Large-scale sprinkling machine walking path positioning planning method and system based on Beidou navigation

Abstract

The invention provides a big dipper navigation-based large sprinkling machine walking path positioning and planning system, which comprises a map construction module, a path planning module, a real-time adjustment module and a monitoring management module, and is characterized in that the map construction module is used for importing basic geographic information data of a sprinkling irrigation area; the path planning module is used for selecting a proper path planning algorithm and setting related parameters; the real-time adjustment module is used for determining the environment information according to which adjustment is carried out and an adjustment rule; the monitoring management module is used for setting communication parameters with a remote monitoring center. According to the big dipper navigation-based large-scale sprinkling machine walking path positioning and planning system provided by the invention, the irrigation precision is improved, the position and environment information of the sprinkling machine can be obtained in real time by utilizing a big dipper navigation system and a sensor technology, and accurate positioning and path planning are realized. The irrigation coverage range of the sprinkler in a farmland can be more uniform, the situation of irrigation leakage or repeated irrigation is avoided, and the irrigation precision and effect are improved.

Description

Technical Field

[0001] The invention relates to the field of crop fertilization, and in particular to a Beidou navigation-based large-scale sprinkler travel path positioning planning system. Background Art

[0002] With the continuous increase of global population and the sustainable development of agricultural production, the demand for efficient and precise agricultural irrigation is growing. Traditional irrigation methods often have problems such as waste of water resources and uneven irrigation, which are difficult to meet the development requirements of modern agriculture. Large sprinkler machines, as a kind of efficient irrigation equipment, can achieve uniform irrigation over a large area.

[0003] Limitations of Traditional Path Planning Methods

[0004] Traditional large-scale sprinkler path planning methods mainly rely on manual experience or simple geometric planning, which has the problems of low planning efficiency, poor accuracy, and weak adaptability, making it difficult to meet the needs of precise irrigation in complex farmland environments.

[0005] At the same time, traditional methods cannot obtain the location and environmental information of the sprinkler in real time, making it difficult to make real-time adjustments and optimizations, which can easily lead to problems such as water waste and uneven irrigation.

[0006] Therefore, it is necessary to provide a Beidou navigation-based large sprinkler travel path positioning planning system to solve the above technical problems. Summary of the invention

[0007] The present invention provides a Beidou navigation-based large-scale sprinkler irrigation machine walking path positioning planning system, which solves the problems that the traditional large-scale sprinkler irrigation machine path planning method mainly relies on manual experience or simple geometric planning, and has low planning efficiency, poor accuracy and weak adaptability.

[0008] In order to solve the above technical problems, the present invention provides a Beidou navigation large-scale sprinkler travel path positioning planning system, comprising:

[0009] A map construction module, a path planning module, a real-time adjustment module and a monitoring management module, wherein the map construction module is used to import basic geographic information data of the sprinkler irrigation area;

[0010] The path planning module is used to select a suitable path planning algorithm and set relevant parameters;

[0011] The real-time adjustment module is used to determine the environmental information to be adjusted and the adjustment rules;

[0012] The monitoring management module is used to set communication parameters with a remote monitoring center.

[0013] Preferably, the map construction module includes terrain collection, soil type collection and water source location collection.

[0014] Preferably, the path planning module includes sprinkler coverage requirements and energy consumption limitations.

[0015] Preferably, the map construction module includes a data collection and preparation unit, a map drawing and digitization unit, a map correction and optimization unit and a map storage and update unit.

[0016] Preferably, the data collection and preparation unit is used for collecting geographic information, collecting soil information and marking obstacles.

[0017] Preferably, the mapping and digitizing unit is used to draw sketches, digitize maps and annotate attribute information.

[0018] Preferably, the map correction and optimization unit is used for coordinate correction, terrain smoothing and map optimization.

[0019] Preferably, the map storage and update unit is used for storing map data, establishing a map database and updating maps.

[0020] Preferably, the real-time adjustment module includes a sensor feedback real-time adjustment unit, a data analysis real-time adjustment unit and a manual intervention real-time adjustment unit.

[0021] A system method for Beidou navigation-based large sprinkler irrigation machine walking path positioning planning includes the following steps:

[0022] S1, data collection and map construction;

[0023] S11, location information collection: start the Beidou navigation receiving device, start collecting the longitude, latitude and altitude location information of the sprinkler in real time, and transmit the location information to the controller and map construction module.

