Irrigation device

Abstract

Disclosed is an irrigation device, comprising: a holder disposed on a chassis of the irrigation device; one end of the water outlet pipeline is rigidly connected to the holder, and the other end of the water outlet pipeline is provided with a nozzle; the water inlet pipeline is communicated with one end, connected to the holder, of the water outlet pipeline; the valve is arranged on a sealing water flow channel comprising the water inlet pipeline and the water outlet pipeline; and the controller is configured to determine control parameters for controlling at least one of the holder, the nozzle and the valve according to boundary data of an area to be irrigated, and control at least one of the holder, the nozzle and the valve according to the control parameters.

Description

Technical Field

[0001] The present invention relates to a watering device in the field of automatic watering. Background Art

[0002] For outdoor lawns, for example, a pipeline can be laid under the lawn in advance, and multiple sprinklers can be arranged on the pipeline so that the sprinklers cover the lawn so that the entire lawn can be watered. Alternatively, sprinklers can be arranged on movable water pipes and different areas of the lawn can be watered by moving the water pipes. Summary of the invention

[0003] Disclosed is a watering device, comprising: a pan head arranged on a chassis of the watering device; a water outlet pipe, one end of which is rigidly connected to the pan head and the other end of which is provided with a nozzle; a water inlet pipe, which is connected to the end of the water outlet pipe connected to the pan head; a valve, which is arranged on a sealed water flow channel including the water inlet pipe and the water outlet pipe; and a controller, which is configured to determine control parameters for controlling at least one of the pan head, the nozzle and the valve according to boundary data of an area to be irrigated, and to control at least one of the pan head, the nozzle and the valve according to the control parameters.

[0004] In one or more embodiments, the irrigation device further comprises: a water pressure sensor disposed on the water flow channel. The controller is further configured to determine the control parameter based on detection data from the water pressure sensor.

[0005] In one or more embodiments, the controller is further configured to determine the control parameter according to instructions from a control panel and / or a control terminal of the watering device.

[0006] In one or more embodiments, the watering device further includes: a wireless signal receiver configured to receive instructions from the control terminal in a wireless communication manner.

[0007] In one or more embodiments, the controller is further configured to determine the control parameter based on a sensed value of at least one of soil moisture, air humidity, surface temperature, light intensity, wind direction and wind force of the area to be irrigated from at least one sensor set for the area to be irrigated.

[0008] In one or more embodiments, the controller is further configured to determine the control parameter based on at least one of the current time, the desired watering period, the soil type of the area to be watered, the terrain type of the area to be watered, and the plant type of the area to be watered.

[0009] In one or more embodiments, the controller is further configured to determine boundary data of the area to be irrigated according to positioning information of the irrigating device in the area to be irrigated and map data about the area to be irrigated.

[0010] In one or more embodiments, the control parameters include at least one parameter related to at least one of the direction of horizontal rotation of the gimbal, the angle of horizontal rotation of the gimbal, the speed of horizontal rotation of the gimbal, the direction of vertical rotation of the gimbal, the angle of vertical rotation of the gimbal, the speed of vertical rotation of the gimbal, the orientation of the nozzle and the opening of the valve.

[0011] In one or more embodiments, the water inlet pipe is connected to the water outlet pipe via a rotary joint.

[0012] In one or more embodiments, the watering device further includes: a motor; and a gear transmission mechanism, configured to utilize power from the motor to drive the pan head to rotate.

[0013] In one or more embodiments, the controller is further configured to: determine an action parameter for controlling the gear transmission mechanism according to the control parameter; and control the action of the gear transmission mechanism according to the action parameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 An example of a watering device according to an embodiment of the present disclosure is schematically shown.

[0015] Figure 2 An example of a watering device according to an embodiment of the present disclosure is schematically shown.

[0016] Figure 3 An example of watering control of the watering device according to an embodiment of the present disclosure is schematically shown.

