Mobile atomization irrigation device for smart greenhouse based on internet of things

Abstract

The application discloses a mobile atomization irrigation device for a smart greenhouse based on Internet of Things and relates to the technical field of irrigation devices for greenhouses. The mobile atomization irrigation device is suitable for a greenhouse in which different types of crops are planted and comprises a humidity detection module for detecting soil humidity data, an irrigation component, and a moving component for irrigation work. The application compares the difference between the soil humidity value detected by the humidity detection module and the corresponding set threshold value, adjusts the detection mode of the humidity detection module and the water spraying amount of the irrigation component according to the comparison result, dynamically adjusts the irrigation amount according to the actual demand of crops, and avoids excessive or insufficient irrigation.

Description

Technical Field

[0001] This invention relates to the field of irrigation devices for greenhouses, specifically a mobile atomizing irrigation device for intelligent greenhouses based on the Internet of Things. Background Technology

[0002] Greenhouses are an important tool for growing crops in a controlled environment, providing stable climate conditions and protecting crops from harsh weather and pests. Irrigation in greenhouses is a crucial aspect of crop cultivation, directly impacting crop growth and yield. Drip irrigation, sprinkler irrigation, or regular irrigation techniques are commonly used to irrigate crops in greenhouses.

[0003] From the perspective of maximizing resource utilization, it is now common to grow multiple crops with similar growth temperatures in the same greenhouse to maximize land utilization and reduce production costs. In addition, growing multiple crops in the same greenhouse can achieve continuous production. Different crops have different growth cycles, which can achieve seasonal crop rotation and ensure that the greenhouse has a continuous crop output.

[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 growing cash crops such as tomatoes, peppers, and cucumbers in a greenhouse, the water requirements of tomatoes and peppers increase during the fruit enlargement period, while the water requirements of cucumbers are highest during the flowering period. Traditional irrigation systems cannot provide differentiated treatment for different crops.

[0006] In addition, regular irrigation is usually carried out at fixed intervals without taking into account the actual soil moisture, the real-time needs of different crops, or changes in climate 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. Water shortage will inhibit their growth and reduce yield. Summary of the Invention

[0007] 1) Technical problems to be solved

[0008] This invention provides a mobile atomizing irrigation device for smart greenhouses based on the Internet of Things, which solves the problem that existing greenhouse irrigation technologies cannot adjust the irrigation amount according to the different growth needs of crops and achieve precise irrigation.

[0009] (ii) Technical Solution

[0010] To achieve the above objectives, the present invention provides the following technical solution: a mobile mist irrigation device for smart greenhouses based on the Internet of Things, suitable for greenhouses growing different types of crops, wherein the different types of crops have similar planting temperatures but different water requirements, including:

[0011] A humidity detection module is located in the planting area of ​​each crop and communicates with an IoT PTZ to detect soil moisture values. The humidity detection module is configured to perform either a first mode detection or a second mode detection 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. When the soil moisture value detected by any humidity detection module is less than the corresponding preset threshold, the humidity detection module performs the first mode detection.

[0013] When any humidity detection module detects that the soil moisture 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 gimbal, which plans a path for the mobile component. When any of the humidity detection modules performs the first mode detection, the mobile component moves to that humidity detection module. The mobile component is equipped with a water supply unit.

[0015] An irrigation component is located on the moving component and is connected to the water supply unit. The irrigation component is also connected to the IoT gimbal. When the moving component moves to the humidity detection module that performs the first mode detection, the IoT gimbal controls the irrigation component to draw 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 the second mode detection, the IoT gimbal 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] Multiple humidity sensors within each humidity detection module are used to simultaneously detect humidity values, and each humidity sensor is assigned a corresponding weight. The soil humidity value is obtained by weighted averaging of the humidity values ​​detected by multiple humidity sensors.

[0019] Furthermore, the preset thresholds set for the humidity detection modules located in each crop planting area are as follows:

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

[0021] Furthermore, one humidity sensor is installed at each of the two farthest boundary locations within the planting area of ​​each crop;

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

[0023] Furthermore, the IoT gimbal receives the soil moisture value detected by each of the humidity detection modules in real time and calculates the difference between it and the corresponding preset threshold.

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

[0025] When the moving part moves to the humidity detection module that performs the first mode detection, the IoT gimbal outputs the difference between the soil humidity value detected by the humidity detection module and the corresponding preset threshold.

