Intelligent irrigation system based on environmental perception

Abstract

The invention discloses an intelligent irrigation system based on environmental perception, and belongs to the technical field of irrigation systems. Comprising a plurality of acquisition terminals, an intra-domain orthographic projection acquisition unit, a photosynthetic determination unit, an irrigation processing host and an irrigation system, and the acquisition terminals are distributed in an irrigation area; the acquisition terminal comprises an acquisition controller, and the acquisition controller is connected with a soil moisture content transmitter and a sampling point plant orthographic projection acquisition unit; at least one acquisition terminal is provided with a temperature transmitter and an air humidity transmitter which are connected with the acquisition controller; a sensing processing system is arranged in the irrigation processing host; the intra-domain orthographic projection acquisition unit is connected to the irrigation processing host; and the irrigation processing host is connected with the irrigation system. According to the intelligent irrigation system based on environmental perception, the irrigation amount of plants in the irrigation area can be accurately predicted according to the environmental perception, the soil moisture content and the plant growth state data; and crops can obtain accurate moisture.

Description

Technical Field

[0001] The present invention specifically relates to an intelligent irrigation system based on environment perception, and belongs to the technical field of irrigation systems. Background Art

[0002] At present, most of the irrigation of plants follows the traditional irrigation method, such as manual irrigation. Although this method is low-cost, it is labor-intensive and inefficient. Another example is automatic irrigation controlled by mobile phone. This method is only suitable for greenhouses. Moreover, watering and fertilization are based on the weather and are timed and not quantitative, with single functions and scenarios. In addition, some irrigation systems can be controlled based on environmental linkage. For example, by regularly monitoring soil moisture, the irrigation amount can be adjusted in time to ensure that crops get proper moisture, improve the production efficiency and quality of crops, and protect soil resources, realize the rational use of water resources, improve the utilization rate of water resources, and avoid wasting water resources. For example, the Chinese patent authorization announcement number: CN116746467B can be combined with real-time sampling of soil moisture for irrigation control, realize real-time feedback adjustment of irrigation control based on soil moisture, greatly utilize irrigation resources, and provide vegetation with a targeted soil moisture growth environment. However, the water demand of plants is only evaluated by soil moisture, which is prone to lag and one-sidedness, and it is impossible to accurately control the precise irrigation amount of plants. Summary of the invention

[0003] To solve the above problems, the present invention proposes an intelligent irrigation system based on environmental perception, which can accurately predict the irrigation amount of plants in the irrigation area according to environmental perception, soil moisture conditions and plant growth status data; and improve the utilization rate of water resources and the stability of plant growth.

[0004] The intelligent irrigation system based on environment perception of the present invention comprises: A collection terminal, wherein a plurality of the collection terminals are provided and distributed in the irrigation area; the collection terminal comprises a collection controller, wherein the collection controller is connected to a soil moisture transmitter and a sampling point plant orthographic projection collection unit; the soil moisture transmitter uses a soil moisture meter to measure the moisture content of each layer of the soil; at least one of the collection terminals is provided with a temperature transmitter and an air humidity transmitter connected to the collection controller; when a plurality of temperature transmitters and air humidity transmitters are used, the temperature data and humidity data collected by the temperature transmitter and the air humidity transmitter are averaged; In-domain orthographic projection acquisition unit; The photosynthetic measurement unit uses a portable photosynthetic meter to measure the net photosynthetic rate and transpiration rate data of the plant leaves at various growth stages; An irrigation processing host, wherein the irrigation processing host has a built-in perception processing system; the acquisition terminal and the photosynthetic measurement unit are connected to the irrigation processing host through an Internet of Things communication unit; the intra-domain orthographic projection acquisition unit is connected to the irrigation processing host; Irrigation system, the irrigation processing host is connected to the irrigation system, and before irrigation, the irrigation processing host calculates the irrigation amount according to the environmental perception data and other data of the plants in the sampling point area, and the irrigation system performs irrigation operations.