[0024] S12, environmental information collection: terrain sensors collect terrain data of the irrigation area, soil moisture sensors collect soil moisture information, and other sensors collect relevant environmental data as needed, and transmit the environmental information to the controller and map building module;

[0025] S13, map construction: the map construction module constructs a detailed map of the sprinkler irrigation area based on the collected location information and environmental information, and marks the terrain, soil type, water source location, obstacles, and no-spraying area information of different plots on the map;

[0026] S2, path planning;

[0027] S21, determining the initial position and target area: the controller determines the current position of the sprinkler according to the position information provided by the Beidou navigation system, and determines the target area according to the irrigation task;

[0028] S22, selecting a path planning algorithm: the path planning module selects a suitable path planning algorithm according to the set algorithm and parameters, combined with the constructed map, the current position of the sprinkler and the target area;

[0029] S23, generating a travel path: the path planning algorithm calculates the optimal travel path of the sprinkler from the current position to the target area according to the input information, and transmits the generated path information to the controller and the actuator of the sprinkler;

[0030] S3, walking and real-time adjustment;

[0031] S31, start walking: the controller controls the sprinkler to start walking according to the result of path planning, and performs irrigation operations according to the planned path;

[0032] S32, Real-time data monitoring: Beidou navigation receiver continuously monitors the location information of the sprinkler to ensure that it is walking on the correct path, and various sensors continuously collect environmental information;

[0033] S33, real-time adjustment: when the real-time monitoring detects changes in environmental information, the real-time adjustment module makes adjustments according to preset rules, and the controller replans the local path or adjusts the action of the sprinkler according to the adjusted information;

[0034] S4, remote monitoring and management;

[0035] S41, data transmission: the communication module transmits the location information, operation status and environmental information of the sprinkler to the remote monitoring center in real time;

[0036] S42. Remote monitoring: Managers can view the operation of the sprinkler in real time through the monitoring management module of the remote monitoring center, and can view the location, walking path, and operation progress of the sprinkler on the map;

[0037] S43, Management and Scheduling: Based on the monitoring situation, managers can perform remote management and scheduling.

[0038] Compared with the related art, the system for positioning and planning the path of a large sprinkler machine based on Beidou navigation provided by the present invention has the following beneficial effects:

[0039] The present invention provides a Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system.

[0040] Improve irrigation accuracy: The Beidou navigation system and sensor technology can obtain the location and environmental information of the sprinkler in real time, and achieve accurate positioning and path planning. This can ensure that the sprinkler has a more uniform irrigation coverage in the farmland, avoid missed irrigation or repeated irrigation, and improve irrigation accuracy and effect;

[0041] Precision irrigation can reduce water waste, improve water utilization efficiency, and meet the requirements of sustainable agricultural development;

[0042] Optimize operation efficiency: By selecting the appropriate path planning algorithm, the optimal travel path can be planned for the sprinkler, reducing the travel distance and energy consumption, and improving operation efficiency. At the same time, the real-time adjustment function can enable the sprinkler to respond quickly when encountering obstacles or other abnormal situations, avoiding delays in operation time and ensuring the smooth progress of irrigation operations. Efficient operation efficiency can reduce agricultural production costs and improve agricultural production benefits;

[0043] Enhanced intelligence: Beidou navigation's large sprinkler travel path positioning planning system integrates a variety of advanced technologies. The application of these technologies can improve the intelligence level of sprinklers and realize automated and precise irrigation operations.

[0044] Intelligent sprinkler irrigation can reduce manual intervention, lower labor intensity, and improve the modernization level of agricultural production;

[0045] Easy to manage and dispatch: The application of the communication module can realize the data transmission between the sprinkler and the remote monitoring center, which is convenient for the management personnel to remotely monitor and manage the operation status of the sprinkler, and timely understand the location, operation progress, fault conditions and other information of the sprinkler, so as to carry out reasonable dispatch and arrangement. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic structural diagram of a first embodiment of a Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system provided by the present invention;

[0047] Figure 2 A schematic structural diagram of a second embodiment of a Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system provided by the present invention;

[0048] Figure 3 A schematic structural diagram of a third embodiment of a Beidou navigation-based large sprinkler travel path positioning planning system provided by the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0050] First embodiment

[0051] Please refer to Figure 1 ,in, Figure 1 A schematic diagram of the structure of a first embodiment of a Beidou navigation system for positioning and planning the path of a large sprinkler provided by the present invention. A Beidou navigation system for positioning and planning the path of a large sprinkler includes:

[0052] A map construction module, a path planning module, a real-time adjustment module and a monitoring management module, wherein the map construction module is used to import basic geographic information data of the sprinkler irrigation area;

[0053] The path planning module is used to select a suitable path planning algorithm and set relevant parameters;

[0054] The real-time adjustment module is used to determine the environmental information to be adjusted and the adjustment rules;

[0055] The monitoring management module is used to set communication parameters with a remote monitoring center.

