Irrigation method and irrigation mechanism

Abstract

The embodiment of the specification relates to the technical field of pool cleaning, in particular to a watering method and a watering mechanism, the watering method comprising: rotating the watering mechanism so as to control the water curtain landing point of the watering mechanism to move along the boundary of a to-be-watered region; recording, in the moving process, a plurality of rotation angle information of the watering mechanism, and a pitch angle of a nozzle of the watering mechanism and / or a water flow related parameter of the watering mechanism corresponding to each rotation angle; obtaining position information of the boundary of a current to-be-watered region corresponding to each rotation angle based on calibration information; determining a boundary map of the to-be-watered region based on the position information; generating a moving path of the water curtain landing point based on the map of the to-be-watered region; and controlling the watering mechanism to water the to-be-watered region according to the path. The scheme does not need a professional to design a watering path, and realizes automatic and accurate watering of the to-be-watered region.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of greening, and in particular to a watering method and a watering mechanism. BACKGROUND

[0002] In recent years, due to the increase of urban greening scenes such as grassland flower beds, irrigation technology has developed rapidly. How to achieve rapid, accurate and intelligent irrigation without wasting water resources has become a problem that attracts attention.

[0003] Most of the current water-saving irrigation equipment needs professional personnel to design watering lines and lay pipes in the environment to achieve full coverage of the watering site. This method is complex to install, high in cost, and difficult to change after completion of the laying. The later maintenance also needs professional personnel to carry out. Some other solutions need to install infrared sensors and the like on the irrigation equipment, identify the boundaries of the area to be irrigated through sensor data, and then control the irrigation area. This method has low accuracy and requires additional sensor costs.

[0004] Therefore, how to provide a watering scheme to solve the above problems. SUMMARY

[0005] The embodiments of the present specification provide a watering method and a watering mechanism, which can realize automatic and accurate watering of the area to be watered without additional equipment.

[0006] In one aspect, the embodiments of the present specification provide a watering method, which comprises:

[0007] Rotating the watering mechanism to control the water curtain landing point of the watering mechanism to move along the boundary of the area to be watered;

[0008] During the movement, record the rotation angle information of the watering mechanism, and the pitch angle of the nozzle of the watering mechanism and / or the water flow related parameters of the watering mechanism corresponding to each rotation angle;

[0009] Obtain the position information of the boundary of the current watering area corresponding to each rotation angle based on the calibration information;

[0010] Determine the boundary map of the area to be watered based on the position information;

[0011] Generate a moving path of the water curtain landing point based on the map of the area to be watered;

[0012] Control the watering mechanism to water the area to be watered according to the path.

[0013] Further, the calibration information comprises a corresponding relationship between the pitch angle and the distance from the water curtain starting point to the boundary of the watering area.

[0014] Or, the correspondence between the water flow related parameters of the irrigation mechanism and the distance from the water curtain starting point to the boundary of the irrigation area.

[0015] Further, the calibration information further comprises a correspondence among the pitch angle, the water flow related parameters of the irrigation mechanism and the position information.

[0016] Further, the position information comprises a distance between the water curtain starting point and the boundary of the irrigation area or a distance between the position of the irrigation mechanism and the boundary.

[0017] Further, the path comprises at least one sub-path, and the irrigation mechanism irrigates according to the sub-path; in a non-path area, the water curtain of the irrigation mechanism does not pass through, or the water curtain is closed or works with a minimum spray water flow.

[0018] Further, the sub-path is a closed loop or an open loop.

[0019] Further, when the sub-path is an open loop, a starting point or an ending point of each sub-path is on a map of the boundary of the to-be-irrigated area.

[0020] Further, the number and interval of the sub-paths are related to the width of the water curtain.

[0021] Further, the landing point of the water curtain comprises a farthest point at which the water curtain lands on the ground.

[0022] Further, the rotation speed of the irrigation mechanism is related to the water pressure of the irrigation mechanism or the length of the sub-path.

[0023] In another aspect, the embodiments of the present specification provide an irrigation mechanism, comprising a controller configured to execute the above irrigation method.

[0024] Another aspect provides a computer-readable storage medium, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute any of the above irrigation methods.

[0025] Another aspect provides a computer program product or a computer program, the computer program product or the computer program comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the irrigation method provided in various optional implementation manners.

