Automatic vegetation irrigation system and method

Abstract

The present invention discloses an automatic vegetation irrigation system and method, which relates to the field of irrigation technology. The system includes an irrigation pipeline, a detection device, and a control center. The detection device includes a mounting plate, a sensor assembly, and a communication module. A plurality of sensor assemblies are mounted on the mounting plate; the sensor assembly includes a tensiometer tube, a ceramic head, and a pressure sensor. When the mounting plate is horizontally anchored on the ground, the ceramic heads of different sensor assemblies have different distances from the mounting plate; a first communication device is mounted on the communication module; and a drone is also included. The drone is equipped with a second communication device and a third communication device. The method is implemented based on the system. When the inspection results of each sensor assembly are greater than the configured vacuum threshold, the irrigation operation is performed. This scheme can achieve the effect of more accurately controlling the single irrigation amount and reasonably implementing irrigation by judging the humidity of soil layers at different depths.

Description

Technical Field

[0001] The present invention relates to the technical field of crop irrigation, and in particular to an automatic vegetation irrigation system and method. Background Art

[0002] The impact of soil moisture on plant growth is multifaceted, mainly manifested in the impact of soil moisture on plant root growth, the impact of soil moisture on plant transpiration, the impact of soil moisture on pests and diseases, and the impact of soil moisture on soil fertility. The specific manifestations include: inappropriate soil moisture will lead to reduced root respiration of vegetation, weakened metabolism, slow growth, and affect the growth of the aboveground part; low soil moisture will cause the stomata of plants to close, affecting photosynthesis and causing slow plant growth; long-term excessive soil moisture is conducive to the development of pathogens, diseases and pests, and can easily cause outbreaks of plant diseases and pests; for chemical fertilizers, traditional fertilizers need to be dissolved in water before being absorbed by the roots of plants. For organic fertilizers, too little or too much water will affect the activity of microorganisms in the soil, which directly affects the ability of organic matter in the soil to decompose and release fertility.

[0003] In the prior art, such as the technical solution provided by patent application number CN201410326535.8, intelligent irrigation facilities are used for large-scale vegetation irrigation in remote mountainous areas. For other large-scale crop planting areas, intelligent irrigation facilities can also be used to implement vegetation irrigation. Intelligent irrigation facilities can not only realize intelligent irrigation of vegetation, but also have the characteristics of wide coverage area, high utilization rate of water resources, and less manpower investment in the later stage.

[0004] In the prior art, intelligent irrigation facilities for vegetation usually include a detection module, a control module and an irrigation system, wherein the detection module is usually used to detect soil moisture (soil moisture), and the control module controls the operation of the irrigation system according to the soil moisture detection result. When the irrigation system is working, it implements irrigation on the covered area to increase the land moisture in the vegetation covered area. At the same time, intelligent irrigation systems including drones are usually used as follows: drones are used as components of the detection module, and the drones carry onboard equipment to collect parameters of the planned area or location, and pass the data to the control module to decide whether to implement irrigation; for small amounts of irrigation, drones are used as components of the irrigation system, and the drones carry irrigation water to fly to the area that needs irrigation and implement irrigation.

[0005] With the development of regional vegetation management needs, the automated vegetation irrigation system is a better irrigation solution and a solution adapted to regional vegetation irrigation management. Therefore, it is necessary to further optimize the existing automated vegetation irrigation technology. Summary of the invention

[0006] In response to the above-mentioned problem of optimizing the automated vegetation irrigation technology, the present invention provides an automated vegetation irrigation system and method. This solution determines the moisture content of soil layers at different depths to more accurately control the single irrigation amount and implement irrigation reasonably.

[0007] In view of the above problems, an automatic vegetation irrigation system and method provided by the present invention solves the problems through the following technical points: an automatic vegetation irrigation system, comprising an irrigation pipeline for laying in an irrigation area, a detection device for realizing soil moisture detection in the irrigation area, and a control center, wherein the control center controls the operation of the irrigation pipeline according to the detection result of the detection device, wherein the detection device comprises a mounting plate, an anchoring assembly, a sensor assembly and a communication module, wherein a plurality of sensor assemblies are mounted on the mounting plate;

[0008] The anchor assembly is used to anchor the mounting plate to the ground surface of the irrigation area;

[0009] The sensor assembly includes a tensiometer tube, a ceramic head mounted at the lower end of the tensiometer tube, and a pressure sensor for measuring the internal pressure of the tensiometer tube. The sensor assembly is mounted on a mounting plate through the tensiometer tube. When the mounting plate is horizontally anchored on the ground surface, the ceramic heads of different sensor assemblies have different distances from the mounting plate.

[0010] The output end of each sensor assembly is connected to a communication module, and a first communication device is installed on the communication module;

[0011] It also includes a drone, which is equipped with a second communication device and a third communication device. The third communication device is used to establish wireless communication between the drone and a control center, and the second communication device is used to establish wireless communication between the drone and the first communication device. When the drone flies into the signal coverage range of the first communication device, the first communication device uploads the detection results of each pressure sensor to the drone through the second communication device, and the drone uploads the detection results to the control center through the third communication device.

[0012] In the prior art, the control logic of the implementation process of the automated vegetation irrigation technology includes: when the soil moisture detection result is lower than the preset humidity lower limit, the irrigation pipeline is triggered to implement irrigation; when the soil moisture detection result reaches the humidity upper limit, the irrigation pipeline is triggered to stop irrigation, so as to maintain the soil moisture between the humidity upper limit and the humidity lower limit. Sensors for realizing online soil moisture data acquisition include various types of sensors based on resistance measurement principle, capacitance measurement principle, frequency domain reflection principle, time domain reflection principle, and negative pressure gauge principle. Among them, the soil moisture sensor based on the negative pressure gauge principle is also called a soil moisture tensiometer. Its structure includes a tensiometer tube, a ceramic head and a pressure sensor. The ceramic head is connected to the lower end of the tensiometer tube and has a porous structure. Water can enter and exit the ceramic head through the micropores on the ceramic head. The tensiometer tube is a tubular structure with closed side walls and top. When in use, the tensiometer tube is filled with water and the ceramic head is buried in the soil. According to the soil Water potential, if the soil is dry, the water in the tensiometer tube enters the soil through the ceramic head, a negative pressure is formed in the tensiometer tube and the pressure is measured by the pressure sensor. If the soil is moist, the water enters the tensiometer tube through the ceramic head, the pressure in the tensiometer tube increases and the pressure is measured by the pressure sensor. In this way, the soil moisture content can be obtained by using the curve relationship between soil moisture content and soil water potential, and the pressure detection result of the pressure sensor. At the same time, the pressure sensor measures the vacuum degree in the tensiometer tube. The greater the vacuum degree, the lower the soil moisture content, and the smaller the vacuum degree, the higher the soil moisture content. In the case of no oil pollution in the soil, the soil moisture tensiometer is a humidity measurement device with low use cost and high reliability.

[0013] This solution provides an automated vegetation irrigation system based on a soil moisture tensiometer. In this system, an anchoring assembly is used to fix the detection device on the ground surface. The pressure sensors on each sensor assembly are used to measure the internal pressure of the tensiometer tube, and are arranged so that the ceramic heads of different sensor assemblies have different distances from the mounting plate. In specific applications, the ceramic heads of different sensor assemblies on the detection device are buried at different depths in the soil. Different sensor assemblies on the detection device are used to measure the moisture of the soil at different depths. When the detection results of each pressure sensor are uploaded to the control center, the control center can determine the moisture conditions of the soil at different depths based on the pressure measurement results determined by the ceramic heads buried at different depths. For example, only when the surface soil moisture is too low, it can be determined that it is caused by the rapid evaporation of surface moisture or the consumption of the vigorous transpiration of vegetation during a period of strong sunlight (noon). When the temperature drops and the light intensity increases, the control center can determine the moisture conditions of the soil at different depths. After the reduction, the soil with higher humidity in deeper layers can replenish water to the surface soil in other time periods (at night or in the morning) (such as the main root soil layer is replenished to have a moisture content of 45% to 65%. Due to the differences in soil type, soil depth, soil terrain and location, technicians in this field can reasonably set the target moisture content to guide irrigation). At this time, from the perspective of reasonable water use and controlling the appropriate soil humidity, no irrigation is required; when the moisture of the surface soil and deeper soil layers is low (the moisture content of the main root soil layer is lower than 40%, and the moisture content of the special layer below the main root soil layer is lower than 50%. Due to the differences in soil type, soil depth, soil terrain and location, technicians in this field can reasonably set the target moisture content to guide irrigation), it is determined that the current water storage capacity of the soil is too small. In order to ensure the normal growth of vegetation, it is necessary to reasonably replenish water to the irrigation area through irrigation pipelines. The above solution can avoid the situation where the surface moisture of the soil is accelerated to evaporate and consumed by transpiration under high temperature and strong sunlight, and the measurement results of the sensor component with only the ceramic head located in the shallow soil layer trigger irrigation or over-irrigation, resulting in waste of irrigation water or excessive soil moisture inhibiting vegetation growth, thereby achieving the purpose of more accurately controlling the single irrigation amount and promoting scientific irrigation.