[0056] The map construction module includes terrain collection, soil type collection and water source location collection.

[0057] The path planning module includes sprinkler coverage requirements and energy consumption constraints.

[0058] A system method for Beidou navigation-based large sprinkler irrigation machine walking path positioning planning includes the following steps:

[0059] S1, data collection and map construction;

[0060] S11, location information collection: start the Beidou navigation receiving device, start collecting the longitude, latitude and altitude location information of the sprinkler in real time, and transmit the location information to the controller and map construction module.

[0061] S12, environmental information collection: terrain sensors collect terrain data of the irrigation area, soil moisture sensors collect soil moisture information, and other sensors collect relevant environmental data as needed, and transmit the environmental information to the controller and map building module;

[0062] S13, map construction: the map construction module constructs a detailed map of the sprinkler irrigation area based on the collected location information and environmental information, and marks the terrain, soil type, water source location, obstacles, and no-spraying area information of different plots on the map;

[0063] S2, path planning;

[0064] S21, determining the initial position and target area: the controller determines the current position of the sprinkler according to the position information provided by the Beidou navigation system, and determines the target area according to the irrigation task;

[0065] S22, selecting a path planning algorithm: the path planning module selects a suitable path planning algorithm according to the set algorithm and parameters, combined with the constructed map, the current position of the sprinkler and the target area;

[0066] S23, generating a travel path: the path planning algorithm calculates the optimal travel path of the sprinkler from the current position to the target area according to the input information, and transmits the generated path information to the controller and the actuator of the sprinkler;

[0067] S3, walking and real-time adjustment;

[0068] S31, start walking: the controller controls the sprinkler to start walking according to the result of path planning, and performs irrigation operations according to the planned path;

[0069] S32, Real-time data monitoring: Beidou navigation receiver continuously monitors the location information of the sprinkler to ensure that it is walking on the correct path, and various sensors continuously collect environmental information;

[0070] S33, real-time adjustment: when the real-time monitoring detects changes in environmental information, the real-time adjustment module makes adjustments according to preset rules, and the controller replans the local path or adjusts the action of the sprinkler according to the adjusted information;

[0071] S4, remote monitoring and management;

[0072] S41, data transmission: the communication module transmits the location information, operation status and environmental information of the sprinkler to the remote monitoring center in real time;

[0073] S42. Remote monitoring: Managers can view the operation of the sprinkler in real time through the monitoring management module of the remote monitoring center, and can view the location, walking path, and operation progress of the sprinkler on the map;

[0074] S43, Management and Scheduling: Based on the monitoring situation, managers can perform remote management and scheduling.

[0075] Compared with the related art, the system for positioning and planning the path of a large sprinkler machine based on Beidou navigation provided by the present invention has the following beneficial effects:

[0076] The present invention provides a Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system.

[0077] Improve irrigation accuracy: The Beidou navigation system and sensor technology can obtain the location and environmental information of the sprinkler in real time, and achieve accurate positioning and path planning. This can ensure that the sprinkler has a more uniform irrigation coverage in the farmland, avoid missed irrigation or repeated irrigation, and improve irrigation accuracy and effect;

[0078] Precision irrigation can reduce water waste, improve water utilization efficiency, and meet the requirements of sustainable agricultural development;

[0079] Optimize operation efficiency: By selecting the appropriate path planning algorithm, the optimal travel path can be planned for the sprinkler, reducing the travel distance and energy consumption, and improving operation efficiency. At the same time, the real-time adjustment function can enable the sprinkler to respond quickly when encountering obstacles or other abnormal situations, avoiding delays in operation time and ensuring the smooth progress of irrigation operations. Efficient operation efficiency can reduce agricultural production costs and improve agricultural production benefits;

[0080] Enhanced intelligence: Beidou navigation's large sprinkler travel path positioning planning system integrates a variety of advanced technologies. The application of these technologies can improve the intelligence level of sprinklers and realize automated and precise irrigation operations.