[0026] The irrigation method, device, storage medium and computer program product provided by the embodiments of the present specification have the following technical effects:

[0027] The irrigation method provided by the embodiment of the present specification controls the rotation of the irrigation mechanism before the irrigation operation on the to-be-irrigated region is performed, so that the water curtain landing point of the irrigation mechanism moves along the boundary of the to-be-irrigated region, and then the position information of the boundary corresponding to each rotation angle is obtained based on the calibration information, and the boundary map of the to-be-irrigated region is constructed. The moving path of the water curtain landing point of the irrigation mechanism is generated based on the constructed boundary map, and the to-be-irrigated region is irrigated along the moving path. The professional irrigation route designed by the technical personnel is not needed, the automatic and accurate irrigation of the irrigation mechanism in the irrigation region is realized, the operation is simple, other equipment does not need to be added, and the cost of irrigation is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art and the advantages thereof, a brief introduction will be given to the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present specification, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0029] Figure 1 is a flowchart of the irrigation method provided by an embodiment of the present specification;

[0030] Figure 2 is a structural schematic diagram of the irrigation mechanism in an embodiment of the present specification;

[0031] Figure 3 is a schematic diagram of an irrigation scene in an embodiment of the present specification;

[0032] Figure 4 is a schematic diagram of an irrigation scene in another embodiment of the present specification;

[0033] Figure 5 is a schematic diagram of an irrigation scene in another embodiment of the present specification;

[0034] Figure 6 is a schematic diagram of an irrigation scene in another embodiment of the present specification;

[0035] Figure 7 is a structural schematic diagram of the irrigation electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present specification will be clearly and completely described in the embodiments of the present specification in combination with the drawings of the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present specification, but not all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present specification.

[0037] It should be noted that the terms "first", "second", and the like in the description and claims of the embodiments of the present specification and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present specification described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0038] The irrigation method provided in some embodiments of the present specification can be applied to gardens or urban greening and the like. Before performing the irrigation operation on the to-be-irrigated area, the irrigation mechanism is controlled to rotate, so that the water curtain landing point of the irrigation mechanism moves along the boundary of the to-be-irrigated area, and then a boundary map of the to-be-irrigated area is constructed. A movement path of the water curtain landing point of the irrigation mechanism is generated based on the constructed boundary map, and the to-be-irrigated area is irrigated along the movement path. The irrigation method does not require a technician to design a professional irrigation route, and can also achieve accurate irrigation of the irrigation mechanism in the irrigation area. The operation is simple, no other equipment needs to be added, and the cost of irrigation is reduced.

[0039] The following describes an irrigation method provided by an embodiment of the present specification, Figure 1 is a flowchart of the irrigation method provided by an embodiment of the present specification. The present specification provides method operation steps such as embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-creative labor. The order of the steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. When the system or server product is executed in practice, the method can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) as shown in the embodiments or the drawings. The method can be applied to the controller of the automatic cleaning device, and the embodiments of the present specification do not make specific limitations thereto. Specifically, as shown in Figure 1 The method can include:

[0040] S102: rotate the irrigation mechanism so as to control the water curtain landing point of the irrigation mechanism to move along the boundary of the to-be-irrigated region.

[0041] In a specific implementation process, the to-be-irrigated region can be understood as a region that needs to be irrigated, which can be a city greening region or a garden, and the like, and the specific implementation is determined according to actual needs, and the embodiments of the present specification are not limited in this regard. The irrigation mechanism can be understood as a device capable of irrigating the greening region or the garden, and the like, Figure 2 is a structural schematic diagram of the irrigation mechanism in an embodiment of the present specification, as shown in Figure 2 The base of the irrigation mechanism is provided with a rotating support that can rotate in the horizontal direction, the upper end of the rotating support is connected with a nozzle, and the nozzle can rotate up and down to adjust the pitch angle. Before irrigating the to-be-irrigated region, the irrigation mechanism can be rotated, for example, the irrigation mechanism can be manually rotated, or a motor (for example, a stepper motor) is used to control the rotation of the irrigation mechanism, or the controller of the motor of the irrigation mechanism is communicatively connected with the application program of the intelligent device, and the rotation of the irrigation mechanism is controlled through the application program. When the irrigation mechanism is rotated, the pitch angle or flow rate of the irrigation mechanism can be adjusted to control the water curtain landing point of the irrigation mechanism to fall on the boundary of the to-be-irrigated region, and then the irrigation mechanism is rotated again so that the water curtain landing point of the irrigation mechanism can move along the boundary of the to-be-irrigated region. The water curtain of the irrigation mechanism has a certain width, and the water curtain landing point can include the farthest point at which the water curtain falls on the ground. When the water curtain landing point of the irrigation mechanism is controlled to move along the boundary of the to-be-irrigated region, the middle landing point of the water curtain can be controlled to fall on the boundary of the to-be-irrigated region, or at least the farthest landing point of the water curtain is ensured to fall on the boundary of the to-be-irrigated region, so that the boundary map of the to-be-irrigated region can be obtained through the position of the water curtain landing point.

