Mobile atomization irrigation device for intelligent greenhouse based on Internet of Things

Abstract

The invention discloses a mobile atomization irrigation device for an intelligent greenhouse based on the Internet of Things, relates to the technical field of irrigation devices for greenhouses, is suitable for greenhouses planted with different types of crops, and comprises a humidity detection module for detecting soil humidity data, the humidity detection module is configured to alternately perform first mode detection and second mode detection, and the detection frequency of the first mode detection is greater than the detection frequency of the second mode detection; and the irrigation part is used for moving the part to carry out irrigation work. According to the invention, the difference value between the soil humidity value detected by the humidity detection module and the corresponding set threshold value is compared, and the detection mode of the humidity detection module and the water spraying amount of the irrigation part are adjusted according to the comparison result, so that the irrigation amount is dynamically adjusted according to the actual demand of crops, and excessive or insufficient irrigation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of greenhouse irrigation devices, and in particular to a mobile atomizing irrigation device for an intelligent greenhouse based on the Internet of Things. Background Art

[0002] Greenhouses are an important tool for growing crops in a controlled environment. They can provide stable climate conditions and protect crops from bad weather and pests. Greenhouse irrigation is a very important part of growing crops. It directly affects the growth and yield of crops. Drip irrigation, sprinkler irrigation or regular irrigation technology are often used to irrigate crops in greenhouses.

[0003] From the perspective of maximizing resource utilization, it is now common to plant a variety of crops with similar growing temperatures in the same greenhouse to maximize land utilization and reduce production costs. Planting a variety of crops in the same greenhouse can achieve continuous production. Different crops have different growth cycles, so seasonal rotation can be achieved to ensure continuous crop output in the greenhouse.

[0004] However, traditional irrigation methods are difficult to adjust precisely according to the needs of different crops. Drip irrigation or sprinkler irrigation systems usually set irrigation parameters uniformly for the entire planting area and cannot provide precise irrigation according to the different growth stages of each crop.

[0005] For example, when economic crops such as tomatoes, peppers and cucumbers are planted in a greenhouse, the water demand of tomatoes and peppers increases during the fruit expansion period, while the water demand of cucumbers is highest during the flowering period. Traditional irrigation systems cannot perform differentiated treatment for different crops.

[0006] In addition, regular irrigation is usually carried out at fixed time intervals without considering the actual soil moisture, the real-time needs of different crops or changes in climatic conditions. If irrigation is not carried out in time when crops need water, crop growth will be inhibited, especially during critical growth periods, such as the fruiting period of tomatoes and peppers and the flowering period of cucumbers. Lack of water will lead to inhibited growth and reduced yields. Summary of the invention

[0007] 1) Technical issues solved

[0008] The present invention provides a mobile atomizing irrigation device for an intelligent greenhouse based on the Internet of Things, so as to solve the problem that the existing greenhouse irrigation technology cannot adjust the irrigation amount according to the growth requirements of different crops and realize precise irrigation.

[0009] 2) Technical solution

[0010] To achieve the above object, the present invention provides the following technical solution: a mobile atomizing irrigation device for an intelligent greenhouse based on the Internet of Things, which is suitable for greenhouses where different types of crops are planted, and the planting temperatures of the different types of crops are similar but the water requirements are different, including:

[0011] A humidity detection module is located in the planting area of ​​each crop and is connected to the IoT cloud platform for detecting soil humidity values. The humidity detection module is configured to perform a first mode detection or a second mode detection separately each time, wherein the detection frequency of the first mode detection is greater than the detection frequency of the second mode detection;

[0012] The humidity detection module located in each crop planting area is set with a corresponding preset threshold value. When the soil humidity value detected by any humidity detection module is less than the corresponding preset threshold value, the humidity detection module performs the first mode detection;

[0013] When any humidity detection module detects that the soil humidity value is greater than the corresponding preset threshold, the humidity detection module performs the second mode detection;

[0014] A mobile component is communicatively connected to the IoT cloud platform, and the IoT cloud platform is used to plan a path for the mobile component. When any of the humidity detection modules performs the first mode detection, the mobile component moves to the humidity detection module; a water supply unit is provided on the mobile component; and

[0015] The irrigation component is located on the moving component and is connected to the water supply unit. The irrigation component is in communication with the IoT pan-tilt unit. When the moving component moves to the humidity detection module for performing the first mode detection, the IoT pan-tilt unit controls the irrigation component to pump water from the water supply unit for irrigation.

[0016] Furthermore, the mobile component moves to the humidity detection module that performs the first mode detection to perform irrigation work. When the humidity detection module switches to perform the second mode detection, the Internet of Things pan-tilt control controls the irrigation component to stop irrigation work.

[0017] Furthermore, the humidity detection module located in each crop planting area includes at least two humidity sensors;

[0018] The multiple humidity sensors in each humidity detection module are used to detect humidity values ​​simultaneously, and each humidity sensor is assigned a corresponding weight. The soil humidity value is obtained by weighted averaging the humidity values ​​detected by the multiple humidity sensors.