[0081] Intelligent sprinkler irrigation can reduce manual intervention, lower labor intensity, and improve the modernization level of agricultural production;

[0082] Easy to manage and dispatch: The application of the communication module can realize the data transmission between the sprinkler and the remote monitoring center, which is convenient for the management personnel to remotely monitor and manage the operation status of the sprinkler, and timely understand the location, operation progress, fault conditions and other information of the sprinkler, so as to carry out reasonable dispatch and arrangement.

[0083] Second embodiment

[0084] Please refer to Figure 2 Based on the system for positioning and planning the path of a large-scale sprinkler machine using Beidou navigation provided in the first embodiment of the present application, the second embodiment of the present application proposes another system for positioning and planning the path of a large-scale sprinkler machine using Beidou navigation. The second embodiment is only a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0085] Specifically, the second embodiment of the present application provides a system for positioning and planning the travel path of a large-scale sprinkler using Beidou navigation, which is different in that it is a system for positioning and planning the travel path of a large-scale sprinkler using Beidou navigation, and the map construction module includes a data collection and preparation unit, a map drawing and digitization unit, a map correction and optimization unit, and a map storage and update unit.

[0086] The data collection and preparation unit is used for collecting geographic information, collecting soil information and marking obstacles.

[0087] The mapping and digitizing unit is used to draw sketches, digitize maps and annotate attribute information.

[0088] The map correction and optimization unit is used for coordinate correction, terrain smoothing and map optimization.

[0089] The map storage and update unit is used for storing map data, establishing a map database and updating maps.

[0090] Geographic Information Collection

[0091] Use surveying equipment (such as total station, GPS receiver, etc.) to conduct field measurements of the sprinkler irrigation area to obtain basic geographic information such as terrain elevation data and boundary range.

[0092] Collect satellite images or aerial photographs of the sprinkler irrigation area to gain a more intuitive understanding of the overall topography and characteristics of the area.

[0093] Soil information collection

[0094] Through soil sampling and analysis, we can determine the soil type, texture, fertility and other information in different areas. This information is very important for considering the water demand and irrigation effect of different soils when planning sprinkler irrigation routes.

[0095] You can use professional soil testing equipment or entrust a laboratory to conduct soil analysis.

[0096] Obstacle marking

[0097] During the field survey, obstacles in the sprinkler area, such as trees, buildings, and electric poles, are marked. These obstacles will affect the travel path of the sprinkler and need to be accurately marked when the map is constructed.

[0098] The location and size of obstacles can be recorded using Geographic Information System (GIS) software or by hand-drawn maps.

[0099] 2. Mapping and Digitization

[0100] Sketching

[0101] Based on the collected geographic information and obstacle markings, draw a sketch of the irrigation area on paper or using drawing software. The sketch should include major elements such as terrain contours, boundaries, and obstacle locations.

[0102] When drawing sketches, appropriate simplification and abstraction can be made according to the actual situation in order to display key information more clearly.

[0103] Digital Map

[0104] Use GIS software or professional mapping tools to digitize the information in the sketch. This includes converting terrain contours, obstacle locations, etc. into digital coordinates and establishing corresponding layers.

[0105] During the digitization process, it is necessary to ensure the accuracy and consistency of the coordinate system for subsequent path planning and positioning calculations.

[0106] Label attribute information

[0107] On the digital map, attribute information is marked for different areas and elements, for example, different soil types are marked with colors or codes, and obstacles are marked with types and sizes.

[0108] The labeling of attribute information can help the sprinkler better identify and deal with different terrains and obstacles during its operation.

[0109] Compared with the related art, the system for positioning and planning the path of a large sprinkler machine based on Beidou navigation provided by the present invention has the following beneficial effects:

[0110] The present invention provides a Beidou navigation-based large-scale sprinkler travel path positioning planning system, in which a data collection and preparation unit, a map drawing and digitization unit, a map correction and optimization unit, and a map storage and update unit are respectively arranged in a map construction module, so that data of crop land to be fertilized can be collected more meticulously, and the use of the large-scale sprinkler in the later stage is convenient.

[0111] Third embodiment

[0112] Please refer to Figure 3 Based on the system for positioning and planning the path of a large-scale sprinkler machine using Beidou navigation provided in the first embodiment of the present application, the third embodiment of the present application proposes another system for positioning and planning the path of a large-scale sprinkler machine using Beidou navigation. The third embodiment is only a preferred embodiment of the first embodiment, and the implementation of the third embodiment will not affect the independent implementation of the first embodiment.