[0042] In addition, when the irrigation mechanism is rotated, the irrigation mechanism can be arranged inside the to-be-irrigated region or outside the to-be-irrigated region, and the position of the irrigation mechanism can be arranged according to the position and shape of the to-be-irrigated region. In addition, the irrigation mechanism can be a fixed irrigation device arranged in the to-be-irrigated region, or an irrigation device that is moved from outside to the inside or the vicinity of the to-be-irrigated region, and the embodiments of the present specification are not limited in this regard.

[0043] S104: In the moving process, a plurality of rotation angle information of the irrigation mechanism, and the pitch angle of the nozzle of the irrigation mechanism and / or the water flow related parameter of the irrigation mechanism corresponding to each rotation angle are recorded.

[0044] In the specific implementation process, in the process of rotating the irrigation mechanism and controlling the water curtain landing point of the irrigation mechanism to move along the boundary of the to-be-irrigated region, the motion data of the irrigation mechanism can be recorded, such as recording a plurality of rotation angle information in the rotation process of the irrigation mechanism. The rotation angle information can be a rotation angle in the movement process of the irrigation mechanism, or a rotation number in the rotation process of the irrigation mechanism, and the like. For example, the rotation angle of the irrigation mechanism can be recorded once every distance when the water curtain landing point of the irrigation mechanism moves along the boundary of the to-be-irrigated region from the starting position, or the rotation angle can be recorded once every preset angle, or the irrigation mechanism can be set to rotate a fixed angle each time, and the rotation angle of the irrigation mechanism can be obtained by recording the rotation number of the irrigation mechanism. The number or density of the recorded rotation angles can be set or adjusted according to actual needs, and the embodiments of the present specification are not specifically limited.

[0045] As shown in FIG. 1, Figure 2 The irrigation mechanism can not only rotate in the horizontal direction, but also the pitch angle of the nozzle of the irrigation mechanism can be adjusted. Through the adjustment of the pitch angle of the nozzle, the water curtain spraying distance of the irrigation mechanism can be controlled. In the embodiments of the present specification, when the rotation angle of the irrigation mechanism is recorded, the pitch angle of the nozzle of the irrigation mechanism corresponding to each rotation angle and / or the water flow related parameters of the irrigation mechanism such as water pressure, water speed, flow rate and the like can also be recorded. Through the pitch angle of the nozzle of the irrigation mechanism or the water flow and the like, the distance of the water curtain spraying of the irrigation mechanism can be obtained, which lays a foundation for constructing the boundary map of the to-be-irrigated region.

[0046] S106: Obtain position information of the boundary of the current irrigation region corresponding to each rotation angle based on the calibration information.

[0047] In the specific implementation process, after the rotation angle of the irrigation mechanism and the corresponding pitch angle and / or water flow related parameters are recorded, the position information of the boundary of the irrigation region corresponding to the recorded rotation angle can be obtained based on the calibration information. The calibration information can be understood as a mapping relationship between different pitch angles or water flow parameters of the irrigation mechanism and the range of the irrigation mechanism, and the position information can be understood as the position of the boundary of the current irrigation region of the irrigation mechanism relative to the position of the irrigation mechanism, or the position of the boundary relative to the starting point of the water curtain of the irrigation mechanism.

[0048] In some embodiments of the present specification, the calibration information includes a corresponding relationship between the pitch angle and the distance from the starting point of the water curtain to the boundary of the irrigation region;

[0049] or, a corresponding relationship between the water flow related parameters of the irrigation mechanism and the distance from the starting point of the water curtain to the boundary of the irrigation region.

[0050] In a specific implementation process, the calibration information can include a corresponding relationship between the pitch angle of the irrigation mechanism and the distance from the water curtain starting point to the boundary of the irrigation area irrigated by the pitch angle. The pitch angle can have multiple values, and calibration can be performed at every certain angle. For example, the flow rate and water pressure of the irrigation mechanism can be fixed as the water flow parameters, such as the water flow parameters of the irrigation mechanism when the irrigation mechanism moves along the boundary of the to-be-irrigated area. The irrigation mechanism is controlled to irrigate from the smallest pitch angle, and the distance from the water curtain starting point of the irrigation mechanism to the boundary of the irrigated area is measured. Then, the pitch angle is increased in sequence, the distance from the water curtain starting point of the irrigation mechanism to the boundary of the irrigation area is measured at each pitch angle, and a mapping relationship between the pitch angle of the irrigation mechanism and the range of the irrigation mechanism is obtained.