[0019] Furthermore, the corresponding preset thresholds set by the humidity detection modules located in each crop planting area are specifically:

[0020] For each growth stage of each crop, the humidity detection module located in its planting area is set with the preset threshold adapted to the growth stage.

[0021] Furthermore, one humidity sensor is respectively arranged at two boundary positions farthest from each other in each crop planting area;

[0022] When any one of the humidity detection modules performs the first mode detection, the IoT gimbal plans a path so that the moving component first moves to a humidity sensor located at a boundary position in the humidity detection module, and then the moving component reciprocates between the humidity sensors located at two boundary positions in the humidity detection module.

[0023] Furthermore, the IoT cloud platform receives the soil moisture value detected by each humidity detection module in real time, and calculates the difference between the soil moisture value and the corresponding preset threshold.

[0024] Furthermore, the irrigation component includes the atomizing nozzle with adjustable nozzle opening;

[0025] When the moving component moves to the humidity detection module that performs the first mode detection, the IoT pan / tilt outputs the difference between the soil humidity value detected by the humidity detection module and the corresponding preset threshold value;

[0026] The atomizing nozzle is configured to adjust the opening and closing degree of the atomizing nozzle according to the difference output by the IoT pan / tilt, and the opening and closing degree of the atomizing nozzle is positively correlated with the difference.

[0027] Further, the irrigation component includes a sensing unit that moves in a direction perpendicular to the horizontal plane, and the sensing unit is used to detect the distance between the obstacle in the horizontal direction and the irrigation device;

[0028] When the moving component moves to one of the humidity sensors in any one of the humidity detection modules, the sensing unit starts to move, and detects the distance between the obstacle in the horizontal direction and the irrigation device while moving;

[0029] When the detected distance is less than a preset distance, the atomizing nozzle starts to spray water to irrigate the crops.

[0030] 3) Beneficial effects:

[0031] Compared with the prior art, the invention has the following beneficial effects:

[0032] The present invention sets a humidity detection module in the planting area of ​​each crop. The humidity detection module can automatically adjust the preset threshold according to the different growth stages of the crops, and automatically switch the detection mode after comparing the detected soil moisture value with the preset threshold. When the humidity detection module detects that the soil moisture value is lower than the preset threshold, the planting area is irrigated, and the humidity detection module enters the first mode detection to start high-frequency detection, ensuring a rapid response to the water shortage state; when the soil moisture value recovers to above the set threshold, the irrigation work stops, and the humidity detection module automatically switches to the second mode detection to start low-frequency detection, maintaining moderate monitoring of the soil moisture.

[0033] The water spray volume of the atomizing nozzle is adjusted according to the difference between the soil moisture value detected by the humidity detection module and the corresponding set threshold value, so that the irrigation volume is dynamically adjusted according to the actual needs of crops, avoiding excessive or insufficient irrigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A functional block diagram of a mobile atomizing irrigation device provided by an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of an application scenario in which three different types of crops are planted in a greenhouse suitable for the mobile atomization irrigation device provided in an embodiment of the present invention;

[0036] Figure 3 The embodiment of the present invention provides Figure 2 A schematic diagram of an application scenario in which three humidity sensors are arranged in an A1 planting area where a crop is located;

[0037] Figure 4 The mobile part of the mobile atomizing irrigation device provided by the embodiment of the present invention moves to Figure 3 A schematic diagram of an application scenario of a humidity sensor in the A1 planting area shown;

[0038] Figure 5 A schematic diagram of an application scenario in which a moving component in a mobile atomizing irrigation device provided by an embodiment of the present invention reciprocates between two humidity sensors located at a boundary;

[0039] Figure 6 A schematic diagram of an application scenario in which a sensing unit in a mobile atomizing irrigation device provided by an embodiment of the present invention detects the distance between an obstacle in the horizontal direction and the device while moving;

[0040] Figure 7 A schematic diagram of water flow rates of a valve in a mobile atomizing irrigation device provided by an embodiment of the present invention at three different valve openings;

[0041] Figure 8 A schematic diagram showing a comparison between a soil moisture value detected by a humidity detection module located in a cucumber planting area in a mobile atomizing irrigation device provided in an embodiment of the present invention and a preset threshold value when a second mode detection is performed during the flowering period of cucumbers;

[0042] Fig. 9 A schematic diagram showing a comparison between a soil moisture value detected by a humidity detection module located in a cucumber planting area in a mobile atomizing irrigation device provided in an embodiment of the present invention and a preset threshold value when performing a first mode detection during the flowering period of cucumbers;

[0043] In the figure: 100, humidity detection module; 101, humidity sensor;

[0044] 200, irrigation components; 201, atomizing nozzle; 202, sensing unit; 203, valve;

[0045] 300. Moving parts. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0048] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0049] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0050] Planting multiple crops with similar growth temperatures in a greenhouse is a common practice and can bring many benefits, especially from the perspective of economic output. If the growing conditions of different crops are similar, the greenhouse space can be used more efficiently. For example, temperature control equipment and lighting equipment can be shared, saving energy and maintenance costs; planting multiple crops can bring diversified output and reduce economic risks. If one crop is affected by pests or market fluctuations, other crops can still continue to grow and produce, ensuring economic benefits.

