Intelligent irrigation system based on sensor fusion

Abstract

The invention discloses an intelligent irrigation system based on sensor fusion, which relates to the technical field of intelligent irrigation and comprises a soil monitoring module, a drip irrigation position monitoring module, a growth vigor analysis module, a drip irrigation angle adjusting module and a drip irrigation starting and stopping module which are in communication connection with a main control module. According to the drip irrigation device, the distance between a drip irrigation point and plant rhizomes can be adjusted, so that plants can grow uniformly, and meanwhile, the consequences of rhizome rot and the like caused by direct drip irrigation of water to the plant rhizomes can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of intelligent irrigation technology, and more particularly to an intelligent irrigation system based on sensor fusion. Background Art

[0002] There are many types of irrigation, such as flood irrigation, drip irrigation, sprinkler irrigation, etc. In drip irrigation, water can be poured directly on the roots of plants. According to evidence, the roots of plants are their main water absorption organs, absorbing water from the soil through cells on the surface of the roots and transporting it to other parts of the plant. Therefore, pouring water directly on the roots can be absorbed and utilized by plants more quickly. In addition, the drip irrigation system keeps the roots moist but not saturated by delivering water directly to the roots of the plants. This method can avoid the stress and shock to the plants caused by the "overwatering and drought" cycle common in traditional watering methods.

[0003] In the existing drip irrigation method, the drip irrigation position usually does not change because it takes manpower to manually adjust the position of the drip irrigation pipe. However, it should be noted that when the drip irrigation position remains unchanged, although it is effective, during the growth of the plant, the changes in the roots and stems may cause the water at the drip irrigation position to directly contact the stems of the plants, which may cause stem diseases. In addition, when the drip irrigation position is far away from the roots and stems, the roots and stems absorb water at a slower speed and in a lower amount.

[0004] Therefore, it is necessary to propose an intelligent irrigation system based on sensor fusion to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the existing drip irrigation method is inconvenient to adjust the drip irrigation position.

[0006] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0007] An intelligent irrigation system based on sensor fusion, comprising a soil monitoring module, a drip irrigation position monitoring module, a growth analysis module, a drip irrigation angle adjustment module and a drip irrigation start-stop module, which are communicatively connected to a main control module;

[0008] The soil monitoring module is used to monitor soil data and transmit the data to the main control module, including but not limited to soil moisture and soil temperature. The main control module sets a monitoring threshold to determine whether the monitoring data of the soil monitoring module meets the monitoring threshold;

[0009] Drip irrigation modules are arranged in rows, with one drip irrigation point corresponding to each plant, for drip irrigation of plant roots and stems;

[0010] A drip irrigation angle adjustment module is used to adjust the drip irrigation point according to the distance monitored by the drip irrigation position monitoring module, and can also turn off the drip irrigation module of the corresponding drip irrigation point;

[0011] The drip irrigation start and close module is used to start or close the drip irrigation valve according to the data monitored by the main control module;

[0012] The drip irrigation position monitoring module, when drip irrigation is needed, after the drip irrigation on-off module is turned on, uses the visual recognition device to identify the distance between the plant rhizome and the drip irrigation point, and feeds the distance back to the main control module, which captures the image of the drip irrigation point and the plant rhizome and calculates the distance;

[0013] Growth analysis module, calculates the average diameter L of each plant 颗 , the signal is sent to the main control module, the main control module controls the drip irrigation angle adjustment module to adjust the drip irrigation module of the corresponding drip irrigation point, and sets each row to have n plants, where the average diameter of each plant is L 颗 The calculation is as follows:

[0014]

[0015] Wherein: L1 is the distance between the position of the previous drip irrigation point and the root of the plant during each drip irrigation, and L2 is the distance between the drip irrigation point and the drip irrigation position monitoring module during drip irrigation. The first drip irrigation after the plant is planted is not counted as L1.

[0016] Furthermore, the drip irrigation module includes two rows of fan-shaped drip irrigation compartments symmetrically arranged at the lower end of the drip irrigation main pipe, an arc-shaped sliding plate slidably connected to the end of the fan-shaped drip irrigation compartment away from the drip irrigation main pipe in a vertical plane, and a drip irrigation pipe fixedly connected to the outside of the arc-shaped sliding plate. A transition hole matching the aperture of the drip irrigation pipe is opened in the fan-shaped drip irrigation compartment. When the drip irrigation pipe is completely misaligned with the transition hole, the drip irrigation module is closed.