[0051] Alternatively, the calibration information can also include a corresponding relationship between the water flow related parameters of the irrigation mechanism and the distance from the water curtain starting point to the boundary of the irrigation area. For example, the pitch angle of the irrigation mechanism can be fixed, such as the fixed pitch angle of the irrigation mechanism when the irrigation mechanism moves along the boundary of the to-be-irrigated area. The irrigation mechanism is controlled to irrigate from the smallest water flow parameter of the irrigation mechanism, and the distance from the water curtain starting point of the irrigation mechanism to the boundary of the irrigated area is measured. Then, the water flow parameter is increased in sequence, the distance from the water curtain starting point of the irrigation mechanism to the boundary of the irrigation area is measured at each water flow parameter, and a mapping relationship between the water flow parameter of the irrigation mechanism and the range of the irrigation mechanism is obtained.

[0052] In some embodiments of the present specification, the calibration information further includes a corresponding relationship between the pitch angle, the water flow related parameters of the irrigation mechanism, and the position information.

[0053] In a specific implementation process, the calibration information can also include a mapping relationship between the pitch angle, the water flow parameter of the irrigation mechanism, and the distance from the boundary of the irrigation area to the water curtain starting point or the position of the irrigation mechanism, that is, the calibration information can include both a corresponding relationship between the pitch angle and the distance from the water curtain starting point to the boundary of the irrigation area and a corresponding relationship between the water flow related parameters of the irrigation mechanism and the distance from the water curtain starting point to the boundary of the irrigation area. For example, the irrigation mechanism is controlled to irrigate at different irrigation water flow parameters and different pitch angles, respectively, the water flow parameter and the pitch angle of the irrigation mechanism are adjusted in sequence, the mapping relationship between the irrigation water flow parameter, the pitch angle, and the corresponding range is recorded, the calibration information is obtained, and a calibration information table is constructed. The calibration information table includes the corresponding relationship between the range of the irrigation mechanism, that is, the distance from the water curtain starting point to the boundary of the irrigation area or the distance from the position of the irrigation mechanism to the boundary of the irrigation area, at different pitch angles and different water flow parameters of the irrigation mechanism.

[0054] The calibration information can be obtained by the irrigation mechanism through testing before leaving the factory, can be obtained by the user from a use parameter table of the irrigation mechanism, or can be obtained by the user through a series of tests before or during irrigation, and embodiments of the present specification do not make specific limitations in this regard.

[0055] Based on the calibration information, in combination with the rotation movement data of the irrigation mechanism in the to-be-irrigated region, the position information of the boundary of the to-be-irrigated region corresponding to different rotation angles can be quickly obtained, thereby laying a data foundation for subsequent construction of the boundary map of the to-be-irrigated region.

[0056] S108: Determine the boundary map of the to-be-irrigated region based on the position information.

[0057] In a specific implementation process, after obtaining the position information of the boundary of the current irrigation region corresponding to each rotation angle, the boundary map of the to-be-irrigated region can be constructed, for example, based on the position information corresponding to each rotation angle and the position of the irrigation mechanism, the moving track points of the water curtain landing point of the irrigation mechanism can be obtained, and the boundary map of the to-be-irrigated region can be obtained by fitting each track point. If the rotation angles are relatively few, the track points available when generating the boundary map are relatively sparse, at this time, more track points can be obtained by interpolating the existing track points, and the boundary map of the to-be-irrigated region is generated by fitting the track points, so as to generate a more accurate boundary map.

[0058] S110: Generate a moving path of the water curtain landing point based on the map of the to-be-irrigated region.

[0059] In a specific implementation process, after obtaining the boundary map of the to-be-irrigated region, the irrigable range of the to-be-irrigated region is determined, irrigation points can be generated on the boundary map by machine algorithm or experience or preset irrigation mode, and a moving path of the water curtain landing point is generated based on each irrigation point. The moving path can be located on or in the boundary of the to-be-irrigated region, and the specific location can be determined according to the positional relationship between the irrigation mechanism and the to-be-irrigated region and the width of the water curtain of the irrigation mechanism, and embodiments of the present specification do not make specific limitations.