[0051] However, traditional irrigation methods are difficult to adjust precisely according to the needs of different crops. Drip irrigation or sprinkler irrigation systems usually set irrigation parameters uniformly for the entire planting area and cannot provide precise irrigation according to the different growth stages of each crop.

[0052] For example, in a greenhouse, economic crops such as tomatoes, peppers and cucumbers are planted. The growth period of tomatoes is about 60-90 days. They need moderate water in the seedling stage, but require more water in the flowering and fruiting stages, especially in the fruiting stage, when the soil needs to be kept moist.

[0053] The growing period of cucumber is about 50-70 days. The water requirement is less in the seedling stage, but it increases sharply in the flowering and fruiting stages.

[0054] The growing period of pepper is about 70-90 days. The water requirement is less in the seedling stage and the initial flowering stage, and the water requirement increases in the fruiting stage. In particular, the soil humidity needs to be kept high during the fruit expansion period.

[0055] In summary, the water requirements of tomatoes and peppers increase during the fruit expansion period, while the water requirement of cucumbers is the highest during the flowering period, but traditional irrigation systems cannot perform differentiated treatments for different crops.

[0056] Therefore, the inventors have proposed a mobile atomizing irrigation device suitable for greenhouses where a variety of different types of crops are grown. The irrigation amount can be adjusted according to the growth requirements of different crops to achieve precise, automated, energy-saving and efficient irrigation.

[0057] The mobile irrigation device is communicatively connected to the IoT cloud platform, which serves as the data processing and control center of the entire device.

[0058] Specific, combined Figures 1 to 7 The mobile atomizing irrigation device for the smart greenhouse based on the Internet of Things is shown in some feasible embodiments of the present invention. Figure 2 , Figure 2 Three different types of crops are grown in the greenhouse shown. Taking the above-mentioned tomatoes, cucumbers and peppers as examples, different types of crops have different planting areas and different planting areas.

[0059] In some feasible embodiments of the present invention, a humidity detection module 100 for detecting soil humidity is provided in the planting area of ​​each crop, and each humidity detection module 100 is connected to the IoT cloud platform for communication. Specifically, each humidity detection module 100 transmits data to the IoT cloud platform through wireless communication (such as ZigBee, LoRa, WiFi), including data such as the location of the humidity detection module 100 distributed in each crop planting area and the collected soil humidity value.

[0060] Regarding the humidity detection module 100, in an embodiment of the present invention, the humidity detection module 100 is configured to perform first mode detection and second mode detection alternately, wherein the detection frequency of the first mode detection is greater than the detection frequency of the second mode detection. It can be understood that the humidity detection module 100 performs high-frequency detection and low-frequency detection alternately.

[0061] Specifically, in the humidity detection module 100 in each crop planting area, a preset threshold adapted to different growth stages of the crop is set in the module, that is, a dynamic humidity threshold adjustment mechanism is designed in each humidity detection module 100.

[0062] Taking the above-mentioned three crops of tomato, cucumber and pepper as examples, in some feasible embodiments of the present invention, corresponding preset thresholds set in the humidity detection module 100 corresponding to different growth stages of different crops are as follows.

[0063] Tomato: The water requirement is small during the seedling stage, the root system is shallow, and more frequent irrigation is needed to maintain high soil moisture; as the plant grows, the root system develops during the growth period and the water requirement increases; the water requirement of tomatoes reaches the highest during the flowering period, and high humidity must be maintained and the development of flower organs must be promoted; the water requirement decreases during the fruiting period to prevent excessive water from affecting the quality of the fruit.

[0064] Cucumber: Cucumbers require a large amount of water during the seedling stage and need frequent irrigation; during the growth period, the water requirement of cucumbers further increases; the water requirement of cucumbers reaches its peak during the flowering period, and they are particularly sensitive to water demand; after entering the fruiting period, the water demand decreases slightly, and appropriate humidity must be maintained to ensure fruit growth.

[0065] Pepper: Pepper requires less water during the seedling stage, as its root system is shallow and its growth is slow; water demand is relatively stable during the growth period, and irrigation frequency is maintained at a low level; water demand increases during the flowering period to ensure normal flowering and fruit setting; water demand decreases during the fruiting period to avoid excessive watering that may cause fruit diseases.

[0066] The following table shows the actual soil moisture values ​​detected for three crops at various growth stages, the corresponding preset thresholds, and their respective growth characteristics in an embodiment of the present invention:

[0067]

[0068] In summary, it can be understood that because crops have different requirements for soil moisture at different growth stages, in order to adapt to the different moisture requirements of each crop at different growth stages, the preset threshold in the humidity detection module 100 needs to be dynamically adjusted according to the growth schedule of the crop. In addition, the dynamic adjustment of the humidity threshold supports personalized configuration, adapts to the growth requirements of different regions and different types of crops, and makes it more efficient to manage multiple crops in the same greenhouse.