[0014] This solution aims at the detection device being set up far from the control center. If the detection device and the control center are wired for communication, there may be problems such as high line failure rate and inconvenient line installation due to uncontrollable outdoor environmental factors. The cellular signal of the public mobile network has the problem of uncontrollable ground signal quality. A technical solution using a drone as a signal relay device is proposed. Specifically, the first communication device and the second communication device are used to solve the short-distance communication between the detection device and the drone, and the third communication device is used to solve the long-distance communication between the drone and the control center. In the specific implementation, the first communication device and the second communication device can both use a low-power LoRa communication module to achieve a signal coverage range of 3 kilometers. The third communication device uses a 4G communication module or a 5G communication module based on a mobile cellular network. In principle, communication at any distance can be achieved within the coverage range of the base station signal. When the above solution is adopted, when the irrigation system is set up in the irrigation area, the above communication method can effectively solve the problem of arbitrary location selection of the detection device, and at the same time, it can ensure the reliability of the detection result collection.

[0015] In a specific embodiment, in order to solve the energy supply problem of the detection device, the detection device is equipped with a solar panel and a battery. The battery is used to provide electrical energy for the detection device, and the solar panel is used to store energy for the battery.

[0016] In a specific embodiment, in order to reduce the power consumption of the detection device, a clock module is built into the detection device. The clock module is used to control the pressure sensor and the first communication device to work in a set time period. The set time period coincides with the time when the drone arrives at the signal coverage range of the first communication device, so as to optimize the energy consumption of the detection device by intermittently collecting and sending signals.

[0017] In a specific embodiment, the pressure sensor collects multiple groups of detection results in a time-sharing manner within the signal sending time interval of the first communication device and stores them in the first communication device. After the first communication device establishes wireless communication with the second communication device, a wireless communication solution is used to solve the problem of remotely transmitting the detection results to the control center, so that the control center can obtain the soil moisture change trend at the location where the detection device is set.

[0018] In a specific embodiment, the sensor components are each equipped with a compression spring, an extrusion cylinder, and an internal threaded hole;

[0019] The internal threaded hole is a through hole and is arranged on the mounting plate, the extrusion cylinder is threadedly connected in the internal threaded hole and passes through the mounting plate, the compression spring is a coil spring sleeved on the tension meter tube, and a support platform is fixed on the tension meter tube;

[0020] The mounting disk restraint sensor assembly is as follows: the lower end of the compression spring is supported on the support platform, the lower end of the extrusion cylinder is in contact with the upper end of the compression spring, and the upper end of the tension meter tube is inserted into the extrusion cylinder.

[0021] The above embodiments are used to solve the contact problem between the ceramic head and the surrounding soil: In order for the pressure sensor to accurately obtain the soil moisture detection results, it is necessary to ensure that the ceramic head has good contact quality with the surrounding soil. During the use cycle of the detection device, due to factors such as soil settlement, a cavity may appear under the ceramic head. The above embodiment of non-rigid connection between the ceramic head and the mounting disk is adopted. After the ceramic head is buried in the soil and supported by the soil, the length of its lower end extending relative to the lower end surface of the mounting disk is adjusted by rotating the extrusion cylinder, thereby controlling the deformation of the compression spring. The force of the compression spring on the support platform is transmitted to the ceramic head through the tension meter tube, thereby forcing the ceramic head to be pressed downward. When the cavity is generated, the compression spring drives the ceramic head to move downward to fill the cavity, thereby avoiding the formation of air holes or water cavities around the ceramic head, thereby optimizing the contact quality between the ceramic head and the surrounding soil.

[0022] In a specific embodiment, the sensor components are each equipped with a cone, the upper end of the ceramic head is docked with the lower end of the tensiometer tube, the ceramic head is coaxial with the tensiometer tube, the cone is fixed to the lower side of the tensiometer tube, the cone is coaxial with the tensiometer tube, and the tip of the cone faces the ceramic head.

[0023] The above embodiments are used to solve the contact problem between the ceramic head and the surrounding soil: during the process of embedding the sensor assembly with the cone cylinder into the soil, the cone cylinder is used to produce a certain compaction effect on the soil below it, so that the soil around the ceramic head and the ceramic head have good contact quality. In the specific implementation process, in order to meet the embedding requirements of the cone cylinder or under the expansion effect of the cone cylinder, a cavity area will appear above the cone cylinder. In order to avoid the long-term high humidity of the soil below the cavity due to water accumulation, which affects the accuracy of the detection results, after the sensor assembly is embedded in the soil, it is necessary to pay attention to the filling problem of the cavity area around the tensiometer tube above the cone cylinder.

[0024] In a specific embodiment, the anchor assembly includes a second anchor rod and a first anchor rod, the second anchor rod is a rod-shaped structure with a pressure plate provided at the upper end, the mounting plate is provided with a center hole, and the second anchor rod and the mounting plate can be matched as follows: the second anchor rod passes through the mounting plate through the center hole, and the lower end of the pressure plate is supported on the top surface of the mounting plate;

[0025] There are multiple first anchor rods, each of which is a rod-shaped structure with a first pull ear at the upper end. Each first anchor rod is configured with a cable. A plurality of second pull ears are fixed on the mounting plate. The second pull ears are evenly arranged around the center hole. The number of the second pull ears is equal to the number of the first anchor rods. The first anchor rod and the mounting plate can be matched as follows: one end of the cable is fixedly connected to the first pull ear, and the other end of the cable is fixedly connected to the second pull ear, and each second pull ear is connected to a first anchor rod via the cable.

[0026] The above embodiments are used to solve the installation problem of the detection device: after drilling a hole on the ground, embedding the detection device into the hole, and covering the soil, the second anchor rod is used to level the installation plate under the initial anchoring action of the pressure plate pressing down on the top surface of the support plate, and the installation plate is leveled so that the installation plate is horizontally anchored on the ground. Since the force of the compression spring on the extrusion cylinder is upward during subsequent use, the second anchor rod may be loose under this force, and the compression spring may lose its compression effect on the ceramic head after loosening. The above embodiments provide oblique tension for the installation plate at multiple positions on the circumference of the installation plate through the first anchor rod and the first-level cable, so that the installation plate can be subjected to downward tension under the tension of the cable to ensure the stability of the anchoring of the installation plate, so that the compression spring can always maintain the compression effect on the ceramic head. In specific use, the first anchor rod is obliquely inserted and the lower end of the first anchor rod is deviated from the position of the installation plate, and the second pull ear is located above the first pull ear. The tensioned cable can provide an oblique tension with a downward component.

[0027] In a specific embodiment, the irrigation pipeline includes a main pipe and a plurality of regional pipes as branches, each of the regional pipes is connected to the main pipe, each of the regional pipes is equipped with a control valve, the control valve is used to control the conduction state between the regional pipe and the main pipe, and each control valve is equipped with an electric actuator for realizing valve opening and closing drive;

[0028] Each control valve is equipped with a control unit for controlling the operation of the electric actuator. The control unit includes a fourth communication device, which is used to establish wireless communication between the drone and the control valve. When the drone flies into the signal coverage range of the fourth communication device, the drone sends a control valve working instruction to the control unit.

[0029] In the above embodiments, the inlet end of the main pipe is set at the irrigation control center on the ground, so that the water in the well or reservoir is injected into the main pipe by a water pump. Each regional pipeline has an irrigation water outlet, which includes but is not limited to a drip irrigation structure and a sprinkler irrigation structure. The control valve is used to control the conduction state between the regional pipeline and the main pipe. When the control valve is opened, the irrigation water enters the regional pipeline, otherwise the irrigation water of the regional pipeline is cut off. The electric actuator is used to control the opening state of the control valve. Similar to the short-distance communication method between the above detection device and the drone, the fourth communication device can also use a LoRa communication module, so that the control center relays the control valve working instructions through the drone, controls the irrigation pipeline to achieve regional irrigation, and solves the problem that the traditional public cellular network cannot fully cover the control valve setting location and the wired communication is easily damaged in the field environment. Similar to the above, the electric actuator and the control unit can also be powered by an outdoor power module including a photovoltaic panel and a battery, and a clock module is configured for the fourth communication device to optimize the power consumption required for signal transmission.