[0060] For example, the intelligent algorithm can be used to divide the to-be-irrigated region into a plurality of irrigation regions according to the water curtain width of the irrigation mechanism and the boundary map of the to-be-irrigated region, the width of each irrigation region is less than or equal to the water curtain width of the irrigation mechanism, and the segmentation line can serve as the moving path of the water curtain drop point. Alternatively, the irrigation mechanism has a rotary irrigation mode, and the position of the irrigation mechanism is fixed during the irrigation process, and then the to-be-irrigated region can be divided into a plurality of irrigation regions according to the position of the irrigation mechanism and the map of the to-be-irrigated region, and the position of the irrigation mechanism serves as the center of a plurality of equally divided circles, each equally divided circle divides the to-be-irrigated region into an irrigation region, and each equally divided circle can serve as the moving path of the water curtain drop point. The way of generating the moving path of the water curtain drop point can be selected according to actual needs, and the embodiments of the present specification are not limited in this regard.

[0061] S120: Controlling the irrigation mechanism to irrigate the to-be-irrigated region according to the path.

[0062] In the specific implementation process, after the moving path of the water curtain drop point is generated, the irrigation mechanism can be manually controlled or controlled by an application program to irrigate the to-be-irrigated region along the moving path.

[0063] In some embodiments of the present specification, the path includes at least one sub-path, and the irrigation mechanism irrigates according to the sub-path; in the non-path region, the water curtain of the irrigation mechanism does not pass through, or the water curtain is closed or works with a minimum jet flow.

[0064] In the specific implementation process, when the moving path of the water curtain drop point is generated based on the boundary map of the to-be-irrigated region, the generated moving path can include one or more sub-paths. For example, if the irrigation mechanism is located inside the to-be-irrigated region and the water curtain width of the irrigation mechanism is relatively wide and can cover the boundary of the to-be-irrigated region, a sub-path can be generated in the to-be-irrigated region, and the sub-path can be the boundary line of the to-be-irrigated region. Figure 3 is a schematic diagram of an irrigation scene in an embodiment of the present specification, as shown in Figure 3 A rectangular to-be-irrigated region is provided with an irrigation mechanism, and the water curtain of the irrigation mechanism has a width. When the sub-paths of the to-be-irrigated region are generated, the number and spacing of the sub-paths can be determined according to the water curtain width of the irrigation mechanism. The water curtain width can be understood as the distance between the starting point of the water curtain drop point and the ending point of the water curtain drop point of the irrigation mechanism, or the water curtain width can also be understood as the distance between the farthest point on the ground where the water curtain falls and the position of the irrigation mechanism. Figure 4 is a schematic diagram of an irrigation scene in another embodiment of the present specification, Figure 4 The rectangular frame in can represent the to-be-irrigated region, the circles outside the rectangular frame can represent the irrigation mechanism, and each annulus inside the rectangular frame can represent a sub-path, as shown in Figure 4As shown, the irrigation area has multiple sub-paths, which can be irrigated from the closest sub-path to the irrigation mechanism, and then sequentially along each sub-path to irrigate the irrigation area. The distance between the two circles indicates the spacing between the sub-paths. When generating sub-paths, if the water curtain width of the irrigation mechanism is relatively wide, the number of sub-paths can be appropriately reduced and the spacing between sub-paths can be increased, so that the to-be-irrigated area can be guaranteed to be irrigated and the irrigation efficiency can be improved. If the water curtain width is relatively narrow, the number of sub-paths needs to be appropriately increased and the spacing between sub-paths needs to be reduced to ensure that all areas can be irrigated. The specific relationship between the number of sub-paths and the spacing between sub-paths and the water curtain of the irrigation mechanism can be determined by experiment or expert experience, and the embodiments of the present specification are not limited specifically.

[0065] Figure 5 is a schematic diagram of an irrigation scene in another embodiment of the present specification, as shown in Figure 5 , the area in the large circle in Figure 5 may represent a to-be-irrigated area, and the small circle at the center of the large circle can represent an irrigation mechanism, which is located inside the to-be-irrigated area. If the water curtain width of the irrigation mechanism is relatively wide and can cover all the to-be-irrigated areas at once, the circular boundary of the to-be-irrigated area can be taken as the moving path of the water curtain drop point, that is, a sub-path is generated, and the irrigation mechanism can irrigate the to-be-irrigated area along the circular boundary. Of course, if the water curtain width of the irrigation mechanism is relatively small and cannot cover all the irrigation areas at once, multiple sub-paths can be generated. If there are multiple sub-paths, when irrigating the to-be-irrigated area along the sub-paths, the endpoints of each sub-path can be taken as the starting point of irrigation, starting from the sub-path closest to the irrigation mechanism, from near to far, sequentially along each sub-path to irrigate the to-be-irrigated area. Of course, it can also be irrigated from far to near. Each sub-path can be irrigated once or multiple times, which can be adjusted according to actual needs.

