An irrigation system

Abstract

Effective irrigation of land is crucial to maximising crop yield. Existing methods of irrigating land by spraying fluids across the crops are susceptible to high rates of fluid loss, due to runoff, evaporation, wind displacement and / or accidental or indiscriminate delivery to parts of the land where it is not needed. The system at hand presents an irrigation system comprising an underground pipe 108; irrigation equipment 112a, 112b, 112c configured to be deployed at an irrigation location along the pipe; sensor equipment 114a, 114b configured to be deployed at a sensor location along the pipe, the sensor equipment 114a, 114b configured to detect soil characteristics of soil outside the pipe 108; and a control system configured to selectively supply fluid from the irrigation equipment 112a, 112b, 112c in response to the sensor equipment detecting the soil characteristics. In this way, fluids can be delivered directly to the root zone without excessive losses.

Description

AN IRRIGATION SYSTEM

[0001] The present invention relates generally to an irrigation system and a method of irrigating land, and finds particular, although not exclusive, utility in irrigating large land areas planted with crops with yields that are sensitive to soil conditions.

[0002] Irrigation of land has been a challenge since time immemorial. Adequate hydration is crucial to maximising crop yield, whilst excessive hydration can reduce crop yield and increase the cost of growing the crop in a given field. Moreover, adequate hydration is crucial to maintaining a revenue stream for other businesses as well, such as public gardens and golf courses.

[0003] Providing uniform fluid delivery to the root systems of plants through traditional fluid delivery systems can be particularly challenging for larger plants, such as grapevines and fruit trees, because the larger plants shield the root system from the sprayed fluid, which can result in excessive fluid applied to one side, with insufficient fluid applied on another.

[0004] A commonly accepted method of irrigating land is to spray fluids across the crop on a regular schedule using a sprinkler system mounted on a tractor. However, this application process has a number of drawbacks. For example, a portion of the applied fluid is wasted as it does not reach the desired plants, instead being lost to runoff, wind displacement, or evaporation. Moreover, when heavy machinery is used to apply the fluid, the machinery also acts to regularly compact the soil, which can reduce the yield of crops planted on the land.

[0005] Accordingly, an aim of the present invention is to provide a method of irrigating land that reduces the cost of producing crops by decreasing the wastage and increasing yield.

[0006] In a first aspect, the present invention provides an irrigation system comprising an underground pipe; irrigation equipment configured to be deployed at an irrigation location along the pipe; sensor equipment configured to be deployed at a sensor location along the pipe, the sensor equipment configured to detect soil characteristics of soil outside the pipe; and a control system configured to selectively supply fluid from the irrigation equipment in response to the sensor equipment detecting the soil characteristics.

[0007] In this way, fluids can be delivered directly to the root zone without losses due to runoff, evaporation, wind displacement and / or accidental or indiscriminate delivery to parts of the land where it is not needed. Further, the amount and type of fluid being delivered can be varied to ensure optimum soil conditions are maintained, thereby ensuring that any plants / crops being grown in the soil remain healthy and minimising wastage of fluid due to excessive fluid delivery.

[0008] The pipe may comprise a flexible pipe and / or a rigid pipe and may be formed of one or more sections, such as one or more interlocking sections. In some examples, the pipe may comprise concrete and / or a plastics material. The pipe may be part of a pipe network.

[0009] Underground may mean below the surface of the ground, for instance buried or deployed in a bore. For example, the pipe may pass through a soil layer and / or a rock layer.

[0010] The pipe may include a horizontal portion, a vertical portion and / or a portion at any inclination therebetween. In some examples, the pipe may include one or more portions that are arranged with their length substantially parallel with the surface of the ground. The pipe may include a first portion and a second portion, each portion being substantially parallel to the surface of ground. The first portion may be separated from the second portion by a bend in the pipe, wherein the bend changes the direction of the pipe by an angle of at least 45 degrees, at least 90 degrees, or at least 135 degrees.

[0011] The system may additionally comprise at least one further pipe, the at least one further pipe being in fluid communication with the pipe. In this way, a single irrigation system can be used to irrigate a large region of land, such as a field of crops or a golf course. The or each further pipe may be connected to the pipe at a junction. A junction may be understood to be a location where two or more pipes meet such that they are in fluid communication with one another, and may itself comprise a number of pipe portions. For example, in certain arrangements, a junction between three pipes may be formed from three pipe portions, one connecting the first and the second pipe; one connecting the first and the third pipe; and one connecting the second and the third pipe.

[0012] Where the system comprises more than one further pipe, some of the further pipes may be connected to each other, rather than directly to the pipe. That is, the pipe and the further pipes may form a network of pipes. For example, the pipe and further pipes may be arranged in a grid.

[0013] The pipe may be pre-perforated to facilitate deployment of the sensor equipment and / or irrigation equipment through the sidewall thereof. In this way, the sensor equipment and / or the irrigation equipment can be easily deployed into the soil around the pipe without the need to pass drilling / cutting equipment down the pipe while it is in the ground. In some examples, the pipe sidewall may be penetrated to facilitate deployment of the sensor equipment and / or irrigation equipment. For example, the pipe wall may be rammed, drilled, pierced, punched, milled, gouged, cut and / or any other suitable method of penetrating the pipe sidewall. In other examples, the pipe or pipes may have holes formed partially through the sidewall prior to the pipe being installed in the ground.

