Wind-solar-storage multi-energy complementary water lifting and rainwater collecting collaborative irrigation system

Abstract

The invention discloses a wind-light-storage multi-energy complementary water lifting and rainwater collecting collaborative irrigation system, and relates to the field of intelligent irrigation, the system comprises an electric power unit, a rainwater collecting unit, a water lifting unit, a sprinkling irrigation device and an unmanned aerial vehicle formation, the unmanned aerial vehicle formation is used for flying based on control of a control system and a spray head carrying the sprinkling irrigation device, and a water pipe; the control system is used for controlling and adjusting the spray irrigation position of the spray head based on the control of the control system, and is used for keeping a safe distance between a water pipe in the spray irrigation equipment and a ground obstacle based on the control of the control system, and intelligent and low-cost irrigation of citrus planting in the hillside area can be realized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent irrigation, and specifically, to a water-lifting and rainwater collection collaborative irrigation system with multi-energy complementation of wind, light and storage. Background Art

[0002] At present, citrus planting in the Chengdu area has become the main cash crop in this region. For example, in areas such as Pujiang, Qionglai, Dayi and Danling in Chengdu City, citrus varieties such as babagan and shiranuhi are widely planted, and corresponding geographical indication protection products have been formed. In order to maximize economic benefits, the planting areas have spread from traditional plain areas to mountain slopes and hilly areas, and a large number of fruit trees are planted on non-plain mountains or slopes.

[0003] The annual rainfall in the Chengdu area is relatively good, and citrus planting does not require long-term irrigation. It only needs irrigation during the period from July to September when the temperature is the highest in summer. If not irrigated, the branches and leaves will wither and the fruits will fall. Therefore, in order to ensure the citrus yield, during the high-temperature period in summer, local villagers will irrigate citrus trees. The irrigation method used is as follows: if the planting area is close to the water source, such as by the river or reservoir, the water is directly pumped for irrigation using a water pump. However, for the planting areas located on the mountain slopes, the distance from the water source is far, so vehicles are needed to transport the water source to the planting area and then use a water pump for irrigation, which requires a large amount of labor and has a low degree of intelligent irrigation.

[0004] Moreover, the applicant's research found that the current intelligent irrigation is not suitable for citrus planting in mountainous areas because the irrigation time of citrus is only part of the time in summer, not throughout the year or for a long time. If corresponding intelligent irrigation equipment is laid, the idle time is long, and the cost of the intelligent irrigation equipment is high, which is not conducive to popularization. In addition, the current planting areas of growers are scattered, and the size and location of each area are different, which is also not conducive to the laying and implementation of traditional ground intelligent irrigation equipment.

[0005] Therefore, there are technical problems in the current citrus planting irrigation in mountainous areas, such as the need to consume a large amount of labor by combining manual work and transport vehicles, and the technical problems of great difficulty in constructing and high implementation cost of laying ground intelligent irrigation equipment. Summary of the Invention

[0006] The purpose of the present invention is to realize intelligent and low-cost irrigation for citrus planting in mountainous areas.

[0007] To achieve the above-mentioned invention purpose, the present invention provides a water-lifting and rainwater collection collaborative irrigation system with multi-energy complementation of wind, light and storage, and the system includes: A power unit, which is used for generating electricity based on wind power and solar energy, storing the generated electric energy, and for connecting with the mains power supply; A rainwater collection unit, which is used to collect rainwater in a preset area and store the collected rainwater; A water lifting unit, which is used to transfer the stored rainwater and / or the water in a preset water source to a preset water storage device based on the electric energy provided by the power unit and the control of the control system; An irrigation sprinkler device, which is used to extract water from a preset water storage device based on the control of the control system and perform sprinkler irrigation on a target citrus planting area through a sprinkler head; A drone formation, which is used to fly carrying the sprinkler head and water pipe of the irrigation sprinkler device based on the control of the control system, and is used to adjust the sprinkler irrigation position of the sprinkler head based on the control of the control system, and is used to keep the water pipe in the irrigation sprinkler device at a safe distance from ground obstacles based on the control of the control system.

[0008] Among them, the system is designed with a power unit to provide power support for the system. And the power unit is a power source composed of multiple types of electric energy, which can generate and store electric energy based on wind power and solar power generation, and then use it when power is needed for irrigation. In order to prevent the stored power from being insufficient for irrigation use, the power unit is also connected to the mains power supply to switch to the mains power supply when the stored power is insufficient. By preferentially using the electric energy generated and stored by wind power and solar power, the power consumption cost of the system can be reduced. And the irrigation time period of citrus planted in mountainous areas is concentrated in July - September in summer every year, and electric energy can be generated and stored by wind power and solar power in other time periods.

[0009] And the system is designed with a rainwater collection unit that can collect rainwater and then store it for use when irrigation is needed, so as to solve the problem of water shortage and long distance from the water source in mountainous areas.

[0010] The system is designed with a water lifting unit that can transfer the stored rainwater and / or the water in a preset water source to a preset water storage device based on the electric energy provided by the power unit, such as transferring it to a water storage device near the mountain planting area. In this way, during normal times such as spring, autumn, and winter, electric energy generated by wind power and solar power can be used to transfer the low - lying water source to the water storage device near the mountain planting area with low - cost electricity, so as to perform irrigation in summer, saving the electricity cost of transporting water to mountainous areas during irrigation.

[0011] Among them, in terms of the irrigation method, the system is designed with a method of using drones carrying sprinkler heads for irrigation. This method can achieve intelligent irrigation, with low labor cost, and does not require laying irrigation equipment and pipelines on the ground. It can be reused multiple times, and with the same set of equipment, it can irrigate multiple planting areas, with a high reuse rate and low equipment cost.

[0012] In the prior art, there are already applications of using drones to spray pesticides. In the existing drone pesticide spraying, a spraying system is carried on the drone. The spraying system includes a medicine tank and a pump. The capacity of the medicine tank is generally dozens of liters. The liquid medicine is transported to the nozzle through an electric pump or a pressure pump. The entire spraying system is installed on the drone. After spraying is completed, it flies back to the medicine adding point for medicine addition and then continues to spray pesticides. The above method is not suitable for citrus planting irrigation in mountainous areas. The reasons are as follows: The dosage of drone pesticide spraying is small and not suitable for irrigation requirements. Irrigation requires continuous water delivery to the irrigation area. Therefore, the above method cannot achieve irrigation and can only achieve pesticide spraying.