[0113] Specifically, the third embodiment of the present application provides a system for Beidou navigation and path positioning planning for large sprinkler irrigation machines, which is different in that it is a system for Beidou navigation and path positioning planning for large sprinkler irrigation machines, and the real-time adjustment module includes a sensor feedback real-time adjustment unit, a data analysis real-time adjustment unit and a manual intervention real-time adjustment unit.

[0114] Sensor feedback real-time adjustment unit includes: Position sensor adjustment

[0115] Using position sensors such as the Global Navigation Satellite System (GNSS) such as Beidou Navigation, the position of the sprinkler is monitored in real time. If the sprinkler deviates from the planned path, the control system can calculate the adjustment amount based on the position deviation and return the sprinkler to the correct path by adjusting the speed and direction of the traveling mechanism.

[0116] For example, when it is detected that the sprinkler has deviated to the left by a certain distance, the control system can reduce the speed of the left travel wheel or increase the speed of the right travel wheel to adjust the sprinkler to the right.

[0117] Obstacle sensor adjustment

[0118] Install obstacle sensors such as ultrasonic sensors and lidar to detect obstacles around the sprinkler in real time. When the sensor detects an obstacle, the control system can immediately stop the sprinkler and calculate the obstacle avoidance path based on the location and distance of the obstacle.

[0119] For example, if a large rock appears in front of the sprinkler, the control system can stop moving first, then calculate a path to the left or right, avoid the obstacle, and then return to the planned path to continue working.

[0120] Soil Moisture Sensor Adjustment

[0121] A soil moisture sensor is installed on the sprinkler to monitor the soil moisture in real time. According to the changes in soil moisture, the control system can adjust the sprinkler's irrigation intensity and travel speed.

[0122] The real-time adjustment unit for data analysis includes:

[0123] Historical data comparison and adjustment

[0124] Collect the operation data of the sprinkler in different time periods and different environmental conditions and establish a historical database. In the real-time operation process, compare and analyze the current operation data with the historical data. If a large difference is found between the current data and the historical data, the control system can make corresponding adjustments.

[0125] For example, if the current sprinkler intensity and travel speed are significantly higher or lower than historical data, the control system can make adjustments based on the average value or trend of the historical data to make the sprinkler operating parameters more reasonable.

[0126] Real-time data analysis and adjustment

[0127] The sensor data collected in real time is quickly analyzed to extract key information, such as the position deviation of the sprinkler, the distance to obstacles, the rate of change of soil moisture, etc. Based on this information, the control system can use intelligent algorithms such as fuzzy logic and neural networks to make real-time adjustments.

[0128] For example, by using fuzzy logic algorithms, the sprinkler intensity and travel speed can be automatically adjusted according to the size and direction of the soil moisture change rate to achieve precise irrigation.

[0129] The real-time adjustment unit for manual intervention includes:

[0130] Remote monitoring and adjustment

[0131] The real-time operation status of the sprinkler is transmitted to the remote monitoring center through wireless communication technology. The operator can understand the operation status of the sprinkler through monitoring images and data reports in the remote monitoring center, and can remotely intervene and adjust the travel path and operation parameters of the sprinkler when necessary.

[0132] For example, if the operator finds that the sprinkler has an abnormal situation in a certain area, he can use remote control commands to adjust the sprinkler's travel direction or sprinkler intensity, and then resume automatic operation after solving the problem.

[0133] On-site manual adjustment

[0134] At the sprinkler operation site, operators can make manual adjustments based on actual conditions;

[0135] For example, if it is found that the travel path of the sprinkler is blocked by a temporary obstacle, the sprinkler can be manually operated to bypass the obstacle; if it is found that the irrigation effect of a certain area is not ideal, the sprinkler angle and sprinkler range can be manually adjusted.

[0136] On-site manual adjustment requires the operator to have certain professional knowledge and experience, and pay attention to safety to avoid damage to the sprinkler and the surrounding environment.

[0137] Compared with the related art, the system for positioning and planning the path of a large sprinkler machine based on Beidou navigation provided by the present invention has the following beneficial effects:

[0138] The present invention provides a Beidou navigation-based system for positioning and planning the travel path of a large sprinkler irrigation machine. In the real-time adjustment module, a sensor feedback real-time adjustment unit, a data analysis real-time adjustment unit and a manual intervention real-time adjustment unit are respectively arranged, so that various emergencies can be formulated in advance, which is convenient for timely response to situations that may occur in later work.

