control, it is possible to evenly supply water over a wide area around the distribution tube 136 .

<Electricity for step operation>
An example of valve opening degree control in the water supply valve 152 will be described with reference to FIG. 26 . FIG. 26 is an example showing the relationship between the valve opening degree of the water supply valve 152 and the splashing distance during watering. In FIG. 26, the horizontal axis represents the time and the vertical axis represents the valve opening degree and the splash distance. A graph indicated by a solid line in FIG. 26 indicates the valve opening. The dashed line graph in FIG. 26 indicates the splash distance. FIG. 26 shows the relationship between the valve opening degree and the splash distance due to the step operation.

The microcomputer 330 energizes the motor 71 by the step operation indicated by the solid line in FIG. 26 to control the valve opening of the water supply valve 152 . The microcomputer 330 energizes the motor 71 at times T1, T2, and T3 in FIG. 26, and controls the valve opening of the water supply valve 152 to increase stepwise. The microcomputer 330 energizes the motor 71 at times T4, T5, and T6 in a direction opposite to that at time T1, and controls the valve opening of the water supply valve 152 to decrease stepwise. In the case of the energization control shown in FIG. 26, the valve opening is set to the first opening during times T1 to T2 and T5 to T6, and is set to the second opening during times T2 to T3 and T4 to T5. . Then, the valve opening degree is set to the third opening degree, which is the largest opening degree between times T3 and T4.

By this control, the splashing water distance from the distribution tube 136 reaches the first watering distance D1 at times T1 to T2 and times T5 to T6, for example. The splash distance from the distribution tube 136 reaches the second irrigation distance D2, for example, at times T2-T3 and T4-T5. The splashed water distance from the distribution tube 136 reaches the third irrigation distance D3, for example, between times T3 and T4. The monitoring unit 300 executes energization control related to this valve opening degree control with a predetermined time as a trigger.

Thus, the output section of the control device outputs to the water supply valve 152 a control signal for executing the step operation energization in order to control the splashing distance of the water. According to this energization control, it is possible to suppress the energization time for controlling the splashing distance of the sprinkling water discharged from the distribution tube 136, so that the sprinkling can be carried out in a power-saving manner.

An example of the passage configuration provided in the irrigation system 10 and components related to water supply control will be described with reference to FIG. 27 . FIG. 27 shows an example showing the positional relationship among the distribution tube 136, the water supply valve 152 and the water pressure sensor 153. As shown in FIG. Vertical pipe 133 is connected to a plurality of passages leading to a plurality of distribution tubes 136 . Each of the plurality of passages is a passage that connects distribution tube 136 and vertical pipe 133 . A water supply valve 152 and a water pressure sensor 153a or a flow rate sensor 154a are provided in the passage between each distribution tube 136 and the vertical pipe 133 . The water pressure sensor 153 a or the flow rate sensor 154 a is provided downstream of the water supply valve 152 .

The vertical pipe 133 is connected to a passage leading to the inlet port 251 of each water supply valve 152 . Each distribution tube 136 is connected to a passage leading to the first pipe portion 51 which is one of the fluid outflow portions of each water supply valve 152 . In this case, the second pipe portion 52 and the third pipe portion 53, which are other fluid outflow portions, are closed by the closing member. Further, the water pressure sensor 153b or the flow rate sensor 154b may be provided downstream of the most downstream through-hole in the distribution tube 136 . The distribution tube 136 included in the irrigation system 10 may be configured to expand and contract according to the water pressure circulating therein. In this case, the distribution tube 136 is formed with a material and hardness that can be elastically deformed according to water pressure, for example.

The water pressure detected by the water pressure sensor 153a and the water pressure sensor 153b, which are pressure sensors capable of detecting the pressure value in the distribution tube 136, is output to the microcomputer 330. The microcomputer 330 uses the water pressure detected by the water pressure sensor 153a and the water pressure sensor 153b to feedback-control the valve opening of each water supply valve 152 to the target opening. The flow rate sensor 154 a and the flow rate sensor 154 b are flow rate sensors capable of detecting the flow rate value in the distribution tube 136 . The microcomputer 330 uses the flow rates detected by the

flow rate sensors

154a and 154b to feedback-control the opening degrees of the water supply valves 152 to the target opening degrees. With such control, the microcomputer 330 can control the flow rate and pressure of each distribution tube due to changes in the height difference of the field 20, fluctuations in the pressure of the water supply source, fluctuations in the amount of water distributed from the vertical pipe 133 to the distribution tubes, and the like. , it is possible to perform sprinkling that satisfies the target discharge amount.