[0026] The atomizing nozzle is configured to adjust its opening degree based on the difference output by the IoT PTZ, and the opening degree of the atomizing nozzle is positively correlated with the difference.

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

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

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

[0030] (iii) Beneficial effects:

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

[0032] This invention establishes a humidity detection module in the planting area of ​​each crop. This module automatically adjusts a preset threshold based on the different growth stages of the crop, comparing the detected soil moisture value with the preset threshold and automatically switching detection modes. Specifically, when the humidity detection module detects that the soil moisture value is below the preset threshold, irrigation is initiated in the planting area, and the module enters a first detection mode for high-frequency detection to ensure a rapid response to water shortages. When the soil moisture value recovers to above the preset threshold, irrigation stops, and the humidity detection module automatically switches to a second detection mode for low-frequency detection to maintain appropriate monitoring of soil moisture.

[0033] Based on the difference between the soil moisture value detected by the humidity detection module and the corresponding set threshold, the water spray volume of the atomizing nozzle is adjusted, so as to dynamically adjust the irrigation amount according to the actual needs of crops and avoid over- or under-irrigation. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the mobile atomizing irrigation device provided in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram illustrating an application scenario of planting three different types of crops in a greenhouse suitable for the mobile atomizing irrigation device, as provided in an embodiment of the present invention.

[0036] Figure 3 The embodiments of the present invention provided in Figure 2 The diagram shows an application scenario where three humidity sensors are installed in planting area A1, where a type of crop is grown.

[0037] Figure 4 The moving component in the mobile atomizing irrigation device provided in this embodiment of the invention moves to... Figure 3 A schematic diagram illustrating the application scenario of a humidity sensor in the planting area A1 shown;

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

[0039] Figure 6 This is a schematic diagram illustrating an application scenario where the sensing unit in the mobile atomizing irrigation device provided in this embodiment of the invention detects the distance between the device and an obstacle in the horizontal direction while the device is moving.

[0040] Figure 7 This is a schematic diagram showing the water flow rate of the valve in the mobile atomizing irrigation device provided in the embodiment of the present invention under three different valve opening degrees;

[0041] Figure 8 This is a schematic diagram showing the comparison between the soil moisture value detected by the humidity detection module located in the cucumber planting area during the second mode detection in the mobile atomizing irrigation device provided in this embodiment of the invention and a preset threshold.

[0042] Figure 9 This is a schematic diagram showing the comparison between the soil moisture value detected by the humidity detection module located in the cucumber planting area during the first mode detection in the mobile atomizing irrigation device provided in this embodiment of the invention and a preset threshold.

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

[0044] 200. Irrigation components; 201. Atomizing nozzle; 202. Sensing unit; 203. Valve;

[0045] 300. Moving parts. Detailed Implementation

[0046] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0047] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0049] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0050] Growing multiple crops with similar growing temperatures in a greenhouse is a common practice that offers several benefits, particularly in terms of economic yield. Similar growing conditions for different crops allow for more efficient use of greenhouse space. For example, temperature control and lighting equipment can be shared, saving energy and maintenance costs. Growing multiple crops also diversifies output and reduces economic risk; if one crop is affected by pests, diseases, or market fluctuations, other crops can 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, tomatoes, peppers, and cucumbers are grown in a greenhouse. Tomatoes have a growing period of about 60-90 days. They need moderate water during the seedling stage, but require more water during the flowering and fruiting stages, especially during the fruiting stage, when the soil needs to be kept moist.

[0053] The growth period of cucumbers is about 50-70 days. The seedling stage requires less water, but the water requirement increases sharply during the flowering and fruiting stages.

[0054] The growth period of chili peppers is about 70-90 days. The seedling stage and the early flowering stage require less water, while the fruiting stage requires more water, especially during the fruit enlargement stage, when the soil moisture needs to be kept high.

[0055] In summary, tomatoes and peppers require more water during the fruit enlargement stage, while cucumbers require the most water during the flowering stage. However, traditional irrigation systems cannot provide differentiated treatment for different crops.

[0056] Therefore, the inventors have proposed a mobile atomizing irrigation device suitable for greenhouses where various types of crops are grown. The irrigation volume can be adjusted according to the growth needs of different crops, achieving precise, automated, energy-efficient, and high-performance irrigation.