[0030] In a specific embodiment, the drone is equipped with a flight control module, and the flight control module has built-in route data covering the irrigation area;

[0031] The number of the detection devices is multiple;

[0032] The drone is also equipped with an image acquisition module.

[0033] In the above embodiments, according to the shape characteristics and range of the irrigation area, etc., the route data is built into the drone, and the drone flies according to the route data at the set time or under human intervention to traverse the various sub-areas of the irrigation area, so as to realize the control center to collect soil moisture detection results and control the opening and closing of the control valve. The detection device needs to be set at different positions in the irrigation area according to the regional detection determined by the terrain reasons, so as to realize regional soil moisture detection. If the detection result only requires irrigation of part of the irrigation area, the specific irrigation area is determined according to the installation position of the detection device that generates the detection result, and regional irrigation is realized through the regional pipelines responsible for these irrigation areas. The image acquisition module is used to collect vegetation images in the irrigation area, so that the vegetation images can be used for pest and disease judgment, vegetation growth judgment, actual irrigation status judgment, etc.

[0034] The present invention also relates to an automatic vegetation irrigation method, which is implemented based on the automatic vegetation irrigation system as described in any one of the above items.

[0035] The automatic vegetation irrigation system is installed in the irrigation area, and the specific installation method is: the installation plate is horizontally installed on the surface of the irrigation area through the anchoring assembly, and the ceramic heads of different sensor assemblies are installed at different depths of the soil;

[0036] The method for detecting soil moisture by the detection device is as follows: on each sensor assembly, a pressure sensor detects the vacuum degree inside the tensiometer tube, and uses the vacuum degree as a detection result reflecting soil moisture;

[0037] When the drone arrives within the signal coverage of the first communication device, the detection results of each sensor component are uploaded to the drone through the wireless communication established between the first communication device and the second communication device. The drone uploads the collected detection results to the control center through the wireless communication established between the third communication device and the control center. The control center formulates an irrigation pipeline operation strategy according to the detection results and controls the operation of the irrigation pipeline according to the operation strategy.

[0038] When formulating the operation strategy of the irrigation pipeline, the control center collects the inspection results of the pressure sensors on each sensor component, and compares the inspection results with the set vacuum threshold. For each sensor component of the detection device, the vacuum threshold configured for each sensor component is different: the vacuum threshold configured for the sensor component with a ceramic head deep in the soil is smaller than the vacuum threshold configured for the sensor component with a ceramic head shallow in the soil. When the inspection results of each sensor component are greater than the vacuum threshold configured for the sensor component, the operation strategy is formulated to perform irrigation operations for the irrigation pipeline.

[0039] In the above-provided automatic vegetation irrigation method, as described above, from the perspective of soil moisture data collection, the detection device provides a hardware basis for collecting soil moisture at different depths, and uploads the detection results to the control center to determine whether the soil surface is dehydrated or the soil as a whole is dehydrated. For example, through the detection results and the vacuum threshold, only when the humidity of the soil surface is too low and water is lacking, it can be considered that it is a short-term situation in an environment with high temperature and strong light. From the perspective of saving water and avoiding excessively high overall soil moisture content, it is not appropriate to provide irrigation in this case. When the humidity of the soil surface and the humidity of the deeper soil are both too low, it is determined that the humidity of the main root soil layer cannot recover by itself in a short time. At this time, in order to facilitate vegetation growth, irrigation should be provided. As a person skilled in the art, in specific use, according to different vegetation varieties and growth stages, in order to match the current vegetation's drought resistance, waterlogging resistance and root distribution in the soil, the vacuum threshold configured for the sensor component should be configured according to the specific situation.

[0040] In a specific embodiment, the automated vegetation irrigation system is a sensor system in which each sensor component is equipped with a compression spring, an extrusion cylinder and an internal threaded hole, wherein the internal threaded hole is a through hole and is arranged on a mounting plate, the extrusion cylinder is threadedly connected in the internal threaded hole and passes through the mounting plate, the compression spring is a coil spring sleeved on a tension meter tube, and a support platform is fixed on the tension meter tube; the mounting plate constrains the sensor component in the following manner: the lower end of the compression spring is supported on the support platform, the lower end of the extrusion cylinder is in conflict with the upper end of the compression spring, and the upper end of the tension meter tube is inserted into the extrusion cylinder. The automated vegetation irrigation system is installed in the following manner: after the mounting plate is horizontally installed on the surface of the irrigation area and the ceramic heads on each sensor component are embedded in the bottom layer, the compression spring on the sensor component is compressed by rotating the extrusion cylinder on each sensor component, and the compression spring of the sensor component is always in a compressed and deformed state during use.

[0041] According to the foregoing, in the automated vegetation irrigation method provided in this embodiment, the compression spring is adjusted to produce appropriate compression deformation using an extrusion cylinder, so that the ceramic head can maintain good contact with the soil through the compression spring during the entire cycle of automated irrigation.

[0042] In a specific embodiment, the automated vegetation irrigation system is an anchor assembly comprising a second anchor rod and a first anchor rod, the second anchor rod is a rod-shaped structure with a pressure plate provided at the upper end, the mounting plate is provided with a center hole, and the second anchor rod and the mounting plate can be matched as follows: the second anchor rod passes through the mounting plate through the center hole, and the lower end of the pressure plate is supported on the top surface of the mounting plate; there are multiple first anchor rods, the first anchor rod is a rod-shaped structure with a first pull ear provided at the upper end, each first anchor rod is configured with a cable, and multiple second pull ears are fixed on the mounting plate, the second pull ears are evenly arranged around the center hole, and the number of the second pull ears is equal to the number of the first anchor rods, and the first anchor rod and the mounting plate can be matched as follows: one end of the cable is fixedly connected to the first pull ear, and the other end of the cable is fixedly connected to the second pull ear, An automated vegetation irrigation system in which each second pull ear is connected to a first anchor rod via a cable. The automated vegetation irrigation system is installed as follows: after the installation plate is initially anchored on the ground surface by the second anchor rod and the installation plate is leveled, the cables connected to the first anchor rods are used to provide lateral tension for the installation plate. The first anchor rods are anchored to the ground outside the installation plate. The first anchor rods are evenly arranged around the installation plate. The second pull ears are located above the first pull ears. Each first anchor rod provides lateral tension for the installation plate via the cables connected to its first pull ears. The connection point of the cables on the installation plate is located on the second pull ears. Each second pull ear is connected to a first anchor rod via the cables. For the installation plate, the lateral tension is a tension directed toward the outside of the installation plate and inclined downward.

[0043] According to the foregoing content, in the automated vegetation irrigation method provided in this embodiment, the second anchor rod is used to achieve initial compression of the mounting plate, and the first anchor rod and the pull cable are further used to provide downward pulling force for the mounting plate to prevent the mounting plate from losing function of the compression spring due to upward displacement during use.

[0044] In a specific embodiment, the automatic vegetation irrigation system is an automatic vegetation irrigation system in which the UAV is equipped with a flight control module, and the flight control module has built-in route data covering the irrigation area; the number of the detection devices is multiple; the UAV is also equipped with an image acquisition module, and the detection devices are dispersedly arranged in the irrigation area;

[0045] When the UAV flies along the planned route according to the route data, the UAV passes through the signal coverage of the first communication device on each detection device in turn. When passing through the signal coverage of any first communication device, the UAV collects the detection results through the second communication device, and uploads the detection results to the control center through the third communication device. The control center formulates an irrigation pipeline operation strategy according to the detection results. When it is determined to execute the irrigation strategy, the irrigation pipeline is controlled to irrigate the area where the detection device is located. The irrigation is performed immediately or in the time period set by the control center.

[0046] The irrigation amount for irrigation is determined according to the detection result, and the determination method is any one of the following methods:

[0047] Method 1: When the drone reaches the signal coverage of the first communication device of the detection device next time, the soil moisture detection result after irrigation is collected, and the soil moisture detection result is uploaded to the control center through the third communication device. When the control center determines that the current soil moisture is equal to or greater than the preset humidity upper limit, the irrigation pipeline is controlled to stop irrigation;

[0048] Method 2: The control center determines the irrigation demand of the area where the detection device is located according to the current detection result. When the actual irrigation amount reaches the determined irrigation demand, the irrigation pipeline stops irrigation.