An example of valve opening degree control in the water supply valve 152 will be described with reference to FIG. The amount of water applied to field 20 via distribution tube 136 depends on the characteristics of the tube. Therefore, there may be a difference in the amount of irrigation water between the vicinity of the water supply valve 152 and the end of the tube due to the time lag until the irrigation water spreads. In order to remedy this problem, the control process for the water supply valve 152 shown in FIG. 28 is executed in the water supply process shown in FIG. 9 and the watering process shown in FIG. Integrated calculation unit 600 and microcomputer 330 of monitoring unit 300 that receives the water supply signal output from integrated calculation unit 600 execute the control shown in FIG. In step S900, the integrated calculation unit 600 instructs the valve opening threshold of the water supply valve 152 when watering is started. The integrated calculation unit 600 executes processing for instructing the valve opening degree threshold value stored in the storage unit 333 .

In step S910, the integrated calculation unit 600 instructs the target filling time required for the water supply to fill up to the end of the distribution tube 136 when watering is started. The target fill time is an estimate of the amount of time it will take for feed water to begin flowing into distribution tube 136 when water valve 152 is open and fill to the end. When the target filling time is reached, it can be estimated that the water supply has evenly spread to the through hole at the end of the distribution tube 136 . The distal end of distribution tube 136 corresponds to the most downstream through-hole in distribution tube 136 . The processing unit 334 determines that the filling condition is met when the target filling time is reached after the valve opening of the water supply valve 152 is controlled to be equal to or less than the valve opening threshold.

The processing unit 334 uses Equation 1 stored in the storage unit 333 to calculate the target filling time CT.

(Formula 1) CT=k×L×D ² ×π÷4÷Q
k is the tube flow coefficient. The tube flow coefficient is a coefficient determined by the distribution tube 136 material, coefficient of friction, water spray characteristics, and the like. L is the length (mm) from the upstream end of the tube to the terminal end. D is the inner diameter (mm) of the tube. Q is the pressure loss characteristic value (mm ³ /sec) of the opening degree of the water supply valve 152 . The target filling time CT is an estimated value that can be calculated according to the pressure upstream of the valve, the pressure loss characteristic value of the valve opening, the length of the tube, and the inner diameter of the tube.

In step S920, the microcomputer 330 controls the valve opening degree of the water supply valve 152 to be equal to or less than the valve opening threshold value instructed in step S900 to perform watering. In step S<b>920 , the signal output unit 332 outputs to the water supply valve 152 a control signal for controlling the valve opening to be equal to or less than the valve opening threshold. In step S930, the elapsed time after the valve opening is controlled to be equal to or less than the valve opening threshold is measured. The irrigation controlled below the valve opening threshold is continued until the measured elapsed time reaches the target filling time CT in step S940. When the elapsed time in step S940 reaches the target filling time, the microcomputer 330 increases the opening of the water supply valve 152 to the target opening in step S950. In this way, since the elapsed time of execution of the throttle opening satisfies the filling condition, the throttle valve opening at the beginning of watering is shifted to the normal watering mode. The target opening is an opening that is greater than the valve opening threshold, and is a valve opening that satisfies a target amount of water required for watering or a target flying distance.

In step S950, the signal output unit 332 outputs to the water supply valve 152 a control signal for controlling the valve opening to the target opening. According to the control described in FIG. 28 above, it is possible to shift to the normal irrigation mode after the water reaches the end of the tube. According to the control of FIG. 28, it is possible to provide irrigation that can suppress variations in the irrigation amount between the vicinity of the water supply valve 152 and the end of the tube. The normal irrigation mode transitioned in the flow chart of FIG. 28 is the irrigation implementation described in the previous embodiments. The valve opening control described with reference to FIG. 28 provides even irrigation all the way to the end of the tube without requiring watering information at the end of the tube.

