An intelligent irrigation system based on sensor fusion

Abstract

The application discloses an intelligent irrigation system based on sensor fusion, and relates to the technical field of intelligent irrigation, which comprises a soil monitoring module, a drip irrigation position monitoring module, a growth analysis module, a drip irrigation angle adjusting module and a drip irrigation start-stop module which are in communication connection with a master control module. The application can adjust the distance between the drip irrigation point and the plant root, so as to ensure the uniform growth of the plant, and can also avoid the consequences such as root rot caused by the direct drip irrigation of water to the plant root.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent irrigation, more particularly to an intelligent irrigation system based on sensor fusion. BACKGROUND

[0002] Irrigation includes many kinds, such as flooding irrigation, drip irrigation, sprinkler irrigation, etc. In drip irrigation, water can be directly poured on the roots of plants. According to evidence, the roots of plants are their main water-absorbing organs, which absorb water in the soil through the cells on the surface of the roots and transport it to other parts of the plants. Therefore, water directly poured on the roots can be more quickly absorbed and utilized by plants. In addition, the drip irrigation system can avoid the pressure and impact on plants caused by the "overwatering and drought" cycle commonly seen in traditional watering methods by directly delivering water to the roots of plants, keeping the roots moist but not saturated.

[0003] In the existing drip irrigation method, the drip irrigation position is usually not changed because it needs to consume manpower to manually adjust the position of the drip irrigation pipe. However, it should be noted that when the drip irrigation position is always unchanged, although it is effective, the change of the roots during the growth of the plants may cause the water directly from the drip irrigation position to contact the stem of the plants, which may lead to stem diseases. In addition, when the drip irrigation position is far away from the roots, the speed and amount of water absorption of the roots are relatively poor.

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

[0005] The present application aims to solve the problem that the existing drip irrigation method is not convenient for adjusting the drip irrigation position.

[0006] The present application specifically adopts the following technical solutions to achieve the above-mentioned purpose:

[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 adjusting module, and a drip irrigation on-off module in communication connection with a master control module;

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

[0009] The drip irrigation module is arranged in rows, with one drip irrigation point corresponding to one plant, for drip irrigation of the roots of the plants.

[0010] The drip irrigation angle adjusting module is used for adjusting the drip irrigation point according to the distance monitored by the drip irrigation position monitoring module, and can also close the drip irrigation module of the corresponding drip irrigation point.

[0011] The drip irrigation opening and closing module is used for starting or closing the drip irrigation valve according to the data monitored by the master control module.

[0012] The drip irrigation position monitoring module is used for identifying the distance between the plant root stem and the drip irrigation point through the visual identification device when the drip irrigation is needed, and feeding the distance to the master control module, and capturing the image of the drip irrigation point and the plant root stem by the visual identification device, and calculating the distance.

[0013] The growth analysis module is used for calculating the average diameter L of each plant. 颗 The signal is sent to the master control module, and the master control module controls the drip irrigation angle adjusting module to adjust the drip irrigation module of the corresponding drip irrigation point, and each row is planted with n plants, and the average diameter L of each plant is 颗 The calculation method is as follows:

[0014]

[0015] In the formula, L1 is the distance between the position of the drip irrigation point and the plant root stem at the previous time of each drip irrigation, and L2 is the distance between the drip irrigation point and the plant root stem at the time of drip irrigation, wherein the first drip irrigation after the plant is planted is not counted as L1.

[0016] Further, the drip irrigation module comprises a fan-shaped drip irrigation sub-tank arranged at the lower end of the drip irrigation main pipe, an arc-shaped sliding plate slidingly connected to the fan-shaped drip irrigation sub-tank away from the drip irrigation main pipe, and a drip irrigation pipe fixedly connected to the outer side of the arc-shaped sliding plate, a transition hole matching the hole diameter of the drip irrigation pipe is arranged in the fan-shaped drip irrigation sub-tank, and the drip irrigation module is closed when the drip irrigation pipe is completely dislocated from the transition hole.

[0017] Further, the drip irrigation angle adjusting 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 sub-tank.

