Irrigation device and control method thereof

Abstract

The control method comprises the steps that irrigation control parameters and expected effect parameters corresponding to each point position in a plurality of point positions on the edge of a to-be-irrigated area are determined according to preset reference configuration, and the expected effect parameters comprise expected water pressure or water flow; monitoring the current water pressure or water flow; under the condition that the difference between the current water pressure or water flow and the expected water pressure or water flow corresponding to the current point location is monitored, adjusting irrigation control parameters corresponding to the current point location, so that the current water pressure or water flow is consistent with the expected water pressure or water flow corresponding to the current point location; and controlling the irrigation device to irrigate the current point according to the adjusted irrigation control parameters.

Description

Technical Field

[0001] The present disclosure relates to a watering device and a control method thereof in the field of smart gardens. 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 method for controlling an irrigation device, comprising: determining an irrigation control parameter and an expected effect parameter corresponding to each of a plurality of points at the edge of an area to be irrigated according to a predetermined reference configuration, wherein the expected effect parameter includes an expected water pressure or a water flow rate; monitoring the current water pressure or the water flow rate; in the case of monitoring a difference between the current water pressure or the water flow rate and the expected water pressure or the water flow rate corresponding to the current point, adjusting the irrigation control parameter corresponding to the current point so that the current water pressure or the water flow rate is consistent with the expected water pressure or the water flow rate corresponding to the current point; and controlling the irrigation device to irrigate the current point according to the adjusted irrigation control parameter.

[0004] In one or more embodiments, the predetermined reference configuration includes irrigation control parameters and expected effect parameters corresponding to each predetermined point on the edge of the area to be irrigated.

[0005] In one or more embodiments, determining the irrigation control parameters and expected effect parameters corresponding to each of a plurality of points at the edge of the area to be irrigated according to a predetermined reference configuration includes: determining the irrigation control parameters and expected effect parameters corresponding to each of the plurality of points by interpolating predetermined points at the edge of the area to be irrigated according to the predetermined reference configuration.

[0006] In one or more embodiments, monitoring the current water pressure or water flow includes: monitoring the current water pressure or water flow by configuring a water pressure or water flow sensor between a valve and a water outlet of the irrigation device.

[0007] In one or more embodiments, the irrigation control parameter corresponding to the current point includes at least one of a pitch angle, a rotation angle, and a valve opening of the irrigation device.

[0008] In one or more embodiments, adjusting the irrigation control parameters corresponding to the current point includes: when monitoring that the current water pressure or water flow is lower than the expected water pressure or water flow, increasing at least one of the pitch angle and the valve opening of the irrigation device so that the current water pressure or water flow is consistent with the expected water pressure or water flow; and when monitoring that the current water pressure or water flow is higher than the expected water pressure or water flow, reducing at least one of the pitch angle and the valve opening of the irrigation device so that the current water pressure or water flow is consistent with the expected water pressure or water flow.

[0009] In one or more embodiments, the method further includes: saving the irrigation control parameters and expected effect parameters corresponding to each of the multiple points determined according to the predetermined reference configuration, for use in watering the multiple points at the edge of the area to be irrigated next time.

[0010] In one or more embodiments, the method further comprises: when the difference exceeds a predetermined threshold, for each of the plurality of points, using the adjusted irrigation control parameter corresponding to the point to update the previously saved irrigation control parameter corresponding to the point.

[0011] In one or more embodiments, the expected effect parameter corresponding to the current point further includes at least one of an expected range and an expected atomization degree.

[0012] Also disclosed is a watering device, comprising: a water pressure or water flow sensor configured to sense the water pressure or water flow between a valve and a water outlet of the watering device and / or near the water outlet; and a controller configured to execute the method described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 An example of a watering device in an embodiment of the present disclosure is schematically shown.

[0014] Figure 2 An example of a method of controlling a watering device in an embodiment of the present disclosure is schematically shown.

[0015] Figure 3 An example of the execution process of the method for controlling a watering device in an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0016] 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.

[0017] The irrigation device can be configured to perform precise irrigation according to the irrigation range preset by the user, so that the water sprayed from the irrigation device will not exceed the irrigation range, nor will it leave a certain area within the irrigation range. However, due to factors such as water pressure fluctuations (for example, water pressure is often different during peak and trough water usage), gaps or control errors in the mechanisms inside the irrigation device, irrigation control may have errors, which may affect the actual effect of precise irrigation.

[0018] Figure 1 An exemplary irrigation device 100 in an embodiment of the present disclosure is schematically shown, which may include a chassis 110 , a pan head 120 , a water outlet pipe 130 , a nozzle 140 , a water inlet pipe 150 , a valve 160 , a water pressure or water flow sensor 170 , and a controller 180 .