[0057] The mobile irrigation device communicates with an IoT PTZ (Internet of Things) platform, which serves as the data processing and control center for the entire device.

[0058] Specifically, in combination Figures 1 to 7 The mobile mist irrigation device for smart greenhouses based on the Internet of Things shown is, in some feasible embodiments of the present invention, referred to... Figure 2 , Figure 2 The greenhouse shown contains three different types of crops, namely tomatoes, cucumbers, and peppers. The different types of crops are grown in different areas and have different planting areas.

[0059] In some feasible embodiments of the present invention, a humidity detection module 100 for detecting soil moisture is set up in the planting area of ​​each crop, and each humidity detection module 100 is communicatively connected to an IoT PTZ. Specifically, each humidity detection module 100 transmits data to the IoT PTZ via wireless communication (such as ZigBee, LoRa, WiFi), including data such as the location of the humidity detection module 100 in each crop planting area and the collected soil moisture values.

[0060] Regarding the humidity detection module 100, in the embodiments of the present invention, the humidity detection module 100 is configured to perform alternating first mode detection and second mode detection, 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 alternating high-frequency detection and low-frequency detection.

[0061] Specifically, in each crop planting area, there is a humidity detection module 100. This module is set with preset thresholds adapted to different growth stages of the crop. In other words, a dynamic humidity threshold adjustment mechanism is designed in each humidity detection module 100.

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

[0063] Tomatoes require less water during the seedling stage because their root system is shallow and they need more frequent irrigation 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 reaches its peak during the flowering period, and it is necessary to maintain high humidity and promote the development of flower organs. The water requirement decreases during the fruiting period in order to prevent excessive water from affecting the fruit quality.

[0064] Cucumbers require a large amount of water during the seedling stage and need frequent irrigation. During the growth period, the water requirement of cucumbers increases further. 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 requirement decreases slightly, and appropriate humidity should be maintained to ensure fruit growth.

[0065] Chili peppers: Chili peppers require less water during the seedling stage, as their root system is shallow and their growth is slow; during the growing season, their water requirements are relatively stable, so a low irrigation frequency should be maintained; during the flowering period, their water requirements increase to ensure normal flowering and fruit setting; during the fruiting period, their water requirements decrease, so excessive watering should be avoided to prevent fruit diseases.

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

[0067]

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

[0069] Each humidity detection module 100 described above performs alternating first-mode and second-mode detection. The first-mode detection is suitable for critical conditions where soil moisture is below a preset threshold, and can quickly capture dynamic changes in humidity to ensure the accuracy and timeliness of irrigation. The second-mode detection is suitable for conditions where soil moisture is above a preset threshold, where soil moisture changes more slowly, and the detection frequency can be reduced to meet the detection requirements.

[0070] Understandably, the humidity detection module 100 employs a dynamic switching mechanism between first-mode and second-mode detection to adapt to changes in crop water requirements at different growth stages and ensure that soil moisture fluctuates within a reasonable range. At different growth stages of the crop, the humidity detection module 100 dynamically determines the detection mode to be activated by comparing the currently detected soil moisture value with a preset threshold for the corresponding stage. The specific operating logic is as follows.

[0071] The humidity detection module 100 initially uses the second mode for detection, which is low-frequency detection. The detection interval is relatively long to save energy and reduce unnecessary detection frequency. The IoT gimbal receives the detected soil moisture value in real time and determines whether to switch to the first mode for detection, i.e. high-frequency detection mode, based on the soil moisture value detected in the second mode.

[0072] Taking cucumber growing areas as an example, refer to Figure 8 , Figure 8 This is a schematic diagram comparing the soil moisture value detected by the humidity detection module 100 located in the cucumber planting area with a preset threshold during the second mode detection in the mobile mist irrigation device provided in this embodiment of the invention, when the cucumber is in the flowering period. The preset threshold L of the humidity detection module 100 during the cucumber flowering period is... T The value is 78%. Assuming the current detection frequency of the humidity detection module 100 in its second mode is 12 hours / time, the soil moisture value L detected by the humidity detection module 100 at time t1 is... R The percentage was 67%, significantly lower than the preset threshold of 78% for this stage. This result indicates that the cucumbers are currently in a state of water shortage and need immediate watering.