[0018] Further, the moving mechanism comprises a semi-annular frame with the inner side being attached to the drip irrigation main pipe, a stabilizing rod fixedly connected to the lower end of the semi-annular frame, and a moving assembly arranged on the semi-annular frame, the stabilizing rod is attached to the included angle between the drip irrigation main pipe and the fan-shaped drip irrigation sub-tank, and the length of the stabilizing rod is at least equal to the distance between three fan-shaped drip irrigation sub-tanks.

[0019] Further, the driving mechanism comprises a first horizontal plate fixedly connected to the upper end of the fan-shaped drip irrigation sub-chamber, a limiting rod vertically inserted into the first horizontal plate, a rectangular bar fixedly connected to the upper end of the limiting rod, a convex bar fixedly connected to the lower end of the rectangular bar, a connecting block rotationally connected to the upper end of the arc-shaped sliding plate, and a driving assembly for driving the rectangular bar to move up and down, the upper end of the connecting block is slidingly connected to the outer side of the arc-shaped sliding plate, and the driving assembly is arranged on both sides of the semi-annular frame.

[0020] Further, a through-type square insertion hole is formed in the middle of the rectangular bar, and the driving assembly comprises an insertion rod capable of sequentially passing through the square insertion hole when the moving mechanism moves and a driving structure for driving the insertion rod to move up and down.

[0021] Further, a second swing groove is formed in one end of the insertion rod, a first swing groove is formed in the middle of the insertion rod, the lower end of the driving structure is rotationally connected with two lifting rods capable of swinging in the opposite direction of the moving direction of the moving mechanism, the two lifting rods can swing into the first swing groove and the second swing groove respectively, the first swing groove and the second swing groove are fixedly connected with triangular magnetic attraction blocks towards the inner side of the insertion rod at the end where the second swing groove is formed, triangular grooves matched with the triangular magnetic attraction blocks are formed in the side bottom of the lifting rods, and the triangular magnetic attraction blocks can be magnetically attracted in the triangular grooves.

[0022] A through-type rectangular groove is formed in the middle of the lifting rod, a straight rod is slidingly connected in the rectangular groove in the vertical direction, two stop blocks are arranged on the straight rod, when the straight rod moves to the uppermost end of the rectangular groove, the stop blocks limit the rotation of the lifting rod, so that the triangular magnetic attraction blocks are attracted to the triangular grooves, and when the straight rod moves to the middle of the rectangular groove, the straight rod is used for the insertion rod to pass through the square insertion hole

[0023] Further, the driving structure comprises a second horizontal plate fixedly connected to both sides of the semi-annular 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 slidingly connected in 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 rotationally connected to the lower end of the first U-shaped rod.

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

[0025] Compared with the prior art, the beneficial effects of the present application are that:

[0026] The present application can adjust the distance between the drip irrigation point and the plant root stem, so as to ensure the uniform growth of the plant, and avoid the consequences of root stem rot caused by direct drip irrigation of water to the plant root stem. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a perspective view of the drip irrigation module and the drip irrigation angle adjusting module in the present application;

[0028] Figure 2 It is a sectional view of the half-ring frame in the present application;

[0029] Figure 3 It is a perspective view of the connecting structure except the drip irrigation main pipe in the present application;

[0030] Figure 4 It is a perspective view of the connecting structure of the second U-shaped rod in the present application; Figure 3

[0031] Figure 5 It is a structural view of the drip irrigation module in the present application;

[0032] Figure 6 It is a structural view of the drip irrigation angle adjusting module in the present application;

[0033] Figure 7 It is a perspective view of the plug rod in the present application.

[0034] The reference signs are as follows: 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, limiting rod; 8, rectangular bar; 9, square insertion hole; 10, convex bar; 11, half-ring frame; 12, wheel; 13, motor; 14, stabilizing rod; 15, visual identification device; 16, light supplementing lamp; 18, second horizontal plate; 19, first electric push rod; 20, first U-shaped rod; 21, lifting rod; 22, plug rod; 23, first swing through slot; 24, second swing through slot; 25, triangular magnetic block; 26, triangular groove; 27, rectangular through slot; 28, second U-shaped rod; 29, straight rod; 30, stop block; 31, second electric push rod. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] Please refer to Figures 1-7 ​The application discloses a sensor fusion-based intelligent irrigation system which comprises a soil monitoring module, a drip irrigation position monitoring module, a growth analysis module, a drip irrigation angle adjusting module and a drip irrigation starting and stopping module which are in communication connection with a master control module.