[0017] Furthermore, the drip irrigation angle adjustment module includes a moving mechanism that moves along the drip irrigation main pipe and a driving mechanism that is arranged on both sides of the moving mechanism and is used to drive the arc-shaped sliding plate to slide along the fan-shaped drip irrigation compartment.

[0018] Furthermore, the moving mechanism includes a semi-circular frame whose inner side is fitted with the drip irrigation main pipe, a stabilizing rod fixedly connected to the lower end of the semi-circular frame, and a moving component arranged on the semi-circular frame, the stabilizing rod is fitted with the angle between the drip irrigation main pipe and the fan-shaped drip irrigation compartment, and the length of the stabilizing rod is at least equal to the distance between the three fan-shaped drip irrigation compartments.

[0019] Furthermore, the driving mechanism includes a first horizontal plate fixedly connected to the upper end of the fan-shaped drip irrigation compartment, a limit rod vertically inserted in the first horizontal plate, a rectangular bar fixedly connected to the upper end of the limit rod, a convex bar fixedly connected to the lower end of the rectangular bar, a connecting block rotatably connected to the upper end of the arc-shaped sliding plate, and a driving component for driving the rectangular bar to move up and down, the upper end of the connecting block is slidably connected to the outer side of the arc-shaped sliding plate, and the driving component is arranged on both sides of the semi-annular frame.

[0020] Furthermore, a through-type square plug hole is opened in the middle of the rectangular strip, and the driving assembly includes a plug rod that can pass through the square plug hole in sequence as the moving mechanism moves, and a driving structure for driving the plug rod to move up and down.

[0021] Furthermore, a second swinging groove is provided at one end of the insertion rod, a first swinging groove is provided in the middle of the insertion rod, and the lower end of the driving structure is rotatably connected to two lifting rods that can swing in the opposite direction of the moving direction of the moving mechanism, and the two lifting rods can swing to the first swinging groove and the second swinging groove respectively, and the first swinging groove and the second swinging groove are fixedly connected with a triangular magnetic block on the inner side of the insertion rod at one end of the second swinging groove, and a triangular groove matching the triangular magnetic block is provided at the bottom of the side surface of the lifting rod, and the triangular magnetic block can be magnetically attracted in the triangular groove.

[0022] A through rectangular slot is provided in the middle of the lifting rod, a straight rod is slidably connected in the vertical direction in the rectangular slot, two blocks are arranged on the straight rod, when the straight rod moves to the uppermost end of the rectangular slot, the block limits the rotation of the lifting rod, so that the triangular magnetic block is adsorbed in the triangular slot, when the straight rod moves to the middle of the rectangular slot, the rod is inserted through the square socket

[0023] Furthermore, the driving structure includes a second horizontal plate fixedly connected to both sides of the semi-circular frame, a first electric push rod fixedly connected to the lower end of the second horizontal plate, a first U-shaped rod fixedly connected to the output end of the first electric push rod, a second electric push rod fixedly connected to the lower end of the second horizontal plate, and a second U-shaped rod fixedly connected to the upper end of the straight rod, the second U-shaped rod is slidably connected to the first U-shaped rod, the upper end of the second U-shaped rod is fixedly connected to the output end of the second electric push rod, and the lifting rod is rotatably connected to the lower end of the first U-shaped rod.

[0024] Furthermore, the drip irrigation position monitoring module includes a visual recognition device arranged in the middle of the stabilizing rod and a fill light arranged on the stabilizing rod on one side of the visual recognition device.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention can adjust the distance between the drip irrigation point and the plant rhizome, thereby ensuring that the plant can grow evenly, and can also avoid the consequences of rhizome rot and the like caused by direct drip irrigation of water to the plant rhizome. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional schematic diagram of the drip irrigation module and the drip irrigation angle adjustment module in the present invention;

[0028] Figure 2 It is a cross-sectional schematic diagram of the semi-circular frame in the present invention;

[0029] Figure 3 It is a three-dimensional schematic diagram of the connection structure of the present invention except for the drip irrigation main pipe;

[0030] Figure 4 For the present invention Figure 3 A three-dimensional cross-sectional schematic diagram of the connection structure at the second U-shaped rod;

[0031] Figure 5 It is a structural schematic diagram of the drip irrigation module in the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the drip irrigation angle adjustment module in the present invention;

[0033] Figure 7 It is a three-dimensional schematic diagram of the insertion rod in the present invention.