[0066] In addition, the shape of the sub-path can be set according to actual needs, and can be a circular arc or a polyline or other shapes, or the shape of the sub-path can be set according to the shape of the to-be-irrigated region, and the embodiments of the present specification are not limited specifically. For example, according to the boundary map of the to-be-irrigated region, the position of the irrigation mechanism can be taken as the center, the preset radius interval can be followed, the to-be-irrigated region can be equally divided into circles, and the intersection points of each equally divided circle and the boundary of the to-be-irrigated region can be taken as irrigation points. The equally divided circle part between the irrigation points belonging to the same equally divided circle can be taken as a sub-path, and according to the rotation angle, the pitch angle and / or the water flow parameter corresponding to the irrigation points on the sub-path, the irrigation mechanism can be controlled to move along each sub-path to irrigate the to-be-irrigated region. If the irrigation points on the equally divided circle are not the corresponding positions of the boundary when the water curtain falling point of the irrigation mechanism moves along the boundary, the corresponding pitch angle and / or water flow parameter can be obtained according to the rotation angle corresponding to the adjacent two water curtain falling points of the irrigation point. Alternatively, according to the boundary shape of the to-be-irrigated region, the to-be-irrigated region can be segmented according to the boundary shape, the boundary line can be taken as a sub-path, the boundary shape can be moved into the to-be-irrigated region once every certain interval, and a sub-path can be obtained. According to the pitch angle, the water flow parameter and other sub-paths corresponding to the distance between the boundary line and the sub-path, the rotation angle, the pitch angle and the water flow parameter corresponding to the other sub-paths can be obtained, and then the irrigation mechanism can be controlled to irrigate the to-be-irrigated region along each sub-path.

[0067] Figure 6 is a schematic diagram of an irrigation scene in another embodiment of the present specification, as Figure 6 shown, the to-be-irrigated region in the irrigation scene is discontinuous and can be divided into two sub-regions, sub-region 1 and sub-region 2, and the circle between the two sub-regions can represent the to-be-irrigated mechanism. Generally, the sub-path is located in the boundary of the to-be-irrigated region, as Figure 6 shown, if the to-be-irrigated region is discontinuous, there can be a non-path region between the two sub-paths, Figure 6 each solid arc in sub-region 1 or sub-region 2 can represent a sub-path, and the dashed arc in the extension direction of the sub-path outside sub-region 1 and sub-region 2 is a non-path region. The non-path region can be understood as an extension region of the sub-path, but does not belong to the to-be-irrigated region. For the non-path region, the irrigation mechanism can not irrigate during irrigation, or the water curtain can be closed, or the water flow can be controlled to work with the minimum jet water flow, so as to save resources. As Figure 4 shown, when irrigating along the sub-path, the non-path region outside the rectangular frame can not be irrigated, and the irrigation mechanism only needs to irrigate the to-be-irrigated region along each sub-path. Figure 6In the process of irrigation along each sub-path, the upper sub-area 1 can be irrigated along the solid circular arc sub-path first, and the non-path area outside the sub-area 1 can not be irrigated. After the sub-area irrigation is completed, the lower sub-area 2 can be irrigated along the solid circular arc sub-path in the sub-area 2. Alternatively, irrigation can be performed according to a bisecting circle. For example, the irrigation mechanism can be controlled to rotate along a bisecting circle. When the irrigation area outside is reached, the water curtain can be turned off or adjusted to a minimum spray flow, and the rotation is continued. When another piece of irrigation area is entered, the water curtain is turned on or the flow is restored to the original size. For example, the sub-path L1 and the sub-path L2 are located on the same bisecting circle. The irrigation of the sub-area 1 can be performed from the point A of the sub-path L1 to the point B in the clockwise direction. After moving to the point B, the water curtain can be turned off or adjusted to a minimum spray flow, and the rotation is continued. When the point C of the sub-path L2 is reached, the water curtain is turned on or the flow is restored to the original size, and the movement is performed to the point D. After moving to the point D, the water curtain is turned off or adjusted to a minimum spray flow, and the irrigation is performed along the next sub-path.