[0014] Deployment of the irrigation equipment may involve deploying the irrigation equipment through the sidewall of the pipe into the soil around the pipe. Deployment of the sensor equipment may involve deploying the sensor equipment through the sidewall of the pipe into the soil around the pipe or may involve deploying the sensor equipment to a location fully within the pipe.

[0015] The irrigation equipment may comprise at least one fluid delivery point and / or nozzle configured to deliver fluid directly into the soil.

[0016] In a particularly simple example, a fluid delivery point may comprise a hole in the sidewall of the pipe. Accordingly, the irrigation equipment may also comprise means for making such a hole in the sidewall of the pipe, for example a drill, configured to be deployed at the irrigation location.

[0017] The irrigation equipment may comprise a tube configured to be deployed through a sidewall of the pipe, and to permit the flow of fluid therethrough from the pipe to a fluid delivery point located outside the pipe. In this way, the fluid delivery point may be spaced apart from the pipe.

[0018] The tube may be rigid (e.g. a secondary pipe having a smaller diameter than the pipe) or flexible (e.g. a hose) or may comprise both a rigid portion and a flexible portion. In use, the tube may be arranged with a first end of the tube inside the pipe and a portion of the tube passing through the sidewall of the pipe. The fluid delivery point may simply be an opening at an end or in the sidewall of the tube.

[0019] The irrigation equipment may comprise a plurality of fluid delivery points fed by a single tube and / or may comprise a plurality of tubes.

[0020] The irrigation equipment may comprise means for selectively restricting the flow of fluid from the pipe to the fluid delivery point. In this way, fluid can be selectively supplied from the irrigation equipment without the need to vary the flow rate of fluid through the pipe. This may be particularly advantageous where irrigation equipment is deployed at a large number of irrigation locations along a single pipe. For example, the fluid delivery point may comprise a valve and / or a valve may be disposed within the tube. The irrigation equipment may further comprise a valve control unit configured to control the flow rate of fluid through the or each valve. The valve control unit may control the flow rate of fluid through a valve in response to instructions received from the control system and / or based on the pressure of the fluid supplied to the valve. A single valve control unit may control more than one valve.

[0021] The irrigation equipment may comprise a wireless communication device configured to receive instructions from the control system. Such instructions may be in the form of wireless electrical signals and may be in the form of binary data, interpretable by a valve control unit to set a rate of fluid flow through a valve controlled by the valve control unit. Where the irrigation equipment comprises more than one valve control unit, each valve control unit may be provided with its own wireless communication device. Such a wireless communication device may form a part of the valve control unit. Alternatively, a single wireless communication device may be configured to receive instructions for several valve control units.

[0022] The irrigation equipment may comprise hole-forming equipment configured to make a hole in the sidewall of the pipe at the irrigation location and / or tube deployment equipment configured to deploy a tube through the sidewall of the pipe at the irrigation location. In this way, the irrigation equipment can be self-deployed into the soil around the pipe at the irrigation location, without the need to pass separate hole-forming equipment and / or deployment equipment down the pipe or to subsequently remove it from the pipe. The hole-forming equipment may include equipment configured to make a hole by drilling, punching, piercing, milling, gouging, cutting and / or any other suitable method. The tube deployment equipment may include equipment configured to drill a bore into the soil outside the pipe through a hole in the sidewall of the pipe; equipment configured to push a tube through a hole in the sidewall of the pipe; and / or equipment configured to seal a gap formed around a tube where it passes through a hole in the sidewall of the pipe.

[0023] In some examples, the hole-forming equipment and / or the tube deployment equipment may be mounted on or form part of the tube to be deployed. For example, the tube may comprise a rigid tube with an open first end; a drill bit or other cutting device at a closed second end, opposite the first end; and at least one opening in the sidewall of the tube towards the second end to act as a fluid delivery point. A seal may be disposed on the outside of the tube towards the first end, the seal configured to form a barrier around the tube between the tube and a hole in the sidewall of the pipe through which the tube is deployed.

[0024] It may be understood that an irrigation location is an area of land to be irrigated, or a point along the pipe around which the land is to be irrigated. There may be any number of irrigation locations along the pipe or network of pipes.

[0025] The sensor equipment may comprise at least one sensor configured to detect soil characteristics. Soil characteristics may include soil hydration, soil moisture content, mineral content, nutrient content, microbial activity, porosity, consistency, temperature, colour and / or resistivity. It may be understood that resistivity is indicative of the hydration level of the soil.

[0026] The sensor equipment may comprise a remote sensor (that is, a sensor which detects soil characteristics of soil without being in direct contact with the soil). An example of a remote sensor for detecting soil characteristics is an inductive sensor or ground penetrating radar. Alternatively, or additionally, the sensor equipment may comprise a direct contact sensor (that is, a sensor which detects soil characteristics of soil by making direct contact with the soil). An example of a direct contact sensor for detecting soil characteristics is an ohmmeter. Some sensors can be operated in a direct contact mode and / or a remote mode for soil characteristics, such as a capacitive sensor.

[0027] The sensor equipment may comprise a single sensor, a plurality of the same type of sensor and / or more than one type of sensor.

[0028] For example, the sensor equipment may comprise one or more of a neutron moisture gauge; a ground penetrating radar device; a soil resistivity sensor (incorporating a pair of electrodes); a galvanic cell (to determine the amount of water present based on the voltage the soil produces because water acts as an electrolyte and produces electricity); and a device for determining the dielectric constant of the soil around the sensor, either by measuring the operating frequency of an oscillating circuit (via Frequency Domain Reflectometry (FDR)), or by measuring the speed of propagation along a buried transmission line (via Time Domain Transmission (TDT) and Time Domain Reflectometry (TDR)).