[0049] When the UAV flies along the planned route according to the route data, the image acquisition module acquires the vegetation image of the irrigation area and uploads the vegetation image to the control center through the third communication device. The control center performs any one or more of the following operations according to the vegetation image:

[0050] Operation 1: Analyze vegetation pests and diseases based on vegetation images and generate pest and disease analysis data;

[0051] Operation 2: Adjust the preset humidity upper limit or irrigation demand according to the ground coverage of vegetation in the vegetation image. When the ground coverage increases, increase the preset humidity upper limit or increase the irrigation demand.

[0052] According to the foregoing content, in the automated vegetation irrigation method provided by this embodiment, the regionalized setting of the detection device is used to solve the regionalized soil moisture detection in the irrigation area to meet the need for local irrigation in the irrigation area. The drone passes through the signal coverage of each detection device in turn, thereby realizing the need to traverse the detection device at each position in collecting the detection results. The detection result of any detection device setting position is only used to judge the irrigation demand of the setting position. The better application is that the first communication device and the fourth communication device have overlapping signal coverage. When the drone is located in the signal coverage range, the detection result upload and the control valve work instruction are issued, and irrigation is executed immediately. It is suitable for irrigation at non-noon times to avoid excessive water evaporation resulting in low irrigation efficiency and damage to vegetation. Irrigation during a set time period refers to scheduled irrigation, such as scheduling irrigation time in the morning or at night to save water and protect vegetation.

[0053] At the same time, the above embodiments also provide a basis for controlling the amount of irrigation. Method 1 is to determine whether irrigation needs to continue based on the soil moisture detection results during the irrigation process. Method 2 is to determine the irrigation amount requirement based on the soil moisture detection results before irrigation, and stop irrigation when the irrigation amount requirement is met.

[0054] At the same time, the above embodiment also provides the use of an image acquisition module mounted on a drone. Operation 1 is the use of the acquisition results of the image acquisition module in vegetation disease and pest analysis. Operation 2 is to adjust the irrigation demand according to the vegetation ground coverage rate. By increasing the preset humidity upper limit or increasing the irrigation volume demand, the number of irrigations can be reduced to reduce water waste during the irrigation process.

[0055] In a specific embodiment, the ground coverage rate can be manually determined by visual inspection, and the ground coverage rate can also be determined by a computer model using the pixel points occupied by the vegetation in the vegetation image. For example, the control center calculates the number of pixel points occupied by the vegetation in the vegetation image through the image processing module to determine the vegetation growth condition. When the ground projection area of ​​the vegetation is large, it can be considered that the vegetation is tall and has stronger drought and waterlogging resistance than small plants. At this time, the frequency of watering can be reduced by increasing the single watering amount to reduce the waste of ground water during the watering process.

[0056] The present invention has the following beneficial effects:

[0057] This solution can avoid the situation where the surface moisture of the soil is accelerated to evaporate and consumed by transpiration under high temperature and strong sunlight, and the measurement results of the sensor component with only the ceramic head located in the shallow soil layer trigger irrigation or over-irrigation, resulting in waste of irrigation water or excessive soil moisture inhibiting vegetation growth, thereby achieving the purpose of more accurately controlling the single irrigation amount and promoting scientific irrigation.

[0058] When setting up an irrigation system in an irrigation area, the communication method adopted by this solution can effectively solve the problem of arbitrary site selection for setting up the detection device, and at the same time ensure the reliability of the collection of detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of the system layout of a specific embodiment of an automated vegetation irrigation system described in this solution. The arrows on the route in the figure indicate the planned flight direction of the drone;

[0060] Figure 2 A top view of a specific embodiment of the detection device described in this solution;

[0061] Figure 3 for Figure 2 The structure shown is a front view with some components omitted.

[0062] The figure marks in the above drawings are respectively: 1. control center, 2. irrigation control center, 3. irrigation pipeline, 4. regional pipeline, 5. control valve, 6. detection device, 7. drone, 8. route, 9. first anchor rod, 10. cable, 11. mounting plate, 12. sensor assembly, 13. communication module, 14. extrusion cylinder, 15. pressure sensor, 16. compression spring, 17. support platform, 18. tensiometer tube, 19. cone cylinder, 20. ceramic head, 21. second anchor rod. DETAILED DESCRIPTION

[0063] The present invention is further described in detail below in conjunction with embodiments, but the present invention is not limited to the following embodiments:

[0064] Embodiment 1:

[0065] Combination Figures 1 to 3 , an automated vegetation irrigation system, comprising an irrigation pipeline 3 for laying in an irrigation area, a detection device 6 for realizing soil moisture detection in the irrigation area, and a control center 1, wherein the control center 1 controls the operation of the irrigation pipeline 3 according to the detection result of the detection device 6, wherein the detection device 6 comprises a mounting plate 11, an anchoring component, a sensor component 12 and a communication module 13, wherein a plurality of sensor components 12 are mounted on the mounting plate 11;

[0066] The anchor assembly is used to anchor the mounting plate 11 on the surface of the irrigation area;

[0067] The sensor assembly 12 includes a tensiometer tube 18, a ceramic head 20 installed at the lower end of the tensiometer tube 18, and a pressure sensor 15 for measuring the internal pressure of the tensiometer tube 18. The sensor assembly 12 is installed on the mounting plate 11 through the tensiometer tube 18. When the mounting plate 11 is horizontally anchored on the ground surface, the ceramic heads 20 of different sensor assemblies 12 have different distances from the mounting plate 11.

[0068] The output end of each sensor assembly 12 is connected to the communication module, and the communication module 13 is installed with a first communication device;

[0069] It also includes a drone 7, which is equipped with a second communication device and a third communication device. The third communication device is used to establish wireless communication between the drone 7 and the control center 1, and the second communication device is used to establish wireless communication between the drone 7 and the first communication device. When the drone 7 flies into the signal coverage range of the first communication device, the first communication device uploads the detection results of each pressure sensor 15 to the drone 7 through the second communication device, and the drone 7 uploads the detection results to the control center 1 through the third communication device.

[0070] In the prior art, the control logic of the automatic vegetation irrigation technology in the implementation process includes: when the soil moisture detection result is lower than the preset humidity lower limit, the irrigation pipeline 3 is triggered to implement irrigation; when the soil moisture detection result reaches the humidity upper limit, the irrigation pipeline 3 is triggered to stop irrigation, so as to maintain the soil moisture between the humidity upper limit and the humidity lower limit. Sensors for realizing online data acquisition of soil moisture include various types of sensors based on resistance measurement principle, capacitance measurement principle, frequency domain reflection principle, time domain reflection principle, and negative pressure gauge principle. Among them, the soil moisture sensor based on the negative pressure gauge principle is also called soil moisture tensiometer, and its structural composition includes a tensiometer tube 18, a ceramic head 20 and a pressure sensor 15. The ceramic head 20 is connected to the lower end of the tensiometer tube 18 and has a porous structure. Water can enter and exit the ceramic head 20 through the micropores on the ceramic head 20. The tensiometer tube 18 is a tubular structure with closed side walls and top. When in use, the tensiometer tube 18 is filled with water, and the ceramic head 20 is buried in the soil. According to the soil moisture, the water content of the ceramic head 20 is 0.0447 W / m2 / cm2. If the soil is dry, the water in the tensiometer tube 18 enters the soil through the ceramic head 20, a negative pressure is formed in the tensiometer tube 18 and the pressure is measured by the pressure sensor 15. If the soil is moist, the water enters the tensiometer tube 18 through the ceramic head 20, the pressure in the tensiometer tube 18 increases and the pressure is measured by the pressure sensor 15. In this way, the soil moisture content can be obtained by using the curve relationship between soil moisture content and soil water potential using the pressure detection result of the pressure sensor 15. At the same time, the pressure sensor 15 measures the vacuum degree in the tensiometer tube 18. The greater the vacuum degree, the lower the soil moisture content. The smaller the vacuum degree, the higher the soil moisture content. In the case of no oil pollution in the soil, the soil moisture tensiometer is a humidity measuring device with low use cost and high reliability.