[0005] Furthermore, the acquisition terminal includes: A ground plug, wherein a height-fixing plate is fixed at the lower part of the ground plug, and a height-fixing plate is fixed at the upper part of the ground plug; the lower part of the ground plug is embedded in the inner side of the soil, and the height-fixing plate is in contact with the top surface of the soil; a screw hole is provided on the height-fixing plate; A host, wherein a collection controller for controlling the whole machine is arranged inside the host, and a plurality of transmitter flange interfaces are arranged at the bottom of the host; after the collection controller is powered on, all ports are traversed in advance to determine whether the soil moisture transmitter and the sampling point plant orthographic projection collection unit are normally connected, and at the same time determine whether the temperature transmitter and the air humidity transmitter are connected to the transmitter flange interface, if they are connected, the collection data is read later, if it is determined that the temperature transmitter and the air humidity transmitter are not connected, the collection controller reads the data from the IO port corresponding to the transmitter flange interface through default processing; a screw hole is opened on the height-fixing plate; a spiral tube is screwed on the screw hole, and the sampling point plant orthographic projection collection unit is encapsulated at the bottom of the inner side of the spiral tube; the soil moisture transmitter is slidably engaged with the ground plug; the soil moisture transmitter is embedded in the inner side of the soil. The ground plug serves as a fixed mark for the sampling point. After the ground plug is fixed to the soil, the fixed height between the height-fixing plate and the height-fixing board is used as the unified standard height for collecting the plant orthographic projection collection unit at the sampling point. The spiral tube can perform fine-tuning of the height. The plant orthographic projection collection unit at the sampling point collects the plant image data, and obtains the plant orthographic projection area within the sampling area through grayscale processing separation, or obtains the image of the plant orthographic projection, and calculates the projection area by the random bean-scattering method.

[0006] Furthermore, the in-domain orthographic projection acquisition unit is a remote sensing image acquisition unit, a laser radar acquisition unit or a manual registration unit. The manual registration unit enters the in-domain orthographic projection data. The remote sensing image acquisition unit or the laser radar acquisition unit acquires and generates plant point cloud data. The plant projection area is calculated by projecting the point cloud data on the ground. That is, after the plant point cloud data is acquired by the remote sensing image acquisition unit or the laser radar acquisition unit, it is converted into projection data in a two-dimensional plane, the projection data is classified, the data outside the crown is acquired, and the orthographic projection data of all plants in the domain are obtained through a geometric cutting algorithm. Projection area, when using manual registration unit registration, the registration and calculation process is as follows: count the number of plant rows planted in the domain, measure the length of each row, then measure the length of the sampling area through the sampling point plant orthographic projection acquisition unit, then divide the length of each row of plants by the length of the sampling area in turn, and obtain multiple groups of length ratios, then multiply each group of length ratios by the average value of the plant orthographic projection area collected by the sampling point plant orthographic projection acquisition unit in turn, and sum the product values ​​to obtain the orthographic projection area of ​​all plants in the domain, and enter the orthographic projection area of ​​all plants in the domain into the irrigation processing host through the manual registration unit.

[0007] Furthermore, a plurality of sampling areas of different sizes and shapes are arranged in the irrigation area, and the sampling area comprises a plurality of columns and fences. After the sampling point plant orthographic projection collection unit is installed, the sampling point plant orthographic projection collection unit is calibrated in advance so that the collection boundary line of the sampling point plant orthographic projection collection unit coincides with the sampling area boundary line.

[0008] Furthermore, the sensing processing system works as follows: the sensing processing system obtains temperature, air humidity and soil moisture; and performs sensing data processing, and the processing process is as follows: (1) In the above formula (1), is the temperature reference value, is the number of collections in the collection cycle, Collect temperature data for any temperature transmitter within the collection period; (2) In the above formula (2), is the humidity reference value, is the number of collections within the collection period, and the collection period is the time period from the end of the last irrigation to the start of the current irrigation; Collect humidity data for any air humidity transmitter within the collection period; (3) In the above formula (3), is the reference value of total plant leaf photosynthetic active radiation at a certain sampling point, is the number of acquisitions within the acquisition cycle, It is the reference value of total photosynthetically active radiation of plant leaves measured by the photosynthetic measurement unit at any time during the collection period; It is the actual collection area of ​​total plant leaves at a certain sampling point; (4) In the above formula (4), G is the total amount of irrigation for plants in the domain, d is the number of collection cycles from the end of the last irrigation to the start of this irrigation, For a certain collection cycle, ∈d; and It is the temperature reference value and humidity reference value of a certain collection period; It is the average value of the reference value of total plant leaf photosynthetic active radiation at all sampling points in a certain collection period; is the average of the actual collection area of ​​the total plant leaves at all sampling points, is the orthographic projection area of ​​all plants in the domain collected by the orthographic projection collection unit in the domain, It is the average of the plant orthographic projection areas of all sampling points collected by the sampling point plant orthographic projection collection unit; is the irrigation coefficient of each growth cycle, and the irrigation coefficient is 0.3~1.5; (5) In the above formula (5), is the soil moisture value that needs to be supplemented; The soil moisture value set for the current growth cycle, It is the soil moisture value collected in real time by the soil moisture transmitter for the last time before the current irrigation begins; when When it is negative, the soil water replenishment calculation is stopped. When it is a positive value, soil water replenishment calculation is performed, and the calculation process is as follows: (6) It is the effective absorption amount by the root system of crop plants; is the total irrigation absorption coefficient, Establish an association table with the total irrigation volume G of the plants in the domain, and associate each irrigation volume threshold segment with an irrigation volume absorption coefficient ; (7) is the secondary water replenishment amount of the crop plant root system; the secondary water replenishment amount is implemented by a drip irrigation system or a sprinkler irrigation system; when the drip irrigation system is implemented, the drip irrigation amount is ; When implementing a sprinkler system, adjust the G value until When it is 0, the G value is used as the total amount of sprinkler irrigation.