[0029] The sensor equipment may comprise a sensor configured to be deployed at a location outside of the pipe (e.g. through a sidewall of the pipe). In this way, soil characteristics can be detected at a location spaced apart from the pipe, for example in the rootzone of plants / crops being grown in the land, and / or adjacent to a fluid delivery point. A sensor deployed outside the pipe may be in direct contact with the soil around the pipe, or it may be deployed within a bore, shaft, cavity or other void formed in the soil around the pipe. In some examples, a sensor deployed at a location outside the pipe may remain inside a sensor housing, the sensor housing forming a part of the sensor equipment and being configured to be deployed through a sidewall of the pipe.

[0030] The sensor equipment may comprise a wireless communication device configured to communicate the detected soil characteristics to the control system. Where the sensor equipment comprises more than one sensor, each sensor may be provided with its own wireless communication device. Alternatively, a single wireless communication device may be configured to communicate soil characteristics detected by several different sensors to the control system.

[0031] The sensor equipment may comprise hole-forming equipment configured to make a hole in the sidewall of the pipe at the sensor location and / or sensor deployment equipment configured to deploy a sensor through the sidewall of the pipe at the sensor location. The hole-forming equipment may operate by ramming, drilling, piercing, punching, milling, gouging, cutting and / or any other suitable method of making a hole in the pipe sidewall. In this way, the sensor equipment can be self-deployed into the soil around the pipe at the sensor location, without the need to pass separate hole-forming equipment and / or deployment equipment down the pipe or to subsequently remove it from the pipe. The sensor deployment equipment may include equipment configured to form a passage into the soil outside the pipe through a hole in the sidewall of the pipe (for example by the same or similar methods of making a hole in the pipe sidewall discussed above); equipment configured to pass a sensor through a hole in the sidewall of the pipe; and / or equipment configured to seal a hole in the sidewall of the pipe after a sensor has been passed therethrough.

[0032] In some examples, the hole-forming equipment and / or the sensor deployment equipment may be mounted on or form part of the sensor to be deployed. For example, the sensor equipment may comprise an elongate member configured to engage with the pipe at a first end; a drill bit or other cutting device at a second end, opposite the first end; a sensor (for example disposed at the second end); and optionally a seal may be disposed on the outside of the elongate member towards the first end, the seal configured to form a barrier around the elongate member between the elongate member and a hole in the sidewall of the pipe through which the elongate member is deployed.

[0033] It may be understood that a sensor location is a position from which a sensor is able to determine one or more of the soil characteristics, or a point along the pipe around which the soil characteristics are to be sensed. There may be any number of sensor locations along the pipe or network of pipes.

[0034] It may be understood that a sensor location may or may not be in direct contact with the area of land to be irrigated. For example, the sensor location may be between 0.1 meters and 10 meters away from the area of land to be irrigated, such as between 1 meter and 8 meters away. The sensor location may be within the pipe. Alternatively, the sensor location may be within the land to be irrigated.

[0035] A sensor location and an irrigation location may be the same location. That is, the sensor location may be collocated with the irrigation location, or the sensor location and the irrigation location may be immediately adjacent to one another. For example, the irrigation equipment and the sensor equipment may be deployed at a common location along the pipe, but the irrigation equipment may be deployed in a first angular direction about an axis of the pipe, while the sensor equipment may be deployed in a second angular direction about the axis of the pipe, or may remain within the pipe. In some examples, the sensor location may be on the irrigation equipment and / or the sensor location may be smaller than and within the irrigation location.

[0036] In other examples, each sensor location may be spaced apart from each irrigation location.

[0037] The irrigation system may comprise a plurality of sets of irrigation equipment, each of the plurality of sets of irrigation equipment configured to be deployed at a respective one of a plurality of irrigation locations. Similarly, the irrigation system may comprise a plurality of sets of sensor equipment, each of the plurality of sets of sensor equipment configured to be deployed at a respective one of a plurality of sensor locations.

[0038] Selectively supplying fluid from the irrigation equipment may involve controlling the flow of fluid from the pipe to fluid delivery point(s) and / or controlling the flow of fluid through the pipe to the irrigation location(s).

[0039] Selectively supplying fluid from the irrigation equipment may involve controlling the flow of fluid to fluid delivery points individually, in groups and / or collectively.

[0040] Selectively supplying fluid from the irrigation equipment in response to the sensor equipment detecting the soil characteristics may mean supplying fluid from the irrigation equipment responsive to determining that a level of soil hydration, mineral content, nutrient content, microbial activity, porosity, temperature, and / or resistivity has either exceeded or fallen below a predetermined threshold level, or is outside of a predetermined range.

[0041] The control system may comprise a processor and may further comprise one or more valves disposed within the pipe and / or valve control units configured to control said valves so as to control the flow of fluid through the pipe. In some examples, the control system may comprise one or more drones deployed within the pipe, the drone or drones configured to control the flow of fluid through the pipe. In this way, the location(s) within the pipe at which the flow of fluid is controlled can be changed. For example, a drone may restrict the flow of fluid through the pipe at a first location within the pipe so as to prevent the delivery of fluid to a first group of irrigation locations, and then, at a later point in time, the drone may move to a second location within the pipe and restrict the flow of fluid through the pipe at the second location so as to prevent the delivery of fluid to a second set of irrigation locations.

