Autonomous power supply type day-by-day tracking type intelligent sprinkling irrigation device

Abstract

The invention provides an autonomous power supply type day-by-day tracking type intelligent sprinkling irrigation device which comprises a solar power supply system, an intelligent sensor group, a flow regulation module, a day-by-day tracking module and a sprinkling irrigation execution module. Solar energy is collected through the solar cell panel, the energy storage battery is charged through the power management module, and autonomous power supply of the device is ensured. The intelligent sensor group comprises a soil humidity sensor, an environment temperature and humidity sensor, an illumination intensity sensor and a wind speed sensor, and transmits data to the central processor through the wireless communication module. The central processing unit adjusts work of the flow adjusting valve and the spray head based on an irrigation model and a water demand calculation formula, and precise irrigation is achieved. The day-by-day tracking module adjusts the angle of a solar cell panel through an angle adjusting motor, and the energy utilization efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent agricultural irrigation, and in particular is an autonomous power supply type daily tracking type intelligent sprinkler irrigation device. Background Art

[0002] With the continuous development of daily irrigation technology, existing daily irrigation products have been widely used. However, these products still have some problems in actual use. For example, existing daily irrigation systems usually rely on external power supplies and lack intelligent flow regulation and tracking functions, which leads to problems such as low efficiency, complex operation, and unstable performance.

[0003] To address these issues, there have been some attempts to improve the automation level of irrigation systems by integrating sensors and remote control technologies. Although these methods have improved related aspects to a certain extent, they still have limitations, such as dependence on external power supplies, low flow regulation accuracy, and inability to track crop water requirements in real time.

[0004] Specifically, after searching, a method for estimating the actual daily evapotranspiration in irrigation areas based on remote sensing information was disclosed with a publication number of CN111553459B, and the publication date was 2021-10-12. This design adopts an integrated method of the evapotranspiration model and the temperature model based on remote sensing information. Although it can achieve high-precision daily actual evapotranspiration estimation, it is difficult to operate continuously in remote areas or when the power supply is unstable due to its reliance on external power supplies and complex calculation models. In addition, this method mainly focuses on evapotranspiration estimation and lacks support for real-time flow regulation and autonomous power supply functions of the irrigation system, so it has certain limitations in practical applications.

[0005] After searching, an irrigation method and system with publication number CN115039676B was disclosed, and the publication date is 2024-03-29. This product adopts a comprehensive analysis method of soil information and environmental information, and determines the irrigation time and irrigation water volume by calculating the effective water storage capacity of the soil and the water consumption of the crop. Although this design can achieve more precise irrigation control, it relies on an external power supply and a complex sensor network, which makes it difficult to operate continuously in remote areas or when the power supply is unstable. In addition, the system lacks autonomous power supply and the ability to track crop water requirements in real time, and cannot achieve efficient and intelligent irrigation management under changing environmental conditions.

[0006] The above problems show that the daily irrigation systems currently on the market are difficult to effectively respond to the new requirements for precise flow control and real-time response under complex working conditions. Therefore, the present invention provides an autonomously powered daily tracking intelligent sprinkler device to overcome these shortcomings and provide a new solution that is more intelligent, efficient and adaptable to changing environments. The device integrates a solar power supply system, intelligent sensors and real-time flow regulation technology to achieve the functions of autonomous power supply, precise irrigation and real-time tracking of crop water requirements, significantly improving the reliability and intelligence level of the irrigation system. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention provides an autonomously powered daily tracking intelligent sprinkler device to overcome the new requirements of the existing daily irrigation system for precise flow control and real-time response under complex working conditions, and to provide a new solution that is more intelligent, efficient and adaptable to changing environments.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] The present invention provides an autonomous power supply type daily tracking type intelligent sprinkler irrigation device, comprising a solar power supply system, an intelligent sensor group, a flow regulation module, a daily tracking module and a sprinkler irrigation execution module. The solar power supply system comprises a solar panel, an energy storage battery and a power management module. The intelligent sensor group comprises a soil moisture sensor, an ambient temperature and humidity sensor, a light intensity sensor and a wind speed sensor. The flow regulation module comprises a water pump, a flow regulating valve and a flow meter. The daily tracking module comprises a sun position tracker, an angle adjustment motor and an angle sensor. The sprinkler irrigation execution module comprises a sprinkler head and a nozzle.