[0019] To understand, Figure 1 The irrigation device 100 in the embodiment is only an example of the irrigation device in the embodiment of the present disclosure. In other embodiments, the irrigation device may have any other suitable configuration and / or structure, and may have more or fewer components and / or mechanisms than the irrigation device 100.

[0020] The chassis 110 is used to configure, support and / or protect other components of the watering device 100, and can be configured in any suitable structure and shape. For example, the chassis 110 can have a shell, and components such as the controller 160 and / or a portion of the water outlet pipe 130 and / or at least a portion of the water inlet pipe 150 can be configured inside the shell of the chassis 110.

[0021] The platform 120 is disposed on the chassis 110. For example, the platform 120 may be a horizontal platform supporting rotation (and / or swing) in the horizontal direction, or an omnidirectional platform supporting rotation (and / or swing) in the horizontal direction and up and down rotation (or swing) in the vertical direction.

[0022] A nozzle 140 is arranged at one end of the water outlet pipe 130 corresponding to the water outlet, and the other end of the water outlet pipe 130 can be rigidly connected to the pan-tilt head 120, so that the water outlet pipe 130 and the nozzle 140 can change the horizontal direction and / or pitch angle as the pan-tilt head 120 rotates, thereby achieving different water spraying angles and ranges.

[0023] In different embodiments, the nozzle 140 may be any shape and / or type of nozzle, such as a conical nozzle, a fan nozzle, a double fan nozzle, a guide plate nozzle, an atomizing nozzle, a refraction nozzle, etc., so as to achieve different spraying / watering effects.

[0024] One end of the water inlet pipe 150 can be connected to an external water source (e.g., an external water pump), and the other end of the water inlet pipe 150 is connected to the end of the water outlet pipe 130 connected to the pan / tilt head 120, so that the water flow from the external water source can be Figure 1 As shown by the dotted arrow in FIG. 1 , the water enters from the water inlet pipe 150 , passes through the water outlet pipe 130 , and is finally ejected to the outside from the nozzle 140 , thereby forming a water flow channel 190 including the water inlet pipe 150 and the water outlet pipe 130 .

[0025] For example, one or more rotating joints can be set at any suitable one or more positions in the gimbal 120 or on the water flow channel 190, and the water outlet pipe 130 and the water inlet pipe 150 can be connected through the rotating joints, so as to form a sealed water flow channel 190 while allowing at least a portion of the water outlet pipe 130 (with the nozzle 140) to rotate with the rotation of the gimbal 120, thereby changing the horizontal orientation and / or pitch angle.

[0026] The valve 160 can be arranged at any suitable position on the water flow channel 190. In different embodiments, the valve 160 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 190 can be controlled by controlling the opening degree, opening time, closing time, switching frequency, switching cycle, etc. of the valve 160.

[0027] The water pressure or water flow sensor 170 can be configured at any one or more suitable positions in the water flow channel 190, for example, it can be configured between the valve 160 and the water outlet of the water outlet pipe 130, or it can be configured near the water outlet or nozzle 140 of the water outlet pipe 130, or it can be configured in the water inlet pipe 150, so as to sense the water pressure or water flow at one or more positions in the water flow channel 190.

[0028] The controller 180 may include any circuit and / or module having data processing capability and / or instruction execution capability and suitable for the irrigation 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 irrigation operation and / or other functions of the irrigation device 100 according to program instructions stored in a memory (not shown in the figure) within the irrigation device 100 and / or user instructions from a control panel or a control terminal of the irrigation device 100. For example, the controller 180 can be directly or indirectly connected or coupled to other components of the watering device 100 such as the pan head 120, the valve 160, the water pressure or water flow sensor 170, etc. in any suitable manner (including wired connection and / or wireless connection), and can be configured to receive and process sensing data from the water pressure or water flow sensor 170, determine control parameters for controlling one or more components such as the pan head 110 and the valve 135, and control the operation of one or more components such as the pan head 110 and the valve 135 according to the determined parameters.

[0029] Figure 2 An exemplary method 200 for controlling an irrigation device according to an embodiment of the present disclosure is schematically shown. For example, the method 200 may include steps 210 , 220 , 230 , and 240 , and may be executed by the controller 180 of the irrigation device 100 in conjunction with the water pressure or water flow sensor 170 .

[0030] In step 210, the irrigation control parameters and expected effect parameters corresponding to each of the plurality of points at the edge of the area to be irrigated may be determined according to a predetermined reference configuration.

[0031] For example, the predetermined reference configuration may include irrigation control parameters and expected effect parameters corresponding to each predetermined point at the edge of the area to be irrigated. For example, the irrigation control parameters corresponding to a predetermined point may include one or more parameters such as the pitch angle of the irrigation device 100 (e.g., the angle of the up and down rotation of the pan-tilt platform 110), the rotation angle (e.g., the horizontal rotation angle of the pan-tilt platform 110), and the opening degree of the valve 160.