[0017] Figure 4 An example of watering control of the watering device according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 5 An example of watering control of the watering device according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0019] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding parts are given the same symbols, and their description will not be repeated.

[0020] With the popularization of smart courtyards, more intelligent lawn watering devices are needed to water lawn areas with specific boundaries on demand and in a quantitative manner in a more time-saving and labor-saving manner.

[0021] Figure 1 An intelligent irrigation device 100 (hereinafter also referred to as "device 100") of an embodiment of the present disclosure is shown, which can intelligently determine and adjust control parameters according to boundary data of the area to be irrigated, and irrigate a lawn area with a specific boundary in a more energy-saving and efficient manner according to the determined or adjusted control parameters.

[0022] like Figure 1 As shown, the device 100 may include a chassis 105 , a pan / tilt platform 110 , a water outlet pipe 115 , a water inlet pipe 125 , a valve 135 and a controller 140 .

[0023] The chassis 105 may also be referred to as a base, a base, a main body, etc., and is used to configure, support and / or protect other components of the device 100, and may be configured in any suitable structure and shape. For example, the chassis 105 may have a housing, and the controller 140, a portion of the water outlet pipe 115, at least a portion of the water inlet pipe 125, etc. may be configured inside the housing of the chassis 105.

[0024] The pan / tilt head 110 is disposed on the chassis 105. In different embodiments, any suitable type of pan / tilt head may be used to configure the pan / tilt head 110. For example, the pan / tilt head 110 may be a horizontal pan / tilt head that supports left-right rotation (and / or swing) in the horizontal direction, or an omnidirectional pan / tilt head that supports left-right rotation (and / or swing) in the horizontal direction and up-and-down rotation (or swing) in the vertical direction. In addition, the pan / tilt head 110 may be a constant speed pan / tilt head or a variable speed pan / tilt head.

[0025] A nozzle 120 is disposed at one end of the water outlet pipe 115, and the other end of the water outlet pipe 115 is rigidly connected to the pan head 110, so that the water outlet pipe 115 and the nozzle 120 can change direction as the pan head 110 rotates, thereby achieving different water spraying angles and ranges.

[0026] In different embodiments, the nozzle 120 may be a nozzle of any shape and / or type, such as a conical nozzle, a fan nozzle, a double fan nozzle, a guide plate nozzle, an atomizing nozzle, a refraction nozzle, etc. The nozzle 120 may be a nozzle with a fixed orientation. In some embodiments, the nozzle 120 may also be a nozzle that is supported to swing or rotate within a specified angle range, thereby facilitating fine-tuning of the angle and range of the water spray.

[0027] One end of the water inlet pipe 125 can be connected to an external water source (e.g., an external water pump), and the other end of the water inlet pipe 125 is connected to the end of the water outlet pipe 115 connected to the pan / tilt head 110, so that the water flow from the external water source can be Figure 1As shown by the dotted arrow in FIG. 1 , the water enters from the water inlet pipe 125 , passes through the water outlet pipe 115 , and is finally ejected to the outside from the nozzle 120 , thereby forming a sealed water flow channel 130 including the water inlet pipe 125 and the water outlet pipe 115 .

[0028] For example, one or more rotating joints may be provided at any suitable position or positions in the gimbal 110 or on the water flow channel 130, and the water outlet pipe 115 and the water inlet pipe 125 may be connected via the rotating joints, thereby forming a sealed water flow channel 130 while allowing the water pipe 115 to rotate with the rotation of the gimbal 110, thereby changing the orientation and / or pitch angle.

[0029] In different embodiments, the rotary joint may be a single-channel rotary joint that allows water to flow from the water inlet pipe 125 to the water outlet pipe 115, or a double-channel rotary joint that allows water to flow from the water inlet pipe 125 to the water outlet pipe 115 and water to flow from the water outlet pipe 115 to the water inlet pipe 125. In the case of a double-channel rotary joint, it is possible to prevent water that has entered the water outlet pipe 115 but has not yet been discharged from accumulating in the water outlet pipe 115 when the device 100 stops watering.