[0009] Furthermore, the irrigation coefficient is obtained by summing the initial value and the follow-up value of the growth cycle; specifically, as follows: (8) In the above formula (8), is the initial value of the growth cycle, which is manually set. According to different growth cycles, an initial value of the growth cycle is set. is the following value, which is calculated as follows: (9) In the above formula (9), The real-time data collected for the time node corresponding to the initial value of a growth cycle is set. ; or the average of the plant orthographic projection areas of a sampling point standard set for the initial value of each growth cycle; This is the last real-time data collected before the irrigation started. ;when When is the average of the plant orthographic projection areas of the sampling point standard, Negative values ​​are allowed, indicating that the plant has not grown to the expected value of the set growth cycle.

[0010] Furthermore, the The statistical process is as follows: by counting the total number of plant leaves at the sampling point and multiplying the total number by the calibration area, we get ; The calibration area is the area of ​​the leaves of one of the plants at the sampling point or the average area of ​​the leaves of multiple plants.

[0011] Compared with the existing technology, the intelligent irrigation system based on environmental perception of the present invention can accurately predict the irrigation amount of plants in the irrigation area according to environmental perception, soil moisture conditions and plant growth status data; improve the utilization rate of water resources and the stability of plant growth, ensure that crops obtain accurate water, and improve the production rate and quality of plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the intelligent irrigation system of the present invention.

[0013] Figure 2 It is a schematic diagram of the structure of the acquisition terminal of the present invention.

[0014] Figure 3 This is a schematic diagram of the sampling area enclosure structure of the present invention.

[0015] Figure 4It is a schematic diagram of the workflow of the manual registration unit of the present invention.

[0016] Figure numerals: 1. Ground plug, 2. Height-fixing plate, 3. Height-fixing board, 4. Main unit, 5. Soil moisture transmitter, 6. Sampling point plant orthographic projection collection unit, 7. Temperature transmitter, 8. Air humidity transmitter, 9. Spiral tube, 10. Sampling area, 11. Pillar, 12. Rope. DETAILED DESCRIPTION

[0017] Example: like Figures 1 to 4 The intelligent irrigation system based on environmental perception shown includes: A collection terminal, wherein a plurality of the collection terminals are provided and distributed in the irrigation area; the collection terminal comprises a collection controller, wherein the collection controller is connected to a soil moisture transmitter 5 and a sampling point plant orthographic projection collection unit 6; the soil moisture transmitter 5 uses a soil moisture meter to measure the moisture content of each layer of the soil; at least one of the collection terminals is provided with a temperature transmitter 7 and an air humidity transmitter 8 connected to the collection controller; when a plurality of temperature transmitters 7 and air humidity transmitters 8 are used, the temperature data and humidity data collected by the temperature transmitter 7 and the air humidity transmitter 8 are averaged; In-domain orthographic projection acquisition unit; The photosynthetic measurement unit uses a portable photosynthetic meter to measure the net photosynthetic rate and transpiration rate data of the plant leaves at various growth stages; An irrigation processing host, wherein the irrigation processing host has a built-in perception processing system; the acquisition terminal and the photosynthetic measurement unit are connected to the irrigation processing host through an Internet of Things communication unit; the intra-domain orthographic projection acquisition unit is connected to the irrigation processing host; Irrigation system, the irrigation processing host is connected to the irrigation system, and before irrigation, the irrigation processing host calculates the irrigation amount according to the environmental perception data and other data of the plants in the sampling point area, and the irrigation system performs irrigation operations.