[0037] The soil monitoring module is arranged in multiple rows for monitoring soil data and transmitting the data to the master control module, including but not limited to soil humidity and soil temperature.

[0038] The drip irrigation module is arranged in rows, and each drip irrigation main pipe 1 is provided with a valve at the end for controlling the opening and closing of the drip irrigation main pipe 1 in the row.

[0039] The drip irrigation angle adjusting module is used for adjusting the drip irrigation point according to the distance monitored by the drip irrigation position monitoring module to ensure the uniform growth of the plants.

[0040] The drip irrigation starting and stopping module is used for starting or stopping the drip irrigation valve according to the data monitored by the master control module to perform drip irrigation.

[0041] The drip irrigation position monitoring module is used for recognizing the distance between the plant root and the drip irrigation point through a visual recognition device 15 when the drip irrigation starting and stopping module is started, and feeding the distance back to the master control module.

[0042] The growth analysis module is used for calculating the average diameter L of each plant. 颗 The signal is sent to the master control module, and the master control module controls the drip irrigation angle adjusting module to adjust the drip irrigation module of the corresponding drip irrigation point. 颗 The calculation method is as follows:

[0043]

[0044] In the formula, L1 is the distance between the position of the previous drip irrigation point and the plant root during each time of drip irrigation, and L2 is the distance between the drip irrigation point and the drip irrigation position monitoring module during the drip irrigation.

[0045] Specifically, the application is combined with the following Figure 1As shown, the drip irrigation module comprises two symmetrical rows of fan-shaped drip irrigation compartments 2 arranged at the lower end of the drip irrigation main pipe 1, an arc-shaped sliding plate 3 slidingly connected to the end of the fan-shaped drip irrigation compartment 2 away from the drip irrigation main pipe 1, and a drip irrigation pipe 4 fixedly connected to the outer side 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. The fan-shaped drip irrigation compartment 2 is provided with a transition hole matching the aperture of the drip irrigation pipe 4. Since drip irrigation is adopted, when the transition hole and the aperture of the drip irrigation pipe 4 intersect, the water dripping from the drip irrigation pipe 4 will not be affected, and the drip irrigation module is closed when the drip irrigation pipe 4 is completely misaligned with the transition hole.

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

[0047] Specifically, in combination with Figures 2-4 As shown, the moving mechanism comprises a semi-annular frame 11 abutting the drip irrigation main pipe 1 on the inner side, a stabilizing rod 14 fixedly connected to the lower end of the semi-annular frame 11, and a moving assembly arranged on the semi-annular frame 11. The semi-annular frame 11 abuts the drip irrigation main pipe 1, which can effectively prevent the semi-annular frame 11 from tilting and ensure 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 abuts the included 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 three fan-shaped drip irrigation compartments 2.

[0048] Specifically, in combination with Figures 2-4 As shown, the moving assembly comprises an n-shaped frame arranged on the upper end of the semi-annular 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 abuts the upper side of the drip irrigation main pipe 1 to increase the friction between the wheel 12 and the drip irrigation main pipe 1. One side of the n-shaped frame is fixedly connected with a motor 13. The motor 13 is used to drive the wheel 12 to rotate, thereby driving the moving mechanism to move.

[0049] Specifically, in combination with Figure 2 and Figure 5As shown, the driving mechanism comprises 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 into 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-shaped sliding plate 3, and a driving assembly for driving the rectangular bar 8 to move up and down, wherein the limiting rod 7 and the first horizontal plate 6 have a large friction force, and a sealing layer is further arranged between the arc-shaped sliding plate 3 and the fan-shaped drip irrigation compartment 2, which can also increase the friction force between the fan-shaped drip irrigation compartment 2 and the arc-shaped sliding plate 3, so as to ensure that the arc-shaped sliding plate 3 does not slide with 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-shaped sliding plate 3, and the driving assembly is arranged on both sides of the semi-annular frame 11.