[0030] In addition, a drain outlet can be configured on the water flow channel 130 (for example, on the water inlet pipe 125), and / or a drainage pipe connected to the water flow channel 130 (for example, connected to the water inlet pipe 125) can be configured to discharge water accumulated in the water flow channel 130 when the device 100 stops watering.

[0031] In different embodiments, the water outlet pipe 115 and the water inlet pipe 125 can be made of any suitable material such as PVC-U pipe, polyester fiber reinforced hose, PE irrigation pipe, etc., and their respective inner diameters, outer diameters, lengths and directions can also be appropriately configured according to one or more factors such as the internal space of the chassis 105, water flow requirements, water pressure conditions, and the expected irrigation effect of the device 100. For example, the water outlet pipe 115 and / or the water inlet pipe 125 are made of any suitable specifications such as DN15, DN20, DN25, DN32, DN40, etc.

[0032] The valve 135 can be arranged at any suitable position on the water flow channel 130. In different embodiments, the valve 135 can be any suitable type of controllable valve such as an electric control valve, an electric float valve, a hydraulic electric control valve, an electromagnetic control valve, a flow control valve, etc., so that the flow rate or flow velocity of the water flow in the water flow channel 130 can be controlled by controlling the opening degree, opening duration, closing duration, switching frequency, switching cycle, etc. of the valve 135.

[0033] The controller 140 may include any circuits and / or modules having data processing capabilities and / or instruction execution capabilities and suitable for the device 100, such as a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), etc., and may be configured, for example, to perform data processing and / or control related to the watering operation and / or other functions of the device 100 according to program instructions stored in a memory (not shown in the figure) within the device 100.

[0034] For example, the controller 140 can be directly or indirectly connected or coupled to other controllable components of the device 100 such as the pan-tilt head 110, valve 135, etc. in any suitable manner (including wired connection and / or wireless connection), and can be configured to determine control parameters for controlling one or more components such as the pan-tilt head 110, nozzle 120 and valve 135 based on boundary data of the area to be irrigated.

[0035] For example, a positioning system (not shown) based on satellite data and / or wireless radio frequency communication can be configured in the device 100 (for example, in the housing of the chassis 105), and the controller 140 can be configured to determine the positioning information of the device 100 and map data about the area to be irrigated based on technologies such as real-time dynamic carrier phase difference technology.

[0036] Accordingly, if Figure 2 As shown, the device 100 may include a wireless signal receiver 155 so that the device 100 can receive signals from, for example, a satellite and / or a radio frequency communication base station by wireless communication. In addition, the device 100 may also include a wireless signal transmitter, or the wireless signal receiver 155 itself may have a wireless signal transmission function, thereby forming a wireless signal transceiver.

[0037] In addition, at least one image sensor or lidar (not shown in the figure) can also be configured on the device 100 (for example, on the chassis 105, or on the gimbal 110), and the controller 140 can be configured to determine the positioning information of the device 100 and map data about the area to be irrigated based on technologies such as visual technology.

[0038] In addition, if Figure 2As shown, in conjunction with the device 100, a control terminal 160 of the device 100 may be configured. For example, the control terminal 160 may wirelessly communicate with the device 100 via a wireless signal receiver 155 and / or a wireless signal transmitter. In some embodiments, the control terminal 160 may be a portable intelligent terminal such as a smart phone or a tablet computer, and a user may remotely control the device 100 via an application installed in the control terminal 160. In other embodiments, the control terminal 160 may also be a remote controller specifically designed and configured for the device 100. In other embodiments, the control terminal 160 may include, for example, a device such as a drone that a user may control (e.g., remotely control).

[0039] For example, the user can carry the control terminal 160 or move the movable part of the control terminal 160 around the boundary of the area to be irrigated or move back and forth within the area to be irrigated, and during the movement, for example, determine the position information of the device 100 relative to the area to be irrigated and the map data about the area to be irrigated by any suitable means such as visual technology, real-time positioning and map building technology.