[0042] The processor may be configured to receive signals (e.g. wireless electrical signals) from the sensor equipment; process the received signals and determine whether the soil characteristics at a sensor location have exceeded or fallen below a predetermined threshold or are outside of a predetermined range; responsive to determining that the soil characteristics at a sensor location have exceeded or fallen below a predetermined threshold or are outside of a predetermined range, determine a rate at which fluid needs to be delivered to one or more irrigation location; and send signals (e.g. wireless electrical signals) to the irrigation equipment; one or more valve control units configured to control valves disposed within the pipe; and / or one or more drones deployed within the pipe.

[0043] In some examples, the drone(s) may be additionally configured to relay communications between the processor, the sensor equipment, the irrigation equipment and / or the valve control units.

[0044] The processor may be located remotely (e.g. above ground); in the ground or within the pipe. The control system may comprise a network of processors distributed along the pipe or around a network of pipes. In some examples, a network of processors may be formed by a plurality of drones deployed within the pipe, each of the plurality of drones equipped with processing capabilities.

[0045] The fluid may comprise one or more of water, fertilizer, a herbicide and / or a selective herbicide. In this way, the plants can be nurtured more precisely and with reduced wastage.

[0046] The fluid may be or comprise water. For example, the fluid may be at least 70% water, at least 90% water or at least 95% water.

[0047] The irrigation process can also include the application of additional yield enhancers, such as specific nutrients, fertilisers, or selective weed killers. Yield enhancers can be particularly costly. Therefore, excessive irrigation can be costly, not only due to reduced crop yields but also due to wasted yield enhancers.

[0048] In a second aspect, the invention provides a method of irrigating land, the method comprising the steps of installing an underground pipe; deploying irrigation equipment at an irrigation location along the pipe; deploying sensor equipment at a sensor location along the pipe; the sensor detecting soil characteristics of soil outside the pipe; and responsive to detecting the soil characteristics, selectively supplying fluid from the irrigation equipment.

[0049] Installing an underground pipe may involve drilling an underground bore and pushing and / or pulling a pipe into the bore, and / or may involve surface cutting. Drilling of an underground bore may be performed by a robotic drill, Horizontal Directional Drilling, or other conventional means. Installing a pipe by surface cutting may comprise cutting or digging a trench; laying the pipe at the bottom of the trench; and filling in the trench (e.g. with compacted soil) above the pipe.

[0050] Deploying irrigation equipment at an irrigation location along the pipe may comprise: passing hole-forming equipment along the pipe to the irrigation location; forming a hole in the sidewall of the pipe at the irrigation location (e.g. with the hole-forming equipment); forming a bore in soil outside the pipe through the hole in the sidewall of the pipe; passing irrigation equipment along the pipe to the irrigation location; and / or at least partially passing the irrigation equipment through the hole in the side wall. Where the hole-forming equipment is separate from the irrigation equipment, the hole-forming equipment may be removed from the pipe once the hole has been formed in the sidewall of the pipe. Where the pipe has holes formed partially though the sidewall prior to the pipe being installed in the ground, the step of forming a hole though the sidewall of the pipe may comprise punching through the remaining sidewall material at a location where a hole has been formed partially through the sidewall.

[0051] Deploying sensor equipment at a sensor location along the pipe may comprise: passing hole-forming equipment along the pipe to the sensor location; forming a hole in the sidewall of the pipe at the sensor location (e.g. with the hole-forming equipment); forming a bore in soil outside the pipe through the hole in the sidewall of the pipe; passing sensor equipment along the pipe to the sensor location; and / or at least partially passing the sensor equipment through the hole in the side wall. Where the hole-forming equipment is separate from the sensor equipment, the hole-forming equipment may be removed from the pipe once the hole has been formed in the sidewall of the pipe. Where the pipe has holes formed partially though the sidewall prior to the pipe being installed in the ground, the step of forming a hole though the sidewall of the pipe may comprise punching through the remaining sidewall material at a location where a hole has been formed partially through the sidewall.

[0052] In some cases, deploying sensor equipment at a sensor location may simply involve passing the sensor equipment along the pipe to the sensor location without making a hole in the sidewall of the pipe at the sensor location.

[0053] In some examples, the irrigation equipment, the sensor equipment and / or the hole-forming equipment may be disposed within the pipe prior to the pipe being installed in the ground. Where the pipe is pre-perforated, the sensor equipment may be located in the pipe (e.g. with the or each sensor adjacent to a respective hole) prior to the pipe being installed in the ground and deploying the sensor equipment at a sensor location may be included in the step of installing the underground pipe. Similarly, the irrigation equipment may be located in the pipe (e.g. with the or each tube adjacent to a respective hole) prior to the pipe being installed in the ground and deploying the irrigation equipment at an irrigation location may simply involve pushing the tube(s) into the soil through the hole(s) in the sidewall of the pipe.

[0054] Deployment of the irrigation equipment may be performed simultaneously with the deployment of the sensor equipment. In some examples, the sensor equipment may comprise one or more sensors which are disposed on the irrigation equipment when the irrigation equipment is deployed. Conversely, the irrigation equipment may comprise one or more irrigation devices which are disposed on the sensor equipment when the sensor equipment is deployed.

[0055] In a third aspect, the invention provides an irrigation drone for use within a pipe, the drone comprising propulsion means for facilitating movement of the drone through a pipe; a wireless communication device configured to receive wireless instructions; and a flow regulation device configured to selectively expand and contract in response to receiving wireless instructions, wherein, in an expanded state the flow regulation device is configured to be engageable with the inside of the pipe to restrict the flow of fluid therethrough, and in a retracted state the flow regulation device is configured to permit the flow of fluid therearound within the pipe.