[0034] Figure numerals: 1. drip irrigation main pipe; 2. fan-shaped drip irrigation compartment; 3. arc-shaped sliding plate; 4. drip irrigation pipe; 5. connecting block; 6. first horizontal plate; 7. limit rod; 8. rectangular bar; 9. square socket; 10. convex bar; 11. semi-circular frame; 12. wheel; 13. motor; 14. stabilizer bar; 15. visual recognition device; 16. fill light; 18. second horizontal plate; 19. first electric push rod; 20. first U-shaped rod; 21. lifting rod; 22. insertion rod; 23. first swinging through groove; 24. second swinging through groove; 25. triangular magnetic block; 26. triangular groove; 27. rectangular through groove; 28. second U-shaped rod; 29. ​​straight rod; 30. block; 31. second electric push rod. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-7, an intelligent irrigation system based on sensor fusion, including a soil monitoring module, a drip irrigation position monitoring module, a growth analysis module, a drip irrigation angle adjustment module and a drip irrigation start-stop module which are communicatively connected with a main control module;

[0037] Soil monitoring modules, each row of plants is equipped with multiple modules, which are used to monitor soil data and transmit the data to the main control module, including but not limited to soil moisture and soil temperature. The main control module sets a monitoring threshold to determine whether the monitoring data of the soil monitoring module meets the monitoring threshold, thereby determining whether drip irrigation is needed;

[0038] Drip irrigation module, drip irrigation main pipes 1 arranged in rows, each drip irrigation main pipe 1 is provided with a valve at the end to control the opening and closing of the drip irrigation main pipes 1 in the row, one plant corresponds to one drip irrigation point, which is used for drip irrigation of plant roots and stems;

[0039] The drip irrigation angle adjustment module is used to adjust the drip irrigation point according to the distance monitored by the drip irrigation position monitoring module to ensure that the plants can grow evenly. At the same time, the drip irrigation module of the corresponding drip irrigation point can also be turned off;

[0040] The drip irrigation start and close module is used to start or close the drip irrigation valve for drip irrigation according to the data monitored by the main control module;

[0041] The drip irrigation position monitoring module, when drip irrigation is needed, after the drip irrigation on-off module is turned on, identifies the distance between the plant rhizome and the drip irrigation point through the visual recognition device 15, and feeds the distance back to the main control module, and the visual recognition device 15 captures the image of the drip irrigation point and the plant rhizome and calculates the distance;

[0042] Growth analysis module, calculates the average diameter L of each plant 颗 , the signal is sent to the main control module, the main control module controls the drip irrigation angle adjustment module to adjust the drip irrigation module of the corresponding drip irrigation point, and sets each row to have n plants, where the average diameter of each plant is L 颗 The calculation is as follows:

[0043]

[0044] Wherein: L1 is the distance between the position of the previous drip irrigation point and the root of the plant during each drip irrigation, and L2 is the distance between the drip irrigation point and the drip irrigation position monitoring module during drip irrigation. The first drip irrigation after the plant is planted is not counted as L1, that is, the plant at this time has no obvious root, which is not convenient for the calculation of the drip irrigation position monitoring module.

[0045] Specific, combined Figure 1As shown, the drip irrigation module includes two rows of symmetrical fan-shaped drip irrigation compartments 2 arranged at the lower end of the drip irrigation main pipe 1, an arc-shaped sliding plate 3 slidably connected to the end of the fan-shaped drip irrigation compartment 2 away from the drip irrigation main pipe 1 in a vertical plane, and a drip irrigation pipe 4 fixedly connected to the outside of the arc-shaped sliding plate 3. The end of the drip irrigation pipe 4 can also be connected to a hard pipe to reduce the distance between the drip irrigation pipe 4 and the soil. A transition hole matching the aperture of the drip irrigation pipe 4 is opened in the fan-shaped drip irrigation compartment 2. Since drip irrigation is adopted, when the transition hole and the aperture of the drip irrigation pipe 4 intersect, it will not affect the water dripping from the drip irrigation pipe 4, until the drip irrigation pipe 4 is completely misaligned with the transition hole, and the drip irrigation module is closed.