[0032] For example, the expected effect parameters may include one or more other parameters such as expected water pressure, expected water flow, expected range, expected atomization degree, etc.

[0033] For example, the predetermined reference configuration may include data about some predetermined points. Thus, in step 210, the predetermined points at the edge of the area to be irrigated may be interpolated according to the predetermined reference configuration, thereby determining the irrigation control parameters and expected effect parameters corresponding to each of the more points.

[0034] In step 220 , the current water pressure or water flow rate may be monitored. For example, the current water pressure or water flow rate may be monitored by a water pressure or water flow rate sensor 170 disposed between the valve 160 and the water outlet or nozzle 140 of the water outlet pipe 130 .

[0035] In step 230, when the difference between the current water pressure or water flow and the expected water pressure or water flow corresponding to the current point is monitored, the irrigation control parameters corresponding to the current point can be adjusted so that the current water pressure or water flow is consistent with the expected water pressure or water flow corresponding to the current point.

[0036] For example, when the water pressure or water flow sensor 170 monitors that the current water pressure or water flow is lower than the expected water pressure or water flow, the opening of the valve 160 can be increased, or the pitch angle of the irrigation device 100 can be increased (for example, the pan / tilt head 110 can be controlled to rotate in the vertical direction and drive at least a portion of the water outlet pipe 130 and the nozzle 140 to change direction, so that the pitch angle becomes larger), so that the current water pressure or water flow is consistent with the expected water pressure or water flow.

[0037] For example, when the water pressure or water flow sensor 170 monitors that the current water pressure or water flow is higher than the expected water pressure or water flow, the opening of the valve 160 can be reduced, and the pitch angle of the irrigation device 100 can be reduced. The opening of the valve 160 can be increased, and the pitch angle of the irrigation device 100 can be increased (for example, the pan / tilt head 110 can be controlled to rotate in the vertical direction and drive at least a portion of the water outlet pipe 130 and the nozzle 140 to change their orientation so that their pitch angle becomes smaller), so that the current water pressure or water flow is consistent with the expected water pressure or water flow.

[0038] Then, in step 240, the irrigation device 100 may be controlled to irrigate the current point according to the adjusted irrigation control parameters.

[0039] As described above, in method 200, the current water pressure or water flow is monitored, and when the difference between the current water pressure or water flow and the expected water pressure or water flow corresponding to the current point is monitored, the irrigation control parameter corresponding to the current point is adjusted so that the current water pressure or water flow is consistent with the expected water pressure or water flow corresponding to the current point. Thus, for example, adaptive adjustment of irrigation control parameters can be achieved, thereby avoiding or alleviating irrigation errors caused by factors such as water pressure fluctuations, errors in the actual opening of the valve 160 caused by mechanism gaps or control errors inside the device 100, ensuring the irrigation accuracy of precision irrigation, and helping to improve user experience.

[0040] In addition, in method 200, the irrigation control parameters and expected effect parameters corresponding to each of the multiple points determined according to the predetermined reference configuration in step 210 may also be saved for use in irrigation of multiple points at the edge of the area to be irrigated next time.

[0041] In addition, when the difference between the current water pressure or water flow monitored in step 230 and the expected water pressure or water flow corresponding to the current point exceeds a predetermined threshold, in method 200, for each of the multiple points, the adjusted irrigation control parameters corresponding to the point can be used to update the previously saved irrigation control parameters corresponding to the point.

[0042] Thus, previous experience data can be reused, and data can be iteratively updated, so that method 200 can gradually improve the control effect as the number of applications increases, become more intelligent, and help further improve user experience.

[0043] Combined with Table 1, Figure 3 and Table 2 to describe an example of the execution process of method 200.

[0044] Table 1 shows an example of a portion of the predetermined reference configuration used in step 210 of the method 200 , wherein the set of predetermined reference configuration data is obtained by manual measurement and calibration when the elevation angle of the nozzle 140 is 12.5 degrees, for example.

[0045] Table 1

[0046]

[0047]

[0048] In step 210 of method 200, the controller 180 can determine the irrigation control parameters and expected effect parameters corresponding to each of the multiple points on the edge 300 of the area to be irrigated according to the predetermined reference configuration data in Table 1, wherein, for example, for the point P on the edge 300 of the area to be irrigated (see Figure 3 ), the determined irrigation control parameters may include a valve opening of 30 degrees, and the determined expected effect parameters may include an expected outlet / nozzle water pressure of 0.23Mpa, an expected water flow rate of 11.3L / min, an expected range of 8.1m, an expected atomization degree of 1420, etc.