[0056] The propulsion means may comprise a plurality of wheels configured to engage with the inside of the pipe. The wheels may be arranged in pairs configured to engage with the inside of the pipe at diametrically opposite points on the circumference of the pipe. Alternatively, the wheels may be arranged in groups of three, four or more wheels configured to engage with the inside of the pipe at equally spaced angular positions around the circumference of the pipe. The wheels may be mounted on extendable / retractable arms or may otherwise be adjustable so that they are able to engage with the insides of pipes having different diameters.

[0057] One or more of the wheels may be driven by a drive unit but some wheels may be free to rotate. A track may extend between at least two wheels to form a caterpillar track.

[0058] Alternatively, or additionally, the propulsion means may comprise a propellor configured to move the drone through fluid within the pipe (e.g to swim or blow through the pipe) and may include a skirt so as to operate as a hovercraft.

[0059] Alternatively, or additionally, the propulsion means may comprise a system of one or more high friction pads configured to grip an inside surface of the pipe and a drive unit configured to move the drone relative to the high friction pad(s).

[0060] Wireless communication may be via any known technology, including Radio Frequency (RF), Wi-Fi, optical and / or sonic communication. Such communication may be substantially along a pipe and / or may comprise communication through the ground in which the pipe is placed.

[0061] The wireless communication device may be configured to enable communication with a remote operator. The remote operator may be a human operator or may comprise or form a part of the control system of the first aspect. Alternatively, or additionally, the wireless communication device may be configured to enable communication with another drone within the pipe. In this way, a plurality of drones may work together within a network of pipes to enable highly selective regulation of fluid flow to each of a plurality of irrigation locations around the network of pipes.

[0062] In some examples, the wireless communication device may be configured to enable communication directly with sensor equipment and / or irrigation equipment. In this way, the need for a remote operator may be removed or, alternatively, signals from the sensor equipment and / or the irrigation equipment may be relayed to the remote operator by one or more drones, thereby increasing the range over which signals between the sensor equipment, the irrigation equipment and / or the remote operator can be communicated. In some examples, a plurality of drones deployed within a network of pipes may form a wireless communication network. For example, the drones may act as nodes in a wireless mesh network.

[0063] The flow regulation device may comprise a pipe gripping section surrounding a central core. The pipe gripping section may have a cross section (taken in a plane perpendicular to the drone’s direction of travel) that is substantially annular in shape, having an internal diameter and an external diameter, and a substantially cylindrical cavity may be formed within the pipe gripping section. The core may be substantially cylindrical in shape and may occupy all or most of the cavity. The pipe gripping section may be removably attached to the core. Alternatively, the pipe gripping section may be fixedly attached to the core such that the flow regulation device is a single integrated unit. The attachment means may comprise a watertight seal to prevent the flow of fluid between the core and the pipe gripping section.

[0064] The pipe gripping section may be expandable. That is, its external diameter may be increased. In the expanded state, the external diameter of the pipe gripping section may be equal to or slightly larger than the internal diameter of the pipe so that the pipe gripping section grips the inside of the pipe and forms a watertight seal therewith. In the retracted state, the external diameter of the pipe gripping section may be less than the internal diameter of the pipe so that fluid can flow between the pipe gripping section and the wall of the pipe.

[0065] The pipe gripping section may be or comprise an inflatable sac such that inflation of the sac with fluid results in the pipe gripping section entering in the expanded state and deflation of the sac results in the pipe gripping section entering the retracted state. The fluid may be air and / or water.

[0066] Alternatively, the pipe gripping section may be resiliently deformable such that it may be made to enter the expanded state by the application of an external force, and may return to the retracted state when said external force is removed. For example, the external force may be a compressive force that compresses the pipe gripping section in a direction parallel to the drone’s direction of travel. As another example, the force may be a radial force acting outwards on the inner surface of the pipe gripping section (e.g. from the core) to increase the internal diameter. Conversely, it is appreciated that the pipe gripping device may be made to enter the retracted state by the application of an external force (such as a tensile force acting in a direction parallel to the drone’s direction of travel) and may return to the expanded state when the external force is removed.

[0067] The flow regulation device, or the drone, may comprise means for exerting the force on the pipe gripping section. Such means may be mechanical, electronic and / or hydraulic.

[0068] The core may comprise at least one channel through which fluid can flow from upstream of the flow regulation device to downstream of the flow regulation device and means for controlling the flow of fluid through the channel. Used herein, downstream is defined as being in the direction in which fluid is flowing in a pipe and upstream is defined accordingly. Controlling the flow of fluid may comprise selectively restricting the flow or preventing it altogether.

[0069] The flow regulation device may comprise a valve. The valve may be disposed within the channel. In a simple example, the valve may move between a fully open state, in which it permits the flow of water through the channel, and a fully closed state, in which it prevents any fluid from flowing though the channel. In an alternative example, the valve may have a partially open state, in which it restricts the flow of fluid through the channel but does not prevent it altogether. The extent to which the valve restricts the flow may be continuously variable between the fully open state and the fully closed state. In this way, the rate of fluid delivery to any part of the land being irrigated can be varied according to the needs of the specific crops / plants and / or ground conditions.

[0070] The core may comprise a plurality of channels, each of the plurality of channels comprising a valve. In this way, the flow of fluid through the core may be controlled by selectively opening valves in some of the channels while closing valves in the other channels.