An example of valve opening degree control in the water supply valve 152 will be described with reference to FIGS. 29 and 30. FIG. The valve opening degree control according to FIG. 29 differs from the control described in FIG. 28 in steps S910A, S930A, and S940A, and the other steps are the same. The control processing of the water supply valve 152 shown in FIGS. 29 and 30 is executed in the water supply processing shown in FIG. 9 and the watering processing shown in FIG. Integrated calculation unit 600 and microcomputer 330 of monitoring unit 300 that receives the water supply signal output from integrated calculation unit 600 execute the control shown in FIG. Only different points of the control shown in FIG. 29 will be described below.

In step S910A, the integrated calculation unit 600 indicates a set pressure value SP that can be estimated to fill the distribution tube 136 with water to the end when watering is started. The set pressure value SP is a pressure value at the end that can be estimated to fill the end after the water supply valve 152 is opened and water starts to flow into the distribution tube 136 . The set pressure value SP is stored in the storage section 333 . When the pressure value at the end of the tube reaches the set pressure value SP, it can be estimated that the water supply has evenly spread to the through hole at the end of the distribution tube 136 . The processing unit 334 uses the water pressure value detected by the water pressure sensor 153b shown in FIG. 27 as the tube end pressure value.

In step S930A, after controlling the valve opening to be equal to or less than the valve opening threshold, the water pressure sensor 153b measures the pressure value at the end of the tube. The irrigation controlled below the valve opening threshold is continued until the measured pressure value reaches the set pressure value SP in step S940A. When the pressure value at the end of the tube reaches the set pressure value SP, the microcomputer 330 raises the valve opening degree of the water supply valve 152 to the target opening degree and controls it in step S950. Since the pressure value at the end of the tube satisfies the filling condition in this manner, the opening of the throttle valve at the beginning of watering is shifted to the normal watering mode.

FIG. 30 shows a timing chart for the control shown in FIG. The valve opening VO in FIG. 30 is controlled below the valve opening threshold from time T1 to time T2, and is controlled to the target opening when the water pressure sensor value PV reaches the set pressure value SP. The reaching distance AD of water in the tube gradually increases from time T1 to time T2, and reaches the end of the tube near time T2. At time T1, water starts to be discharged from the most upstream through hole of the tube, and at time T2, water starts to be discharged from the through hole at the end of the tube. The water sprinkling amount UIV at the tube inlet is constant from time T1 to time T2, increases at time T2, and thereafter becomes a large value. The spray amount EIV at the tube end is zero from time T1 to time T2, and after increasing at time T2, it becomes a value equivalent to the spray amount UIV at the tube upstream.

When the processing unit 334 determines that the filling condition is satisfied based on the pressure value detected by the water pressure sensor 153b, the signal output unit 332 controls the opening of the water supply valve to the target opening. According to the control described in FIG. 29 above, it is possible to shift to the normal irrigation mode after the water reaches the end of the tube. According to the control of FIG. 29, it is possible to provide irrigation that can suppress variations in the irrigation amount between the vicinity of the water supply valve 152 and the end of the tube. The normal irrigation mode transitioned in the flow chart of FIG. 29 is the irrigation implementation described in the previous embodiments. According to the valve opening degree control described with reference to FIGS. 29 and 30, it is possible to detect with high accuracy that water has spread to the end of the tube, and wasteful watering time can be reduced.

An example of valve opening degree control in the water supply valve 152 will be described with reference to FIGS. 31 and 32. FIG. The valve opening degree control according to FIG. 31 differs from the control described in FIG. 28 in steps S910B, S930B, and S940B, and the other steps are the same. The control processing of the water supply valve 152 shown in FIGS. 31 and 32 is executed in the water supply processing shown in FIG. 9 and the watering processing shown in FIG. Integrated calculation unit 600 and microcomputer 330 of monitoring unit 300 that receives the water supply signal output from integrated calculation unit 600 execute the control shown in FIG. Only the points of difference in the control shown in FIG. 31 will be described below.