[0046] Specifically, the drip irrigation angle adjustment module includes a moving mechanism that moves along the drip irrigation main pipe 1 and a driving mechanism that is arranged on both sides of the moving mechanism and is used to drive the arc-shaped sliding plate 3 to slide along the fan-shaped drip irrigation compartment 2.

[0047] Specific, combined Figure 2-4 As shown, the moving mechanism includes a semi-circular frame 11 whose inner side is fitted with the drip irrigation main pipe 1, a stabilizing rod 14 fixedly connected to the lower end of the semi-circular frame 11, and a moving component arranged on the semi-circular frame 11. The semi-circular frame 11 is fitted with the drip irrigation main pipe 1, which can effectively prevent the semi-circular frame 11 from tilting and ensure the stable movement of the moving mechanism. In addition, in order to further ensure the stability of the moving mechanism during movement, the stabilizing rod 14 is fitted with the angle between the drip irrigation main pipe 1 and the fan-shaped drip irrigation compartment 2, and the length of the stabilizing rod 14 is at least equal to the distance between the three fan-shaped drip irrigation compartments 2.

[0048] Specific, combined Figure 2-4 As shown, the moving assembly includes an n-shaped frame arranged at the upper end of a semi-circular frame 11, a wheel 12 is rotatably connected in the n-shaped frame, the outer side of the wheel 12 is provided with rubber, the wheel 12 fits the upper side of the drip irrigation main pipe 1 to increase the friction between the drip irrigation main pipe 1, and a motor 13 is fixedly connected to one side of the n-shaped frame, and the motor 13 is used to drive the wheel 12 to rotate, thereby driving the moving mechanism to move.

[0049] Specific, combined Figure 2 and Figure 5As shown, the driving mechanism includes a first horizontal plate 6 fixedly connected to the upper end of the fan-shaped drip irrigation compartment 2, a limiting rod 7 vertically inserted in the first horizontal plate 6, a rectangular bar 8 fixedly connected to the upper end of the limiting rod 7, a convex bar 10 fixedly connected to the lower end of the rectangular bar 8, a connecting block 5 rotatably connected to the upper end of the arc sliding plate 3, and a driving component for driving the rectangular bar 8 to move up and down, wherein there is a large friction between the limiting rod 7 and the first horizontal plate 6, and a sealing layer is also provided between the arc sliding plate 3 and the fan-shaped drip irrigation compartment 2, which can also increase the friction between the fan-shaped drip irrigation compartment 2 and the arc sliding plate 3, thereby ensuring that the arc sliding plate 3 can not slide between the fan-shaped drip irrigation compartment 2 after adjustment, the upper end of the connecting block 5 is slidably connected to the outer side of the arc sliding plate 3, and the driving component is arranged on both sides of the semi-annular frame 11.

[0050] Specific, combined Figure 2-5 As shown, a through square insertion hole 9 is opened in the middle of the rectangular bar 8, and the driving component includes an insertion rod 22 that can pass through the square insertion hole 9 in sequence as the moving mechanism moves, and a driving structure for driving the insertion rod 22 to move up and down.

[0051] Specific, combined Figure 3-7 As shown, a second swing slot 24 is provided at one end of the insertion rod 22, wherein the length of the second swing slot 24 should ensure that when the lifting rod 21 returns to the second swing slot 24, the second swing slot 24 is still located in the square plug hole 9, thereby ensuring the horizontal stability of the insertion rod 22, and a first swing slot 23 is provided in the middle of the insertion rod 22, and the lower end of the driving structure is rotatably connected to two lifting rods 21 that can swing in the opposite direction of the moving direction of the moving mechanism, and the first swing slot 23 needs to satisfy the requirement of not interfering with the swing of the lifting rod 21, and the two lifting rods 21 can swing to the first swing slot 23 and the second swing slot 23 respectively. 4, under the resistance of the rectangular bar 8, it can also swing out of the first swinging slot 23 and the second swinging slot 24, the first swinging slot 23 and the second swinging slot 24 are fixedly connected with a triangular magnetic block 25 on the inner side of the plug rod 22 at one end of which the second swinging slot 24 is opened, and a triangular groove 26 matching the triangular magnetic block 25 is opened at the bottom of the side of the lifting rod 21, which can prevent the lifting rod 21 from separating from the plug rod 22 when the plug rod 22 is driven to move upward, wherein the triangular magnetic block 25 can also be magnetically attracted in the triangular groove 26, which can ensure that the plug rod 22 can be relatively fixed to the lifting rod 21 when the moving mechanism moves.