[0073] The IoT PTZ transmits this information to the mobile atomizing irrigation device provided in this embodiment of the invention via the network. The atomizing irrigation device quickly moves to the cucumber planting area and begins to perform precise irrigation. At the same time, the IoT PTZ instructs the humidity detection module 100 to switch to the first detection mode to monitor changes in soil moisture in real time.

[0074] refer to Figure 9 In the first detection mode, the detection interval of the humidity detection module 100 is significantly shortened to 5 seconds per detection. Under this high-frequency detection mode, the irrigation device can quickly capture the dynamic changes in soil moisture and evaluate the effectiveness of irrigation in real time. In the first detection mode, 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 during the cucumber flowering period, and the irrigation work is completed. At this time, the IoT pan-tilt unit stops the atomizing irrigation device from watering based on the latest detection data, and the humidity detection module 100 switches back to the second detection mode. Thereafter, the humidity detection module 100 continues to monitor the soil moisture at longer time intervals (12 hours per detection), waiting for the next change.

[0075] In summary, the switching between the first and second detection modes is determined in real time by the difference between the detected soil moisture value and the preset threshold for the growth stage. This design ensures high-frequency detection and timely water replenishment when crops are short of water, while stopping irrigation and reducing detection frequency when soil moisture returns to normal. The first detection mode provides real-time data support for the irrigation system, enabling precise control of irrigation and preventing over-irrigation or uneven watering. The second detection mode effectively reduces resource consumption, while the first detection mode allows for rapid response to abnormal situations, achieving a balance between energy saving and efficiency.

[0076] In the implementation of some embodiments of the present invention, the inventors also discovered that, referring to the table above, there are cases where the preset thresholds for adjacent growth stages of the same crop differ significantly. Taking the growth and flowering stages of tomatoes as an example, the preset threshold for the growth stage is 60%, while the preset threshold for the flowering stage is close to 90%, showing a large difference between the preset thresholds for the two adjacent growth stages. If the humidity detection module 100 happens to perform second-mode detection during the transition period between these two adjacent growth stages, the second-mode detection, because it cannot capture the rapid decline in humidity, may miss the optimal time to adjust the irrigation plan due to the long detection time, and the crop may enter a state of water shortage in a short period of time.

[0077] To address the aforementioned issues, in some embodiments of the present invention, a transition mode is introduced in the humidity detection module 100. This transition mode is designed to resolve the problem that when the humidity detection module 100 switches between two growth stages, the significant difference in preset thresholds between the two stages, coupled with low-frequency detection at this time, can cause it to miss the optimal time to adjust the irrigation plan. For example, in a tomato planting area, when the humidity detection module 100 transitions from the growth stage (preset threshold 60%) to the flowering stage (preset threshold 85%), the soil moisture may remain within the transition range between the two stages (e.g., 60%-85%) for an extended period. The humidity detection module 100, operating in the second detection mode, misses these dynamic changes in soil moisture.

[0078] Furthermore, during the transition between the two growth stages of crops, their ability to absorb and demand soil moisture changes dynamically due to the characteristics of crop growth and development. This change is reflected not only in the different settings of humidity thresholds but also in the crop's sensitivity to the external environment. During this stage, crop growth activity increases, and the root absorption rate may increase or decrease due to physiological metabolic changes, resulting in fluctuations in the actual soil moisture in the planting area. These fluctuations may be the result of multiple factors, including increased crop water absorption rate, changes in transpiration, and water migration within the soil.

[0079] Regarding the activation conditions of the transition mode, specifically, in some feasible embodiments of the present invention, the activation condition of the transition mode is based on the humidity value being between 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 threshold changes are relatively gradual and to minimize detection errors. Defining an appropriate safety margin avoids slight humidity fluctuations triggering the activation 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 L is the preset threshold corresponding to the current growth stage. T2 The preset threshold corresponding to the next growth stage is used. The safety margin Δ is mainly selected based on the sensitivity of different crops, and is usually 2%-8%. No specific data limit is made in the embodiments of the present invention.

[0082] Taking tomato cultivation as an example again, the preset threshold for the growth period is 60%, and the preset threshold for the flowering period is 85%, with a safety margin Δ of 5%. Therefore, the activation conditions for the transition mode will be:

[0083] L R ∈[60% + 5%, 85% - 5%]

[0084] Regarding the detection frequency of the transition mode, it is set between the detection frequency of the first mode and the second mode, thereby achieving more precise monitoring of humidity fluctuations while avoiding excessive burden on the system due to overly frequent detections. For example, the detection frequency of the transition mode can be set to 1 hour / time or 2 hours / time. This frequency ensures that humidity changes are promptly captured and processed by the humidity detection module 100 during the transition period of crop growth, while avoiding excessive pressure on system resources due to frequent detections.