[0050] Specifically, in combination with Figures 2-5 As shown, a through-type square jack 9 is formed in the middle of the rectangular bar 8, and the driving assembly comprises a plug rod 22 which can pass through the square jack 9 in sequence when the moving mechanism moves, and a driving structure for driving the plug rod 22 to move up and down.

[0051] Specifically, in combination with Figures 3-7 As shown, one end of the plug rod 22 is provided with a second swing groove 24, wherein the length of the second swing groove 24 should be ensured that when the lifting rod 21 returns to the second swing groove 24, the second swing groove 24 is still located in the square jack 9, so as to ensure the horizontal stability of the plug rod 22. A first swing groove 23 is formed in the middle of the plug rod 22, the lower end of the driving structure is rotatably connected with two lifting rods 21 which can swing in the opposite direction of the moving direction of the moving mechanism. The first swing groove 23 needs to satisfy the swing of the lifting rod 21 without interference. The two lifting rods 21 can swing into and out of the first swing groove 23 and the second swing groove 24 under the resistance of the rectangular bar 8. The first swing groove 23 and the second swing groove 24 are fixedly connected to the inner side of the plug rod 22 which is provided with the second swing groove 24 through a triangular magnetic attraction block 25. A triangular groove 26 matched with the triangular magnetic attraction block 25 is formed in the side and bottom of the lifting rod 21, which can prevent the lifting rod 21 from being separated from the plug rod 22 when the plug rod 22 is driven to move upward. The triangular magnetic attraction block 25 can also be magnetically attracted in the triangular groove 26, which can ensure that the plug rod 22 is relatively fixed with the lifting rod 21 when the moving mechanism moves.

[0052] Specifically, in combination with Figure 6As shown, the middle of the lifting rod 21 is provided with a through rectangular slot 27, a straight rod 29 is connected in the vertical direction in the rectangular slot 27, and two stoppers 30 are arranged on the straight rod 29. When the straight rod 29 moves to the upper end of the rectangular slot 27, the stoppers 30 limit the rotation of the lifting rod 21 at this time, so that the triangular magnetic block 25 is adsorbed in the triangular groove 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 stoppers 30 cannot limit the rotation of the lifting rod 21 at this time, so that the insertion rod 22 passes through the square insertion hole 9.

[0053] Specifically, in combination with Figure 5 As shown, the driving structure includes a second horizontal plate 18 fixedly connected on both sides of the semi-annular frame 11, a first electric push rod 19 fixedly connected at the lower end of the second horizontal plate 18, a first U-shaped rod 20 fixedly connected at the output end of the first electric push rod 19, a second electric push rod 31 fixedly connected at the lower end of the second horizontal plate 18, and a second U-shaped rod 28 fixedly connected at the upper end of the straight rod 29. The second U-shaped rod 28 is inverted, and the end of the second U-shaped rod 28 is slidably connected in 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. The lifting rod 21 is rotatably connected to the lower end of the first U-shaped rod 20.

[0054] Specifically, in combination with 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, whether the soil needs drip irrigation is monitored by the soil monitoring module, and then a signal is sent 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 and the transition hole correspond, 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. In the moving process, the stabilizing rod 14 always keeps in contact with the two fan-shaped drip irrigation sub-warehouses 2, ensuring the stability of the moving mechanism during movement.

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

[0057] Every time it moves to a plant, that is, after the rectangular strip 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 picture, wherein the first drip irrigation after the plant is planted is not counted as L1, and the distance between the drip irrigation point and the plant root is recorded as L1 from the second drip irrigation, and the distance between the drip irrigation point and the drip irrigation position monitoring module is L2 when the third drip irrigation is needed, and the distance between the drip irrigation point and the drip irrigation position monitoring module is L2 when the fourth drip irrigation is needed, and the subsequent is the same.

[0058] Then at the next time of drip irrigation, the moving mechanism is started to pass through all the plants, and the distance between the drip irrigation point and the drip irrigation position monitoring module is L2, at which time L 颗 , and the distance between each plant and L 颗 can also be obtained, at which time the drip irrigation point needs to be adjusted so that the distance between the adjusted drip irrigation point and the root is equal to L 颗 , thereby ensuring the uniform growth of the plants.