[0052] Specific, combined Figure 6As shown, a through rectangular slot 27 is provided in the middle of the lifting rod 21, and a straight rod 29 is slidably connected in the vertical direction in the rectangular slot 27. Two blocks 30 are provided on the straight rod 29. When the straight rod 29 moves to the uppermost end of the rectangular slot 27, the block 30 limits the rotation of the lifting rod 21, so that the triangular magnetic block 25 is adsorbed on the triangular slot 26, thereby driving the insertion rod 22 to move up and down stably. When the straight rod 29 moves to the middle of the rectangular slot 27, the block 30 cannot limit the rotation of the lifting rod 21, and is used for the insertion rod 22 to pass through the square socket 9.

[0053] Specific, combined Figure 5 As shown, the driving structure includes a second horizontal plate 18 fixedly connected to both sides of the semi-circular frame 11, a first electric push rod 19 fixedly connected to the lower end of the second horizontal plate 18, a first U-shaped rod 20 fixedly connected to the output end of the first electric push rod 19, a second electric push rod 31 fixedly connected to the lower end of the second horizontal plate 18, and a second U-shaped rod 28 fixedly connected to the upper end of the straight rod 29, wherein the second U-shaped rod 28 is inverted, and the end of the second U-shaped rod 28 is slidably connected to the first U-shaped rod 20, the upper end of the second U-shaped rod 28 is fixedly connected to the output end of the second electric push rod 31, the second electric push rod 31 is controlled to move up and down by the second electric push rod 31, and the lifting rod 21 is rotatably connected to the lower end of the first U-shaped rod 20.

[0054] Specific, combined Figure 3 and Figure 4 As shown, the drip irrigation position monitoring module includes a visual recognition device 15 arranged in the middle of the stabilizing rod 14 and a fill light 16 arranged on the stabilizing rod 14 on one side of the visual recognition device 15, so as to facilitate the visual recognition device 15 to collect images. The visual recognition device 15 adopts a miniature camera.

[0055] Working principle: After the plants are planted for the first time, the soil monitoring module monitors whether the soil needs drip irrigation, and then sends a signal to the drip irrigation opening and closing module to open the valve of the corresponding drip irrigation main pipe 1. At this time, the drip irrigation pipe 4 corresponds to the transition hole, and the positions of the arc-shaped sliding plates 3 are consistent. At this time, the main control module controls the motor 13 to start, driving the moving mechanism to move along the drip irrigation main pipe 1. During the movement, the stabilizing rod 14 always keeps in contact with the two fan-shaped drip irrigation compartments 2 to ensure the stability of the moving mechanism when moving;

[0056] When the insertion rod 22 passes through the square insertion hole 9, the end of the insertion rod 22 will be inserted into the square insertion hole 9 first, and then the rectangular bar 8 will rotate against the lifting rod 21, so that the lifting rod 21 moves out of the first swinging groove 23, and at the same time the triangular magnetic block 25 will be separated from the triangular groove 26 until the rectangular bar 8 is located at about the middle of the insertion rod 22. At this time, under the action of the gravity of the lifting rod 21, the lifting rod 21 will be reset, so that the triangular magnetic block 25 absorbs the triangular groove 26. Similarly, the other lifting rod 21 will repeat this step, wherein the length of the second swinging groove 24 should be guaranteed that when the lifting rod 21 returns to the second swinging groove 24, the second swinging groove 24 is still located in the square insertion hole 9, thereby ensuring the horizontal stability of the insertion rod 22;

[0057] Each time it moves to a plant, that is, when the rectangular bar 8 moves to the middle of the lifting rod 21, the moving mechanism stops, and the main control module starts the visual recognition device 15 to take a photo, wherein the first drip irrigation after the plant is planted is not counted as L1, and the recording starts from the second drip irrigation, recording the distance L1 between the drip irrigation point and the plant root stem at that time, then the distance between the drip irrigation point and the drip irrigation position monitoring module when the drip irrigation is needed for the third time is L2, and then at the fourth drip irrigation, the original L2 becomes L1, and the distance between the drip irrigation point and the drip irrigation position monitoring module at the fourth drip irrigation is L2, and so on;