[0071] The core may additionally comprise a bypass to allow the passage of fluid therethrough if the upstream fluid pressure exceeds a predetermined threshold. In this way, damage to the valves and / or the pipe gripping section may be prevented.

[0072] The drone may comprise a power supply. The power supply may be a battery or batteries.

[0073] The drone may comprise a turbine configured to drive an electric generator; the turbine arranged so that it is rotated by the flow of fluid through a pipe in which the drone is deployed. In this way, the current generated by the electric generator may be used to charge the drone’s power supply. The turbine may be located within a channel through the core of the flow regulation device, on an end of the drone or at any other suitable location on or around the drone.

[0074] The drone may be further equipped with additional capabilities. For example, the drone may be configured to transport equipment to locations within the pipe. This may include transporting irrigation equipment to an irrigation location, transporting a sensor to a sensor location and / or transporting deployment equipment to an irrigation location or a sensor location. In some examples, the drone may comprise hole-forming equipment, tube deployment equipment and / or sensor deployment equipment and may carry out the steps of deploying irrigation equipment at an irrigation location and / or deploying sensor equipment at a sensor location in the first aspect.

[0075] Alternatively, or additionally, the drone may be configured to deliver nutrients to a nutrient delivery location within the pipe. For example, the drone may transport nutrients to a nutrient delivery location and release said nutrients into the fluid flowing through the pipe at the nutrient delivery location. The nutrient delivery location may be a location upstream of nutrient deprived irrigation location. Alternatively, the nutrient delivery location may be a location upstream of an irrigation location at which fluid is supplied to a crop or other plant that requires specific nutrients. In this way, nutrients can be delivered to nutrient deprived areas of land in a targeted way and / or specific nutrients can be delivered to specific crops / plants.

[0076] In a fourth aspect, the invention provides a method of operating the irrigation drone of the third aspect, the method comprising the steps of moving the drone through a pipe using the propulsion means; receiving wireless instructions; and in response to receiving the wireless instructions, selectively expanding or contracting the flow regulation device.

[0077] In this way, the drone can selectively restrict or prevent the flow of fluid through the pipe to one or more irrigation locations along the pipe. For example, the drone may receive wireless instructions from a control system, sent in response to a sensor detecting that soil hydration at a first irrigation location has exceeded a predetermined threshold. The drone may then move to a location within the pipe immediately upstream of the first location irrigation and expand the flow regulation device so as to restrict the flow of fluid through the pipe to the first location. Then, at a later point in time, the drone may receive a wireless signal from the control system, sent in response to the sensor detecting that the soil hydration level at the first irrigation location has fallen below the predetermined threshold, and may, in response to receiving that wireless signal from the control system, contract the flow regulation device to permit the flow of fluid therearound through the pipe to the first irrigation location. Alternatively, the drone may receive a wireless signal from the control system, sent in response to a second sensor detecting that soil hydration at a second irrigation location, further upstream than the first irrigation location, has exceeded a predetermined threshold and may, in response to receiving that wireless signal, contract the flow regulation device; move to a location within the pipe immediately upstream of the second irrigation location; and expand the flow regulation device so as to restrict the flow of fluid through the pipe to the second irrigation location.

[0078] The method may involve operating a plurality of such irrigation drones. Where a large number of drones are operated in this way within a network of pipe, it can be possible to achieve highly targeted delivery of fluid to specific irrigation locations around the network of pipes.

[0079] The above and other characteristics, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention. This description is given for the sake of example only, without limiting the scope of the invention. The reference figures quoted below refer to the attached drawings.

[0080] shows perspective and cross-sectional views of land 100 being irrigated using an irrigation system.

[0081] depicts an irrigation system comprising a network of pipes.

[0082] is a perspective view of an embodiment of an irrigation drone for use within a pipe.

[0083] The present invention will be described with respect to certain drawings but the invention is not limited thereto but only by the claims. The drawings described are only schematic and are non-limiting. Each drawing may not include all of the features of the invention and therefore should not necessarily be considered to be an embodiment of the invention. In the drawings, the size of some of the elements may be exaggerated and not drawn to scale for illustrative purposes. The dimensions and the relative dimensions do not correspond to actual reductions to practice of the invention.

[0084] Furthermore, the terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequence, either temporally, spatially, in ranking or in any other manner. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that operation is capable in other sequences than described or illustrated herein. Likewise, method steps described or claimed in a particular sequence may be understood to operate in a different sequence.

[0085] Moreover, the terms top, bottom, over, under and the like in the description and the claims are used for descriptive purposes and not necessarily for describing relative positions. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that operation is capable in other orientations than described or illustrated herein.

[0086] It is to be noticed that the term “comprising”, used in the claims, should not be interpreted as being restricted to the means listed thereafter; it does not exclude other elements or steps. It is thus to be interpreted as specifying the presence of the stated features, integers, steps or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps or components, or groups thereof. Thus, the scope of the expression “a device comprising means A and B” should not be limited to devices consisting only of components A and B. It means that with respect to the present invention, the only relevant components of the device are A and B.

[0087] Reference throughout this specification to “an embodiment” or “an aspect” means that a particular feature, structure or characteristic described in connection with the embodiment or aspect is included in at least one embodiment or aspect of the present invention. Thus, appearances of the phrases “in one embodiment”, “in an embodiment”, or “in an aspect” in various places throughout this specification are not necessarily all referring to the same embodiment or aspect, but may refer to different embodiments or aspects. Furthermore, the particular features, structures or characteristics of any one embodiment or aspect of the invention may be combined in any suitable manner with any other particular feature, structure or characteristic of another embodiment or aspect of the invention, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments or aspects.