[0069] In combination with the above-mentioned each humidity detection module 100, the first mode detection and the second mode detection are performed alternately. The first mode detection is applicable to the critical state when the soil moisture is lower than the preset threshold value, and can quickly capture the dynamic changes of humidity to ensure the accuracy and timeliness of irrigation work. The second mode detection is applicable to the state where the soil moisture is higher than the preset threshold value. At this time, the soil moisture changes slowly, and reducing the detection frequency can meet the detection requirements.

[0070] It is understandable that the detection logic of the humidity detection module 100 adopts a dynamic switching mechanism between the first mode detection and the second mode detection to adapt to the changes in the water demand of crops at different growth stages and ensure that the soil moisture fluctuates within a reasonable range. In different growth stages of crops, the humidity detection module 100 dynamically determines the detection mode that needs to be activated by comparing the currently detected soil moisture value with the preset threshold value of the corresponding stage. The specific operation logic is as follows.

[0071] The humidity detection module 100 adopts the second mode detection in the initial state, that is, low-frequency detection, and its detection interval is longer to save energy and reduce unnecessary detection frequency. The IoT pan-tilt receives the detected soil moisture value in real time, and determines whether it is necessary to switch to the first mode detection, that is, the high-frequency detection mode, based on the soil moisture value detected in the second mode.

[0072] Take the cucumber planting area as an example, refer to Figure 8 , Figure 8 Schematic diagram of the comparison between the detected soil moisture value and the preset threshold value when the humidity detection module 100 located in the cucumber planting area performs the second mode detection during the flowering period of the cucumber in the mobile atomizing irrigation device provided by the embodiment of the present invention. During the flowering period of the cucumber, the preset threshold value L of the humidity detection module 100 at this stage is T Assume that the detection frequency of the second mode detection of the humidity detection module 100 is 12h / time, and the humidity detection module 100 is 78% at t 1 The soil moisture value L detected at any time R It is 67%, which is significantly lower than the preset threshold of 78% at this stage. This result indicates that the cucumber is currently in a state of water shortage and needs immediate water replenishment.

[0073] The IoT pan-tilt transmits this information to the mobile atomizing irrigation device provided by the embodiment of the present invention through the network, and the atomizing irrigation device quickly moves to the cucumber planting area and starts to perform precision irrigation operations. At the same time, the IoT pan-tilt instructs the humidity detection module 100 to switch to the first mode detection to monitor soil humidity changes in real time.

[0074] refer to Fig. 9 In the first mode detection, the detection interval of the humidity detection module 100 is significantly shortened to 5s / time. In this high-frequency mode detection, the irrigation device can quickly capture the dynamic changes of soil moisture and evaluate the effect of irrigation work in real time. In the first mode detection, when the detected soil moisture value gradually rises from 67% and exceeds the preset threshold of 78%, it indicates that the soil moisture has returned to the normal range of the cucumber flowering period and the irrigation work is completed. At this time, the IoT pan-tilt stops the atomization irrigation device from watering and irrigation according to the latest detection data, and the humidity detection module 100 switches back to the second mode detection. After that, the humidity detection module 100 continues to monitor the soil moisture at a longer time interval (12h / time) and waits for the next change.

[0075] In summary, the switching between the first mode detection and the second mode detection is determined in real time by the contrast difference between the detected soil moisture value and the preset threshold value of the growth stage. This design ensures high-frequency detection and timely water replenishment when crops are short of water, and stops irrigation and water replenishment and reduces the detection frequency when the soil moisture returns to normal. Among them, the first mode detection provides real-time data support for the irrigation device, realizes precise control of irrigation work, and avoids excessive irrigation or uneven watering. The second mode detection effectively reduces resource consumption, and at the same time, the first mode detection can quickly respond to abnormal situations, achieving a balance between energy saving and efficiency.

[0076] During the implementation of some embodiments of the present invention, the inventors have also found that, referring to the above table, there are situations where the gap between two preset thresholds of adjacent growth stages of the same crop is too large. Taking the growth period and flowering period of tomatoes as an example, the preset threshold corresponding to the growth period is 60%, and the preset threshold corresponding to the flowering period is close to 90%. The preset thresholds of the two adjacent growth stages are quite different. If the humidity detection module 100 happens to perform the second mode detection during the transition period between the two adjacent growth stages, the second mode detection cannot capture the rapid downward trend of humidity, so it may miss the best time to adjust the irrigation plan due to the long detection time, and the crops may enter a water shortage state in a short time.