[0058] Then, at the next drip irrigation, the mobile mechanism is started to pass through all the plants first, and the distance between the drip irrigation point and the drip irrigation position monitoring module is L2. At this time, L 颗 , we can also get the relationship between each plant and L 颗 The distance between the drip irrigation point and the rhizome is equal to L. 颗 , thus ensuring uniform growth of plants;

[0059] When the rectangular bar 8 moves to the middle of the lifting rod 21, the moving mechanism stops, and the main control module controls the second electric push rod 31 to retract. When the drip irrigation point needs to be adjusted to be close to the roots of the plant, the main control module controls the first electric push rod 19 to retract. Under the action of the stopper 30, the lifting rod 21 is restricted from rotating, that is, the insertion rod 22 and the lifting rod 21 are in a relatively fixed state, and the insertion rod 22 can drive the rectangular bar 8 to move upward, and at the same time, the connecting block 5 will slide along the convex bar 10 and rotate around the hinge point with the arc sliding plate 3, thereby driving the arc sliding plate 3 to slide along the fan-shaped drip irrigation compartment 2, so as to adjust the position of the drip irrigation pipe 4. When the drip irrigation point needs to be adjusted away from the roots of the plant, the first electric push rod 19 is controlled to extend, thereby driving the arc sliding plate 3 to slide downward, and adjusting the position of the drip irrigation pipe 4;

[0060] Each time a position is adjusted, the main control module records the telescopic length of the first electric push rod 19 at this position, so as to facilitate the direct correspondence between the plug rod 22 and the square socket 9 after moving to this position next time;

[0061] Each time a position is adjusted, the main control module activates the visual recognition device 15 to take a photo as the distance L1 between the new drip irrigation point and the plant root, which is convenient for subsequent analysis;

[0062] When it is necessary to close a single drip irrigation point, the main control module controls the second electric push rod 31 to shrink to the limit. At this time, when the drip irrigation pipe 4 is completely misaligned with the transition hole, the drip irrigation module is closed.

[0063] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. An intelligent irrigation system based on sensor fusion, characterized in that: It includes a soil monitoring module, a drip irrigation position monitoring module, a growth analysis module, a drip irrigation angle adjustment module and a drip irrigation start and stop module which are connected to the main control module in communication; The soil monitoring module is used to monitor soil data and transmit the data to the main control module, including but not limited to soil moisture and soil temperature. The main control module sets a monitoring threshold to determine whether the monitoring data of the soil monitoring module meets the monitoring threshold; Drip irrigation modules are arranged in rows, with one drip irrigation point corresponding to each plant, for drip irrigation of plant roots and stems; A drip irrigation angle adjustment module is used to adjust the drip irrigation point according to the distance monitored by the drip irrigation position monitoring module, and can also turn off the drip irrigation module of the corresponding drip irrigation point; The drip irrigation start and close module is used to start or close the drip irrigation valve according to the data monitored by the main control module; The drip irrigation position monitoring module, when drip irrigation is needed, after the drip irrigation on-off module is turned on, uses the visual recognition device to identify the distance between the plant rhizome and the drip irrigation point, and feeds the distance back to the main control module, which captures the image of the drip irrigation point and the plant rhizome and calculates the distance; Growth analysis module, calculates the average diameter L of each plant 颗 , the signal is sent to the main control module, the main control module controls the drip irrigation angle adjustment module to adjust the drip irrigation module of the corresponding drip irrigation point, and sets each row to have n plants, where the average diameter of each plant is L 颗 The calculation is as follows: Wherein: L1 is the distance between the position of the previous drip irrigation point and the root of the plant during each drip irrigation, and L2 is the distance between the drip irrigation point and the drip irrigation position monitoring module during drip irrigation. The first drip irrigation after the plant is planted is not counted as L1.