[0068] In addition, as shown in Figure 6 if the shape of the irrigation area is irregular, there will also be a non-path area between the sub-paths of the same irrigation area. Of course, in the actual irrigation process, whether the water curtain needs to be turned off or the flow needs to be adjusted can be determined according to the distance between two discontinuous irrigation areas. If the non-path area is between two adjacent sub-paths, and the distance between the two sub-paths is relatively close, the original water curtain flow can be directly used for irrigation or the flow of the spray head of the irrigation mechanism can be adjusted to a minimum. If the distance between the two sub-paths is relatively far, the water curtain can be turned off when the non-path area is irrigated.

[0069] In some embodiments of the present specification, the sub-paths are closed loops or non-closed loops.

[0070] In the specific implementation process, when the moving path of the water curtain drop point is generated based on the boundary map of the to-be-irrigated area, each sub-path generated can be a closed loop or a non-closed loop. The closed loop can be understood as the starting point and the ending point of the sub-path being the same position, and the sub-path is connected at the head and the tail. The non-closed loop can be understood as the starting point and the ending point of the sub-path being different positions. For example, Figure 5 the sub-path in the figure is the boundary line of the circular to-be-irrigated area, and is a closed loop. One rotation of the irrigation mechanism can complete the irrigation of one sub-path, Figure 6 the to-be-irrigated area in the figure is discontinuous, and the generated sub-path is a non-closed loop, for example, Figure 6Sub-path L1 is located on sub-region 1, with its starting point A and ending point B. The starting and ending points are different and cannot be connected end-to-end. Whether a sub-path is a closed loop depends on the shape of the area to be irrigated and the positional relationship between the irrigation mechanism and the area. The shape of the sub-path and the positions of its starting and ending points can be flexibly adjusted according to actual needs. This specification does not impose specific limitations on the embodiments. Each sub-path in the movement path can be either a closed loop or a non-closed loop, depending on the actual situation. A closed-loop sub-path can irrigate the area within its range in one go, while a non-closed-loop sub-path may require adjusting the flow rate or opening / closing of the water curtain at the starting and ending points, which can ensure irrigation efficiency and save resources.

[0071] like Figure 6 As shown, when the sub-path is not a closed loop, the starting point or ending point of the sub-path is located on the boundary of the area to be irrigated. This ensures that the route between the starting point and the ending point of the sub-path is within the boundary of the area to be irrigated. When irrigating along the sub-path, it can be ensured that the water curtain is irrigated to the area that needs to be irrigated.

[0072] When irrigating the area to be irrigated along the sub-path, the rotation speed of the irrigation mechanism is related to the water pressure or the length of the sub-path. If the water pressure is high, the water output will be relatively large, allowing the area to be thoroughly irrigated in a short time. In this case, the rotation speed of the irrigation mechanism can be higher than when the water pressure is low. If the sub-path is long, the rotation speed of the irrigation mechanism can also be set higher to increase the irrigation speed. The specific relationship between the rotation speed of the irrigation mechanism and the water pressure or the length of the sub-path can be determined through experiments or expert experience; this specification does not provide specific limitations for the embodiments.

[0073] The irrigation method provided in this specification, before irrigating the area to be irrigated, first controls the rotation of the irrigation mechanism, causing the water curtain landing point of the irrigation mechanism to move along the boundary of the area to be irrigated. Then, based on calibration information, the position information of the boundary corresponding to each rotation angle is obtained, thereby constructing a boundary map of the area to be irrigated. Based on the constructed boundary map, a movement path for the water curtain landing point of the irrigation mechanism is generated, and the area to be irrigated is irrigated along this movement path. This eliminates the need for technicians to design specialized irrigation routes, achieving automated and precise irrigation within the irrigation area. The operation is simple, requires no additional equipment, and reduces irrigation costs.

[0074] In some embodiments of the present specification, a watering mechanism is also provided, which can include a controller that can execute the watering method described in the above embodiments to control the watering mechanism to water the area to be watered. The controller can be communicatively connected with the rotation driving device (e.g., a motor) of the watering mechanism, the pitch driving device (e.g., a motor), and the water flow control device (e.g., a water flow switch or a valve of a water curtain) to control the rotation angle, the pitch angle, and the water flow, water pressure, etc. of the watering mechanism. The specific structure of the watering mechanism can be determined according to actual needs, and the embodiments of the present specification are not limited specifically.

[0075] The embodiments of the present application also provide an electronic device, which includes a processor and a memory, and the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the watering method as described above.