[0077] To solve the above problems, in some embodiments of the present invention, a transition mode is introduced in the humidity detection module 100. The transition mode is to solve the problem that when the humidity detection module 100 switches between two growth stages, the preset thresholds of the two stages are quite different and the humidity detection is in low frequency at this time, which leads to missing the best time to adjust the irrigation plan. For example, in the tomato planting area, when the humidity detection module 100 enters the flowering stage (preset threshold 85%) from the growth stage (preset threshold 60%), the soil moisture may be in the handover range of the two stages (such as 60%-85%) for a long time, and the humidity detection module 100 in the second mode detection misses the dynamic change of soil moisture.

[0078] In addition, during the transition period between the two growth stages of crops, due to the growth and development characteristics of crops, their absorption capacity and demand for soil moisture will change dynamically. This change is not only reflected in the different settings of humidity thresholds, but also in the sensitivity of crops to the external environment. During this stage, the growth activity of crops increases, and the absorption rate of the root system may increase or decrease due to physiological metabolic changes, which makes the actual soil moisture in the planting area show a certain degree of volatility. This fluctuation may be the result of multiple factors such as the increase in crop water absorption rate, changes in transpiration, or water migration within the soil.

[0079] Regarding the start-up conditions of the transition mode, specifically, in some feasible embodiments of the present invention, the start-up conditions of the transition mode are based on the humidity value being between the preset thresholds of two adjacent growth stages, and a safety margin Δ is set. The purpose of this safety margin Δ is to ensure that the threshold changes smoothly and the detection error is controlled. An appropriate safety margin is defined to avoid slight humidity fluctuations triggering the start-up of the transition mode. When the detected soil moisture value L R satisfy:

[0080] L R ∈[L T1 +Δ,L T2 -Δ]

[0081] Among them, L T1 is the preset threshold corresponding to the current growth stage, L T2 is the preset threshold corresponding to the next growth stage. Regarding the safety margin Δ, it is mainly selected according to the sensitivity of different crops, usually 2%-8%, and no specific data limitation is made in the embodiments of the present invention.

[0082] Taking the above tomato planting as an example, the preset threshold value of the growth period is 60%, and the preset threshold value of the flowering period is 85%, and the set safety margin Δ is 5%, then the start condition of the transition mode will be:

[0083] L R ∈[60%+5%,85%-5%]

[0084] Regarding the detection frequency of the transition mode, the detection frequency is set between the detection frequency of the first mode detection and the detection frequency of the second mode frequency detection, so as to achieve more precise monitoring of the fluctuation of the humidity value, while avoiding excessive burden on the system caused by too frequent detection. For example, the detection frequency of the transition mode can be set to 1h / time or 2h / time. This frequency can ensure that when the crops are in the transition period of the growth stage, their humidity changes can be captured by the humidity detection module 100 in time and subsequently processed, while avoiding excessive pressure on system resources caused by frequent detection.

[0085] In addition, the inventors have also considered the termination conditions of the transition mode. Specifically, in some embodiments of the present invention, in the transition mode, the humidity detection module 100 will detect soil moisture more frequently, for example, the detection frequency is 1h / time, and at the same time calculate the humidity change rate per unit time, and set a change rate threshold, for example, the humidity change does not exceed 2% per hour, which is used to determine whether the soil moisture is stable. If the humidity change rate is greater than the set change rate threshold, it means that the soil moisture is still changing dramatically, and the humidity detection module 100 continues to remain in the transition mode. When the soil moisture change rate drops below the set change rate threshold, it means that the soil moisture change tends to be stable, and the transition mode is considered to have ended. Once the termination condition is met, the transition mode will be ended, and the humidity detection module 100 will return to the second mode detection to continue monitoring the soil moisture.

[0086] Specifically, when the humidity detection module 100 is in the transition mode, after each detection, the humidity change rate ΔH is calculated:

[0087]

[0088] Among them, L R is the currently detected humidity value, L R ' is the humidity value detected last time, and ΔT is the detection time interval.

[0089] The end condition of the transition mode is based on whether the soil moisture change rate exceeds the set threshold, which is in line with the detection logic of the existing modular system and can ensure the efficient operation of the system. When the soil moisture changes rapidly, a higher frequency of detection is maintained to respond to the demand in real time, and when the humidity changes tend to be stable, the transition mode is automatically ended to reduce invalid high-frequency detection and return to the low-frequency detection mode, thereby achieving efficient resource management.

[0090] In summary, it can be understood that the transition mode can adapt to the changes in crop water demand and soil moisture volatility during the transition period of the growth stage through higher-frequency soil moisture monitoring and judgment logic. The transition mode not only makes up for the deficiency of the large detection time interval in the second mode detection, but also ensures the continuity and accuracy of irrigation work, providing reliable protection for the healthy growth of crops.

[0091] In addition, considering that the start condition of the second mode detection is that the detected soil moisture value is higher than the corresponding set threshold, and the start condition of the transition mode detection is that the detected soil moisture value is close to the preset thresholds corresponding to the two growth stages, there may be an overlapping area between the two. For this situation, in some feasible embodiments of the present invention, by setting the priority between the modes, when this problem occurs, the humidity detection module 100 preferentially enters the transition mode detection until the humidity change rate tends to be stable, and then switches to the second mode detection.