[0071] This solution provides an automated vegetation irrigation system based on a soil moisture tensiometer. In this system, an anchoring assembly is used to fix the detection device 6 on the ground surface. The pressure sensor 15 on each sensor assembly 12 is used to measure the internal pressure of the tensiometer tube 18, and is set so that the ceramic heads 20 of different sensor assemblies 12 have different distances from the mounting plate 11. In specific applications, the ceramic heads 20 of different sensor assemblies 12 on the detection device 6 are buried at different depths in the soil. Different sensor assemblies 12 on the detection device 6 are used to measure the moisture of the soil at different depths. When the detection results of each pressure sensor 15 are uploaded to the control center 1, the control center 1 can determine the moisture conditions of the soil at different depths based on the pressure measurement results determined by the ceramic heads 20 buried at different depths. For example, only when the surface soil moisture is too low, it can be determined that it is caused by the rapid evaporation of surface moisture or the consumption of the vigorous transpiration of vegetation during the period of strong sunlight (noon). When the temperature drops and the light intensity decreases, the soil with greater humidity in the deeper layer can replenish water to the surface soil in other time periods (at night or in the morning) (for example, the main root soil layer is replenished to have a moisture content of 45% to 65%. Due to the differences in soil type, soil depth, soil terrain and location, technicians in this field can reasonably set the target moisture content to guide the implementation of irrigation). At this time, from the perspective of reasonable water use and controlling the appropriate moisture of the soil, no irrigation is required; when the moisture of the surface soil and the deeper soil is low (the moisture content of the main root soil layer is lower than 40%, and the moisture content of the special layer below the main root soil layer is lower than 50%. Due to the differences in soil type, soil depth, soil terrain and location, technicians in this field can reasonably set the target moisture content to guide the implementation of irrigation), it is determined that the current water storage capacity of the soil is too small. In order to ensure the normal growth of vegetation, it is necessary to reasonably replenish water to the irrigation area through the irrigation pipeline 3. The above scheme can be adopted to avoid the situation where the surface moisture of the soil is accelerated to evaporate and consumed by transpiration under high temperature and strong sunlight, and the measurement results of the sensor component 12 with only the ceramic head 20 located in the shallow layer of the soil trigger irrigation or over-irrigation, resulting in waste of irrigation water or excessive soil moisture inhibiting vegetation growth, thereby achieving the purpose of more accurately controlling the single irrigation amount and promoting scientific irrigation.

[0072] This solution aims at the detection device 6 being set at a location far from the control center 1. If the detection device 6 and the control center 1 are wired in communication, there may be problems such as high line failure rate and inconvenient line installation due to uncontrollable outdoor environmental factors, and the cellular signal of the public mobile network has the problem of uncontrollable ground signal quality. A technical solution using a drone 7 as a signal relay device is proposed. Specifically, the first communication device and the second communication device are used to solve the short-distance communication between the detection device 6 and the drone 7, and the third communication device is used to solve the long-distance communication between the drone 7 and the control center 1. In the specific implementation, the first communication device and the second communication device can both use a low-power LoRa communication module to achieve a signal coverage range of 3 kilometers, and the third communication device uses a 4G communication module or a 5G communication module based on a mobile cellular network. In principle, communication at any distance can be achieved within the coverage range of the base station signal. Using the above solution, when setting up an irrigation system in an irrigation area, the above communication method can effectively solve the problem of arbitrary location selection of the detection device 6, and at the same time, it can ensure the reliability of the detection result collection.

[0073] In more detail, in order to solve the energy supply problem of the detection device 6, the detection device 6 is equipped with a solar panel and a battery. The battery is used to provide electrical energy to the detection device 6, and the solar panel is used to store energy in the battery.

[0074] More specifically, in order to reduce the power consumption of the detection device 6, a clock module is built into the detection device 6, and the clock module is used to control the pressure sensor 15 and the first communication device to work in a set time period. The set time period coincides with the time when the drone 7 arrives at the signal coverage range of the first communication device, so as to optimize the energy consumption of the detection device 6 by intermittently collecting and sending signals.

[0075] More specifically, the pressure sensor 15 collects multiple groups of detection results in a time-sharing manner within the signal sending time interval of the first communication device and stores them in the first communication device. After the first communication device establishes wireless communication with the second communication device, a wireless communication solution is used to solve the problem of remotely transmitting the detection results to the control center 1, so that the control center 1 can obtain the soil moisture change trend of the location where the detection device 6 is set.

[0076] In more detail, the sensor assembly 12 is equipped with a compression spring 16, an extrusion cylinder 14 and an internal threaded hole;

[0077] The internal thread hole is a through hole and is arranged on the mounting plate 11, the extrusion cylinder 14 is threadedly connected in the internal thread hole and passes through the mounting plate 11, the compression spring 16 is a coil spring sleeved on the tension meter tube 18, and the tension meter tube 18 is fixed with a support platform 17;

[0078] The mounting plate 11 constrains the sensor assembly 12 in the following manner: the lower end of the compression spring 16 is supported on the support platform 17 , the lower end of the extrusion cylinder 14 abuts against the upper end of the compression spring 16 , and the upper end of the tension meter tube 18 is inserted into the extrusion cylinder 14 .

[0079] The above embodiments are used to solve the contact problem between the ceramic head 20 and the surrounding soil: In order to enable the pressure sensor 15 to accurately obtain the soil moisture detection results, it is necessary to ensure that the ceramic head 20 has good contact quality with the surrounding soil. During the use cycle of the detection device 6, due to factors such as soil settlement, a cavity may appear under the ceramic head 20. The above embodiment of non-rigid connection between the ceramic head 20 and the mounting disk 11 is adopted. After the ceramic head 20 is buried in the soil and supported by the soil, the length of its lower end extending relative to the lower end surface of the mounting disk 11 is adjusted by rotating the extrusion cylinder 14, thereby controlling the deformation of the compression spring 16. The force of the compression spring 16 on the support platform 17 is transmitted to the ceramic head 20 through the tension meter tube 18, thereby forcing the ceramic head 20 to be pressed downward. When the cavity is generated, the compression spring 16 drives the ceramic head 20 to move downward to fill the cavity, thereby avoiding the formation of air holes or water cavities around the ceramic head 20, and optimizing the contact quality between the ceramic head 20 and the surrounding soil.

[0080] In more detail, the sensor assembly 12 is equipped with a cone 19, the upper end of the ceramic head 20 is connected to the lower end of the tensiometer tube 18, the ceramic head 20 is coaxial with the tensiometer tube 18, the cone 19 is fixed on the lower side of the tensiometer tube 18, the cone 19 is coaxial with the tensiometer tube 18, and the tip of the cone 19 faces the ceramic head 20.

[0081] The above embodiments are used to solve the contact problem between the ceramic head 20 and the surrounding soil: during the process of embedding the sensor assembly 12 with the cone 19 into the soil, the cone 19 is used to compact the soil below it, so that the soil around the ceramic head 20 and the ceramic head 20 have good contact quality. In the specific implementation process, in order to meet the embedding requirements of the cone 19 or under the expansion effect of the cone 19, a cavity area will appear above the cone 19. In order to avoid the cavity area from having a long-term high humidity in the soil below due to water accumulation, which affects the accuracy of the detection result, after the sensor assembly 12 is embedded in the soil, it is necessary to pay attention to the filling problem of the cavity area around the tensiometer tube 18 above the cone 19.

[0082] In more detail, the anchor assembly includes a second anchor rod 21 and a first anchor rod 9, the second anchor rod 21 is a rod-shaped structure with a pressure plate at the upper end, the mounting plate 11 is provided with a center hole, and the second anchor rod 21 and the mounting plate 11 can be matched as follows: the second anchor rod 21 passes through the mounting plate 11 through the center hole, and the lower end of the pressure plate is supported on the top surface of the mounting plate 11;

[0083] There are multiple first anchor rods 9, and the first anchor rod 9 is a rod-shaped structure with a first pull ear on the upper end. Each first anchor rod 9 is equipped with a cable 10. A plurality of second pull ears are fixed on the mounting plate 11. The second pull ears are evenly arranged around the center hole. The number of the second pull ears is equal to the number of the first anchor rods 9. The first anchor rod 9 and the mounting plate 11 can be matched as follows: one end of the cable 10 is fixedly connected to the first pull ear, and the other end of the cable 10 is fixedly connected to the second pull ear, and each second pull ear is connected to a first anchor rod 9 through the cable 10.