[0059] When the rectangular strip 8 moves to the middle of the lifting rod 21, the moving mechanism stops at this time, and the main control module controls the second electric push rod 31 to retract, and when it is needed to adjust the drip irrigation point close to the plant root, the main control module controls the first electric push rod 19 to retract, and under the action of the stop block 30, the rotation of the lifting rod 21 is limited, that is, the insertion rod 22 and the lifting rod 21 are in a relatively fixed state, and then the rectangular strip 8 can be moved upward through the insertion rod 22, and the connecting block 5 will slide along the convex strip 10 and rotate around the hinge point of the arc-shaped sliding plate 3, thereby driving the arc-shaped sliding plate 3 to slide along the fan-shaped drip irrigation compartment 2, thereby adjusting the position of the drip irrigation pipe 4, and when it is needed to adjust the drip irrigation point away from the plant root, the first electric push rod 19 is controlled to be elongated, thereby driving the arc-shaped sliding plate 3 to slide downward and adjusting the position of the drip irrigation pipe 4.

[0060] Each adjustment of a position, the host module records the first electric push rod 19 of this position of the extension length, thus facilitating the next move to this position, directly plug 22 and the corresponding square socket 9;

[0061] Each adjustment of a position, the host module starts the visual recognition device 15 to take a photo, as a new drip irrigation point and the distance L1 between the plant roots, facilitating subsequent analysis;

[0062] When the need to close the individual drip irrigation point, the host module controls the second electric push rod 31 to shrink to the limit, that is, when the drip irrigation pipe 4 and the transition hole are completely misaligned, the drip irrigation module is closed.

[0063] The above is only the preferred embodiment of the present application, and is not used to limit the present application, the patent protection scope of the present application is subject to the claims, any equivalent structural changes made by using the content of the present application and the drawings should be included in the protection scope of the present application.

Claims

1. A sensor fusion based intelligent irrigation system, characterized by: The soil monitoring module, the drip irrigation position monitoring module, the growth analysis module, the drip irrigation angle adjusting module and the drip irrigation opening and closing module are in communication connection with the master control module. The soil monitoring module is used for monitoring data of soil and transmitting the data to the master control module, including but not limited to soil humidity and soil temperature, and the master control module judges whether the monitoring data of the soil monitoring module meets the monitoring threshold by setting the monitoring threshold. The drip irrigation module is arranged in rows, and one drip irrigation point corresponds to one plant, which is used for drip irrigation of the plant rhizome. The drip irrigation angle adjusting module is used for adjusting the drip irrigation point according to the distance monitored by the drip irrigation position monitoring module, and can also close the drip irrigation module corresponding to the drip irrigation point. The drip irrigation opening and closing module is used for starting or closing the drip irrigation valve according to the data monitored by the master control module. The drip irrigation position monitoring module identifies the distance between the plant rhizome and the drip irrigation point through the visual recognition device when drip irrigation is needed, and feeds back the distance to the master control module, and the visual recognition device captures the image of the drip irrigation point and the plant rhizome and calculates the distance. a growth analysis module, calculating the average diameter L of each plant 颗 sending a signal to the control module, which controls the drip irrigation angle adjustment module to adjust the drip irrigation module corresponding to the drip irrigation point, setting n plants in each row, wherein the average diameter L of each plant is 颗 The calculation method is as follows: In the formula, L1 is the distance between the position of the previous drip irrigation point and the plant rhizome each time, and L2 is the distance between the drip irrigation point and the plant rhizome during drip irrigation, wherein the first drip irrigation after planting is not counted as L1.

2. The intelligent irrigation system based on sensor fusion as claimed in claim 1, wherein: The drip irrigation module includes two symmetrical rows of fan-shaped drip irrigation sub-warehouses arranged at the lower end of the drip irrigation main pipe, an arc-shaped sliding plate slidingly connected to the fan-shaped drip irrigation sub-warehouse away from the drip irrigation main pipe, and a drip irrigation pipe fixedly connected to the outer side of the arc-shaped sliding plate. Transition holes matching the hole diameters of the drip irrigation pipes are formed in the fan-shaped drip irrigation sub-warehouses. 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 as claimed in claim 1, wherein: The drip irrigation angle adjusting module includes a moving mechanism that moves along the drip irrigation main pipe and a driving mechanism arranged on both sides of the moving mechanism and used to drive the arc-shaped sliding plate to slide along the fan-shaped drip irrigation sub-warehouse.