[0085] Furthermore, the inventors have 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 detects soil moisture more frequently, for example, at a detection frequency of 1 hour / time, and calculates the rate of change of humidity per unit time, setting a rate of change threshold, for example, a humidity change of no more than 2% per hour, to determine whether the soil moisture is stable. If the rate of change of humidity is greater than the set rate of change threshold, it indicates that the soil moisture is still changing drastically, and the humidity detection module 100 continues to remain in the transition mode. When the rate of change of soil moisture drops below the set rate of change threshold, it indicates that the change of soil moisture tends to be stable, and the transition mode is considered to have ended. Once the termination condition is met, the transition mode will be terminated, and the humidity detection module 100 will resume detection in the second mode to continue monitoring soil moisture.

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

[0087]

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

[0089] The transition mode ends based on whether the soil moisture change rate exceeds a set threshold, which aligns with the detection logic of existing modular systems and ensures efficient system operation. When soil moisture changes rapidly, a high frequency of detection is maintained to respond to demands in real time. When moisture changes stabilize, the transition mode automatically ends, reducing ineffective high-frequency detections and reverting to a low-frequency detection mode, thereby achieving efficient resource management.

[0090] In summary, it is understandable that the transition mode, through its high-frequency soil moisture monitoring and judgment logic, can adapt to changes in crop water requirements and fluctuations in soil moisture during the transitional growth stages. The transition mode not only compensates for the shortcomings of the second mode's long detection intervals but also ensures the continuity and accuracy of irrigation work, providing a reliable guarantee for the healthy growth of crops.

[0091] Furthermore, considering that the activation condition for the second mode detection is that the detected soil moisture value is higher than the corresponding set threshold, and the activation condition for the transition mode detection is that the detected soil moisture value is close to the preset threshold corresponding to these two growth stages, there may be an overlapping area between the two. 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 stabilize, and then switches to the second mode detection.

[0092] Considering that soil moisture in crop planting areas may vary locally due to irrigation distribution, soil properties, etc., and that the planting area of ​​each type of crop in a greenhouse is usually large, making it unsuitable for fixed-point detection at a single point, 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 multiple humidity sensors 101 in each humidity detection module 100 simultaneously detect humidity values.

[0093] refer to Figures 3 to 5 The schematic diagram shows that within the crop planting area A1, three humidity sensors 101 are installed to detect and collect humidity values. Humidity sensors 101 are also positioned at the two opposite boundaries. The three humidity sensors 101 operate synchronously. Considering that each humidity sensor 101 may produce measurement errors due to differences in installation location, measurement environment, or sensor performance, a weighted average of the humidity values ​​detected by multiple humidity sensors 101 can reduce the impact of these errors on the overall soil moisture value.

[0094] Regarding how to perform a weighted average of humidity values ​​detected by multiple humidity sensors 101, more specifically, different weights are assigned to each humidity sensor 101 based on its location, importance, or the characteristics of the area it is located in. i And the humidity values ​​H of each humidity sensor 101 i The formula for summing by weights is:

[0095]

[0096] Wherein: H avgIt is the weighted soil moisture value, which represents the soil moisture value detected by the aforementioned moisture detection module 100 and input to the IoT cloud platform.

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

[0098] w i It 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 humidity sensor 101 is assigned a weight based on its distance from the center of the planting area. This is because the data detected by the humidity sensor 101 closer to the center of the planting area is closer to the overall average humidity, while the humidity sensors 101 at the boundary areas reflect local changes more accurately. Therefore, the humidity sensor 101 closer to the center has a larger weight, while the humidity sensors 101 at the boundary areas have a smaller weight. The specific weights w in the embodiments of the present invention are further specified. i There is no limit to the size value; you can refer to past test data.

[0101] Furthermore, the burial 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, tomatoes and cucumbers have shallow roots, so the humidity sensor 101 is buried 5cm-15cm away from the roots; peppers have slightly deeper roots, so the humidity sensor 101 is buried 15cm-25cm away.