[0013] Therefore, the applicant has made improvements and uses a drone formation to achieve sprinkler irrigation in the citrus planting area. To solve the problem of the amount of water for irrigation, the drone formation in the present invention carries a nozzle to fly. The nozzle is connected to a water storage device through a water pipe and a water pump, and can continuously transport water from the water source to the nozzle for irrigation, meeting the water volume requirements for irrigation. However, the water pipe is relatively heavy when transporting water, and a traditional single drone cannot carry the corresponding weight. Therefore, the present invention designs a drone formation. Through the coordinated operation of multiple drones, the water pipe for water transportation is lifted, and each drone shares and bears the corresponding weight, solving the problem of the large weight of the water pipe. And because it carries the water pipe to fly, and the branches and leaves in the citrus planting area are intertwined, the system also keeps the water pipe in the sprinkler irrigation equipment at a safe distance from the ground obstacles based on the control of the control system, ensuring the safety of the drones during the process of the drone formation carrying the nozzle and the water pipe for sprinkler irrigation operation, and reducing damage to fruit trees, with higher safety.

[0014] Preferably, the drone formation includes: 1 first drone, several second drones and a first identification unit; A pitching and horizontal adjustment mechanism is installed on the first drone, and the nozzle is installed on the pitching and horizontal adjustment mechanism; the first drone is used to carry the nozzle to move and fly or hover and fly based on the control system; the pitching and horizontal adjustment mechanism is used to control the sprinkler irrigation position of the nozzle based on the control system; A plurality of marks corresponding one-to-one to the second drones are evenly arranged on the surface of the pipe body of the water pipe; a water pipe clamping mechanism is arranged at the lower end of the second drone; The first identification unit is used to collect the image of the water pipe extending outside the water pipe storage device in real time to obtain a first image, identify the marks in the first image, and judge whether the number of marks in the first image increases. If the number of marks in the first image increases, the control system controls the first drone to hover and fly, and then controls the second drone corresponding to the newly added mark in the first image to fly to the corresponding mark, controls the water pipe clamping mechanism on the second drone to clamp the pipe body of the water pipe at the mark and fly upward to a set height. After the second drone carries the water pipe and flies to the set height, the hovering flight state of the first drone is released, and the second drone is controlled to fly synchronously with the first drone.

[0015] Among them, a pitching and horizontal adjustment mechanism is installed on the first unmanned aerial vehicle (UAV), and the nozzle is installed on the pitching and horizontal adjustment mechanism. The first UAV can carry the nozzle to fly. The nozzle is connected to a water pump and a water storage device through a water pipe. Water is sprayed from the nozzle to irrigate the citrus planting area. The pitching and horizontal adjustment mechanism can adjust the irrigation position of the nozzle in the pitching and horizontal directions.

[0016] Among them, a number of markings corresponding to the second UAVs one by one are evenly arranged on the surface of the pipe body of the water pipe of the present invention. The purpose of this setting is to make each second UAV correspond to a marking, and the markings are different from each other. In this way, the water pipe clamping mechanism of each second UAV corresponds to a unique clamping point. When the corresponding clamping point does not appear, the corresponding second UAV is in a charging or waiting-to-take-off state. When the clamping point appears in the first image after being stretched out from the water pipe storage mechanism, the corresponding second UAV flies to the corresponding marking and then clamps the water pipe. Each second UAV corresponds to a clamping point, and the clamping points are evenly distributed on the water pipe, so that the force received by the second UAVs is not very different and is within their bearing force range, ensuring the flight safety of the second UAVs carrying the water pipe. The water pipe clamping mechanism can well realize the clamping and loosening of the water pipe.

[0017] Among them, the irrigation process in the present invention is as follows: The first unmanned aerial vehicle (UAV) flies with a sprinkler head, driving the water pipe to extend from the water pipe storage mechanism. As the water pipe continuously extends from the water pipe storage mechanism, the identification points on the water pipe will gradually increase. For each increase, the corresponding second UAV will clamp the corresponding water pipe to share the load pressure of other UAVs. If a new identification point appears, in order to ensure that the new identification point can be stably clamped, at this time, the first UAV stops moving and flying and switches to hovering flight. This is because if the first UAV and the second UAV corresponding to the identification points that have appeared before are in a moving flight state, then the water pipe is also in a moving state, and the corresponding identification points are also moving. This makes it difficult for the water pipe clamping mechanism of the newly launched second UAV teammate to accurately clamp the moving target. Therefore, if a new identification appears on the water pipe, the first UAV is controlled to hover in flight, so that the water pipe does not move as much as possible to facilitate the water pipe clamping mechanism to clamp it. Then, the second UAV corresponding to the newly added identification in the first image is controlled to fly to the corresponding identification, and the water pipe clamping mechanism on the second UAV is controlled to clamp the water pipe body at the identification and fly upward to a set height. Flying to the set height is to ensure the flight safety of the second UAV and the safety of the water pipe, so that there is a certain safety distance between the water pipe and the second UAV and the ground obstacles, and it can also reduce the damage to citrus branches and leaves by the water pipe. After the second UAV carrying the water pipe flies to the set height, the hovering flight state of the first UAV is released, and the second UAV is controlled to fly synchronously with the first UAV. The purpose of designing synchronous flight is to enable the UAVs to move and fly synchronously among each other. If they are not synchronous, it may cause the flight of the UAVs to be unstable due to the pulling of the water pipe. Because there is a water pipe that can conduct force connected between the UAVs, if one UAV is moving and the other UAV is hovering, the movement of the UAV will drive the water pipe to move and cause a pulling force on the hovering UAV, thereby affecting its flight stability.

[0018] Through the above design, it is possible to enable the UAV formation to carry the sprinkler head and the water pipe to move and fly in an orderly and safe manner, realize continuous sprinkler irrigation, and ensure that each UAV is evenly stressed and flies stably.