In step S910B, the integrated calculation unit 600 indicates an estimated set flow rate value SF at which the water supply is filled up to the end of the distribution tube 136 when watering is started. The set flow rate value SF is a flow rate value at the end where it can be estimated that the end is filled after the water supply valve 152 is opened and feed water begins to flow into the distribution tube 136 . The set flow rate value SF is stored in the storage section 333 . When the flow rate value at the end of the tube reaches the set flow rate value SF, it can be estimated that the water supply has evenly spread to the through hole at the end of the distribution tube 136 . The processing unit 334 uses the flow rate value detected by the flow rate sensor 154b shown in FIG. 27 as the flow rate value at the end of the tube.

In step S930B, after controlling the valve opening to be equal to or less than the valve opening threshold, the flow sensor 154b measures the flow rate at the end of the tube. The watering that is controlled below the valve opening threshold is continued until the measured flow rate value reaches the set flow rate value SF in step S940B. When the flow rate value at the end of the tube reaches the set flow rate value SF, the microcomputer 330 increases the valve opening degree of the water supply valve 152 to the target opening degree in step S950 and controls it. Since the flow rate value at the end of the tube satisfies the filling condition in this manner, the opening of the throttle valve at the beginning of watering is shifted to the normal watering mode.

FIG. 32 shows a timing chart for the control shown in FIG. The valve opening VO in FIG. 32 is controlled below the valve opening threshold from time T1 to time T2, and is controlled to the target opening when the flow rate sensor value FV reaches the set flow rate value SF. As in FIG. 30, the reachable distance AD of water in the tube gradually increases from time T1 to time T2, and reaches the end of the tube near time T2. As in FIG. 30, the spray amount UIV at the tube inlet is constant from time T1 to time T2, increases at time T2, and then becomes a large value. As in FIG. 30, the spray amount EIV at the tube end is zero from time T1 to time T2, and after increasing at time T2, it becomes a value equivalent to the spray amount UIV at the tube upstream. When the processing unit 334 determines that the filling condition is satisfied based on the flow rate value detected by the flow sensor 154b, the signal output unit 332 controls the valve opening degree of the water supply valve to the target opening degree.

According to the control described in FIG. 31 above, it is possible to shift to the normal irrigation mode after the water reaches the end of the tube. According to the control of FIG. 31, it is possible to provide irrigation that can suppress variations in the irrigation amount between the vicinity of the water supply valve 152 and the end of the tube. The normal irrigation mode transitioned in the flow chart of FIG. 31 is the irrigation implementation described in the previous embodiments. According to the valve opening degree control described with reference to FIGS. 31 and 32, it is possible to detect with high accuracy that water has spread to the end of the tube, and wasteful watering time can be reduced.

The valve opening degree control described with reference to FIGS. 28 to 32 controls the valve opening degree of the water supply valve to be less than the valve opening threshold value, which is a value smaller than the target opening degree, when watering is started. When the processing unit 334 determines that a filling condition that can be estimated that water has filled up to the end of the distribution tube is satisfied, the signal output unit 332 controls the valve opening degree of the water supply valve to the target opening degree. According to this, it is possible to avoid a situation in which a large amount of water is sprayed from the upstream side before water is sprayed from the terminal side of the distribution tube during watering, and it is possible to provide uniform water supply to the terminal end of the tube.

(Disclosure of technical ideas)
This specification discloses a plurality of technical ideas described in a plurality of sections listed below. Some paragraphs may be presented in a multiple dependent form in which subsequent paragraphs refer to the preceding paragraphs alternatively. Moreover, some terms may be written in a multiple dependent form referring to another multiple dependent form. These clauses written in multiple dependent form define multiple technical ideas.

(Technical idea 1)
a distribution tube (136) provided in a field (20) for growing plants (30) and having a plurality of through-holes for watering the field;
a water valve (152) for controlling the pressure of irrigation water flowing down the distribution tube;
a control device (330) for controlling the opening degree of the water supply valve to control the splashing distance of the sprinkling water discharged from the distribution tube through the through-hole;
Irrigation system with

(Technical idea 2)
Technical Idea 1: The control device changes and controls the valve opening of the water supply valve so that the water spray distance continuously changes between the shortest watering position and the longest watering position with respect to the distribution tube. The irrigation system described in .