[0092] Considering that the soil moisture in the crop planting area may have local differences due to irrigation distribution, soil properties, etc., and generally speaking, the planting area of ​​each type of crop in a greenhouse is large and is not suitable for fixed-point detection at a single point, therefore, in some feasible embodiments of the present invention, the humidity detection module 100 located in each crop planting area includes at least two humidity sensors 101, and the multiple humidity sensors 101 in each humidity detection module 100 detect the humidity value simultaneously.

[0093] refer to Figures 3 to 5 In the scene schematic diagram shown, three humidity sensors 101 are set in the crop plant area A1 to detect and collect humidity values, and humidity sensors 101 are arranged at two relative boundaries. The three humidity sensors 101 perform detection work synchronously. Considering that each humidity sensor 101 may have measurement errors due to differences in installation position, measurement environment or sensor performance, the weighted average of the humidity values ​​detected by multiple humidity sensors 101 can reduce the impact of errors on the overall soil moisture value.

[0094] Regarding how to perform weighted averaging of humidity values ​​detected by multiple humidity sensors 101, more specifically, different weights w are assigned to each humidity sensor 101 according to its location, importance, or characteristics of the area where it is located. i , and the humidity value H of each humidity sensor 101 i Sum by weight, the formula is:

[0095]

[0096] Where: H avgis the weighted soil moisture value, i.e., represents the soil moisture value detected by the humidity detection module 100 and input to the IoT PTZ;

[0097] H i is the humidity value detected by the i-th humidity sensor 101;

[0098] w i is the weight of the i-th humidity sensor 101;

[0099] n is the total number of humidity sensors 101 .

[0100] Regarding the weights w of different humidity sensors 101 i In some feasible embodiments of the present invention, the weight w is set according to the distance of the humidity sensor 101 from the center of the planting area, because the data detected by the humidity sensor 101 near the center of the planting area is closer to the overall average humidity, while the humidity sensor 101 at the boundary area reflects the local changes more. Therefore, the weight of the humidity sensor 101 near the center is larger, and the weight of the humidity sensor 101 at the boundary position is smaller. i There is no limit on the size value, and you can refer to past test data.

[0101] In addition, the buried depth of the humidity sensor 101 in the soil can be selected according to the root depth of different crops. For example, in some feasible embodiments of the present invention, the root system of tomatoes and cucumbers is relatively shallow, and the humidity sensor 101 is buried 5cm-15cm near the root system. The root system of peppers is slightly deeper, and the humidity sensor 101 is buried 15cm-25cm.

[0102] Regarding the type of the humidity sensor 101 for detecting soil moisture, it can be but not limited to a capacitive sensor, a resistive sensor, and a tensiometer, etc., which is not specifically limited in the embodiment of the present invention. It should be noted that the humidity sensor 101 needs to be unaffected by soil salt and suitable for a greenhouse environment.

[0103] Regarding how the mobile atomizing irrigation device of the present invention is moved to the planting area that needs irrigation to perform irrigation work, for details, refer to Figures 4 to 6 The atomizing irrigation device includes a moving component 300, which is used to synchronously receive the soil moisture value detected by each humidity detection module 100. When the soil moisture value detected by any humidity detection module 100 is less than the corresponding preset threshold value, the moving component 300 moves to the humidity detection module 100.

[0104] More specifically, the humidity detection module 100 uploads the soil humidity value to the IoT pan-tilt in real time. When the soil humidity value detected by any humidity detection module 100 is less than the corresponding preset threshold, the IoT pan-tilt sends a path planning instruction to the mobile component 300, triggering the mobile component 300 to perform irrigation operations. In addition, a water tank is installed on the mobile component 300 as a water supply unit.

[0105] Please refer to Figure 4 According to the position data of the humidity sensor 101 in the humidity detection module 100, the IoT pan-tilt system preferentially selects a humidity sensor 101 with the lowest humidity value or a humidity sensor 101 closest to the moving component 300 as the target point, so that the moving component 300 first moves to the position of the target point humidity sensor 101. After reaching the target point, the moving component 300 plans the optimal path according to the positions of other humidity sensors 101 in the humidity detection module 101, so that the irrigation device reciprocates between the two humidity sensors 101 with the farthest straight-line distance, ensuring that the soil in the entire planting area is evenly moistened during irrigation.

[0106] It should be noted that after each reciprocating motion is completed, the IoT gimbal reacquires the soil moisture value and dynamically updates the target path to avoid duplication or omission.

[0107] The irrigation component 200 for watering and irrigation is located on the moving component 300. The irrigation component 200 includes an atomizing nozzle 201 with an adjustable opening and closing degree of the water outlet. The atomizing nozzle 201 is connected to a water tank as a water supply unit. When irrigation is performed, water is pumped from the water tank. The atomizing nozzle 201 is responsible for atomizing the water and spraying it onto the planting area of ​​the crops. The spraying intensity and coverage can be accurately controlled according to actual needs.