[0019] Preferably, a second recognition unit is fixed on the first UAV. The second recognition unit is used to collect an image of the citrus trees to be irrigated in the target citrus planting area to obtain a second image, analyze the second image to obtain the position where irrigation can be carried out, and the control system controls the pitch and horizontal adjustment mechanism to adjust the sprinkler irrigation position based on the position where irrigation can be carried out and the flight parameters of the first UAV.

[0020] Among them, the object of sprinkler irrigation in the present invention is citrus trees, and the sprinkler irrigation time is the hot season in summer. Through the research of the applicant, it is found that after being irradiated by the sun in summer, the surface temperature of citrus fruits is relatively high. If the sprinkler irrigation water is directly sprayed on the fruit epidermis, it will easily cause bacteria to breed on the surface and the epidermis to be damaged or cracked. Therefore, in order to meet the sprinkler irrigation requirements of citrus trees and protect citrus fruits, reducing the probability of bacteria breeding on the surface and epidermis damage or cracking, the system purposefully selects the sprinkler irrigation position during sprinkler irrigation, which is different from traditional or other sprinkler irrigation methods. Traditional or other sprinkler irrigation methods use uniform spraying, and the objects and time of spraying are different from those of the present invention, and do not consider determining the sprinkler irrigation position in this way. The traditional method will cause more water to remain on the citrus epidermis, increasing the probability of bacteria breeding on the surface and epidermis damage or cracking. The method in this system is as follows: By installing a second recognition unit on the first unmanned aerial vehicle (UAV), using the second recognition unit to collect images of citrus trees to be sprinkler irrigated in the target citrus planting area to obtain a second image, analyzing the second image to obtain the sprinkler irrigation position, that is, the area that is not citrus trees and branches and leaves, and then through the sprinkler irrigation position that avoids the area of citrus trees and branches and leaves, and then cooperating with the flight parameters of the first UAV to control the pitching and horizontal adjustment mechanisms to adjust the sprinkler irrigation position of the nozzle, so that the sprayed water is directly sprayed on the ground, reducing the probability of it being sprayed on citrus branches and leaves, thereby protecting the fruits, and the sprinkler irrigation impact force is relatively strong, and directly spraying on the branches and leaves may cause some fruits to fall off.

[0021] Preferably, the control system is also used to control the sprinkler irrigation equipment to sequentially sprinkle each citrus tree to be sprinkler irrigated according to a set order, and after the sprinkler irrigation is completed, control the UAV formation to transport the nozzle and water pipe to a set position.

[0022] During sprinkler irrigation, there are multiple citrus trees to be sprinkler irrigated in the target citrus planting area. Before sprinkler irrigation, the sprinkler irrigation order can be set in advance, and then during sprinkler irrigation, each citrus tree to be sprinkler irrigated is sequentially sprinkler irrigated according to the set order. After the sprinkler irrigation is completed, control the UAV formation to transport the nozzle and water pipe to a set position, such as the starting position, and then the UAV formation loosens or removes the nozzle and water pipe, and then retracts the water pipe and nozzle into the corresponding storage device.

[0023] Preferably, the analysis of the second image to obtain the sprinkler irrigation position specifically includes: Conduct target analysis on the second image to identify the trunk and leaf distribution areas of the citrus trees to be sprinkler irrigated in the second image, and obtain a first area; Mark the non-first area in the second image as the second area; Identify the areas belonging to the ground area in the second area to obtain several third areas; Respectively obtain the distance values from the center points of each third area to the tree stumps of the citrus trees to be sprinkler irrigated; Select at least one sprayable position from a number of third regions based on the magnitude of the distance value corresponding to each third region.

[0024] Among them, in order not to spray the fruits during sprinkler irrigation, the present invention has corresponding design improvements for the sprinkler irrigation position. First, use the first unmanned aerial vehicle (UAV) to carry a camera to obtain a second image. The second image has citrus trees to be sprinkler irrigated and other targets and objects. Then, perform target analysis on the second image to identify the trunk and leaf distribution regions of the citrus trees to be sprinkler irrigated in the second image, and obtain the first region. The purpose is to avoid the first region because the first region is the region where the fruits are distributed. Then, mark the non-first region in the second image as the second region. The second region has multiple parts. In order to achieve better sprinkler irrigation effect, it is preferably to perform sprinkler irrigation on the ground position, so that the roots of the citrus trees to be sprinkler irrigated can better absorb water. Among the multiple regions belonging to the ground region in the second region, considering the distribution distance relationship between the tree stumps of the citrus trees to be sprinkler irrigated and their roots, select at least one sprayable position corresponding to the root system distribution from multiple third regions, so that as much water as possible can be absorbed by its roots after sprinkler irrigation, improving the sprinkler irrigation effect.

[0025] Preferably, the setting method of the identifier is as follows: Determine the water pipe spacing length between two adjacent identifiers based on the load-bearing capacity of the second UAV and the set height.

[0026] Among them, the second UAV in this system needs to carry a water pipe to fly, and the water pipe is filled with water during sprinkler irrigation. Therefore, a certain length of water pipe has a corresponding weight, and each second UAV has a corresponding maximum load-bearing capacity. If it exceeds, it is likely to cause unstable flight or crash. Therefore, when setting the identifier position in the present invention, the load-bearing capacity of the second UAV needs to be considered. And when the water pipe is suspended between two second UAVs, the state presented is natural suspension, that is, fixed at both ends and naturally sagging in the middle. If the water pipe spacing length between two adjacent identifiers is large, it will cause the water pipe to contact the ground obstacles when sagging, and then cause the flying water pipe to be wound around the ground obstacles such as citrus tree branches, which is likely to make the second UAV fly unstably, resulting in flight accidents, and damaging the citrus trees on the ground. Therefore, when setting the identifier, it is also necessary to combine the flight height of the second UAV to determine the water pipe spacing length between two adjacent identifiers. The water pipe spacing length between two adjacent identifiers needs to satisfy that the gravity of the water in the water pipe in the full-water state formed is less than the maximum load-bearing capacity of the second UAV, and the sagging height of the water pipe between two adjacent identifiers is less than the flight height of the second UAV.

[0027] Preferably, the system further includes a charging unit for charging or replacing the batteries of the UAVs in the UAV formation.