[0040] For example, the control terminal 160 may be configured to determine the position information of the device 100 relative to the area to be irrigated and the map data about the area to be irrigated, and then transmit the determined position information and map data to the device 100. In another embodiment, the control terminal 160 may be configured to collect data and transmit the collected data to the device 100, and then the controller 140 determines the position information of the device 100 relative to the area to be irrigated and the map data about the area to be irrigated.

[0041] In addition, the controller 140 can also determine the position information of the device 100 relative to the area to be irrigated and the map data about the area to be irrigated based on the information from one or more sensors (e.g., image sensors) or locators configured on the boundary of the irrigated area or in the irrigated area.

[0042] Then, the controller 140 can determine the boundary data of the area to be irrigated based on the determined positioning information of the device 100 relative to the area to be irrigated and the map data about the area to be irrigated, and then determine the control parameters for controlling one or more components such as the pan / tilt head 110, the nozzle 120 and the valve 135 based on the determined boundary data.

[0043] In different embodiments, such control parameters may, for example, include but are not limited to at least one of the following: at least one parameter related to the direction of horizontal rotation of the gimbal 110; at least one parameter related to the angle of horizontal rotation of the gimbal 110; at least one parameter related to the speed of horizontal rotation of the gimbal 110; at least one parameter related to the direction of vertical rotation of the gimbal 110; at least one parameter related to the angle of vertical rotation of the gimbal 110; at least one parameter related to the speed of vertical rotation of the gimbal; at least one parameter related to the orientation of the nozzle 120; at least one parameter related to the frequency and / or period of change in the orientation of the nozzle 120; at least one parameter related to the opening of the valve 135; at least one parameter related to the frequency and / or period of change in the opening of the valve 135; at least one parameter related to the opening time and / or duration of the valve 135; at least one parameter related to the closing time and / or duration of the valve 135.

[0044] Further, the controller 140 may control the operation of one or more components of the device 100 , such as the pan / tilt stage 110 , the nozzle 120 , and the valve 135 , according to the determined control parameters.

[0045] For example, the pan / tilt platform 110 itself may include at least one motor and at least one gear transmission mechanism. The controller 140 can determine the direction, angle, angle range, speed, etc. of the pan / tilt platform 110 to rotate and / or swing according to the determined control parameters, and then the pan / tilt platform 110 can be controlled to rotate and / or swing according to the determined direction, angle, angle range, speed, etc. through at least one motor and at least one gear transmission mechanism of the pan / tilt platform 110.

[0046] like Figure 2 As shown, the device 100 may also include a separately configured motor 145 and a gear transmission mechanism 150, wherein the gear transmission mechanism 150 is configured to use the power from the motor 145 to drive the pan / tilt platform 110 to rotate and / or swing in the horizontal direction and / or vertical direction. In this case, the controller 140 may be configured to determine the action parameters for controlling the gear transmission mechanism 150 according to the determined control parameters (for example, at least one parameter related to the pan / tilt platform 110), and control the action of the gear transmission mechanism 150 according to the determined action parameters, thereby controlling the action of the pan / tilt platform 110.

[0047] As the pan / tilt platform 110 rotates and / or swings, the nozzle 120 can change its orientation in the horizontal direction and / or vertical direction accordingly, thereby achieving different irrigation directions and / or water flow ranges. Figure 3 As shown, by making the pan / tilt platform 110 Figure 3 The nozzle 120 can be rotated and / or swung in the horizontal direction as shown by the solid double-headed arrow in Figure 3 As shown by the dotted arrows in FIG. Figure 4 As shown, by making the pan / tilt platform 110 Figure 4 The nozzle 120 can be rotated and / or swung in the vertical direction as shown by the solid double-headed arrow in Figure 4 As shown by the dotted arrows in the figure, water is sprayed at different ranges.