(Technical idea 3)
The irrigation system according to technical idea 2, wherein the control device controls the valve opening of the water supply valve so that the watering distance reaching the longest irrigation distance determined based on the photographed image of the plant is obtained.

(Technical idea 4)
The control device controls the valve opening of the water supply valve so as to provide intensive watering to each watering position for a plurality of watering positions having different distances from the distribution tube. The irrigation system according to technical idea 1 for controlling the

(Technical idea 5)
When the target irrigation amount is reached for the irrigation position at which the concentrated irrigation is being performed, the control device controls the valve opening of the water supply valve to change the water splash distance, and moves to the next irrigation position. The irrigation system according to Technical Thought 4, which provides intensive irrigation to .

(Technical idea 6)
When the target watering time is reached for the watering position where the concentrated watering is being performed, the control device controls the valve opening degree of the water supply valve to change the water splash distance, and moves to the next watering position. The irrigation system according to Technical Thought 4, which provides intensive irrigation to .

(Technical idea 7)
The irrigation system according to any one of technical ideas 1 to 6, wherein the control device stops controlling the splashing distance of the irrigation water when the wind speed of the farm field exceeds an allowable value.

(Technical idea 8)
The controller controls the water supply valve so as to stop controlling the water splash distance when the wind speed of the field exceeds an allowable value and provide concentrated watering to the next watering position. The irrigation system according to any one of technical ideas 4 to 6, wherein the water splash distance is controlled by controlling the opening of the valve.

(Technical idea 9)
A plurality of soil sensors (311) provided in the field at different distances from the distribution tube and capable of detecting soil information,
The irrigation system according to any one of technical ideas 1 to 8, wherein the control device measures a splashing distance in the irrigation based on information detected by a plurality of the soil sensors.

(Technical idea 10)
comprising a plurality of distribution tubes (136) arranged at intervals in the field, each having a plurality of through-holes for watering the field with irrigation water;
Said controller controls the pressure of irrigation water flowing down to an adjacent distribution tube adjacent said distribution tube from which irrigation water is not being discharged, when irrigation water is not being discharged from said distribution tube. Technical idea 1 to control the splashing distance of the sprinkling water discharged from the adjacent distribution tube so that the target sprinkling position aimed at the sprinkling water that has not been discharged is reached by controlling the valve opening Irrigation system according to any one of Thought 9.

(Technical idea 11)
The control device controls the valve opening of the water supply valve to a valve opening threshold, which is a value smaller than the target opening, when starting the watering, and presumes that the end of the distribution tube is filled with water. The irrigation system according to any one of technical ideas 1 to 9, wherein the valve opening degree of the water supply valve is controlled to a target opening degree when a filling condition is satisfied.

(Technical idea 12)
Technical idea 11. Irrigation system according to technical idea 11, wherein the control device determines that the filling condition is satisfied when the target filling time is reached after controlling the valve opening of the water supply valve to be equal to or less than the valve opening threshold. .

(Technical idea 13)
a pressure sensor (153b) for detecting a pressure value at the end of the distribution tube;
The control device controls the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, and then, when the filling condition is satisfied based on the pressure value detected by the pressure sensor, the valve opening of the water supply valve. The irrigation system according to technical idea 11, which controls the degree of opening to the target degree of opening.

(Technical idea 14)
a flow sensor (154b) for detecting a flow rate value at the end of the distribution tube;
The control device controls the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, and then, when the filling condition is satisfied based on the flow rate value detected by the flow sensor, the valve opening of the water supply valve. The irrigation system according to technical idea 11, which controls the degree of opening to the target degree of opening.

(Technical idea 15)
A control device for controlling the splashing distance of irrigation water supplied from a distribution tube (136) having a plurality of through holes to a field (20) where plants (30) are grown,
a calculation unit (334) that determines the valve opening degree of the water supply valve (152) that controls the pressure of the irrigation water flowing down to the distribution tube;
an output unit (332) for outputting a control signal for controlling the opening of the valve to the water supply valve in order to control the splashing distance of the water discharged from the distribution tube through the through hole;
A control device comprising:

(Technical idea 16)
16. The control device according to technical idea 15, wherein the output unit outputs a control signal for energizing the lamp to control the splashing distance of the sprinkling water to the water supply valve.