[0108] Specifically, the irrigation component 200 maintains a real-time communication connection with the IoT cloud platform. When the mobile component 300 moves to the area that needs irrigation, that is, moves to the position of a humidity sensor 101 in the humidity detection module 100, the detected soil moisture value and the corresponding preset threshold are transmitted to the IoT cloud platform. The IoT cloud platform generates a control instruction based on the difference between the humidity value and the preset threshold.

[0109] The atomizing nozzle 201 adjusts its opening and closing degree according to the difference to achieve dynamic control of the spraying intensity:

[0110] Large difference (serious water shortage): the opening and closing degree of the atomizing nozzle 201 is increased, the spraying intensity is enhanced, and water is replenished quickly;

[0111] Medium difference (slight lack of water): the atomizing nozzle 201 has a moderate opening and closing degree, providing an appropriate amount of water replenishment;

[0112] The difference is small (close to the humidity threshold): the opening and closing degree of the atomizing nozzle 201 is reduced, and the irrigation is refined to avoid excessive moisture.

[0113] In summary, it can be understood that the irrigation component 200 receives and responds to the instructions of the IoT pan-tilt in real time to ensure that the irrigation process accurately matches the actual needs of the soil. When the humidity detection module 100 shows that the soil humidity value has reached or exceeded the preset threshold, the IoT pan-tilt will instruct the atomizing nozzle 201 to stop spraying to avoid wasting water resources.

[0114] Regarding how to control the water output of the atomizing nozzle 201 , in other feasible embodiments of the present invention, the atomizing nozzle 201 is connected to a valve 203 , and the valve 203 is used to control the water output entering the atomizing nozzle 201 .

[0115] Specifically, refer to Figure 7 When the detected soil moisture value is far below the preset threshold, that is, the humidity difference is large, this means that the current soil is seriously short of water, so the water outlet of the atomizing nozzle 201 needs to provide more water to quickly increase the humidity. In this case, the opening of the valve 203 will be close to the maximum, that is, close to the fully open state, the water flow rate sprayed by the atomizing nozzle 201 is the largest, and the irrigation speed is the fastest.

[0116] When the detected soil moisture value is slightly lower than the preset value, that is, the moisture difference is moderate, although the soil is short of water, a large amount of irrigation is not required, and the opening of the valve 203 is adjusted to an intermediate range, usually about 50%. The water flow of the atomizing nozzle 201 is moderate, and the water supply is sufficient to restore the humidity, but will not cause excessive moisture.

[0117] When the detected soil moisture value is close to the preset value, that is, the humidity difference is small, a large amount of irrigation is not needed at this time, only a small amount of water supplement is needed, and the opening of valve 203 will be adjusted to a smaller state, usually about 20%, and the water flow will be reduced and slightly adjusted to avoid over-irrigation.

[0118] In some embodiments of the present invention, the IoT pan / tilt is divided into a plurality of difference intervals according to the size of the difference, which correspond to different valve 203 opening ranges, as follows.

[0119] When the humidity difference is >15%, the valve 203 is nearly fully open and the water flow is maximum;

[0120] When the humidity difference is between 5% and 15%, the valve 203 is opened at an intermediate value (e.g., 50%), and the water flow is medium;

[0121] When the humidity difference is ≤5%, the valve 203 is opened to the minimum, the water flow is very small, and the humidity is only appropriately adjusted.

[0122] In the atomizing irrigation device of the present invention, combined with the spraying height of the atomizing nozzle 201 and the complexity of the environment, in some embodiments, a sensing unit 202 is added to the irrigation component 200. The sensing unit 202 is located below the atomizing nozzle 201. The sensing unit 202 is communicatively connected to the IoT gimbal. The sensing unit 202 continuously detects the distance between obstacles and the irrigation component 200 in the horizontal direction to ensure the accuracy and safety of the irrigation work.

[0123] Specifically, an electric push rod is installed on the moving component 300, and the irrigation component 200 is fixed on the electric push rod, and can adapt to different environments through height adjustment.

[0124] When the moving part 300 moves to a humidity sensor 101 in the humidity detection module 100 that needs irrigation, the sensing unit 202 automatically starts.

[0125] When the atomizing irrigation device reaches the target point of the planting area that needs to be irrigated, the IoT cloud platform generates a control instruction to trigger the sensing unit 202 to start. Figure 6 , the sensing unit 202 starts to detect the horizontal distance R between the device and the sensor unit 202. If the detected distance R is less than the preset distance, that is, the obstacle exists and is close, the next operation is triggered. When the detected distance R is greater than the preset distance, the atomizing nozzle 201 is activated to start irrigating the target area.