[0048] In some embodiments, the controller 140 may also control the nozzle 120 to change its direction according to a control parameter.

[0049] In addition, the controller 140 can also control the opening, opening time, closing time, opening duration and / or closing duration of the valve 135 according to the control parameters, so as to adjust the flow rate of the water flow in the water flow channel 130 and achieve different irrigation ranges. For example, when the water pressure and / or flow rate of the water flow entering the water inlet pipe 125 from the external water source is relatively constant, the larger the opening of the valve 135, the larger the flow rate of the water flow, and the longer the range of the water flow ejected through the nozzle 120 can be; the smaller the opening of the valve 135, the smaller the flow rate of the water flow, and the shorter the range of the water flow ejected through the nozzle 120 can be. Therefore, the adjustment of the water flow range can be achieved by controlling the valve 135.

[0050] For example, for Figure 3 The area to be irrigated 200 shown can determine multiple boundary points on the boundary of the area to be irrigated 200 according to the determined boundary data of the area to be irrigated 200. For each boundary point P, the distance from the boundary point P to the device 100 and the orientation relative to the device 100 can be determined, so as to determine the spray distance and spray angle of the water flow for the boundary point P.

[0051] Then, the controller 140 can control the pan / tilt platform 110 to rotate according to the determined orientation of the boundary point P relative to the device 100, so that the nozzle 120 faces the boundary point P. The controller 140 can also control the opening of the valve 135 according to the determined spray distance of the water flow for the boundary point P, and the predetermined relationship between the nozzle water pressure, the opening of the valve 135, and the spray flow rate and / or the range. In this way, the device 100 can realize watering of the area within the range from the device 100 to the boundary point P.

[0052] In addition, the controller 140 can determine the relationship between multiple control parameters, such as control parameters for the pan / tilt head 110 and control parameters for the opening of the valve 135, through interpolation processing based on the determined multiple boundary points and the predetermined relationship between the nozzle water pressure, the opening of the valve 135 and the injection flow and / or range, and control multiple components of the device 100 at the same time according to the correspondence between these control parameters, so that the device 100 can, for example, adjust the injection distance accordingly while changing the irrigation angle, thereby smoothly achieving irrigation of the entire area 200 to be irrigated.

[0053] Regarding the relationship between the nozzle water pressure, the opening of the valve 135, and the injection flow rate and / or the range, for example, the user can control the device 100 in advance through the control terminal 160 and / or the control panel 165, so that the device 100 sprays the water flow to a designated target point with a designated orientation and distance relative to the device 100. Then, the controller 140 can deduce or adjust the relationship between the nozzle water pressure, the opening of the valve 135, and the injection flow rate and / or the range according to the nozzle water pressure, the opening of the valve 135, etc. when the device 100 sprays the water flow to the designated target point.

[0054] In addition, multiple designated target points can also be pre-selected, and then the user can control the device 100 through the control terminal 160 and / or the control panel 165, so that the device 100 sprays water to each designated target point, and records the nozzle water pressure corresponding to each designated target point, the opening of the valve 135, etc., so as to determine the relationship between the nozzle water pressure, the opening of the valve 135 and the injection flow and / or range.

[0055] When determining the control parameters for controlling one or more components such as the pan / tilt 110, nozzle 120 and valve 135, in addition to the boundary data of the area to be irrigated, one or more other factors may also be considered, thereby improving the intelligence of the device 100 and enabling the device 100 to irrigate the area to be irrigated in a more reasonable and efficient manner.

[0056] For example, Figure 2 As shown, one or more water pressure sensors 170 may be configured at any suitable position of the water flow channel 130. For example, one or more water pressure sensors 170 may be configured at one or more positions of the water outlet channel 115 near the nozzle 120, and one or more water pressure sensors 170 may also be configured at one or more positions in the water inlet channel 125. Through the water pressure sensor 170, the controller 140 can obtain information about the water pressure of the water flow entering the water inlet channel 125 from the external water source and / or the water pressure near the nozzle 120, and can determine or adjust the control parameters according to the detection data from the water pressure sensor 170.