[0010] The solar panel is installed on the top of the device, and the energy storage battery is charged through the power management module, and the energy storage battery supplies power to the entire device. The soil moisture sensor, ambient temperature and humidity sensor, light intensity sensor and wind speed sensor are installed at different locations of the farmland, and the collected data are transmitted to the central processing unit in real time through the wireless communication module. The water pump is connected to the water pool through a pipeline, the flow regulating valve is installed between the water pump and the nozzle, and the flow meter is installed between the flow regulating valve and the nozzle. The opening of the flow regulating valve is controlled by the central processing unit to achieve precise control of the irrigation flow. The sun position tracker is installed on the top of the device, and the angle of the sprinkler device is adjusted in real time through the angle adjustment motor and the angle sensor, so that it is always aimed at the sun to maximize the utilization efficiency of solar energy. The nozzle is installed at the end of the nozzle, and the switch and sprinkler time of the nozzle are controlled by the central processing unit to achieve precise irrigation of the farmland.

[0011] The central processor adjusts the parameters of the flow regulation module in real time based on the data collected by the intelligent sensor group, combined with the preset irrigation model and the crop water requirement calculation formula to ensure that the irrigation amount always matches the crop water requirement. Specifically, the central processor calculates the optimal irrigation amount and irrigation time at the current moment based on the data of the soil moisture, temperature and humidity, light intensity and wind speed sensors, through the irrigation model and the water requirement calculation formula. The irrigation model uses the dynamic balance equation of soil moisture content, combined with environmental factors and crop growth stage, to derive the most suitable irrigation amount. The water requirement calculation formula is:

[0012] Q = α·(E a -E t )+β·I+γ·W

[0013] Among them, Q is the irrigation water requirement, E a is the actual evapotranspiration, E t is crop transpiration, I is light intensity, W is wind speed, α, β and γ are model parameters, which are adjusted according to specific crops and soil types.

[0014] The sun position tracker collects sun position data, combines the feedback from the angle sensor, and adjusts the angle of the sprinkler device through the angle adjustment motor to ensure that the sprinkler device always works under the best lighting conditions. Specifically, the PID control algorithm includes the proportional coefficient (P), the integral coefficient (I), and the differential coefficient (D). Through the adjustment of these coefficients, the PID controller can dynamically calculate the angle change required by the motor. The PID control algorithm is as follows:

[0015]

[0016] Among them, θ(t) is the rotation angle of the angle adjustment motor, e(t) is the error signal, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient. By real-time monitoring and adjusting PID parameters, the sprinkler can be ensured to always point to the sun, thus improving the efficiency of solar energy utilization.

[0017] The power management module includes an energy storage battery, a charging controller and an energy distribution unit. The charging controller is used to monitor the current and voltage of the solar panel in real time, and ensure the efficient charging of the energy storage battery through the maximum power point tracking (MPPT) technology. The energy distribution unit is used to reasonably distribute the electric energy of the energy storage battery, give priority to powering key components such as the central processor, sensor group and angle adjustment motor, and ensure the stable operation of the device. Specifically, in extreme weather such as continuous cloudy days or changes in wind speed, the power management module ensures the power supply of key components by optimizing the distribution strategy, and adjusts the sprinkler frequency and irrigation time to adapt to the situation of insufficient energy. For example, when the power of the energy storage battery is less than 30%, the system automatically reduces the number of sprinklers and extends the sprinkler interval to ensure the continuous operation of the device.

[0018] The working principle of the present invention is as follows: solar energy is collected through solar panels, and the energy storage battery is charged through the power management module, and the energy storage battery supplies power to the entire device. The soil moisture sensor, environmental temperature and humidity sensor, light intensity sensor and wind speed sensor in the intelligent sensor group collect soil moisture, environmental temperature and humidity, light intensity and wind speed data respectively, and transmit them to the central processor in real time through the wireless communication module. The central processor calculates the optimal irrigation amount and irrigation time at the current moment based on the data collected by the sensor group, combined with the irrigation model and the water demand calculation formula. By controlling the opening of the flow control valve and the switch of the sprinkler, the irrigation flow and sprinkler irrigation time can be accurately controlled. The sun position tracker collects data on the direction of sunlight in real time through the sunlight sensor. The microcontroller calculates the rotation angle of the angle adjustment motor through the PID control algorithm based on the output signal of the sunlight sensor. The angle sensor is used to feedback the actual position of the angle adjustment motor to form a closed-loop control, automatically adjust the angle of the sprinkler irrigation device, so that it is always aimed at the sun, and ensure the maximum utilization of the solar panel. The power management module monitors the charging status of the energy storage battery and reasonably distributes solar power to ensure the normal operation of each module, especially in extreme weather conditions such as continuous cloudy days or changes in wind speed. It optimizes the distribution strategy to ensure the power supply of key components and adjusts the sprinkler frequency and irrigation time to adapt to energy shortages.