[0018] The acquisition terminal comprises: A ground plug 1, wherein a height-fixing plate 2 is fixed at the lower part of the ground plug 1, and a height-fixing plate 3 is fixed at the upper part of the ground plug 1; the lower part of the ground plug 1 is embedded in the inner side of the soil, and the height-fixing plate 2 is in contact with the top surface of the soil; a screw hole is opened on the height-fixing plate 3; A host 4, wherein a collection controller for controlling the whole machine is arranged inside the host 4, and a plurality of transmitter flange interfaces are arranged at the bottom of the host 4; after the collection controller is powered on, all ports are pre-traversed to determine whether the soil moisture transmitter 5 and the sampling point plant projection collection unit 6 are normally connected, and at the same time, it is determined whether the temperature transmitter 7 and the air humidity transmitter 8 are connected to the transmitter flange interface. If they are connected, the collection data is read later; if it is determined that the temperature transmitter 7 and the air humidity transmitter 8 are not connected, the collection controller reads the data from the IO port corresponding to the transmitter flange interface through default processing; a screw hole is provided on the height-fixing plate 3; a spiral tube 9 is screwed on the screw hole, and the sampling point plant projection collection unit 6 is encapsulated at the bottom inner side of the spiral tube 9; the soil moisture transmitter 5 is slidably engaged with the ground plug 1; the soil moisture transmitter 5 is embedded into the inner side of the soil. The ground plug 1 serves as a fixed mark of the sampling point. After the ground plug 1 is fixed to the soil, the fixed height between the height-fixing plate 2 and the height-fixing board 3 is used as the unified standard height for collecting the plant orthographic projection collection unit 6 at the sampling point. The spiral tube 9 can perform fine-tuning of the height. The plant orthographic projection collection unit 6 at the sampling point collects the plant image data, and obtains the plant orthographic projection area within the sampling area through grayscale processing separation, or obtains the image of the plant orthographic projection, and calculates the projection area by the random bean-scattering method.

[0019] The in-domain orthographic projection acquisition unit is a remote sensing image acquisition unit, a laser radar acquisition unit or a manual registration unit. The manual registration unit enters the in-domain orthographic projection data. The remote sensing image acquisition unit or the laser radar acquisition unit acquires and generates plant point cloud data. The plant projection area is calculated by projecting the point cloud data on the ground. That is, after the plant point cloud data is acquired by the remote sensing image acquisition unit or the laser radar acquisition unit, it is converted into projection data in a two-dimensional plane, the projection data is classified, the data outside the crown is acquired, and the orthographic projection area of ​​all plants in the domain is obtained by a geometric cutting algorithm. When a manual registration unit is used for registration, the registration and calculation process is as follows: the number of plant rows planted in the domain is counted, the length of each row is measured, and then the length of the sampling area is measured by the sampling point plant orthographic projection acquisition unit 6, and then the length of each row of plants is divided by the length of the sampling area in turn to obtain multiple groups of length ratios, and then each group of length ratios is multiplied by the average value of the plant orthographic projection area collected by the sampling point plant orthographic projection acquisition unit 6 in turn, and the product values ​​are summed to obtain the orthographic projection area of ​​all plants in the domain, and the orthographic projection area of ​​all plants in the domain is entered into the irrigation processing host 4 through the manual registration unit.

[0020] The irrigation area is provided with sampling areas 10 of multiple sizes and shapes, and the sampling area 10 includes multiple columns 11 and fences 12. After the sampling point plant orthographic projection collection unit 6 is installed, the sampling point plant orthographic projection collection unit 6 is calibrated in advance so that the collection boundary line of the sampling point plant orthographic projection collection unit 6 coincides with the boundary line of the sampling area 10.