[0057] For example, when the detection data from the water pressure sensor 170 shows that the actual water pressure is lower than expected, the opening of the valve 135 can be increased, and when the detection data from the water pressure sensor 170 shows that the actual water pressure is higher than expected, the opening of the valve 135 can be reduced. In this way, the control parameters can be intelligently adjusted according to the water pressure in the water flow channel 130.

[0058] In addition, the controller 140 is further configured to determine or adjust the control parameters according to the instructions from the control panel 165 and / or the control terminal 160. For example, the controller 140 can receive the instructions from the control terminal 160 in a wireless communication manner through the wireless signal receiver 155, thereby determining or adjusting the control parameters according to the received instructions.

[0059] For example, user instructions from the control panel 165 and / or the control terminal 160 may have a higher priority than a predetermined program or a predetermined watering plan, so that, for example, when the controller 140 receives a user instruction from the control panel 165 and / or the control terminal 160 while controlling the device 100 to perform watering according to control parameters corresponding to a predetermined program or a predetermined watering plan, the controller 140 may pause or interrupt the predetermined program or the predetermined watering plan, or adjust the control parameters corresponding to the predetermined program or the predetermined watering plan, thereby operating in the manner indicated by the user instruction.

[0060] In addition, if Figure 5 As shown, one or more sensors such as sensors 501, 502, 503, 504, 505, and 506 may be provided in the area to be irrigated 200 to monitor in real time information related to soil moisture, air humidity, surface temperature, light intensity, wind direction, and wind force of the area to be irrigated 200. Such one or more sensors may be connected and communicated with the device 100 in any suitable manner such as wired and / or wireless. Then, the controller 140 is further configured to determine or adjust the control parameters according to the monitoring information from such one or more sensors.

[0061] For example, for a portion of the area to be irrigated 200 where the soil moisture is higher than a specified value, the opening of the valve 135 can be reduced to reduce the amount of irrigation for that portion, or even the valve 135 can be closed to suspend irrigation for that portion. For example, when the current orientation of the nozzle 120 is opposite to the current wind direction, the opening of the valve 135 can be appropriately increased according to the wind force to increase the amount of water sprayed, thereby overcoming the influence of the current wind direction. For example, when it is detected that the current air humidity is higher than a threshold, the opening and / or opening time of the valve 135 can be reduced to reduce the amount of irrigation.

[0062] In addition, the controller 140 is further configured to determine the control parameter according to at least one of the current time, the desired irrigation period, the soil type of the area to be irrigated, the terrain type of the area to be irrigated, and the plant species of the area to be irrigated. For example, the user can set and / or select the desired irrigation period, the soil type of the area to be irrigated, the terrain type of the area to be irrigated, and the plant species of the area to be irrigated through the control terminal 160 and / or the control panel 165.

[0063] For example, the user can set the watering to be performed from 4 to 6 a.m. every morning in July through the control terminal 160 and / or the control panel 165. Then, the controller 140 can start the timer in the device 100 (not shown in the figure, which can be a hardware timer or a software timer), and start the device 400 for watering at the specified time, and pause the device 400 at a fixed time. For example, the user can set the plant type of the area to be watered through the control terminal 160 and / or the control panel 165, and then the controller 140 can determine the water requirement of the plant type according to the predetermined information, thereby determining the watering plan for the area to be watered.

[0064] By using the irrigation device 100 of one or more embodiments of the present disclosure, it is not necessary to lay water pipes in the area to be irrigated in advance, and the area to be irrigated can be irrigated according to a predetermined or determined irrigation plan, thereby improving the user experience. In addition, the irrigation device 100 can irrigate the area to be irrigated according to the boundary, and can at least partially avoid spraying water outside the boundary, which is conducive to saving water. In addition, the irrigation device 100 can also control the irrigation amount according to demand and quantity according to one or more factors such as weather, soil, and irrigation period, thereby reducing water waste and being more energy-saving and environmentally friendly.