(Technical Thought 17)
16. The control device according to technical idea 15, wherein the output unit outputs a control signal for executing step operation energization to the water supply valve in order to control the splashing distance of the sprinkling water.

(Technical idea 18)
The output unit outputs a control signal to the water supply valve to change the opening of the valve so that the water spray distance continuously changes between the shortest watering position and the longest watering position with respect to the distribution tube. 17. The control device according to any one of technical ideas 15 to 17.

(Technical Thought 19)
The computing unit determines the opening degree of the valve for providing concentrated watering for each watering position with respect to a plurality of watering positions having different distances from the distribution tube,
17. The control device according to any one of technical ideas 15 to 17, wherein the output unit outputs a control signal for controlling the opening of the valve to the water supply valve.

(Technical idea 20)
The output unit outputs to the water supply valve a control signal for controlling the valve opening to be equal to or less than a valve opening threshold, which is a value smaller than the target opening, when the watering is started;
Technical idea that the output unit controls the valve opening degree of the water supply valve to a target opening degree when the calculating unit determines that a filling condition that can be estimated that the water is filled to the end of the distribution tube is established. 19. The control device according to any one of 15 to 19.

(Technical idea 21)
Technical idea 20. The control device according to technical idea 20, wherein the calculation unit determines that the filling condition is satisfied when the target filling time is reached after the valve opening of the water supply valve is controlled to be equal to or less than the valve opening threshold. .

(Technical Thought 22)
After controlling the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, the calculation unit detects the pressure value detected by the pressure sensor (153b) that detects the pressure value at the end of the distribution tube. 21. The control device according to technical idea 20, wherein the output unit controls the valve opening of the water supply valve to the target opening when it is determined that the filling condition is satisfied.

(Technical idea 23)
After controlling the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, the calculation unit detects the flow rate value detected by a flow rate sensor (154b) that detects the flow rate value at the end of the distribution tube. 21. The control device according to technical idea 20, wherein the output unit controls the valve opening of the water supply valve to the target opening when it is determined that the filling condition is satisfied.