[0088] Similarly, it should be appreciated that in the description various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Moreover, the description of any individual drawing or aspect should not necessarily be considered to be an embodiment of the invention. Rather, as the following claims reflect, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

[0089] Furthermore, while some embodiments described herein include some features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention, and form yet further embodiments, as will be understood by those skilled in the art. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0090] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practised without these specific details. In other instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

[0091] In the discussion of the invention, unless stated to the contrary, the disclosure of alternative values for the upper or lower limit of the permitted range of a parameter, coupled with an indication that one of said values is more highly preferred than the other, is to be construed as an implied statement that each intermediate value of said parameter, lying between the more preferred and the less preferred of said alternatives, is itself preferred to said less preferred value and also to each value lying between said less preferred value and said intermediate value.

[0092] The use of the term “at least one” may mean only one in certain circumstances. The use of the term “any” may mean “all” and / or “each” in certain circumstances.

[0093] The principles of the invention will now be described by a detailed description of at least one drawing relating to exemplary features. It is clear that other arrangements can be configured according to the knowledge of persons skilled in the art without departing from the underlying concept or technical teaching, the invention being limited only by the terms of the appended claims.

[0094] shows perspective and cross-sectional views of land 100 being irrigated using an irrigation system.

[0095] The land 100 contains rows of plants 102a. Three particular rows of plants 102a are shown in an enlarged view 102b to aid intelligibility.

[0096] The enlarged view 102b shows three plants each having roots to be irrigated 104a, 104b, 104c. The roots of each plant 104a, 104b, 104c in this example each form an irrigation location. Irrigation equipment is provided at each irrigation location, the irrigation equipment comprising fluid delivery points 106a, 106b, 106c fed by tubes 112a, 112b, 112c respectively. The fluid delivery points 106a, 106b, 106c are configured to deliver fluid, such as water, to the roots of each plant 104a, 104b, 104c. In this way, the plants are nurtured without excessive amounts of waste fluid.

[0097] The fluid is delivered to the fluid delivery points 106a, 106b, 106c from a pipe 108. The tubes 112a, 112b, 112c pass through the sidewall 110 of the pipe 108. Means for regulating the flow of fluid through the tubes 112a, 112b, 112c to the fluid delivery points 106a, 106b, 106c may be provided within the tubes 112a, 112b, 112c.

[0098] To minimise the wasted fluid, and to avoid applying excessive fluid to the plant roots 104a, 104b, 104c sensors 114a, 114b are provided. Each sensor 114a, 114b is provided in a respective shaft 116a, 116b. The sensors 114a, 114b may be configured to measure the soil characteristics and the flow rate of fluid to the fluid delivery points 106a, 106b, 106c may be varied based on the measured soil characteristics.

[0099] In some examples, the system may include multiple pipes. For example, the enlarged view 102b of three particular rows of plants 102a may also be an enlarged view 102b of three other rows of plants 103a. In this way, different plants can receive different amounts of fluid and large areas of land can be irrigated.

[0100] In some examples, a single pipe 108 may be combined with relatively long tubes 112a, 112b, 112c and relatively long shafts 116a, 116b to provide wide area irrigation. For example, each tube 112a, 112b, 112c and / or each shaft 116a, 116b may be at least 1 meter in length, at least 3 meters in length or at least 5 meters in length. Additional fluid delivery points may be located along the length of each tube 112a, 112b, 112c.

[0101] depicts an irrigation system comprising a network of pipes. The pipes are installed in a soil layer but, for clarity, the soil layer is not shown.

[0102] The pipes are arranged in a grid 200, comprising primary pipes 202a, 202b and a plurality of secondary pipes 204. The primary pipes 202a, 202b are arranged to run approximately parallel to the slope of the land, indicated by arrow 220 which points in an uphill direction. The secondary pipes 204 run between primary pipes 202a, 202b and are arranged to approximately follow the gradient contours of the land.

[0103] An enlarged view is provided of a junction 206 between primary pipe 202a and one of the secondary pipes 204. Junction 206 comprises three pipe portions 208, one of which forms a part of primary pipe 202a; one of which connects secondary pipe 204 to primary pipe 202a in the uphill direction; and one of which connects secondary pipe 204 to primary pipe 202a in the downhill direction.

[0104] At each corner of the grid 200, there is an inspection / access chamber 210 (shown in an enlarged view), accessible via a moveable cover 212. Irrigation equipment, sensor equipment and / or drones may be deployed from one or more of the inspection / access chambers 210. Fluid and / or nutrients may be introduced into the grid 200 at one or more of the inspection / access chambers 210. While four inspection / access chambers 210 are depicted in, it is to be appreciated that in alternative arrangements, a different number of inspection / access chambers may be provided. In alternative arrangements, inspection / access chambers may be located on straight sections of pipes or at junctions between pipes.

[0105] is a perspective view of an embodiment of an irrigation drone for use within a pipe (not shown).