[0102] Regarding the type of humidity sensor 101 for detecting soil moisture, it can be, but is not limited to, capacitive sensors, resistive sensors, and tensiometers, etc. In this embodiment of the invention, no specific limitation is made. It should be noted that the humidity sensor 101 needs to be unaffected by soil salinity and be suitable for greenhouse environments.

[0103] Regarding how the mobile atomizing irrigation device of the present invention is moved to the planting area requiring irrigation, please refer to [reference needed]. Figures 4 to 6 The atomized irrigation device includes a moving part 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, the moving part 300 moves to the humidity detection module 100.

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

[0105] Please refer to Figure 4 The IoT gimbal, based on the location data of the humidity sensors 101 in the humidity detection module 100, prioritizes the humidity sensor 101 with the lowest humidity value or the humidity sensor 101 closest to the moving part 300 as the target point. The moving part 300 first moves to the location of the humidity sensor 101 at the target point. After reaching the target point, the moving part 300 plans the optimal path based on the positions of other humidity sensors 101 in the humidity detection module 100, so that the irrigation device reciprocates between the two humidity sensors 101 with the greatest straight-line distance, ensuring that the soil in the entire planting area is evenly moistened during irrigation.

[0106] It is important to note that after each reciprocating motion, the IoT gimbal re-acquires the soil moisture value and dynamically updates the target path to avoid repetition or omission.

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

[0108] Specifically, the irrigation component 200 maintains a real-time communication connection with the IoT PTZ. When the mobile component 300 moves to the area that needs irrigation, that is, when it 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 PTZ. The IoT PTZ generates a control command based on the difference between the moisture 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 spray intensity.

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

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

[0112] Small difference (close to the humidity threshold): The opening and closing degree of the atomizing nozzle 201 is reduced, and fine irrigation avoids excessive water.

[0113] In summary, it is understandable that the irrigation component 200 receives and responds to the instructions of the IoT PTZ in real time to ensure that the irrigation process is accurately matched with 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 PTZ 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 some other feasible embodiments of the present invention, the atomizing nozzle 201 is connected to a valve 203, which is used to control the water output entering the atomizing nozzle 201.

[0115] For details, please refer to Figure 7 When the detected soil moisture value is much lower than the preset threshold, that is, the moisture difference is large, it means that the current soil is severely short of water. Therefore, the outlet of the atomizing nozzle 201 needs to provide more water to quickly increase the moisture. 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, i.e., the moisture difference is moderate, the soil is short of water but does not require extensive irrigation. The opening of valve 203 is adjusted to a moderate range, usually around 50%. The water flow rate of the atomizing nozzle 201 is moderate, providing enough water to restore moisture without causing excessive moisture.

[0117] When the detected soil moisture value is close to the preset value, that is, the moisture difference is small, there is no need for a large amount of irrigation. Only a small amount of water needs to be added. The opening of valve 203 will be adjusted to a smaller state, usually around 20%, and the water flow will be reduced. Slight adjustments are made to avoid over-irrigation.

[0118] In some embodiments of the present invention, the IoT gimbal is divided into multiple difference intervals according to the magnitude of the difference, which correspond to different valve 203 opening ranges, as follows.

[0119] When the humidity difference is greater than 15%, valve 203 is nearly fully open, and the water flow is at its maximum.

[0120] When the humidity difference is between 5% and 15%, the valve 203 opening is at the middle value (e.g., 50%), and the water flow is moderate.

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

[0122] In the atomizing irrigation device of the present invention, considering 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 and is connected to an IoT gimbal. The sensing unit 202 continuously detects the distance between obstacles in the horizontal direction and the irrigation component 200 to ensure the accuracy and safety of the irrigation work.

[0123] Specifically, an electric actuator is installed on the moving part 300, and the irrigation part 200 is fixed on the electric actuator, which can be adjusted in height to adapt to different environments.

[0124] When the moving part 300 moves to the 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 location in the planting area requiring irrigation, the IoT PTZ generates a control command to trigger the sensor unit 202 to start. (Reference) Figure 6 The sensing unit 202 begins to detect the horizontal distance R between itself and the device. If the detected distance R is less than a preset distance, indicating the presence and proximity of an obstacle, the next step is triggered. When the detected distance R is greater than the preset distance, the atomizing nozzle 201 activates and begins irrigating the target area.

[0126] With this design, the sensing unit 202 avoids the nozzle from spraying water onto non-target areas or obstacles (such as supports or equipment), reducing water waste and preventing damage to the device. By combining sensing data with a preset distance, it accurately determines when to perform the water spraying operation.