Claims

a distribution tube (136) provided in a field (20) where a plant (30) is grown and having a plurality of through-holes for watering the field;
a water valve (152) for controlling the pressure of irrigation water flowing down the distribution tube;
a control device (330) for controlling the opening degree of the water supply valve to control the splashing distance of the sprinkling water discharged from the distribution tube through the through-hole;
Irrigation system with
2. The control device according to claim 1, wherein the control device changes the valve opening of the water supply valve so as to continuously change the splashing distance between the shortest watering position and the longest watering position with respect to the distribution tube. Irrigation system as described.
The irrigation system according to claim 2, wherein the control device controls the valve opening of the water supply valve so that the water splash distance reaches the longest irrigation distance determined based on the photographed image of the plant.
The control device controls the valve opening of the water supply valve so as to provide intensive watering to each watering position for a plurality of watering positions having different distances from the distribution tube. The irrigation system of claim 1, wherein the irrigation system controls
When the target irrigation amount is reached for the irrigation position at which the concentrated irrigation is being performed, the control device controls the valve opening of the water supply valve to change the water splash distance, and moves to the next irrigation position. 5. The irrigation system of claim 4, which provides intensive irrigation to the.
When the target watering time is reached for the watering position where the concentrated watering is being performed, the control device controls the valve opening degree of the water supply valve to change the water splash distance, and moves to the next watering position. 5. The irrigation system of claim 4, which provides intensive irrigation to the.
The irrigation system according to any one of claims 1 to 6, wherein the control device stops controlling the splashing distance of the irrigation water when the wind speed of the farm field exceeds an allowable value.
The controller controls the water supply valve so as to stop controlling the water splash distance when the wind speed of the field exceeds an allowable value and provide concentrated watering to the next watering position. The irrigation system according to any one of claims 4 to 6, wherein the water spray distance is controlled by controlling a valve opening degree.
A plurality of soil sensors (311) provided in the field at different distances from the distribution tube and capable of detecting soil information,
The irrigation system according to any one of claims 1 to 6, wherein the control device measures a splashing distance in the irrigation based on information detected by the plurality of soil sensors.
comprising a plurality of distribution tubes (136) arranged at intervals in the field, each having a plurality of through-holes for watering the field with irrigation water;
Said controller controls the pressure of irrigation water flowing down to an adjacent distribution tube adjacent said distribution tube from which irrigation water is not being discharged, when irrigation water is not being discharged from said distribution tube. Claims 1 to 6, wherein the valve opening degree is controlled to control the flying distance of the sprinkling water discharged from the adjacent distribution tube so that the sprinkling water that has not been discharged reaches the targeted target sprinkling position. The irrigation system according to any one of Claims 1 to 3.
The control device controls the valve opening of the water supply valve to a valve opening threshold, which is a value smaller than the target opening, when starting the watering, and presumes that the end of the distribution tube is filled with water. The irrigation system according to any one of claims 1 to 6, wherein the valve opening of the water supply valve is controlled to a target opening when a possible filling condition is satisfied.
The irrigation system according to claim 11, wherein the control device determines that the filling condition is established when the target filling time is reached after the valve opening of the water supply valve is controlled to be equal to or less than the valve opening threshold.
a pressure sensor (153b) for detecting a pressure value at the end of the distribution tube;
The control device controls the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, and then, when the filling condition is satisfied based on the pressure value detected by the pressure sensor, the valve opening of the water supply valve. 12. The irrigation system according to claim 11, wherein the opening degree is controlled to the target opening degree.
a flow sensor (154b) for detecting a flow rate value at the end of the distribution tube;
The control device controls the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, and then, when the filling condition is satisfied based on the flow rate value detected by the flow sensor, the valve opening of the water supply valve. 12. The irrigation system according to claim 11, wherein the opening degree is controlled to the target opening degree.
A control device for controlling the splashing distance of irrigation water supplied from a distribution tube (136) having a plurality of through holes to a field (20) where plants (30) are grown,
a calculation unit (334) that determines the valve opening degree of the water supply valve (152) that controls the pressure of the irrigation water flowing down to the distribution tube;
an output unit (332) for outputting a control signal for controlling the opening of the valve to the water supply valve in order to control the splashing distance of the water discharged from the distribution tube through the through hole;
A control device comprising:
16. The control device according to claim 15, wherein the output unit outputs a control signal for energizing the lamp to control the splashing distance of the sprinkling water to the water supply valve.
16. The control device according to claim 15, wherein the output unit outputs a control signal for executing step-actuation energization to the water supply valve in order to control the splashing distance of the sprinkling water.
The output unit outputs a control signal to the water supply valve to change the opening degree of the valve so that the splashing distance continuously changes between the shortest watering position and the longest watering position with respect to the distribution tube. 18. A control device as claimed in any one of claims 15 to 17.
The computing unit determines the opening degree of the valve for providing concentrated watering for each watering position with respect to a plurality of watering positions having different distances from the distribution tube,
The control device according to any one of claims 15 to 17, wherein the output unit outputs a control signal for controlling the opening of the valve to the water supply valve.
The output unit outputs to the water supply valve a control signal for controlling the valve opening to be equal to or less than a valve opening threshold, which is a value smaller than the target opening, when the watering is started;
15. The output unit controls the opening of the water supply valve to a target opening when the computing unit determines that a filling condition has been established for estimating that the water has filled up to the end of the distribution tube. 18. A controller according to any one of claims 17 to 17.
The control device according to claim 20, wherein the calculation unit determines that the filling condition is met when the target filling time is reached after controlling the valve opening of the water supply valve to be equal to or less than the valve opening threshold.
After controlling the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, the calculation unit detects the pressure value detected by the pressure sensor (153b) that detects the pressure value at the end of the distribution tube. 21. The control device according to claim 20, wherein said output unit controls the valve opening of said water supply valve to said target opening when it is determined that the filling condition is satisfied.
After controlling the valve opening degree of the water supply valve to be equal to or less than the valve opening threshold value, the calculation unit detects the flow rate value detected by a flow rate sensor (154b) that detects the flow rate value at the end of the distribution tube. 21. The control device according to claim 20, wherein said output unit controls the valve opening of said water supply valve to said target opening when it is determined that the filling condition is satisfied.