[0019] The present invention has the following advantages:

[0020] 1. By integrating the solar power supply system, the device can be powered autonomously without the need for external power supply, which is suitable for irrigation needs in remote areas.

[0021] 2. Through the coordinated work of the intelligent sensor group and the central processor, real-time monitoring of farmland soil moisture, ambient temperature and humidity, light intensity and wind speed is achieved. Combined with the preset irrigation model and water demand calculation formula, precise control of irrigation amount and irrigation time is achieved, thereby improving irrigation efficiency.

[0022] 3. Through the automatic adjustment of the sun position tracker, the maximum utilization of solar panels is ensured, the energy utilization efficiency of the device is improved, and the operating cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the solar power supply system of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the intelligent sensor group of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the flow regulating module of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the daily tracking module of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the sprinkler irrigation execution module of the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of the central processing unit and the wireless communication module of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the power management module of the present invention.

[0031] In the figure: 1. Solar panel; 2. Energy storage battery; 3. Power management module; 4. Soil moisture sensor; 5. Ambient temperature and humidity sensor; 6. Light intensity sensor; 7. Wind speed sensor; 8. Wireless communication module; 9. Central processing unit; 10. Water pump; 11. Flow control valve; 12. Flow meter; 13. Nozzle; 14. Nozzle; 15. Sun position tracker; 16. Angle adjustment motor; 17. Angle sensor; 18. Charging controller; 19. Energy distribution unit; 20. Pool; 21. Pipeline; 22. Sunlight sensor; 23. Microcontroller; 24. PI D controller; 25. Proportional coefficient (P); 26. Integral coefficient (I); 27. Differential coefficient (D); 28. Error signal; 29. ​​Rotation angle; 30. Maximum power point tracking (MPPT) module; 31. Energy storage battery power monitoring unit; 32. Sprinkler frequency adjustment unit; 33. Irrigation time adjustment unit; 34. Soil moisture sensor mounting bracket; 35. Ambient temperature and humidity sensor mounting bracket; 36. Light intensity sensor mounting bracket; 37. Wind speed sensor mounting bracket; 38. Sprinkler base; 39. Sprinkler bracket; 40. Sprinkler top bracket. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0033] The embodiment of the present invention provides an autonomously powered daily tracking intelligent sprinkler irrigation device, which solves the new requirements of the existing daily irrigation system for precise flow control and real-time response under complex working conditions, and provides a new solution that is more intelligent, efficient and adaptable to changing environments.

[0034] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] See also Figures 1 to 8 , an autonomous power supply type daily tracking intelligent sprinkler device, including a solar power supply system, an intelligent sensor group, a flow regulation module, a daily tracking module and a sprinkler execution module. The solar power supply system includes a solar panel 1, an energy storage battery 2 and a power management module 3. The intelligent sensor group includes a soil moisture sensor 4, an ambient temperature and humidity sensor 5, a light intensity sensor 6 and a wind speed sensor 7. The flow regulation module includes a water pump 10, a flow regulating valve 11 and a flow meter 12. The daily tracking module includes a sun position tracker 15, an angle adjustment motor 16 and an angle sensor 17. The sprinkler execution module includes a sprinkler head 13 and a nozzle 14.

[0036] Overall structure diagram ( Figure 1 ):

[0037] -The solar panel 1 is mounted on the top bracket 40 of the sprinkler irrigation device.

[0038] The energy storage battery 2 and the power management module 3 are installed in the sprinkler base 38 .

[0039] - The soil moisture sensor 4, the ambient temperature and humidity sensor 5, the light intensity sensor 6 and the wind speed sensor 7 are installed at different locations of the farmland and connected to the central processor 9 via the wireless communication module 8.

[0040] The water pump 10 is connected to the water pool 20 through a pipeline 21 , the flow regulating valve 11 is installed between the water pump 10 and the nozzle 14 , and the flow meter 12 is installed between the flow regulating valve 11 and the nozzle 13 .

[0041] -The sun position tracker 15, the angle adjustment motor 16 and the angle sensor 17 are installed on the top bracket 40 of the sprinkler irrigation device.

[0042] - The nozzle 13 is mounted at the end of the nozzle tube 14.

[0043] Schematic diagram of solar power supply system structure ( Figure 2):

[0044] - The solar panel 1 is connected to the charging controller 18 via wires.