[0084] The above embodiment is used to solve the installation problem of the detection device 6: after drilling a hole on the ground, embedding the detection device 6 into the hole and covering the soil, the mounting plate 11 is leveled under the initial anchoring action of the second anchor rod 21 pressing down the top surface of the support plate through the pressure plate, and is leveled so that the mounting plate 11 is horizontally anchored to the ground. Since the compression spring 16 exerts an upward force on the extrusion cylinder 14 during subsequent use, the second anchor rod 21 may be loose under this force. After loosening, the compression spring 16 may lose the compression effect on the ceramic head 20. The above embodiment provides oblique pull for the mounting plate 11 at multiple positions around the mounting plate 11 through the first anchor rod 9 and the primary cable 10, so that the mounting plate 11 can be subjected to downward tension under the tension of the cable 10, so as to ensure the stability of the anchoring of the mounting plate 11, so that the compression spring 16 can always maintain the compression effect on the ceramic head 20. In specific use, the first anchor rod 9 is obliquely inserted and the lower end of the first anchor rod 9 deviates from the position of the mounting plate 11, and the second pull ear is located above the first pull ear. The tensioned cable 10 can provide an oblique pulling force with a downward component.

[0085] In more detail, the irrigation pipeline 3 includes a main pipe and a plurality of regional pipelines 4 as branches, each of which is connected to the main pipe, and each of which is equipped with a control valve 5, which is used to control the conduction state between the regional pipeline 4 and the main pipe, and each of which is equipped with an electric actuator for realizing valve opening and closing drive;

[0086] Each control valve 5 is equipped with a control unit for controlling the operation of the electric actuator. The control unit includes a fourth communication device, which is used to establish wireless communication between the drone 7 and the control valve 5. When the drone 7 flies into the signal coverage range of the fourth communication device, the drone 7 sends a control valve 5 working instruction to the control unit.

[0087] In the above embodiment, the inlet end of the main pipe is set at the irrigation control center 2 on the ground, so that the water in the well or reservoir is injected into the main pipe by a water pump. Each regional pipeline 4 has an irrigation water outlet, which includes but is not limited to a drip irrigation structure and a sprinkler irrigation structure. The control valve 5 is used to control the conduction state between the regional pipeline 4 and the main pipe. When the control valve 5 is opened, the irrigation water enters the regional pipeline 4, otherwise the irrigation water of the regional pipeline 4 is cut off. The electric actuator is used to control the opening state of the control valve 5. The fourth communication device can also use a LoRa communication module in the same way as the short-distance communication between the above detection device 6 and the drone 7, so that the control center 1 can relay the control valve 5 working instructions through the drone 7 to control the irrigation pipeline to achieve regional irrigation, solving the problem that the traditional public cellular network cannot cover the control valve 5 setting position intact and the wired communication is easily damaged in the field environment. Similar to the above, the electric actuator and the control unit can also be powered by an outdoor power module including a photovoltaic panel and a battery, and a clock module is configured for the fourth communication device to optimize the power consumption required for signal transmission.

[0088] In more detail, the drone 7 is equipped with a flight control module, which has built-in data of the flight route 8 covering the irrigation area;

[0089] The number of the detection devices 6 is multiple;

[0090] The drone 7 is also equipped with an image acquisition module.

[0091] In the above embodiments, according to the shape characteristics and range of the irrigation area, the route 8 data is built into the drone 7, and the drone 7 flies according to the route 8 data at the set time or under human intervention to traverse each sub-area of ​​the irrigation area, so as to realize the control center 1 to collect the soil moisture detection results and the control valve 5 opening and closing control. The detection device 6 needs to be set at different positions in the irrigation area according to the regional detection determined by the terrain reasons, so as to realize regional soil moisture detection. If the detection result only needs to irrigate part of the irrigation area, the specific irrigation area is determined according to the installation position of the detection device 6 that generates the detection result, and regional irrigation is realized through the regional pipeline 4 responsible for these irrigation areas. The image acquisition module is used to collect vegetation images in the irrigation area, so that the vegetation images can be used for pest and disease judgment, vegetation growth judgment, actual irrigation status judgment, etc.

[0092] The present invention also relates to an automatic vegetation irrigation method, which is implemented based on the automatic vegetation irrigation system as described in any one of the above items.

[0093] The automatic vegetation irrigation system is installed in the irrigation area, and the specific installation method is: the installation plate 11 is horizontally installed on the surface of the irrigation area through the anchoring assembly, and the ceramic heads 20 of different sensor assemblies 12 are installed at different depths of the soil;

[0094] The method for detecting soil moisture by the detection device 6 is as follows: on each sensor assembly 12, the pressure sensor 15 detects the vacuum degree inside the tensiometer tube 18, and uses the vacuum degree as a detection result reflecting the soil moisture;

[0095] When the drone 7 arrives within the signal coverage of the first communication device, the detection results of each sensor component 12 are uploaded to the drone 7 through the wireless communication established between the first communication device and the second communication device. The drone 7 uploads the collected detection results to the control center 1 through the wireless communication established between the third communication device and the control center 1. The control center 1 formulates an operation strategy for the irrigation pipeline 3 according to the detection results and controls the operation of the irrigation pipeline 3 according to the operation strategy.

[0096] When formulating the operation strategy of the irrigation pipeline 3, the control center 1 collects the inspection results of the pressure sensors 15 on each sensor component 12, and compares the inspection results with the set vacuum threshold value. For each sensor component 12 of the detection device 6, the vacuum threshold value configured for each sensor component 12 is different: the vacuum threshold value configured for the sensor component 12 with the ceramic head 20 deep in the soil is less than the vacuum threshold value configured for the sensor component 12 with the ceramic head 20 shallow in the soil. When the inspection results of each sensor component 12 are greater than the vacuum threshold value configured for the sensor component 12, the operation strategy is formulated to perform irrigation operations for the irrigation pipeline 3.

[0097] In the above-provided automatic vegetation irrigation method, as described above, from the perspective of soil moisture data collection, the detection device 6 provides a hardware basis for collecting soil moisture at different depths, and uploads the detection results to the control center 1 to determine whether the soil surface is dehydrated or the soil as a whole is dehydrated. For example, through the detection results and the vacuum threshold, only when the humidity of the soil surface is too low and dehydrated, it can be considered that it is a short-term situation in an environment with high temperature and strong light. From the perspective of saving water and avoiding excessively high overall soil moisture content, it is not appropriate to provide irrigation in this case. When the humidity of the soil surface and the humidity of the deeper soil are both too low, it is determined that the humidity of the main root soil layer cannot recover by itself in a short time. At this time, it is appropriate to provide irrigation for the benefit of vegetation growth. As a person skilled in the art, in specific use, according to different vegetation varieties and growth stages, in order to match the current vegetation's drought resistance, waterlogging resistance and root distribution in the soil, the vacuum threshold configured for the sensor component 12 should be configured according to the specific situation.

[0098] In more detail, the automatic vegetation irrigation system is that the sensor assembly 12 is equipped with a compression spring 16, an extrusion cylinder 14 and an internal threaded hole, the internal threaded hole is a through hole and is arranged on the mounting plate 11, the extrusion cylinder 14 is threadedly connected in the internal threaded hole and passes through the mounting plate 11, the compression spring 16 is a coil spring sleeved on the tension meter tube 18, and a support platform 17 is fixed on the tension meter tube 18; the mounting plate 11 constrains the sensor assembly 12 in the following manner: the lower end of the compression spring 16 is supported on the support platform 17, the extrusion cylinder 14 is threadedly connected in the internal threaded hole and passes through the mounting plate 11, and the compression spring 16 is a coil spring sleeved on the tension meter tube 18, and a support platform 17 is fixed on the tension meter tube 18; the mounting plate 11 constrains the sensor assembly 12 in the following manner: the lower end of the compression spring 16 is supported on the support platform 17, the extrusion cylinder 14 is threadedly connected in the internal threaded hole and passes through the mounting plate 11 The lower end of 14 is in conflict with the upper end of the compression spring 16, and the upper end of the tensiometer tube 18 is inserted into the automatic vegetation irrigation system in the extrusion cylinder 14. The installation method of the automatic vegetation irrigation system is: after the mounting plate 11 is horizontally installed on the surface of the irrigation area and the ceramic head 20 on each sensor component 12 is embedded in the bottom layer, the compression spring 16 on the sensor component 12 is compressed by rotating the extrusion cylinder 14 on each sensor component 12, and the compression spring 16 of the sensor component 12 is always in a compressed deformation state during use.

[0099] According to the foregoing, in the automated vegetation irrigation method provided in this embodiment, the compression spring 16 is adjusted to produce appropriate compression deformation using the extrusion cylinder 14, so that the ceramic head 20 can maintain a good contact state with the soil through the compression spring 16 during the entire cycle of automated irrigation.