[0065] The basic principle of the present disclosure is described above in combination with the embodiments. However, it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the aforementioned details are only for the purpose of illustration and ease of understanding, not limitation, and the aforementioned details do not limit the present disclosure to being implemented by adopting the aforementioned details.

[0066] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In different embodiments, these devices, apparatuses, equipment, and systems may be connected, arranged, or configured in any appropriate manner.

[0067] In addition, words such as "including", "comprising", "having" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably therewith. The words "or" and "and" used herein mean the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably therewith.

[0068] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0069] In this document, modifiers such as "first", "second", etc. without quantifiers are intended to distinguish different elements / components / circuits / modules / devices / steps, and are not used to emphasize the order, positional relationship, importance, priority, etc. In contrast, modifiers such as "first", "second", etc. with quantifiers can be used to emphasize the order, positional relationship, importance, priority, etc. of different elements / components / circuits / modules / devices / steps.

[0070] The above description is given for the purpose of illustration and description. This description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A watering device, comprising: A pan head is arranged on the chassis of the watering device; A water outlet pipe, one end of which is rigidly connected to the pan platform and the other end of which is provided with a nozzle; A water inlet pipe, connected to one end of the water outlet pipe connected to the pan / tilt head; A valve is arranged on a sealed water flow channel including the water inlet pipe and the water outlet pipe; as well as The controller is configured to determine control parameters for controlling at least one of the pan-tilt platform, the nozzle and the valve according to boundary data of the area to be irrigated, and to control at least one of the pan-tilt platform, the nozzle and the valve according to the control parameters.

2. The irrigation device according to claim 1, further comprising: A water pressure sensor is arranged on the water flow channel. The controller is further configured to determine the control parameter further according to detection data from the water pressure sensor.

3. The watering device according to claim 1 or 2, wherein: The controller is further configured to determine the control parameter according to instructions from a control panel and / or a control terminal of the watering device.

4. The watering device according to claim 3, wherein: The irrigation device also includes: The wireless signal receiver is configured to receive instructions from the control terminal in a wireless communication manner.

5. The watering device according to any one of claims 1 to 4, wherein: The controller is further configured to determine the control parameter further according to a sensed value of at least one of soil moisture, air humidity, surface temperature, light intensity, wind direction and wind force of the area to be irrigated from at least one sensor arranged for the area to be irrigated.

6. The watering device according to any one of claims 1 to 5, wherein: The controller is further configured to determine the control parameter according to at least one of a current time, a desired watering period, a soil type of the area to be watered, a terrain type of the area to be watered, and a plant type of the area to be watered.

7. The watering device according to any one of claims 1 to 6, wherein: The controller is further configured to determine boundary data of the area to be irrigated according to positioning information of the irrigating device in the area to be irrigated and map data about the area to be irrigated.

8. The watering device according to any one of claims 1 to 7, wherein: The control parameters include at least one parameter related to at least one of the direction of horizontal rotation of the gimbal, the angle of horizontal rotation of the gimbal, the speed of horizontal rotation of the gimbal, the direction of vertical rotation of the gimbal, the angle of vertical rotation of the gimbal, the speed of vertical rotation of the gimbal, the orientation of the nozzle and the opening of the valve.

9. The watering device according to any one of claims 1 to 8, wherein: The water inlet pipe is connected to the water outlet pipe through a rotary joint.

10. The watering device according to any one of claims 1 to 9, wherein: The irrigation device also includes: Motors; and The gear transmission mechanism is configured to utilize the power from the motor to drive the pan / tilt platform to rotate.

11. The watering device according to claim 10, wherein: The controller is also configured to: determining an action parameter for controlling the gear transmission mechanism according to the control parameter; and The action of the gear transmission mechanism is controlled according to the action parameter.

Images