2. The intelligent irrigation system based on sensor fusion according to claim 1, characterized in that: The drip irrigation module includes two rows of symmetrical fan-shaped drip irrigation compartments arranged at the lower end of the drip irrigation main pipe, an arc-shaped sliding plate slidably connected to the end of the fan-shaped drip irrigation compartment away from the drip irrigation main pipe in a vertical plane, and a drip irrigation pipe fixedly connected to the outer side of the arc-shaped sliding plate. A transition hole matching the aperture of the drip irrigation pipe is opened in the fan-shaped drip irrigation compartment. When the drip irrigation pipe is completely misaligned with the transition hole, the drip irrigation module is closed.

3. The intelligent irrigation system based on sensor fusion according to claim 1, characterized in that: The drip irrigation angle adjustment module comprises a moving mechanism moving along the drip irrigation main pipe and a driving mechanism arranged on both sides of the moving mechanism and used for driving the arc-shaped sliding plate to slide along the fan-shaped drip irrigation compartment.

4. The intelligent irrigation system based on sensor fusion according to claim 3, characterized in that: The moving mechanism includes a semi-circular frame whose inner side is in contact with the drip irrigation main pipe, a stabilizing rod fixedly connected to the lower end of the semi-circular frame, and a moving component arranged on the semi-circular frame. The stabilizing rod is in contact with the angle between the drip irrigation main pipe and the fan-shaped drip irrigation compartment, and the length of the stabilizing rod is at least equal to the distance between the three fan-shaped drip irrigation compartments.

5. The intelligent irrigation system based on sensor fusion according to claim 3, characterized in that: The driving mechanism includes a first horizontal plate fixedly connected to the upper end of the fan-shaped drip irrigation compartment, a limit rod vertically inserted in the first horizontal plate, a rectangular bar fixedly connected to the upper end of the limit rod, a convex bar fixedly connected to the lower end of the rectangular bar, a connecting block rotatably connected to the upper end of the arc sliding plate, and a driving component for driving the rectangular bar to move up and down, the upper end of the connecting block is slidably connected to the outer side of the arc sliding plate, and the driving component is arranged on both sides of the semi-annular frame.

6. The intelligent irrigation system based on sensor fusion according to claim 5, characterized in that: A through-type square plug hole is opened in the middle of the rectangular strip, and the driving assembly comprises a plug rod which can pass through the square plug hole in sequence as the moving mechanism moves, and a driving structure for driving the plug rod to move up and down.

7. The intelligent irrigation system based on sensor fusion according to claim 6, characterized in that: A second swing slot is provided at one end of the insertion rod, and a first swing slot is provided in the middle of the insertion rod. The lower end of the driving structure is rotatably connected to two lifting rods that can swing in the opposite direction of the moving direction of the moving mechanism. The two lifting rods can swing to the first swing slot and the second swing slot respectively. The first swing slot and the second swing slot are fixedly connected with a triangular magnetic block on the inner side of the insertion rod at one end of the second swing slot. A triangular groove matching the triangular magnetic block is provided at the bottom of the side surface of the lifting rod, and the triangular magnetic block can be magnetically attracted in the triangular groove.

8. The intelligent irrigation system based on sensor fusion according to claim 7, characterized in that: A through rectangular slot is provided in the middle of the lifting rod, a straight rod is slidably connected in the rectangular slot in the vertical direction, two blocks are provided on the straight rod, when the straight rod moves to the uppermost end of the rectangular slot, the block limits the rotation of the lifting rod so that the triangular magnetic block is adsorbed in the triangular slot, when the straight rod moves to the middle of the rectangular slot, it is used to insert the rod through the square socket.

9. The intelligent irrigation system based on sensor fusion according to claim 8, characterized in that: The driving structure includes a second horizontal plate fixedly connected to both sides of the semi-circular frame, a first electric push rod fixedly connected to the lower end of the second horizontal plate, a first U-shaped rod fixedly connected to the output end of the first electric push rod, a second electric push rod fixedly connected to the lower end of the second horizontal plate, and a second U-shaped rod fixedly connected to the upper end of the straight rod, the second U-shaped rod is slidably connected to the first U-shaped rod, the upper end of the second U-shaped rod is fixedly connected to the output end of the second electric push rod, and the lifting rod is rotatably connected to the lower end of the first U-shaped rod.

10. The intelligent irrigation system based on sensor fusion according to claim 4, characterized in that: The drip irrigation position monitoring module comprises a visual recognition device arranged in the middle of the stabilizing rod and a fill light arranged on the stabilizing rod at one side of the visual recognition device.

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