[0100] In more detail, the automated vegetation irrigation system is an anchoring assembly comprising a second anchor rod 21 and a first anchor rod 9, the second anchor rod 21 is a rod-shaped structure with a pressure plate provided at the upper end, the mounting plate 11 is provided with a center hole, the second anchor rod 21 and the mounting plate 11 can be matched as follows: the second anchor rod 21 passes through the mounting plate 11 through the center hole, and the lower end of the pressure plate is supported on the top surface of the mounting plate 11; there are multiple first anchor rods 9, the first anchor rods 9 are a rod-shaped structure with a first pull ear provided at the upper end, each first anchor rod 9 is configured with a cable 10, a plurality of second pull ears are fixed on the mounting plate 11, the second pull ears are evenly arranged around the center hole, the number of the second pull ears is equal to the number of the first anchor rods 9, the first anchor rod 9 and the mounting plate 11 can be matched as follows: one end of the cable 10 is fixedly connected to the first pull ear, the other end of the cable 10 is fixedly connected to the second pull ear, and each second pull ear is fixedly connected to the first pull ear. An automated vegetation irrigation system is provided in which each ear is connected to a first anchor rod 9 through a cable 10. The installation method of the automated vegetation irrigation system is as follows: after the installation plate 11 is initially anchored on the ground by the second anchor rod 21 and the installation plate 11 is leveled, the cables 10 connected to each first anchor rod 9 are used to provide lateral tension for the installation plate 11. The first anchor rods 9 are anchored on the ground outside the installation plate 11. The first anchor rods 9 are evenly arranged around the installation plate 11. The second pulling ears are located above the first pulling ears. Each first anchor rod 9 provides lateral tension for the installation plate 11 through the cable 10 connected to its first pulling ears. The connection point of the cable 10 on the installation plate 11 is located on the second pulling ears. Each second pulling ear is connected to a first anchor rod 9 through the cable 10. For the installation plate 11, the lateral tension is a tension directed toward the outside of the installation plate 11 and inclined downward.

[0101] According to the foregoing content, in the automated vegetation irrigation method provided in this embodiment, the second anchor rod 21 is used to achieve initial compression of the mounting plate 11, and the first anchor rod 9 and the cable 10 are further used to provide a downward pulling force for the mounting plate 11, so as to prevent the mounting plate 11 from losing its function due to upward displacement during use, thereby preventing the compression spring 16 from losing its function.

[0102] More specifically, the automatic vegetation irrigation system is an automatic vegetation irrigation system in which the drone 7 is equipped with a flight control module, and the flight control module has built-in route 8 data covering the irrigation area; the number of the detection devices 6 is multiple; the drone 7 is also equipped with an image acquisition module, and the detection devices 6 are dispersedly arranged in the irrigation area;

[0103] When the drone 7 flies along the planned route 8 according to the route 8 data, the drone 7 passes through the signal coverage of the first communication device on each detection device 6 in turn. When passing through the signal coverage of any first communication device, the drone 7 collects the detection results through the second communication device, and uploads the detection results to the control center 1 through the third communication device. The control center 1 formulates an operation strategy for the irrigation pipeline 3 according to the detection results. When it is determined to execute the irrigation strategy, the irrigation pipeline 3 is controlled to irrigate the area where the detection device 6 is located. The irrigation is to irrigate immediately or in the time period set by the control center 1.

[0104] The irrigation amount for irrigation is determined according to the detection result, and the determination method is any one of the following methods:

[0105] Mode 1: When the drone 7 flies to the signal coverage range of the first communication device of the detection device 6 next time, the soil moisture detection result after irrigation is collected, and the soil moisture detection result is uploaded to the control center 1 through the third communication device. When the control center 1 determines that the current soil moisture is equal to or greater than the preset humidity upper limit, the irrigation pipeline 3 is controlled to stop irrigation;

[0106] Mode 2: the control center 1 determines the irrigation demand of the area where the detection device 6 is located according to the current detection result, and when the actual irrigation amount of the irrigation reaches the determined irrigation demand, the irrigation pipeline 3 stops irrigation;

[0107] When the drone 7 flies along the planned route 8 according to the route 8 data, the image acquisition module acquires the vegetation image of the irrigation area and uploads the vegetation image to the control center 1 through the third communication device. The control center 1 performs any one or more of the following operations according to the vegetation image:

[0108] Operation 1: Analyze vegetation pests and diseases based on vegetation images and generate pest and disease analysis data;

[0109] Operation 2: Adjust the preset humidity upper limit or irrigation demand according to the ground coverage of vegetation in the vegetation image. When the ground coverage increases, increase the preset humidity upper limit or increase the irrigation demand.

[0110] According to the foregoing content, in the automated vegetation irrigation method provided in this embodiment, the detection device 6 is regionalized to solve the regionalized soil moisture detection in the irrigation area to meet the need for local irrigation in the irrigation area. The drone 7 passes through the signal coverage of each detection device 6 in turn, thereby realizing the need to traverse the detection device 6 at each position in the collection of the detection results. The detection result of any detection device 6 setting position is only used to judge the irrigation demand of the setting position. The preferred application is that the first communication device and the fourth communication device have overlapping signal coverage. When the drone 7 is located in the signal coverage range, the detection result upload and the control valve 5 work instruction are issued, and irrigation is executed immediately. It is suitable for irrigation at non-noon times to avoid excessive water evaporation resulting in low irrigation efficiency and damage to vegetation. Irrigation during a set time period refers to scheduled irrigation, such as scheduling irrigation time in the morning or at night to save water and protect vegetation.

[0111] At the same time, the above embodiments also provide a basis for controlling the amount of irrigation. Method 1 is to determine whether irrigation needs to continue based on the soil moisture detection results during the irrigation process. Method 2 is to determine the irrigation amount requirement based on the soil moisture detection results before irrigation, and stop irrigation when the irrigation amount requirement is met.

[0112] At the same time, the above embodiment also provides the use of an image acquisition module mounted on the drone 7, operation 1 is the use of the acquisition results of the image acquisition module in the analysis of vegetation diseases and pests, operation 2 is to adjust the irrigation demand according to the vegetation ground coverage rate, and the number of irrigations can be reduced by increasing the preset humidity upper limit or increasing the irrigation volume demand, so as to reduce water waste during the irrigation process.

[0113] More specifically, the ground coverage rate can be manually determined by visual inspection, and the ground coverage rate can also be determined by a computer model using the pixels occupied by vegetation in a vegetation image. For example, the control center 1 calculates the number of pixels occupied by vegetation in a vegetation image through an image processing module to determine the vegetation growth condition. When the ground projection area of ​​the vegetation is large, it can be considered that the vegetation is tall and has stronger drought and waterlogging resistance than small plants. At this time, the frequency of watering can be reduced by increasing the single watering amount to reduce the waste of ground water during the watering process.

[0114] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, other embodiments obtained without departing from the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated vegetation irrigation system, comprising an irrigation pipeline (3) for laying in an irrigation area, a detection device (6) for detecting soil moisture in the irrigation area, and a control center (1), wherein the control center (1) controls the operation of the irrigation pipeline (3) according to the detection result of the detection device (6), characterized in that: The detection device (6) comprises a mounting plate (11), an anchoring component, a sensor component (12) and a communication module (13); a plurality of sensor components (12) are mounted on the mounting plate (11); The anchoring assembly is used to anchor the mounting plate (11) on the surface of the irrigation area; The sensor assembly (12) comprises a tensiometer tube (18), a ceramic head (20) mounted at the lower end of the tensiometer tube (18), and a pressure sensor (15) for measuring the internal pressure of the tensiometer tube (18); the sensor assembly (12) is mounted on a mounting plate (11) via the tensiometer tube (18); when the mounting plate (11) is horizontally anchored on the ground, the ceramic heads (20) of different sensor assemblies (12) have different distances from the mounting plate (11); The output end of each sensor assembly (12) is connected to a communication module (13), and a first communication device is installed on the communication module (13); Also included is an unmanned aerial vehicle (7), the unmanned aerial vehicle (7) being equipped with a second communication device and a third communication device, the third communication device being used to establish wireless communication between the unmanned aerial vehicle (7) and the control center (1), the second communication device being used to establish wireless communication between the unmanned aerial vehicle (7) and the first communication device, when the unmanned aerial vehicle (7) arrives within the signal coverage range of the first communication device, the first communication device uploads the detection results of each pressure sensor (15) to the unmanned aerial vehicle (7) via the second communication device, and the unmanned aerial vehicle (7) uploads the detection results to the control center (1) via the third communication device; The sensor components (12) are each equipped with a compression spring (16), an extrusion cylinder (14), and an internal threaded hole; The internal threaded hole is a through hole and is arranged on the mounting plate (11); the extrusion cylinder (14) is threadedly connected in the internal threaded hole and passes through the mounting plate (11); the compression spring (16) is a coil spring sleeved on the tension meter tube (18); and a support platform (17) is fixed on the tension meter tube (18); The mounting plate (11) constrains the sensor assembly (12) in the following manner: the lower end of the compression spring (16) is supported on the support platform (17), the lower end of the extrusion cylinder (14) abuts against the upper end of the compression spring (16), and the upper end of the tension meter tube (18) is inserted into the extrusion cylinder (14).