[0127] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. A mobile atomizing irrigation device for smart greenhouses based on the Internet of Things, suitable for greenhouses growing different types of crops, wherein the different types of crops have similar growing temperatures but different water requirements, characterized in that... include: A humidity detection module (100) is located in the planting area of ​​each crop and is connected to the Internet of Things (IoT) gimbal to detect soil moisture values. The humidity detection module (100) is configured to perform either a first mode detection or a second mode detection 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 module (100) located in each crop planting area is set with a corresponding preset threshold. When the soil moisture value detected by any humidity detection module (100) is less than the corresponding preset threshold, the humidity detection module (100) performs the first mode detection. When any humidity detection module (100) detects that the soil moisture value is greater than the corresponding preset threshold, the humidity detection module (100) performs the second mode detection; the humidity detection module (100) located in each crop planting area includes at least two humidity sensors (101); the multiple humidity sensors (101) in each humidity detection module (100) are used to detect the humidity value simultaneously, and each humidity sensor (101) is assigned a corresponding weight. The soil moisture value is obtained by weighted averaging of the humidity values ​​detected by the multiple humidity sensors (101); A mobile component (300) is communicatively connected to the IoT gimbal, which plans a path for the mobile component (300). When any of the humidity detection modules (100) performs the first mode detection, the mobile component (300) moves to that humidity detection module (100). The mobile component (300) is equipped with a water supply unit. An irrigation component (200) is located on the moving component (300) and connected to the water supply unit. The irrigation component (200) is communicatively connected to the IoT PTZ. When the moving component (300) moves to the humidity detection module (100) that performs the first mode detection, the IoT PTZ controls the irrigation component (200) to draw water from the water supply unit for irrigation. When the moving component (300) moves to the humidity detection module (100) that performs the first mode detection for irrigation, the IoT PTZ controls the irrigation component (200) to stop irrigation when the humidity detection module (100) switches to the second mode detection.

2. The mobile atomizing irrigation device for smart greenhouses based on the Internet of Things as described in claim 1, characterized in that, The preset thresholds set by the humidity detection modules (100) located in each crop planting area are as follows: For each growth stage of each crop, the humidity detection module (100) located in its planting area is set with a preset threshold adapted to that growth stage.

3. The mobile misting irrigation device for smart greenhouses based on the Internet of Things as described in claim 1, characterized in that, One humidity sensor (101) is installed at each of the two farthest boundary locations within the planting area of ​​each crop. When any of the humidity detection modules (100) performs the first mode detection, the IoT gimbal planning path causes the moving part (300) to first move to one of the humidity sensors (101) located at the boundary position in the humidity detection module (100), and then the moving part (300) reciprocates between the two humidity sensors (101) located at the boundary positions in the humidity detection module (100).

4. The mobile atomizing irrigation device for smart greenhouses based on the Internet of Things as described in claim 3, characterized in that, The IoT cloud platform receives the soil moisture value detected by each of the humidity detection modules (100) in real time and calculates the difference between it and the corresponding preset threshold.

5. The mobile atomizing irrigation device for smart greenhouses based on the Internet of Things as described in claim 4, characterized in that, The irrigation component (200) includes an atomizing nozzle (201) with an adjustable nozzle opening. When the moving part (300) moves to the humidity detection module (100) that performs the first mode detection, the IoT gimbal outputs the difference between the soil humidity value detected by the humidity detection module (100) and the corresponding preset threshold. The atomizing nozzle (201) is configured to adjust the opening degree of the atomizing nozzle (201) according to the difference output by the IoT PTZ, and the opening degree of the atomizing nozzle (201) is positively correlated with the difference.

6. The mobile atomizing irrigation device for smart greenhouses based on the Internet of Things as described in claim 5, characterized in that, The irrigation component (200) includes a sensing unit (202) that moves in a direction perpendicular to the horizontal plane, the sensing unit (202) being used to detect the distance between an obstacle in the horizontal direction and the irrigation device; When the moving part (300) moves to one of the humidity sensors (101) in any of the humidity detection modules (100), the sensing unit (202) starts to move and detects the distance between the horizontal obstacle and the irrigation device while moving; When the detected distance is less than the preset distance, the atomizing nozzle (201) starts spraying water to irrigate the crops.

Images