[0139] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A Beidou navigation system for large sprinkler irrigation machine path positioning planning. It is characterized in that include: A map construction module, a path planning module, a real-time adjustment module and a monitoring management module, wherein the map construction module is used to import basic geographic information data of the sprinkler irrigation area; The path planning module is used to select a suitable path planning algorithm and set relevant parameters; The real-time adjustment module is used to determine the environmental information to be adjusted and the adjustment rules; The monitoring management module is used to set communication parameters with a remote monitoring center.

2. According to the Beidou navigation system for large-scale sprinkler irrigation machine travel path positioning planning according to claim 1, It is characterized in that The map construction module includes terrain collection, soil type collection and water source location collection.

3. According to the Beidou navigation system for large-scale sprinkler irrigation machine travel path positioning planning as described in claim 1, It is characterized in that The path planning module includes sprinkler coverage requirements and energy consumption constraints.

4. According to claim 1, the Beidou navigation large-scale sprinkler machine walking path positioning planning system, It is characterized in that The map construction module includes a data collection and preparation unit, a map drawing and digitization unit, a map correction and optimization unit and a map storage and update unit.

5. According to the Beidou navigation system for large-scale sprinkler irrigation machine travel path positioning planning according to claim 4, It is characterized in that The data collection and preparation unit is used for collecting geographic information, collecting soil information and marking obstacles.

6. The Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system according to claim 4, It is characterized in that The mapping and digitizing unit is used to draw sketches, digitize maps and annotate attribute information.

7. The Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system according to claim 4, It is characterized in that The map correction and optimization unit is used for coordinate correction, terrain smoothing and map optimization.

8. The Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system according to claim 4, It is characterized in that The map storage and update unit is used for storing map data, establishing a map database and updating maps.

9. The Beidou navigation-based large-scale sprinkler irrigation machine travel path positioning planning system according to claim 1, It is characterized in that The real-time adjustment module includes a sensor feedback real-time adjustment unit, a data analysis real-time adjustment unit and a manual intervention real-time adjustment unit.

10. A system method for positioning and planning the walking path of a large sprinkler based on Beidou navigation. It is characterized in that The following steps are involved: S1, data collection and map construction; S11, location information collection: start the Beidou navigation receiving device, start collecting the longitude, latitude and altitude location information of the sprinkler in real time, and transmit the location information to the controller and map construction module. S12, environmental information collection: terrain sensors collect terrain data of the irrigation area, soil moisture sensors collect soil moisture information, and other sensors collect relevant environmental data as needed, and transmit the environmental information to the controller and map building module; S13, map construction: the map construction module constructs a detailed map of the sprinkler irrigation area based on the collected location information and environmental information, and marks the terrain, soil type, water source location, obstacles, and no-spraying area information of different plots on the map; S2, path planning; S21, determining the initial position and target area: the controller determines the current position of the sprinkler according to the position information provided by the Beidou navigation system, and determines the target area according to the irrigation task; S22, selecting a path planning algorithm: the path planning module selects a suitable path planning algorithm according to the set algorithm and parameters, combined with the constructed map, the current position of the sprinkler and the target area; S23, generating a travel path: the path planning algorithm calculates the optimal travel path of the sprinkler from the current position to the target area according to the input information, and transmits the generated path information to the controller and the actuator of the sprinkler; S3, walking and real-time adjustment; S31, start walking: the controller controls the sprinkler to start walking according to the result of path planning, and performs irrigation operations according to the planned path; S32, Real-time data monitoring: Beidou navigation receiver continuously monitors the location information of the sprinkler to ensure that it is walking on the correct path, and various sensors continuously collect environmental information; S33, real-time adjustment: when the real-time monitoring detects changes in environmental information, the real-time adjustment module makes adjustments according to preset rules, and the controller replans the local path or adjusts the action of the sprinkler according to the adjusted information; S4, remote monitoring and management; S41, data transmission: the communication module transmits the location information, operation status and environmental information of the sprinkler to the remote monitoring center in real time; S42. Remote monitoring: Managers can view the operation of the sprinkler in real time through the monitoring management module of the remote monitoring center, and can view the location, walking path, and operation progress of the sprinkler on the map; S43, Management and Scheduling: Based on the monitoring situation, managers can perform remote management and scheduling.

Images