2. The automatic vegetation irrigation system according to claim 1, characterized in that: The sensor components (12) are each equipped with a cone (19), the upper end of the ceramic head (20) is butted against the lower end of the tensiometer tube (18), the ceramic head (20) and the tensiometer tube (18) are coaxial, the cone (19) is fixed to the lower side of the tensiometer tube (18), the cone (19) and the tensiometer tube (18) are coaxial, and the tip of the cone (19) faces the ceramic head (20).

3. The automatic vegetation irrigation system according to claim 1, characterized in that: The anchor assembly comprises a second anchor rod (21) and a first anchor rod (9); the second anchor rod (21) is a rod-shaped structure with a pressure plate provided at the upper end; the mounting plate (11) is provided with a center hole; the second anchor rod (21) and the mounting plate (11) can be matched in the following manner: the second anchor rod (21) passes through the mounting plate (11) through the center hole; and the lower end of the pressure plate is supported on the top surface of the mounting plate (11); There are a plurality of first anchor rods (9), each of which is a rod-shaped structure with a first pull ear at the upper end. Each first anchor rod (9) is provided with a cable (10). A plurality of second pull ears are fixed on the mounting plate (11). The second pull ears are evenly arranged around the central hole. The number of the second pull ears is equal to the number of the first anchor rods (9). The first anchor rod (9) and the mounting plate (11) can be matched in such a way that one end of the cable (10) is fixedly connected to the first pull ear, and the other end of the cable (10) is fixedly connected to the second pull ear. Each second pull ear is connected to a first anchor rod (9) via the cable (10).

4. The automatic vegetation irrigation system according to claim 1, characterized in that: The irrigation pipeline (3) comprises a main pipe and a plurality of regional pipelines (4) serving as branches, each of the regional pipelines (4) being connected to the main pipe, each of the regional pipelines (4) being equipped with a control valve (5), the control valve (5) being used to control the conduction state between the regional pipeline (4) and the main pipe, each of the control valves (5) being equipped with an electric actuator for realizing valve opening drive and valve closing drive; Each control valve (5) is equipped with a control unit for controlling the operation of the electric actuator, the control unit comprising a fourth communication device, the fourth communication device being used to establish wireless communication between the drone (7) and the control valve (5), and when the drone (7) arrives within the signal coverage range of the fourth communication device, the drone (7) sends a control valve (5) operation instruction to the control unit.

5. An automatic vegetation irrigation system according to any one of claims 1 to 4, characterized in that: The drone (7) is equipped with a flight control module, and the flight control module has built-in data of a route (8) covering the irrigation area; The number of the detection devices (6) is multiple; The drone (7) is also equipped with an image acquisition module.

6. An automated vegetation irrigation method, characterized in that: The method is implemented based on the automated vegetation irrigation system described in any one of claims 1 to 5. The automatic vegetation irrigation system is installed in an irrigation area, and the specific installation method is: the installation plate (11) is horizontally installed on the surface of the irrigation area through an anchoring component, and the ceramic heads (20) of different sensor components (12) are installed at different depths of the soil; The method for detecting soil moisture by the detection device (6) is as follows: on each sensor assembly (12), a pressure sensor (15) detects the vacuum degree inside the tensiometer tube (18), and uses the vacuum degree as a detection result reflecting the soil moisture; When the drone (7) arrives within the signal coverage range of the first communication device, the detection results of each sensor component are uploaded to the drone (7) through the wireless communication established between the first communication device and the second communication device. The drone (7) uploads the collected detection results to the control center (1) through the wireless communication established between the third communication device and the control center (1). The control center (1) formulates an operation strategy for the irrigation pipeline (3) based on the detection results and controls the operation of the irrigation pipeline (3) based on the operation strategy. When formulating an operation strategy for the irrigation pipeline (3), the control center (1) collects the inspection results of the pressure sensors (15) on each sensor component (12), and compares the inspection results with the set vacuum threshold value. For each sensor component (12) of the detection device (6), the vacuum threshold value configured for each sensor component (12) is different: the vacuum threshold value configured for the sensor component (12) with the ceramic head (20) located deep in the soil is smaller than the vacuum threshold value configured for the sensor component (12) with the ceramic head (20) located shallow in the soil. When the inspection results of each sensor component (12) are greater than the vacuum threshold value configured for the sensor component (12), the operation strategy is formulated for the irrigation pipeline (3) to perform irrigation operations.

7. The automatic vegetation irrigation method according to claim 6, characterized in that: The automated vegetation irrigation system is the automated vegetation irrigation system according to claim 1, and the automated vegetation irrigation system is installed as follows: after the mounting plate (11) is horizontally mounted on the surface of the irrigation area and the ceramic head (20) on each sensor assembly (12) is embedded in the bottom layer, the compression spring (16) on the sensor assembly (12) is compressed by rotating the extrusion cylinder (14) on each sensor assembly (12), and the compression spring (16) of the sensor assembly (12) is always in a compressed and deformed state during use.

8. The automatic vegetation irrigation method according to claim 7, characterized in that: The automated vegetation irrigation system is the automated vegetation irrigation system according to claim 3, and the automated vegetation irrigation system is installed as follows: after the installation plate (11) is initially anchored on the ground surface by the second anchor rod (21) and the installation plate (11) is leveled, the cable (10) connected to each first anchor rod (9) is used to provide lateral tension for the installation plate (11), the first anchor rod (9) is anchored on the ground outside the installation plate (11), the first anchor rods (9) are evenly arranged around the installation plate (11), the second pull ear is located above the first pull ear, each first anchor rod (9) provides lateral tension for the installation plate (11) through the cable (10) connected to its first pull ear, the connection point of the cable (10) on the installation plate (11) is located on the second pull ear, and each second pull ear is connected to a first anchor rod (9) through the cable (10), and for the installation plate (11), the lateral tension is a tension directed toward the outside of the installation plate (11) and inclined downward.

9. The automatic vegetation irrigation method according to claim 6, characterized in that: The automated vegetation irrigation system is the automated vegetation irrigation system according to claim 5, wherein the detection devices (6) are dispersedly arranged in the irrigation area; When the drone (7) flies along the planned route (8) according to the route (8) data, the drone (7) passes through the signal coverage of the first communication device on each detection device (6) in sequence. When passing through the signal coverage of any first communication device, the drone (7) collects the detection results through the second communication device and uploads the detection results to the control center (1) through the third communication device. The control center (1) formulates an irrigation pipeline (3) operation strategy according to the detection results. When it is determined that the irrigation strategy is to be executed, the irrigation pipeline (3) is controlled to irrigate the area where the detection device (6) is located. The irrigation is performed immediately or during the time period set by the control center (1). The irrigation amount for irrigation is determined according to the detection result, and the determination method is any one of the following methods: Method 1: When the drone (7) arrives at the signal coverage range of the first communication device of the detection device (6) next time, the soil moisture detection result after the irrigation is implemented is collected, and the soil moisture detection result is uploaded to the control center (1) through the third communication device. When the control center (1) determines that the current soil moisture is equal to or greater than the preset humidity upper limit, the irrigation pipeline (3) is controlled to stop irrigation; Method 2: the control center (1) determines the irrigation demand of the area where the detection device (6) is located according to the current detection result, and when the actual irrigation amount of the implemented irrigation reaches the determined irrigation demand, the irrigation pipeline (3) stops irrigation; When the drone (7) flies along the planned route (8) according to the route (8) data, the image acquisition module acquires the vegetation image of the irrigation area and uploads the vegetation image to the control center (1) through the third communication device. The control center (1) performs any one or more of the following operations according to the vegetation image: Operation 1: Analyze vegetation pests and diseases based on vegetation images and generate pest and disease analysis data; Operation 2: Adjust the preset humidity upper limit or irrigation demand according to the ground coverage rate of vegetation in the vegetation image. When the ground coverage rate increases, increase the preset humidity upper limit or increase the irrigation demand.

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