[0028] Among them, this system uses a drone formation to achieve sprinkler irrigation. When using the drone formation, its power consumption and endurance need to be considered. Therefore, this system also designs a charging unit that can charge or replace the batteries of the drones in the drone formation to ensure its continuous operation ability.

[0029] Preferably, the system further includes a detection unit, a collection unit, and a generation unit. The detection unit is used to detect the soil humidity of the target citrus planting area to obtain soil humidity detection data; the collection unit is used to collect weather data for a preset future time period corresponding to the target citrus planting area; the generation unit is used to generate the sprinkler irrigation water volume of the target citrus planting area based on the soil humidity detection data and the weather data; the control system controls the sprinkler irrigation equipment to perform sprinkler irrigation on the target citrus planting area based on the sprinkler irrigation water volume.

[0030] Among them, the applicant's research found that after experiencing drought during the fruit expansion period of citrus and then suddenly encountering a large amount of water (such as excessive irrigation), the pulp absorbs water and swells much faster than the peel grows, resulting in cracking, leading to citrus fruit splitting and reducing the income of fruit farmers. Therefore, in order to reduce citrus fruit splitting and save water resources, this system realizes precise irrigation, which can accurately irrigate citrus trees by combining weather and soil humidity, reducing the occurrence probability of excessive irrigation and also saving water resources. First, the soil humidity of the target citrus planting area is detected to obtain soil humidity detection data, and it is judged whether the current citrus trees need irrigation according to the soil humidity detection data. Then, the weather data for a preset future time period corresponding to the target citrus planting area is collected, and the sprinkler irrigation water volume of the target citrus planting area is generated based on the soil humidity detection data and the weather data. For example, if the current soil is relatively dry and the subsequent weather will continue to be hot and rainless, then the amount of sprinkler irrigation can be increased. Another example is that if the current soil is relatively moist and the subsequent weather will continue to rain, then the amount of sprinkler irrigation can be reduced or no sprinkler irrigation is needed. Another example is that if the current soil is relatively dry and the subsequent weather will rain, then appropriate sprinkler irrigation can be carried out. Through the above method, the citrus trees can be accurately sprinkler irrigated by combining soil humidity and weather data, which can reduce the occurrence probability of fruit splitting and save irrigation water.

[0031] Preferably, the rainwater collection unit includes: A filtering unit for filtering the collected rainwater; A disinfection unit for disinfecting the stored rainwater.

[0032] Among them, there may be impurities and germs in the collected rainwater. By filtering the impurities through the filtering unit and disinfecting through the disinfection unit, the probability of citrus trees getting diseased can be reduced.

[0033] Preferably, the system further includes: a soil fertility detection unit and a fertilization unit; the soil fertility detection unit is used to detect the soil fertility of the target citrus planting area to obtain soil fertility detection data; the fertilization unit is used to fertilize the water in the preset water storage device based on the soil fertility detection data before the sprinkler irrigation equipment performs sprinkler irrigation.

[0034] Among them, the system also designs a soil fertility detection unit and a fertilization unit; it can detect the soil fertility before irrigation. If the fertility is insufficient, corresponding fertilizers can be added to the irrigation water to achieve the integration of irrigation and fertilization, which is beneficial to the growth of citrus.

[0035] One or more technical solutions provided by the present invention have at least the following technical effects or advantages: The present invention can realize the intelligent and low-cost irrigation of citrus planting in mountainous areas.

[0036] When realizing intelligent irrigation, during the process of the drone formation carrying the nozzle and the water pipe for sprinkler irrigation operation in the present invention, the safety of the drones can be ensured, and the damage to the fruit trees can be reduced, with higher safety.

[0037] The present invention can enable the drone formation to move and fly orderly and safely while carrying the nozzle and the water pipe, realizing continuous sprinkler irrigation, and can ensure that each drone is evenly stressed and flies stably.

[0038] The present invention can meet the sprinkler irrigation requirements of citrus trees and protect citrus fruits, reducing the probability of bacteria breeding on their surfaces and epidermal damage or cracking.

[0039] By adopting the precise screening of the sprinkler irrigation position in the present invention, it can be realized that as much water as possible after sprinkler irrigation can be absorbed by its root system, improving the sprinkler irrigation effect.

[0040] The present invention can accurately sprinkle irrigation on citrus trees by combining soil humidity and weather data, reducing the probability of fruit cracking and saving irrigation water. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the present invention, but do not limit the embodiments of the present invention; Figure 1 It is a schematic diagram of the composition of a water-lifting and rainwater collection collaborative irrigation system with wind-solar-storage multi-energy complementarity. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0043] In the following description, many specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways than those specifically described herein, and thus, the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0044] Those skilled in the art should understand that in the disclosure of the present invention, the orientation or positional relationships indicated by the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These 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. Therefore, the above terms should not be construed as limiting the present invention.

[0045] It can be understood that the term "a" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of this element can be multiple. The term "a" should not be construed as limiting the quantity.

[0046] Embodiment 1;

[0047] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the composition of a coordinated irrigation system for water pumping and rainwater collection with multi-energy complementarity of wind, light and storage. The present invention provides a coordinated irrigation system for water pumping and rainwater collection with multi-energy complementarity of wind, light and storage, and the system includes: A power unit, which is used for generating electricity based on wind and solar energy, storing the generated electric energy, and being connected to the mains power supply; A rainwater collection unit, which is used for collecting rainwater in a preset area and storing the collected rainwater; A water pumping unit, which is used for transferring the stored rainwater and / or water in a preset water source to a preset water storage device based on the electric energy provided by the power unit and the control of the control system; A sprinkler irrigation device, which is used for pumping water from the preset water storage device through a nozzle to perform sprinkler irrigation on a target citrus planting area based on the control of the control system; An unmanned aerial vehicle formation, which is used for carrying the nozzle and water pipe of the sprinkler irrigation device to fly based on the control of the control system, adjusting the sprinkler irrigation position of the nozzle based on the control of the control system, and keeping the water pipe in the sprinkler irrigation device at a safe distance from ground obstacles based on the control of the control system.

[0048] Among them, in the embodiment of the present invention, the power unit can adopt a wind generator and a solar generator and combine with corresponding power management equipment. The coordinated use of wind power generation and solar power generation with municipal electricity is usually achieved through a grid-connected system, an off-grid system or a hybrid system. The power unit belongs to an existing equipment unit and the embodiment of the present invention does not make corresponding repeated descriptions.