[0049] When watering with the watering device 100, in step 220 of the method 200, the current water pressure or water flow between the valve 160 and the water outlet or the nozzle 140 of the water outlet pipe 130 is monitored, for example, by the water pressure or water flow sensor 170, and it is detected that there is a difference between the current water pressure or water flow and the expected water pressure or water flow corresponding to the current point. For example, the current actual water pressure at the water outlet is lower than 0.23Mpa, or the current actual water flow at the water outlet is lower than 11.3L / min. In this case, if the valve 160 is controlled according to the watering control parameters previously determined in step 210 so that its opening becomes 30 degrees, then Figure 3 As shown by the dotted arrow in , the actual range of the watering device 100 will not be able to reach the point P 8.1 meters away from the watering device 100, but may only reach a position R closer to the point P.

[0050] Therefore, the controller 180 can continue to execute step 230 of method 200 and adjust the irrigation control parameters corresponding to the current point P. For example, the opening of the valve 160 can be gradually increased from 30 degrees until the current water pressure or water flow between the valve 160 and the water outlet or nozzle 140 of the water outlet pipe 130 monitored by the water pressure or water flow sensor 170 matches the expected water pressure of 0.23 MPa or the expected water flow of 11.3 L / min corresponding to the current point P.

[0051] Assuming that when the actual opening of the valve 160 is 35 degrees, the current water pressure or water flow between the valve 160 and the water outlet of the water outlet pipe 130 or the nozzle 140 is consistent with the expected water pressure of 0.23 MPa or the expected water flow of 11.3 L / min corresponding to the current point P, the controller 180 can execute step 240 of the method 200 to control the valve 160 to irrigate the point P according to the adjusted irrigation control parameters (the valve opening is 35 degrees).

[0052] For example, the controller 180 can correct the irrigation control parameters and expected effect parameters corresponding to each of the multiple points at the edge 300 of the area to be irrigated determined in step 210 by any suitable method based on the adjusted irrigation control parameters regarding the point P, as shown in Table 2 below.

[0053] Table 2

[0054]

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 method for controlling a watering device, comprising: Determine, according to a predetermined reference configuration, an irrigation control parameter and an expected effect parameter corresponding to each of a plurality of points at the edge of the area to be irrigated, wherein the expected effect parameter includes an expected water pressure or water flow; Monitor current water pressure or water flow; When a difference between the current water pressure or water flow and the expected water pressure or water flow corresponding to the current point is detected, the irrigation control parameter corresponding to the current point is adjusted so that the current water pressure or water flow is consistent with the expected water pressure or water flow corresponding to the current point; as well as The watering device is controlled to water the current point according to the adjusted watering control parameters.

2. The method of claim 1, wherein: The predetermined reference configuration includes irrigation control parameters and expected effect parameters corresponding to each predetermined point on the edge of the area to be irrigated.

3. The method of claim 2, wherein: Determining the irrigation control parameters and expected effect parameters corresponding to each of the plurality of points at the edge of the area to be irrigated according to the predetermined reference configuration includes: The irrigation control parameters and expected effect parameters corresponding to each of the plurality of points are determined by interpolating predetermined points at the edge of the area to be irrigated according to a predetermined reference configuration.

4. The method of claim 1, wherein: Monitoring current water pressure or water flow includes: The current water pressure or water flow is monitored by a water pressure or water flow sensor disposed between the valve and the water outlet of the irrigation device.

5. The method of claim 1, wherein: The irrigation control parameter corresponding to the current point includes at least one of a pitch angle, a rotation angle and a valve opening of the irrigation device.

6. The method of claim 5, wherein: Adjust the irrigation control parameters corresponding to the current point including: When it is detected that the current water pressure or water flow is lower than the expected water pressure or water flow, at least one of the pitch angle and the valve opening of the irrigation device is increased so that the current water pressure or water flow is consistent with the expected water pressure or water flow; and When it is monitored that the current water pressure or water flow is higher than the expected water pressure or water flow, at least one of the pitch angle and the valve opening of the irrigation device is reduced so that the current water pressure or water flow matches the expected water pressure or water flow.

7. The method of claim 1, further comprising: The irrigation control parameters and expected effect parameters corresponding to each of the plurality of points determined according to the predetermined reference configuration are saved for use in irrigating the plurality of points at the edge of the area to be irrigated next time.

8. The method of claim 7, further comprising: When the difference exceeds a predetermined threshold, for each of the plurality of points, the previously saved watering control parameter corresponding to the point is updated using the adjusted watering control parameter corresponding to the point.

9. The method according to any one of claims 1 to 8, wherein: The expected effect parameter corresponding to the current point also includes at least one of an expected range and an expected atomization degree.

10. A watering device comprising: A water pressure or water flow sensor configured to sense the water pressure or water flow between the valve and the water outlet of the irrigation device and / or near the water outlet; as well as A controller configured to execute the method according to any one of claims 1 to 9.

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