[0021] The sensing processing system works as follows: the sensing processing system obtains temperature, air humidity and soil moisture; and processes the sensing data. The processing process is as follows: (1) In the above formula (1), is the temperature reference value, is the number of collections in the collection cycle, Collect temperature data for any temperature transmitter 7 within the collection period; (2) In the above formula (2), is the humidity reference value, is the number of collections within the collection period, and the collection period is the time period from the end of the last irrigation to the start of the current irrigation; The air humidity transmitter 8 collects humidity data for any time within the collection period; (3) In the above formula (3), is the reference value of total plant leaf photosynthetic active radiation at a certain sampling point, is the number of collections in the collection cycle, It is the reference value of total photosynthetically active radiation of plant leaves measured by the photosynthetic measurement unit at any time during the collection period; It is the actual collection area of ​​total plant leaves at a certain sampling point; (4) In the above formula (4), G is the total amount of irrigation for plants in the domain, d is the number of collection cycles from the end of the last irrigation to the start of this irrigation, For a certain collection cycle, ∈d; and It is the temperature reference value and humidity reference value of a certain collection period; It is the average value of the reference value of total plant leaf photosynthetic active radiation at all sampling points in a certain collection period; is the average of the actual collection area of ​​the total plant leaves at all sampling points, is the orthographic projection area of ​​all plants in the domain collected by the orthographic projection collection unit in the domain, is the average value of the plant orthographic projection areas of all sampling points collected by the sampling point plant orthographic projection collection unit 6; is the irrigation coefficient of each growth cycle, and the irrigation coefficient is 0.3~1.5; (5) In the above formula (5), is the soil moisture value that needs to be supplemented; The soil moisture value set for the current growth cycle, is the soil moisture value collected in real time for the last time by the soil moisture transmitter 5 before the current irrigation begins; when When it is negative, the soil water replenishment calculation is stopped. When it is a positive value, soil water replenishment calculation is performed, and the calculation process is as follows: (6) It is the effective absorption amount by the root system of crop plants; is the total irrigation absorption coefficient, Establish an association table with the total irrigation volume G of the plants in the domain, and associate each irrigation volume threshold segment with an irrigation volume absorption coefficient ; (7) is the secondary water replenishment amount of the crop plant root system; the secondary water replenishment amount is implemented by a drip irrigation system or a sprinkler irrigation system; when the drip irrigation system is implemented, the drip irrigation amount is ; When implementing a sprinkler system, adjust the G value until When it is 0, the G value is used as the total amount of sprinkler irrigation.

[0022] The irrigation coefficient is obtained by summing the initial value and the follow-up value of the growth cycle; specifically, as follows: (8) In the above formula (8), is the initial value of the growth cycle, which is manually set. According to different growth cycles, an initial value of the growth cycle is set. is the following value, which is calculated as follows: (9) In the above formula (9), The real-time data collected for the time node corresponding to the initial value of a growth cycle is set. ; or the average of the plant orthographic projection areas of a sampling point standard set for the initial value of each growth cycle; This is the last real-time data collected before the irrigation started. ;when When is the average of the plant orthographic projection areas of the sampling point standard, Negative values ​​are allowed, indicating that the plant has not grown to the expected value of the set growth cycle.

[0023] The above embodiments are only preferred implementations of the present invention, so any equivalent changes or modifications made according to the structures, features and principles described in the scope of application of the present invention are included in the scope of application of the present invention.

Claims

1. An intelligent irrigation system based on environmental perception, characterized in that: include: A collection terminal, wherein a plurality of the collection terminals are provided and distributed in the irrigation area; the collection terminal comprises a collection controller, and the collection controller is connected to a soil moisture transmitter and a sampling point plant orthographic projection collection unit; at least one of the collection terminals is provided with a temperature transmitter and an air humidity transmitter connected to the collection controller; In-domain orthographic projection acquisition unit; Photosynthetic measurement unit; An irrigation processing host, wherein the irrigation processing host has a built-in perception processing system; the acquisition terminal and the photosynthetic measurement unit are connected to the irrigation processing host through an Internet of Things communication unit; the intra-domain orthographic projection acquisition unit is connected to the irrigation processing host; Irrigation system, the irrigation processing host is connected to the irrigation system.

2. The intelligent irrigation system based on environmental perception according to claim 1, characterized in that: The acquisition terminal comprises: A ground plug, wherein a height-fixing plate is fixed at the lower part of the ground plug, and a height-fixing plate is fixed at the upper part of the ground plug; the lower part of the ground plug is embedded in the inner side of the soil, and the height-fixing plate is in contact with the top surface of the soil; a screw hole is provided on the height-fixing plate; A host, wherein a collection controller for controlling the whole machine is arranged inside the host, and a plurality of transmitter flange interfaces are arranged at the bottom of the host; a screw hole is opened on the height-fixing plate; a spiral tube is screwed on the screw hole, and the sampling point plant orthographic projection collection unit is packaged at the bottom of the inner side of the spiral tube; the soil moisture transmitter is slidably engaged with the ground plug; and the soil moisture transmitter is embedded into the inner side of the soil.