[0049] Among them, in the embodiment of the present invention, the rainwater collection unit is generally composed of multiple functional modules, which are used for collecting, filtering, storing, purifying and reusing rainwater. The existing equipment unit of the rainwater collection unit is not described in detail in the embodiment of the present invention. Considering that the hillside areas are all developed into planting areas, solar energy and rainwater collection equipment can be built on the roofs of rural areas.

[0050] Among them, in the embodiment of the present invention, when the power stored in the power unit is sufficient, the stored power is used to pump water from the mountain to the water reservoir on the mountain for storage through the water lifting unit. When the power stored in the power unit is insufficient, the city power is used to pump water from the mountain to the water reservoir on the mountain for storage through the water lifting unit. The water lifting unit may include pumping equipment, water delivery equipment and water storage equipment, such as the pumping equipment includes a pump, the water delivery equipment includes a water pipe, and the water storage equipment includes a water storage tank. If the hillside to be pumped has a high altitude, multi-stage water lifting is required to reduce the pressure of the pumping equipment, such as the first-stage water lifting equipment pumping water from the water source to the first-stage water storage tank, and then the second-stage water lifting equipment pumps water from the first-stage water storage tank to the second-stage water storage tank, and so on, until the water is lifted to the target water storage tank.

[0051] Among them, in the embodiment of the present invention, the sprinkler irrigation equipment includes a water pump, a water pipe, a water pipe storage device and a nozzle. One end of the water pipe is connected to the water pump, and the other end is connected to the nozzle after passing through the water pipe storage device. Corresponding water valves can be set on the water pipe as needed. The water pump is used to pressurize water from a water source to the pipeline, and the water is transported to the nozzle through the pipeline, and the water is sprayed out through the nozzle. It should be noted that the nozzle in the embodiment of the present invention needs to avoid using an atomizing nozzle as much as possible, because the atomizing nozzle will cause water droplets to appear on citrus fruits, which is easy to cause diseases. The water pipe storage device is a rotatable roller, and the water pipe is wrapped around it for easy storage, collection and transportation. The roller can cooperate with the corresponding motor to realize the automatic retraction and release of the water pipe. The sprinkler irrigation equipment is an existing equipment, and the embodiment of the present invention does not make corresponding repeated descriptions.

[0052] Among them, in the embodiments of the present invention, the UAV formation includes a plurality of UAVs. The UAVs in the present invention are existing UAVs, and the flight systems and control systems adopted are all existing ones. The embodiments of the present invention will not elaborate on them accordingly. The UAVs in the present invention need to carry nozzles or water pipes for flight. The transportation of UAVs is a mature technology, and the embodiments of the present invention will not elaborate on the principle of UAV transporting objects. It should be noted that the present invention can design corresponding structures to clamp or fix the nozzles and water pipes to enable the UAVs to carry the nozzles and water pipes for flight. The specific structures will be introduced in the following content.

[0053] Among them, in the embodiments of the present invention, the UAV formation includes: 1 first UAV, several second UAVs, and a first recognition unit; A pitching and horizontal adjustment mechanism is installed on the first UAV, and the nozzle is installed on the pitching and horizontal adjustment mechanism; the first UAV is used to carry the nozzle to move and fly or hover based on the control system; the pitching and horizontal adjustment mechanism is used to control the sprinkling position of the nozzle based on the control system; A plurality of marks corresponding to the second UAVs one by one are evenly arranged on the surface of the pipe body of the water pipe; a water pipe clamping mechanism is arranged at the lower end of the second UAV; The first recognition unit is used to collect the image of the water pipe extending outside the water pipe storage device in real time to obtain a first image, recognize the marks in the first image, and judge whether the number of marks in the first image increases. If the number of marks in the first image increases, the control system controls the first UAV to hover, and then controls the second UAV corresponding to the newly added mark in the first image to fly to the corresponding mark, controls the water pipe clamping mechanism on the second UAV to clamp the pipe body of the water pipe at the mark and fly upward to a set height. After the second UAV carrying the water pipe flies to the set height, the hovering state of the first UAV is released, and the second UAV is controlled to fly synchronously with the first UAV.

[0054] Among them, in the embodiments of the present invention, the first unmanned aerial vehicle preferably has a landing gear, because there is a space between the landing gear and the fuselage to install the pitch and horizontal adjustment mechanisms. The pitch and horizontal adjustment mechanisms are installed and fixed to the landing gear of the unmanned aerial vehicle through corresponding installation parts such as screws or fixing brackets. Then, the nozzle is installed on the pitch and horizontal adjustment mechanisms. The spraying angles of the nozzle in the pitch and horizontal directions can be adjusted through the pitch and horizontal adjustment mechanisms, and thus the final sprinkler irrigation position can be adjusted. Among them, the pitch and horizontal adjustment mechanisms are connected through corresponding controllers, and the controllers are connected to the control system and execute by receiving the control instructions of the control system. The controllers can be connected to the control system through corresponding communication devices; alternatively, the control system is communicatively connected to the first unmanned aerial vehicle, the first unmanned aerial vehicle is connected to the controller, the control system sends the control instructions to the first unmanned aerial vehicle, the first unmanned aerial vehicle sends the control instructions to the controller, and the controller adjusts and controls the pitch and horizontal adjustment mechanisms. The pitch and horizontal adjustment mechanisms can be powered by a separate power supply with a corresponding battery or connected to the battery of the first unmanned aerial vehicle and powered by the battery of the first unmanned aerial vehicle. Among them, the pitch and horizontal adjustment mechanisms can adopt existing two-axis gimbal mechanisms, and the embodiments of the present invention will not elaborate on them accordingly.

[0055] Among them, in the embodiments of the present invention, a plurality of identifiers corresponding to the second unmanned aerial vehicles one by one are evenly provided on the surface of the pipe body of the water pipe. Among them, the number of the second unmanned aerial vehicles and the identifiers is determined according to the length of the water pipe. If the length of the water pipe is long, more second unmanned aerial vehicles and identifiers need to be configured. If the length of the water pipe is short, fewer second unmanned aerial vehicles and identifiers need to be configured. The identifiers can be digital identifiers such as numbers from 1 to N, where N is an integer greater than 1, or Chinese characters, or identifiers of different colors or graphics. The embodiments of the present invention do not make corresponding limitations on the specific identifier forms.