[0076] The memory can be used to store software programs and modules, and the processor executes various function applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by functions, etc.; and the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one hard disk storage device, a flash memory device or other volatile solid-state memory device. Correspondingly, the memory can also include a memory controller to provide access of the processor to the memory.

[0077] The method embodiments provided by the embodiments of the present application can be executed in a mobile terminal, a computer terminal, a server or similar computing devices, etc. Figure 7 is a structural schematic diagram of a watering electronic device provided by the embodiments of the present application, like Figure 7As shown, the electronic device 900 can vary greatly in configuration and performance, and can include one or more Central Processing Units (CPU) 910 (processor 910 can include, but is not limited to, a microprocessor, MCU, or a programmable logic device, such as a FPGA, etc.), a memory 930 for storing data, one or more storage medium 920 (e.g., one or more mass storage devices) for storing applications 923 or data 922. The memory 930 and the storage medium 920 can be volatile or non-volatile storage. The programs stored in the storage medium 920 can include one or more modules, each of which can include a series of instructions for operating the electronic device. Further, the CPU 910 can be configured to communicate with the storage medium 920 and execute the series of instructions in the storage medium 920 on the electronic device 900. The electronic device 900 can also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input / output interfaces 940, and / or one or more operating systems 921, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0078] The input / output interface 940 can be configured to receive or transmit data via a network. Examples of the network can include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a Network Interface Controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one example, the input / output interface 940 can be a Radio Frequency (RF) module that is configured to communicate with the Internet through a wireless manner.

[0079] Those of ordinary skill in the art can understand that, Figure 7 The structure shown is merely illustrative and does not limit the structure of the electronic device described above. For example, the electronic device 900 can include more or less components than those shown, or have a different configuration than that shown. Figure 7 For example, the electronic device 900 can include more or less components than those shown, or have a different configuration than that shown. Figure 7

[0080] Embodiments of the present application also provide a storage medium having at least one instruction or at least one program stored therein, which is loaded and executed by a processor to implement the irrigation method as described above.

[0081] ​The foregoing description has been set forth in terms of specific embodiments of the application. It is to be understood that modifications which do not depart from the scope of the application will occur to those skilled in the art upon a reading of the foregoing description. Accordingly, it is intended that the scope of the application be governed by the following claims.

Claims

1. A method of irrigating, characterized in that, The method comprises: rotating the irrigation mechanism so as to control the water curtain landing point of the irrigation mechanism to move along the boundary of the to-be-irrigated region; during the movement, recording a plurality of rotation angle information of the irrigation mechanism, and a pitch angle of a nozzle of the irrigation mechanism and / or a water flow related parameter of the irrigation mechanism corresponding to each rotation angle; obtaining position information of the boundary of the current irrigation region corresponding to each rotation angle based on the calibration information; determining a boundary map of the to-be-irrigated region based on the position information; generating a moving path of the water curtain landing point based on the map of the to-be-irrigated region; controlling the irrigation mechanism to irrigate the to-be-irrigated region according to the path; the calibration information comprises a corresponding relationship between the pitch angle and the distance from the water curtain starting point to the boundary of the irrigation region; or, the calibration information comprises a corresponding relationship between the water flow related parameter of the irrigation mechanism and the distance from the water curtain starting point to the boundary of the irrigation region; or, the calibration information comprises a corresponding relationship between the pitch angle, the water flow related parameter of the irrigation mechanism and the position information.

2. The method of claim 1, wherein, The position information comprises a distance between the water curtain starting point and the boundary of the irrigation region or a distance between the position of the irrigation mechanism and the boundary.

3. The method according to any of claims 1-2, characterized in that, The path comprises at least one sub-path, and the irrigation mechanism irrigates according to the sub-path; in a non-path region, the water curtain of the irrigation mechanism does not pass through, or the water curtain is closed or works with a minimum jet flow.

4. The method of claim 3, wherein, The sub-path is closed loop or non-closed loop.

5. The method of claim 4, wherein, When the sub-path is non-closed loop, the starting point or the ending point of each sub-path is on the map of the boundary of the to-be-irrigated region.

6. The method of claim 5, wherein, The number and interval of the sub-paths are related to the width of the water curtain.

7. The method according to any one of claims 1-2 or 4-6, characterized in that, The landing point of the water curtain comprises the farthest point at which the water curtain lands on the ground.

8. The method of claim 3, wherein, The rotation speed of the irrigation mechanism is related to the water pressure of the irrigation mechanism or the length of the sub-path.

9. An irrigation mechanism characterized by, The irrigation mechanism comprises a controller for executing the irrigation method according to any one of claims 1-8.

Images