[0106] The drone 300 comprises a chassis 310, two pairs of wheels 320a, 320b and a flow regulation device 330. Each of the pairs of wheels 320a, 320b comprises an upper wheel 322a, 322b and a lower wheel 324a, 324b. The upper wheels 322a, 322b are mounted on arms 326a, 326b, which are pivotally connected to the chassis 310. Similarly, the lower wheels 324a, 324b are mounted on arms (not visible in), which are also pivotally connected to the chassis. The separation between the upper wheels 322a, 322b and the lower wheels 324a, 324b can be varied to ensure that both the upper wheels 322a, 322b and the lower wheels 324a, 324b engage with the inside of the pipe. As depicted, the separation between the upper wheel 322a and the lower wheel 324a is controlled by a hydraulic ram 328a (a corresponding hydraulic ram being present between upper wheel 322b and lower wheel 324b but obscured from view). However, it is to be appreciated that, in alternative embodiments, the separation between upper wheels 322a, 322b and lower wheels 324a, 324b may be controlled by other means.

[0107] Similarly, it is to be appreciated that, while two pairs of wheels 320a, 320b are depicted, in some embodiments, a different number of pairs of wheels may be present and, in other embodiments, the wheels may be arranged in groups of three, four or more rather than in pairs.

[0108] Either or both of the pairs of wheels 320a, 320b may be driven.

[0109] The flow regulation device 330 comprises a pipe gripping section 332 surrounding a central core 334. The flow regulation device is depicted in its retracted state with the outer extent of the pipe gripping section 332 in the expanded state indicated by the dotted line. In the expanded state, the pipe gripping section 332 grips the inside wall of the pipe, locking the drone 300 in place and preventing the flow of fluid around the outside of the flow regulation device 330. Any flow of fluid must then be through the core 334 which may comprise one or more valves disposed within channels (not shown).

[0110] The chassis 310 comprises a built-in compartment 312 containing a wireless communication device (not shown) which enables the drone 300 to communicate with a remote operator and / or other drones. Compartment 312 may additionally house a power supply, a drive unit for driving one or more of the pairs of wheels 320a, 320b and / or any other hardware required for the processing of communications and / or the control or actuation of any moving parts.

Claims

An irrigation system comprising:an underground pipe;irrigation equipment configured to be deployed at an irrigation location along the pipe;sensor equipment configured to be deployed at a sensor location along the pipe, the sensor equipment configured to detect soil characteristics of soil outside the pipe; anda control system configured to selectively supply fluid from the irrigation equipment in response to the sensor equipment detecting the soil characteristics.The irrigation system according to claim 1, wherein the pipe is pre-perforated.The irrigation system according to claim 1 or claim 2, wherein the irrigation equipment comprises a tube configured to be deployed through a sidewall of the pipe, and to permit the flow of fluid therethrough from the pipe to a fluid delivery point located outside the pipe.The irrigation system according to claim 3, wherein the irrigation equipment comprises means for selectively restricting the flow of fluid from the pipe to the fluid delivery point.The irrigation system according to claim 3 or claim 4, wherein the irrigation equipment comprises hole-forming equipment configured to make a hole in the sidewall of the pipe at the irrigation location and / or tube deployment equipment configured to deploy a tube through the sidewall of the pipe at the irrigation location.The irrigation system according to any preceding claim, wherein the sensor equipment comprises a remote sensor.The irrigation system according to according to any preceding claim, wherein the sensor equipment comprises a sensor configured to be deployed at a location outside the pipe.The irrigation system according to claim 6 or claim 7, wherein the sensor equipment comprises hole-forming equipment configured to make a hole in the sidewall of the pipe at the sensor location and / or sensor deployment equipment configured to deploy the sensor through the sidewall of the pipe at the sensor location.The irrigation system according to any preceding claim, wherein the control system comprises one or more drones deployed within the pipe, the drone or drones configured to control the flow of fluid through the pipe.The irrigation system according to any preceding claim, wherein the fluid comprises one or more of water, fertilizer, a herbicide and / or a selective herbicideA method of irrigating land, the method comprising the steps of:installing an underground pipe;deploying irrigation equipment at an irrigation location along the pipe;deploying sensor equipment at a sensor location along the pipe;the sensor detecting soil characteristics of soil outside the pipe; andresponsive to detecting the soil characteristics, selectively supplying fluid from the irrigation equipment.An irrigation drone for use within a pipe, the drone comprising:propulsion means for facilitating movement of the drone through a pipe;a wireless communication device configured to receive wireless instructions; anda flow regulation device configured to selectively expand and contract in response to receiving wireless instructions, wherein, in an expanded state the flow regulation device is configured to be engageable with the inside of the pipe to restrict the flow of fluid therethrough, and in a retracted state the flow regulation device is configured to permit the flow of fluid therearound within the pipe.The irrigation drone according to claim 12, wherein the wireless communication device is configured to enable communication with another drone within the pipe.The irrigation drone according to claim 12 or claim 13, wherein the wireless communication device is configured to enable communication directly with sensor equipment and / or irrigation equipment.The irrigation drone according to any one of claims 12 to 14, wherein the flow regulation device comprises a valve.The irrigation drone according to any one of claims 12 to 15, additionally comprising a turbine configured to drive an electric generator; the turbine arranged so that it is rotated by the flow of fluid through a pipe in which the drone is deployed.The irrigation device according to any one of claims 12 to 16, additionally comprising hole-forming equipment, tube deployment equipment and / or sensor deployment equipment.The irrigation drone according to any one of claims 12 to 17, wherein the irrigation drone is configured to deliver nutrients to a nutrient delivery location within the pipe.A method of operating the irrigation drone according to any one of claims 12 to 18, the method comprising the steps of:moving the drone through a pipe using the propulsion means;receiving wireless instructions; andin response to receiving the wireless instructions, selectively expanding or contracting the flow regulation device.

Images