[0056] Among them, in the embodiments of the present invention, the first recognition unit of the present invention collects images through a camera, and then processes the images through a processor equipped with a target recognition model. Among them, the target recognition model is an existing model, which can be obtained through machine learning or training or by adopting an existing model, and belongs to the existing conventional image processing means. The embodiments of the present invention will not elaborate on it accordingly. Among them, the camera can be selected to be equipped with a camera on a drone, or preferably a drone with a built-in camera. By establishing a connection with the system of the drone, the images collected by the drone can be transmitted to the processor for processing. Through the target recognition model in the processor, the identification on the water pipe can be recognized. For example, the current identification is the numbers 1-3. The corresponding drone configuration is that the first drone carries a nozzle, and the water pipe clamping mechanisms on 3 second drones respectively clamp the water pipes corresponding to the numbers 1-3. At this time, the first recognition unit is collecting the first image in real time. When the identification number 4 appears in the first image, it means that the number of identifications in the first image has increased, so the control system controls a new second drone to take off and clamp and fly the water pipe corresponding to the number 4. After a new identification such as the number 4 appears in the first image, the first drone needs to switch to the hovering flight state. At this time, the second drones corresponding to the numbers 1-3 flying synchronously with the first drone also switch to the hovering flight state. Then the second drone corresponding to the number 4 clamps the water pipe corresponding to the identification number 4, and then flies to the set height. Then the first drone and the second drones corresponding to the numbers 1-3 all cancel the hovering flight state, and the second drone corresponding to the number 4 flies synchronously with the first drone. Synchronous flight means that the flight directions and speed magnitudes of the two are the same.

[0057] Among them, the water pipe clamping mechanism can be an electric gripper. The electric gripper is fixedly connected to the landing gear or fuselage of the drone through corresponding installation or fixing devices (such as screws or fixing brackets). The electric gripper is controlled by a corresponding controller to realize the clamping and loosening operations. When it is necessary to control it to clamp the water pipe, the controller controls the electric gripper to open, and then the second drone flies to a suitable position so that the water pipe is within the clamping range of the electric gripper. Then the controller controls the electric gripper to clamp, realizing the clamping of the water pipe. Among them, the electric gripper is an existing intelligent clamping device, which can be opened and closed through the controller, and thus realizes the clamping of the water pipe. The embodiments of the present invention will not elaborate on the electric gripper accordingly.

[0058] Among them, using the aforementioned target recognition model, the coordinates of the identification corresponding to the water pipe to be clamped can be located. Then, based on the spatial position relationship between the electric gripper and the second drone, the control system can calculate the corresponding hovering position for the second drone to fly to. After the second drone flies to the corresponding hovering position, the water pipe corresponding to the identification is within the clamping range of the electric gripper, and then the electric gripper is opened to clamp.

[0059] Among them, the target recognition model can locate the coordinates of the mark corresponding to the water pipe that needs to be clamped. When the drone flies to the coordinates, it may not be able to clamp the water pipe, because the clamping is done by the electric gripper. Therefore, the relationship between the electric gripper and the second drone in spatial position needs to be taken into account in determining the hovering position of the second drone for clamping. For example, the spatial position coordinates of the mark that needs to be clamped are (x, y, z), and the electric gripper is located 20CM below the center of the second drone's fuselage. Therefore, the spatial position coordinates of the hovering position of the second drone for clamping are ( x+a, y+b, z+20), where a and b are the installation errors of the electric clamp in the horizontal plane during installation. At this time, the electric clamp can clamp the water pipe. In actual operation, there can be corresponding allowable errors, as long as the electric clamp can clamp the water pipe. The clamping force of the electric clamp and the inner diameter of the final clamping closure need to be determined in combination with the size and material of the water pipe. If the water pipe is softer, the clamping force needs to be adjusted smaller. If the outer diameter of the water pipe is larger, the inner diameter of the final clamping closure of the electric clamp needs to match the outer diameter of the water pipe to reduce the impact on water transportation through the water pipe.

[0060] Among them, in an embodiment of the present invention, a second recognition unit is fixed on the first drone, and the second recognition unit is used to collect images of citrus trees to be sprinkled in the target citrus planting area to obtain a second image, and analyze the second image to obtain the sprinkler position. The control system controls the pitch and horizontal adjustment mechanism to adjust the sprinkler position of the sprinkler head based on the sprinkler position and the flight parameters of the first drone.

[0061] Among them, in the embodiment of the present invention, the second recognition unit can be a camera carried by the first unmanned aerial vehicle or an external camera. The second recognition unit is connected to the control system. The second recognition unit of the present invention collects images through the camera, and then processes the images through a processor equipped with a target recognition model. Among them, the target recognition model is an existing model, which can be obtained by machine learning or training or using an existing model. It belongs to the existing conventional image processing means. The embodiment of the present invention does not make corresponding redundant descriptions. After determining the coordinates of the sprayable irrigation position, the pitch and horizontal adjustment mechanism are controlled based on the flight parameters of the first unmanned aerial vehicle to adjust the spraying position of the sprinkler. After determining the position of the target, the pitch and horizontal adjustment mechanism are controlled based on the flight parameters of the first unmanned aerial vehicle to adjust the spraying position of the sprinkler. It belongs to the prior art, such as tracking aerial photography of unmanned aerial vehicles, directional target delivery of unmanned aerial vehicles, precise spraying of pesticides by unmanned aerial vehicles, etc. The present invention does not make corresponding redundant descriptions of the specific implementation means. Different from the prior art, the present invention determines the precise spraying position and then performs spraying, rather than blindly performing uniform coverage spraying.

[0062] Among them, in the embodiments of the present invention, the control system is further configured to control the sprinkler equipment to sprinkle each citrus tree to be sprinkled in sequence according to a set order, and after the sprinkling is completed, control the UAV formation to transport the nozzle and the water pipe to the set position. The set order can be adjusted according to actual needs, and the embodiments of the present invention do not make corresponding limitations. For example, some columns are sprinkled first, some are sprinkled later, or sprinkling is carried out from far to near, or sprinkling is carried out in the order from near to far.