3. The intelligent irrigation system based on environmental perception according to claim 1, characterized in that: The in-domain orthographic projection acquisition unit is a remote sensing image acquisition unit, a laser radar acquisition unit or a manual registration unit.

4. The intelligent irrigation system based on environmental perception according to claim 1, characterized in that: The irrigation area is provided with sampling areas of multiple sizes and shapes, and the sampling areas are composed of multiple columns and fences. After the sampling point plant orthographic projection collection unit is installed, the sampling point plant orthographic projection collection unit is calibrated in advance so that the collection boundary line of the sampling point plant orthographic projection collection unit coincides with the sampling area boundary line.

5. The intelligent irrigation system based on environmental perception according to claim 1, characterized in that: The sensing processing system works as follows: the sensing processing system obtains temperature, air humidity and soil moisture; and processes the sensing data. The processing process is as follows: （1） In the above formula (1), is the temperature reference value, is the number of acquisitions within the acquisition cycle, Collect temperature data for any temperature transmitter within the collection period; （2） In the above formula (2), is the humidity reference value, is the number of collections within the collection period, and the collection period is the time period from the end of the last irrigation to the start of the current irrigation; Collect humidity data for any air humidity transmitter within the collection period; （3） In the above formula (3), is the reference value of total plant leaf photosynthetic active radiation at a certain sampling point, is the number of acquisitions within the acquisition cycle, It is the reference value of total photosynthetically active radiation of plant leaves measured by the photosynthetic measurement unit at any time during the collection period; It is the actual collection area of ​​total plant leaves at a certain sampling point; （4） In the above formula (4), G is the total amount of irrigation for plants in the domain, d is the number of collection cycles from the end of the last irrigation to the start of this irrigation, For a certain collection cycle, ∈d; and It is the temperature reference value and humidity reference value of a certain collection period; It is the average value of the reference value of total plant leaf photosynthetic active radiation at all sampling points in a certain collection period; is the average of the actual collection area of ​​the total plant leaves at all sampling points, is the orthographic projection area of ​​all plants in the domain collected by the orthographic projection collection unit in the domain, It is the average of the plant orthographic projection areas of all sampling points collected by the sampling point plant orthographic projection collection unit; is the irrigation coefficient of each growth cycle, and the irrigation coefficient is 0.3~1.5; （5） In the above formula (5), is the soil moisture value that needs to be supplemented; The soil moisture value set for the current growth cycle, It is the soil moisture value collected in real time by the soil moisture transmitter for the last time before the current irrigation begins; when When it is negative, the soil water replenishment calculation is stopped. When it is a positive value, soil water replenishment calculation is performed, and the calculation process is as follows: （6） It is the effective absorption amount by the root system of crop plants; is the total irrigation absorption coefficient, Establish an association table with the total irrigation volume G of the plants in the domain, and associate each irrigation volume threshold segment with an irrigation volume absorption coefficient ; （7） is the secondary water replenishment amount of the crop plant root system; the secondary water replenishment amount is implemented by a drip irrigation system or a sprinkler irrigation system; when the drip irrigation system is implemented, the drip irrigation amount is ; When implementing a sprinkler system, adjust the G value until When it is 0, the G value is used as the total amount of sprinkler irrigation.

6. The intelligent irrigation system based on environmental perception according to claim 5, characterized in that: The irrigation coefficient is obtained by summing the initial value and the follow-up value of the growth cycle; specifically, as follows: （8） In the above formula (8), is the initial value of the growth cycle, which is manually set. According to different growth cycles, an initial value of the growth cycle is set. is the following value, which is calculated as follows: （9） In the above formula (9), The real-time data collected for the time node corresponding to the initial value of a growth cycle is set. ; or the average of the plant orthographic projection areas of a sampling point standard set for the initial value of each growth cycle; This is the last real-time data collected before the irrigation started. ;when When is the average of the plant orthographic projection areas of the sampling point standard, Negative values ​​are allowed, indicating that the plant has not grown to the expected value of the set growth cycle.

7. The intelligent irrigation system based on environmental perception according to claim 5, characterized in that: Said The statistical process is as follows: by counting the total number of plant leaves at the sampling point and multiplying the total number by the calibration area, we get ; The calibration area is the area of ​​the leaves of one of the plants at the sampling point or the average area of ​​the leaves of multiple plants.

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