[0045] - The charging controller 18 is connected to the energy storage battery 2 via a wire.

[0046] The energy storage battery 2 is connected to the energy distribution unit 19 via a wire.

[0047] -The energy distribution unit 19 is connected to key components such as the central processor 9, the sensor group and the angle adjustment motor 16 through wires.

[0048] A maximum power point tracking (MPPT) module 30 is integrated into the charge controller 18 .

[0049] The energy storage battery capacity monitoring unit 31 is integrated into the energy distribution unit 19 .

[0050] Schematic diagram of the intelligent sensor group structure ( Figure 3 ):

[0051] - The soil moisture sensor 4, the ambient temperature and humidity sensor 5, the light intensity sensor 6 and the wind speed sensor 7 are connected to the central processing unit 9 via the wireless communication module 8 respectively.

[0052] - The soil moisture sensor mounting bracket 34, the ambient temperature and humidity sensor mounting bracket 35, the light intensity sensor mounting bracket 36 and the wind speed sensor mounting bracket 37 are respectively fixed at different positions of the farmland.

[0053] Flow regulation module structure diagram ( Figure 4 ):

[0054] The water pump 10 is connected to the water tank 20 via a pipe 21 .

[0055] -The flow regulating valve 11 is installed between the water pump 10 and the nozzle 14.

[0056] -The flow meter 12 is installed between the flow regulating valve 11 and the nozzle 13.

[0057] -The central processor 9 controls the opening of the flow control valve 11 through the wire.

[0058] Schematic diagram of the daily tracking module structure ( Figure 5 )

[0059] -The sun position tracker 15, the angle adjustment motor 16 and the angle sensor 17 are installed on the top bracket 40 of the sprinkler irrigation device.

[0060] A sunlight sensor 22 is integrated into the sun position tracker 15 .

[0061] The microcontroller 23 is connected to the PID controller 24 , the angle adjustment motor 16 and the angle sensor 17 via wires.

[0062] The PID controller 24 is connected to a proportional coefficient (P) 25 , an integral coefficient (I) 26 , a differential coefficient (D) 27 , an error signal 28 and a rotation angle 29 calculation unit via wires.

[0063] Schematic diagram of sprinkler irrigation execution module structure ( Figure 6 ):

[0064] - The nozzle 13 is mounted at the end of the nozzle tube 14.

[0065] The nozzle 14 is connected to the flow regulating valve 11 via a pipeline.

[0066] -The central processor 9 controls the switch and the irrigation time of the sprinkler 13 through the wire.

[0067] Schematic diagram of the central processing unit and wireless communication module structure ( Figure 7 ):

[0068] The central processing unit 9 is connected to the wireless communication module 8, the soil moisture sensor 4, the ambient temperature and humidity sensor 5, the light intensity sensor 6, the wind speed sensor 7, the flow regulating valve 11, the nozzle switch control unit and the PID controller through wires.

[0069] Power management module structure diagram ( Figure 8 ):

[0070] - The energy storage battery 2 is connected to the charging controller 18, the energy distribution unit 19, the maximum power point tracking (MPPT) module and the energy storage battery power monitoring unit through wires.

[0071] -The energy distribution unit is connected to key components such as the central processor, sensor group and angle adjustment motor through wires.

[0072] Specific operating principle and operation process

[0073] Solar power supply system:

[0074] -The solar panel 1 collects solar energy and charges the energy storage battery 2 through the charging controller 18. The charging controller 18 adopts the maximum power point tracking (MPPT) technology to ensure the efficient charging of the energy storage battery 2. The energy storage battery power monitoring unit 31 monitors the power status of the energy storage battery 2 in real time, and reasonably distributes the power through the energy distribution unit 19, giving priority to powering key components such as the central processor 9, the sensor group and the angle adjustment motor 16.

[0075] Smart sensor group:

[0076] - The soil moisture sensor 4, the ambient temperature and humidity sensor 5, the light intensity sensor 6 and the wind speed sensor 7 collect soil moisture, ambient temperature and humidity, light intensity and wind speed data respectively, and transmit them to the central processor 9 in real time through the wireless communication module 8.

[0077] Flow regulation module:

[0078] - The central processor 9 calculates the optimal irrigation amount and irrigation time at the current moment based on the data collected by the intelligent sensor group, combined with the preset irrigation model and water demand calculation formula. The central processor 9 controls the opening of the flow regulating valve 11 to achieve precise control of the irrigation flow. The flow meter 12 monitors the flow in real time to ensure the accuracy of the irrigation amount.