[0063] Among them, in the embodiments of the present invention, the analysis of the second image to obtain the sprinkling position specifically includes: Performing target analysis on the second image to identify the trunk and leaf distribution areas of the citrus trees to be sprinkled in the second image, and obtaining a first area; Marking the non-first area in the second image as the second area; Identifying the areas belonging to the ground area in the second area, and obtaining a number of third areas; Respectively obtaining the distance values of the center points of each third area from the tree stumps of the citrus trees to be sprinkled; Based on the magnitudes of the distance values corresponding to each third area, screening at least one sprinkling position from a number of third areas.

[0064] Among them, a trained target recognition model can be used to recognize the trunks and leaves of the citrus trees to be sprinkled. After recognition, they are marked with annotation frames, and then the trunk and leaf distribution areas of the citrus trees to be sprinkled in the second image can be recognized. Then, the first area is removed from the second image, and the remaining is the second area. Then, a trained target recognition model is used to recognize the ground area to obtain the third area. Among them, the target recognition model can construct corresponding training sets, validation sets, and test sets by using existing machine learning means and be trained by using existing models. The present invention does not elaborate on the specific implementation means. Among them, through existing image analysis means: target detection and positioning, camera calibration, and distance calculation, the direct distance value of the target can also be obtained through existing commercial image processing software. When using these commercial image processing software, only the target needs to be marked to directly obtain the distance values of the center points of each third area from the tree stumps of the citrus trees to be sprinkled.

[0065] Among them, when screening the sprinkling positions, the root distribution of the citrus trees to be sprinkled needs to be considered. The root distribution range of the citrus trees to be sprinkled is mainly affected by their tree age. Among them, the horizontal root distribution range is: Young trees (1 - 3 years old): The horizontal root extension range is usually 1 - 1.5 times the diameter of the crown projection, about 0.5 - 1.5 meters away from the trunk, and the absorbing roots are concentrated near the crown drip line (vertical projection of the crown edge).

[0066] Adult trees (over 4 years old): The horizontal root expansion ability is enhanced, reaching 1.5 to 3 times the crown projection, about 2 to 4 meters away from the trunk, but the main absorbing roots are still concentrated in the range from the drip line of the crown periphery to 1 to 2 meters outward.

[0067] Therefore, when screening the positions for sprinkler irrigation, first determine the tree age of the citrus trees to be irrigated, then determine the main distribution range of their roots according to the tree age, and then match the corresponding sprinkler irrigation positions according to the main distribution range of the roots. By the above method, the suitable sprinkler irrigation positions can be accurately found. Sprinkling irrigation through these positions can enable the roots to better absorb the irrigated water and also save irrigation water.

[0068] Among them, in the embodiment of the present invention, the setting method of the identifier is as follows: Determine the water pipe spacing length between two adjacent identifiers based on the load-bearing capacity of the second unmanned aerial vehicle and the set height.

[0069] Among them, assume that the maximum load of the second unmanned aerial vehicle is m KG, where m is an integer. Then, it is necessary to consider that the load caused by the gravity of the water pipe is less than m KG. The gravity of the water pipe needs to consider the gravity of the water pipe itself and the water in the pipe. When setting the identifier, the size of the water pipe has been confirmed. Therefore, here, with the constant size of the water pipe, the gravity of the water in a certain section of the water pipe is: G = 9800πr2L, where r is the inner radius of the water pipe and L is the length of this section of the water pipe. Therefore, on the premise that the inner diameter of the water pipe remains unchanged, the gravity of the water in the water pipe is related to the length of the water pipe. In practical applications, the weight of the water pipe itself can also be considered. If a hose with a lighter weight is used, the weight of the water pipe itself can be appropriately ignored. If the water pipe spacing length between two adjacent identifiers is too large, it will easily exceed the load-bearing capacity of the second unmanned aerial vehicle. If the water pipe spacing length between two adjacent identifiers is too large, it will easily cause the naturally drooping part of the water pipe between two second unmanned aerial vehicles to contact the ground obstacles. Therefore, it is necessary to consider both of the above two factors. The water pipe spacing length K between two adjacent identifiers needs to meet the condition that under the condition of K, the gravity caused by the water pipe between two adjacent identifiers in the full water state is less than the maximum load-bearing capacity of the second unmanned aerial vehicle, and the lowest height of the water pipe between two adjacent identifiers in the full water state needs to be less than the set height. This can enable the second unmanned aerial vehicle to fly safely and prevent the water pipe between two adjacent identifiers from contacting the ground obstacles.

[0070] Among them, in the embodiment of the present invention, the system further includes a charging unit for charging or replacing the batteries of the unmanned aerial vehicles in the unmanned aerial vehicle formation. The charging unit may include a charging platform or charging equipment, or a smart unmanned aerial vehicle machine room can be directly used, where the unmanned aerial vehicle can be charged or have its battery replaced.

[0071] Among them, in the embodiments of the present invention, the system further includes a detection unit, a collection unit, and a generation unit. The detection unit is used to detect the soil humidity of the target citrus planting area to obtain soil humidity detection data, such as a portable soil humidity meter, which is inserted into the soil for direct reading. The collection unit is used to collect weather data for a preset future time period corresponding to the target citrus planting area. The generation unit is used to generate the sprinkler irrigation water volume of the target citrus planting area based on the soil humidity detection data and the weather data. The control system controls the sprinkler irrigation equipment to sprinkle water on the target citrus planting area based on the sprinkler irrigation water volume.

[0072] Among them, a training set can be constructed first using historical data and standard data. Each data in the training set is (soil humidity data, weather data for a preset future time period) and the corresponding standard sprinkler irrigation water volume. By training the training set, a sprinkler irrigation water volume prediction model can be obtained through machine learning. In actual application, soil humidity detection data and weather data for a preset future time period are obtained, and the soil humidity detection data and weather data for a preset future time period are input into the sprinkler irrigation water volume prediction model to obtain the corresponding sprinkler irrigation water volume.