[0126] Through this design, the sensing unit 202 prevents the sprinkler from spraying water on non-target areas or obstacles (such as brackets, equipment), reduces water waste and prevents damage to the device. By combining the sensing data with the preset distance, it can accurately determine when to perform the water spraying operation.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. A mobile atomizing irrigation device for an intelligent greenhouse based on the Internet of Things, which is suitable for greenhouses where different types of crops are planted, and the planting temperatures of the different types of crops are similar but the water requirements are different, and is characterized in that: include: A humidity detection module (100) is located in the planting area of ​​each crop and is connected to the IoT cloud platform for communication, and is used to detect soil humidity values, wherein the humidity detection module (100) is configured to perform a first mode detection or a second mode detection individually each time, wherein the detection frequency of the first mode detection is greater than the detection frequency of the second mode detection; The humidity detection modules (100) located in each crop planting area are set with corresponding preset threshold values, and when the soil humidity value detected by any of the humidity detection modules (100) is less than the corresponding preset threshold value, the humidity detection module (100) performs the first mode detection; When any one of the humidity detection modules (100) detects that the soil humidity value is greater than a corresponding preset threshold value, the humidity detection module (100) performs the second mode detection; A mobile component (300) is communicatively connected to the IoT cloud platform, the IoT cloud platform is used to plan a path for the mobile component (300), and when any one of the humidity detection modules (100) performs the first mode detection, the mobile component (300) moves to the humidity detection module (100); a water supply unit is provided on the mobile component (300); and An irrigation component (200) is located on the moving component (300) and is connected to the water supply unit. The irrigation component (200) is in communication connection with the Internet of Things cloud platform. When the moving component (300) moves to the humidity detection module (100) for performing the first mode detection, the Internet of Things cloud platform controls the irrigation component (200) to pump water from the water supply unit to perform irrigation.

2. The mobile atomizing irrigation device for smart greenhouses based on the Internet of Things according to claim 1 is characterized in that: The moving component (300) moves to the humidity detection module (100) that performs the first mode detection to perform irrigation work, and when the humidity detection module (100) switches to perform the second mode detection, the Internet of Things pan / tilt controls the irrigation component (200) to stop the irrigation work.

3. The mobile atomizing irrigation device for intelligent greenhouse based on Internet of Things according to claim 2 is characterized in that: The humidity detection module (100) located in each crop planting area comprises at least two humidity sensors (101); The plurality of humidity sensors (101) in each humidity detection module (100) are used to detect humidity values ​​simultaneously, and each humidity sensor (101) is assigned a corresponding weight, and the humidity values ​​detected by the plurality of humidity sensors (101) are weighted averaged to obtain the soil humidity value.

4. The mobile atomizing irrigation device for intelligent greenhouse based on Internet of Things according to claim 3 is characterized in that: The corresponding preset thresholds set by the humidity detection module (100) located in each crop planting area are specifically: For each growth stage of each crop, the humidity detection module (100) located in its planting area is set with the preset threshold adapted to the growth stage.

5. The mobile atomizing irrigation device for intelligent greenhouse based on Internet of Things according to claim 3 is characterized in that: One humidity sensor (101) is respectively arranged at two boundary positions farthest from each other in each crop planting area; When any one of the humidity detection modules (100) performs the first mode detection, the IoT pan-tilt planning path causes the moving component (300) to first move to a humidity sensor (101) located at a boundary position in the humidity detection module (100), and then the moving component (300) reciprocates between the humidity sensors (101) located at two boundary positions in the humidity detection module (100).

6. The mobile atomizing irrigation device for intelligent greenhouse based on Internet of Things according to claim 5 is characterized in that: The Internet of Things cloud platform receives in real time the soil moisture value detected by each of the humidity detection modules (100), and calculates the difference between the soil moisture value and the corresponding preset threshold value.

7. The mobile atomizing irrigation device for smart greenhouses based on the Internet of Things according to claim 6 is characterized in that: The irrigation component (200) comprises an atomizing nozzle (201) with an adjustable nozzle opening; When the moving component (300) moves to the humidity detection module (100) that performs the first mode detection, the Internet of Things cloud platform outputs the difference between the soil humidity value detected by the humidity detection module (100) and the corresponding preset threshold value; The atomizing nozzle (201) is configured to adjust the opening and closing degree of the atomizing nozzle (201) according to the difference output by the Internet of Things pan / tilt, and the opening and closing degree of the atomizing nozzle (201) and the difference are positively correlated.

8. The mobile atomizing irrigation device for intelligent greenhouse based on Internet of Things according to claim 7 is characterized in that: The irrigation component (200) comprises a sensing unit (202) that moves in a direction perpendicular to a horizontal plane, and the sensing unit (202) is used to detect the distance between an obstacle in the horizontal direction and the irrigation device; When the moving component (300) moves to one of the humidity sensors (101) in any one of the humidity detection modules (100), the sensing unit (202) starts to move, and detects the distance between the obstacle in the horizontal direction and the irrigation device while moving; When the detected distance is less than a preset distance, the atomizing nozzle (201) starts spraying water to irrigate the crops.

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