[0079] Daily tracking module:

[0080] -The sun position tracker 15 collects data on the direction of sunlight in real time through the sunlight sensor 22. The microcontroller 23 calculates the rotation angle of the angle adjustment motor 16 through the PID control algorithm based on the output signal of the sunlight sensor 22. The angle sensor 17 is used to feedback the actual position of the angle adjustment motor 16 to form a closed-loop control, automatically adjusting the angle of the sprinkler device so that it is always aimed at the sun, ensuring the maximum utilization of the solar panel.

[0081] Sprinkler execution module:

[0082] - The central processor 9 controls the nozzle switch control unit according to the calculated optimal irrigation time and irrigation amount, so as to realize the precise control of the switch and irrigation time of the nozzle 13. The nozzle 13 is installed at the end of the nozzle pipe 14 and connected to the flow regulating valve 11 through a pipeline.

[0083] Specific application scenarios:

[0084] Assume that the self-powered daily tracking intelligent sprinkler device of the present invention is used in a farmland in a remote area. The area has sufficient sunlight but lacks a stable power supply. After the device is installed, the solar panel 1 starts to collect solar energy and charges the energy storage battery 2 through the charging controller 18. The energy storage battery power monitoring unit 31 monitors the power status of the energy storage battery 2 in real time and reasonably distributes the electric energy through the energy distribution unit 19.

[0085] The soil moisture sensor 4, the ambient temperature and humidity sensor 5, the light intensity sensor 6 and the wind speed sensor 7 respectively collect the soil moisture, ambient temperature and humidity, light intensity and wind speed data, and transmit them to the central processor 9 in real time through the wireless communication module 8. The central processor 9 calculates the optimal irrigation amount and irrigation time at the current moment based on these data, combined with the preset irrigation model and water demand calculation formula.

[0086] The central processor 9 controls the opening of the flow regulating valve 11 to achieve precise control of the irrigation flow. At the same time, the sun position tracker 15 collects data on the direction of sunlight in real time through the sunlight sensor 22, and the microcontroller 23 calculates the rotation angle of the angle adjustment motor 16 through the PID control algorithm based on the output signal of the sunlight sensor 22. The angle sensor 17 is used to feedback the actual position of the angle adjustment motor 16, forming a closed-loop control, and automatically adjusting the angle of the sprinkler device so that it is always aimed at the sun to ensure the maximum utilization of the solar panel.

[0087] When the calculated optimal irrigation time arrives, the central processor 9 controls the nozzle switch control unit to open the nozzle 13 for irrigation. During the irrigation process, the flow meter 12 monitors the flow in real time to ensure the accuracy of the irrigation amount. After the irrigation is completed, the central processor 9 controls the nozzle switch control unit to close the nozzle 13.

[0088] In extreme weather conditions such as continuous cloudy days or changes in wind speed, when the energy storage battery power monitoring unit 31 detects that the power of the energy storage battery 2 is less than 30%, the system automatically reduces the number of sprinkler irrigations and extends the sprinkler irrigation interval to ensure continuous operation of the device.

[0089] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An autonomous power supply type daily tracking intelligent sprinkler irrigation device, comprising a solar power supply system, an intelligent sensor group, a flow regulation module, a daily tracking module and a sprinkler irrigation execution module, characterized in that: -The solar power supply system comprises a solar panel (1), an energy storage battery (2) and a power management module (3); - the intelligent sensor group comprises a soil moisture sensor (4), an ambient temperature and humidity sensor (5), a light intensity sensor (6) and a wind speed sensor (7); - the flow regulating module comprises a water pump (10), a flow regulating valve (11) and a flow meter (12); - The daily tracking module includes a sun position tracker (15), an angle adjustment motor (16) and an angle sensor (17); -The sprinkler irrigation execution module comprises a sprinkler head (13) and a sprinkler pipe (14); - The solar panel (1) is mounted on a top bracket (40) of the sprinkler irrigation device, and charges the energy storage battery (2) through the power management module (3), and the energy storage battery (2) supplies power to the entire device; - The soil moisture sensor (4), the ambient temperature and humidity sensor (5), the light intensity sensor (6) and the wind speed sensor (7) are respectively installed at different locations of the farmland, and the collected data are transmitted to the central processing unit (9) in real time through the wireless communication module (8); - the water pump (10) is connected to the water pool (20) through a pipeline (21), the flow regulating valve (11) is installed between the water pump (10) and the nozzle (14), the flow meter (12) is installed between the flow regulating valve (11) and the nozzle (13), and the opening of the flow regulating valve (11) is controlled by the central processing unit (9) to achieve accurate control of the irrigation flow; - The solar position tracker (15) is installed on the top bracket (40) of the sprinkler device, and adjusts the angle of the sprinkler device in real time through the angle adjustment motor (16) and the angle sensor (17) so that the sprinkler device is always aligned with the sun to maximize the utilization efficiency of solar energy; The nozzle (13) is installed at the end of the nozzle pipe (14), and the switch and irrigation time of the nozzle (13) are controlled by the central processor (9) to achieve precise irrigation of the farmland.

2. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 1 is characterized in that: The power management module (3) comprises an energy storage battery (2), a charging controller (18) and an energy distribution unit (19); the charging controller (18) is used to monitor the current and voltage of the solar panel (1) in real time, and ensure the efficient charging of the energy storage battery (2) through the maximum power point tracking (MPPT) technology; the energy distribution unit (19) is used to reasonably distribute the electric energy of the energy storage battery (2) and give priority to supplying power to key components such as a central processing unit (9), a sensor group and an angle adjustment motor (16).

3. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 1 is characterized in that: The soil moisture sensor (4), the ambient temperature and humidity sensor (5), the light intensity sensor (6) and the wind speed sensor (7) in the intelligent sensor group are respectively connected to the central processing unit (9) via a wireless communication module (8). The central processing unit (9) calculates the optimal irrigation amount and irrigation time at the current moment based on the data collected by the sensor group in combination with a preset irrigation model and a water demand calculation formula.

4. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 1 is characterized in that: The flow regulating valve (11) in the flow regulating module is connected to the central processing unit (9) via a wire. The central processing unit (9) controls the opening of the flow regulating valve (11) to achieve precise control of the irrigation flow. The flow meter (12) is installed between the flow regulating valve (11) and the nozzle (13) to monitor the flow in real time.

5. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 1 is characterized in that: The sun position tracker (15) in the daily tracking module collects data on the direction of sunlight in real time through a sunlight sensor (22); the microcontroller (23) calculates the rotation angle of the angle adjustment motor (16) through a PID control algorithm based on the output signal of the sunlight sensor (22); the angle sensor (17) is used to feed back the actual position of the angle adjustment motor (16), thereby forming a closed-loop control and automatically adjusting the angle of the sprinkler device so that it is always aligned with the sun.

6. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 1 is characterized in that: The nozzle (13) in the sprinkler irrigation execution module is installed at the end of the nozzle pipe (14) and connected to the central processor (9) through a wire. The central processor (9) realizes precise irrigation of farmland by controlling the switch of the nozzle (13) and the sprinkler irrigation time.

7. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 1 is characterized in that: The central processor (9) calculates the optimal irrigation amount and irrigation time at the current moment based on the data collected by the intelligent sensor group, combined with a preset irrigation model and a water demand calculation formula. The water demand calculation formula is: Q=α·(E a -E t )+β·I+γ·W Among them, Q is the irrigation water requirement, E a is the actual evapotranspiration, E t is crop transpiration, I is light intensity, W is wind speed, α, β and γ are model parameters, which are adjusted according to specific crops and soil types.

8. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 5 is characterized in that: The PID control algorithm includes a proportional coefficient (P) (25), an integral coefficient (I) (26) and a differential coefficient (D) (27). By adjusting these coefficients, the PID controller (24) can dynamically calculate the angle change required by the motor. The PID control algorithm is as follows: Among them, θ(t) is the rotation angle of the angle adjustment motor, e(t) is the error signal, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient. By real-time monitoring and adjusting PID parameters, the sprinkler can be ensured to always point to the sun, thus improving the efficiency of solar energy utilization.

9. The self-powered daily tracking intelligent sprinkler irrigation device according to claim 1, characterized in that: The energy storage battery power monitoring unit (31) in the power management module (3) is used to monitor the power state of the energy storage battery (2) in real time. When the power level of the energy storage battery (2) is lower than 30%, the system automatically reduces the number of sprinkler irrigations and extends the sprinkler irrigation interval to ensure continuous operation of the device.

10. The self-powered, daily tracking intelligent sprinkler irrigation device according to claim 1, characterized in that: The sprinkler device top bracket (40) is used to install the solar cell panel (1), the sun position tracker (15), the angle adjustment motor (16) and the angle sensor (17), and the sprinkler device base (38) and the sprinkler device bracket (39) are used to fix and support the entire device.

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