[0073] Among them, in the embodiments of the present invention, the rainwater collection unit includes: A filtering unit for filtering the collected rainwater; A disinfection unit for disinfecting the stored rainwater.

[0074] Among them, in the embodiments of the present invention, the system further includes: a soil fertility detection unit and a fertilization unit; the soil fertility detection unit is used to detect the soil fertility of the target citrus planting area to obtain soil fertility detection data, such as a TYF-3 soil nitrogen, phosphorus, and potassium three-in-one sensor, or an FDS-150 soil nitrogen, phosphorus, and potassium sensor, etc. The embodiments of the present invention do not make corresponding limitations; the fertilization unit is used to fertilize the water in the preset water storage device based on the soil fertility detection data before the sprinkler irrigation equipment sprinkles water.

[0075] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted to include the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0076] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A collaborative irrigation system for water pumping and rainwater collection with multi - energy complementation of wind, light and storage, characterized in that The system includes: A power unit for generating electricity based on wind and solar energy, storing the generated electrical energy, and for connecting to the mains power supply; A rainwater collection unit for collecting rainwater in a preset area and storing the collected rainwater; A water pumping unit for transferring the stored rainwater and / or water in a preset water source to a preset water storage device based on the electrical energy provided by the power unit and the control of the control system; An irrigation device for pumping water from the preset water storage device through a nozzle to irrigate a target citrus planting area based on the control of the control system; A drone formation for flying while carrying the nozzle and water pipe of the irrigation device based on the control of the control system, for adjusting the irrigation position of the nozzle based on the control of the control system, and for keeping the water pipe in the irrigation device at a safe distance from ground obstacles based on the control of the control system.

2. The water-lifting and rainwater collection collaborative irrigation system with multi-energy complementation of wind, light and storage according to claim 1, characterized in that The drone formation includes: 1 first drone, several second drones, and a first identification unit; A pitching and horizontal adjustment mechanism is installed on the first drone, and the nozzle is installed on the pitching and horizontal adjustment mechanism; the first drone is used for carrying the nozzle to move and fly or hover based on the control of the control system; the pitching and horizontal adjustment mechanism is used for controlling the irrigation position of the nozzle based on the control of the control system; A plurality of identifiers corresponding one-to-one to the second drones are uniformly arranged on the surface of the pipe body of the water pipe; a water pipe clamping mechanism is provided at the lower end of the second drone; The first identification unit is used for collecting an image of the water pipe extending outside the water pipe storage device in real time to obtain a first image, identifying the identifiers in the first image, and judging whether the number of identifiers in the first image increases. If the number of identifiers in the first image increases, the control system controls the first drone to hover, then controls the second drone corresponding to the newly added identifier in the first image to fly to the corresponding identifier, controls the water pipe clamping mechanism on the second drone to clamp the pipe body of the water pipe at the identifier and fly upward to a set height. After the second drone carrying the water pipe flies to the set height, the hovering flight state of the first drone is released, and the control system controls the second drone to fly synchronously with the first drone.

3. The water-lifting and rainwater collection collaborative irrigation system with complementary wind, light and energy storage according to claim 2, characterized in that, A second identification unit is fixed on the first drone. The second identification unit is used for collecting an image of the citrus trees to be irrigated in the target citrus planting area to obtain a second image, analyzing the second image to obtain an irrigation position, and the control system controls the pitching and horizontal adjustment mechanism to adjust the irrigation position of the nozzle based on the irrigation position and the flight parameters of the first drone.

4. The water-lifting and rainwater collection collaborative irrigation system with multi-energy complementation of wind, light and storage according to claim 1, characterized in that, The control system is further used for controlling the irrigation device to irrigate each citrus tree to be irrigated in a set order in turn, and after the irrigation is completed, controlling the drone formation to transport the nozzle and the water pipe to a set position.

5. The water-lifting and rainwater collection collaborative irrigation system with multi-energy complementation of wind, light and storage according to claim 3, characterized in that Analyzing the second image to obtain the irrigation position specifically includes: Performing target analysis on the second image to identify the trunk and leaf distribution areas of the citrus trees to be irrigated in the second image, obtaining a first area; Marking the non-first area in the second image as a second area; Identifying the areas belonging to the ground area in the second area, obtaining several third areas; Respectively obtaining the distance value of the center point of each third area from the tree stump of the citrus tree to be irrigated; Select at least one sprinkler position from a number of third regions based on the magnitude of the distance value corresponding to each third region.

6. The water-lifting and rainwater collection collaborative irrigation system with complementary utilization of wind, light and energy storage according to claim 1, characterized in that, The setting method of the identifier is as follows: Determine the length of the water pipe spacing between two adjacent identifiers based on the load capacity of the second unmanned aerial vehicle and the set height.

7. The water-lifting and rainwater collection collaborative irrigation system with multi-energy complementation of wind, light and storage according to claim 1, characterized in that The system further includes a charging unit for charging or replacing the batteries of the unmanned aerial vehicles in the unmanned aerial vehicle formation.

8. The water-lifting and rainwater-collecting collaborative irrigation system with multi-energy complementation of wind, light and storage according to claim 1, characterized in that, The system further includes a detection unit, a collection unit, and a generation unit. The detection unit is used to detect the soil humidity of the target citrus planting area to obtain soil humidity detection data; the collection unit is used to collect weather data for a preset future time period corresponding to the target citrus planting area; the generation unit is used to generate the sprinkler water volume of the target citrus planting area based on the soil humidity detection data and the weather data; the control system controls the sprinkler equipment to sprinkle the target citrus planting area based on the sprinkler water volume.

9. The water-lifting and rainwater-collecting collaborative irrigation system with complementary utilization of wind, light and energy storage according to claim 1, wherein The rainwater collection unit includes: A filtering unit for filtering the collected rainwater; A disinfection unit for disinfecting the stored rainwater.

10. The water-lifting and rainwater collection collaborative irrigation system with multi-energy complementation of wind, light and storage according to claim 1, characterized in that, The system further includes a soil fertility detection unit and a fertilization unit; the soil fertility detection unit is used to detect the soil fertility of the target citrus planting area to obtain soil fertility detection data; the fertilization unit is used to fertilize the water in the preset water storage device based on the soil fertility detection data before the sprinkler equipment sprinkles.

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