4. The intelligent irrigation system based on sensor fusion as claimed in claim 3, wherein: The moving mechanism includes a semi-annular frame that is attached to the inside of the drip irrigation main pipe, a stabilizing rod fixedly connected to the lower end of the semi-annular frame, and a moving assembly arranged on the semi-annular frame. The stabilizing rod is attached to the included angle between the drip irrigation main pipe and the fan-shaped drip irrigation sub-warehouse, and the length of the stabilizing rod is at least equal to the distance between three fan-shaped drip irrigation sub-warehouses.

5. The intelligent irrigation system based on sensor fusion as claimed in claim 3, wherein: The driving mechanism includes a first horizontal plate fixedly connected to the upper end of the fan-shaped drip irrigation sub-warehouse, a limiting rod vertically inserted into the first horizontal plate, a rectangular bar fixedly connected to the upper end of the limiting rod, a convex bar fixedly connected to the lower end of the rectangular bar, a connecting block rotationally connected to the upper end of the arc-shaped sliding plate, and a driving assembly for driving the rectangular bar to move up and down. The upper end of the connecting block is slidingly connected to the outer side of the arc-shaped sliding plate, and the driving assembly is arranged on both sides of the semi-annular frame.

6. The intelligent irrigation system based on sensor fusion as claimed in claim 5, wherein: A through square insertion hole is formed in the middle of the rectangular bar, and the driving assembly includes an insertion rod that can pass through the square insertion hole in sequence as the moving mechanism moves, and a driving structure for driving the insertion rod to move up and down.

7. The intelligent irrigation system based on sensor fusion as claimed in claim 6, wherein: One end of the insertion rod is provided with a second swing through slot, the middle part of the insertion rod is provided with a first swing through slot, the lower end of the driving structure is rotatably connected with two lifting rods which can swing in the opposite direction of the moving direction of the moving mechanism, the two lifting rods can swing to the first swing through slot and the second swing through slot respectively, the first swing through slot and the second swing through slot are fixedly connected with triangular magnetic blocks towards the inner side of the insertion rod provided with the second swing through slot, the side surface of the lifting rod is provided with a triangular groove matched with the triangular magnetic block, and the triangular magnetic block can be magnetically attracted in the triangular groove.

8. The intelligent irrigation system based on sensor fusion as claimed in claim 7, wherein: The middle part of the lifting rod is provided with a through rectangular through slot, a straight rod is slidably connected in the rectangular through slot in the vertical direction, two stoppers are arranged on the straight rod, when the straight rod moves to the uppermost end of the rectangular through slot, the stoppers limit the rotation of the lifting rod, so that the triangular magnetic block is adsorbed in the triangular groove, and when the straight rod moves to the middle part of the rectangular through slot, the insertion rod passes through the square insertion hole.

9. The intelligent irrigation system based on sensor fusion as claimed in claim 8, wherein: The driving structure comprises second horizontal plates fixedly connected on both sides of the half-ring frame, a first electric push rod fixedly connected at the lower end of the second horizontal plate, a first U-shaped rod fixedly connected at the output end of the first electric push rod, a second electric push rod fixedly connected at the lower end of the second horizontal plate and a second U-shaped rod fixedly connected at the upper end of the straight rod, the second U-shaped rod is slidably connected in the first U-shaped rod, the upper end of the second U-shaped rod is fixedly connected at the output end of the second electric push rod, and the lifting rod is rotatably connected at the lower end of the first U-shaped rod.

10. The intelligent irrigation system based on sensor fusion as claimed in claim 4, wherein: The drip irrigation position monitoring module comprises a visual identification device arranged in the middle part of the stabilizing rod and a fill light arranged on the stabilizing rod on one side of the visual identification device.

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