CN111528059A - Artificial intelligent watering equipment for landscaping - Google Patents
Artificial intelligent watering equipment for landscaping Download PDFInfo
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- CN111528059A CN111528059A CN202010493405.9A CN202010493405A CN111528059A CN 111528059 A CN111528059 A CN 111528059A CN 202010493405 A CN202010493405 A CN 202010493405A CN 111528059 A CN111528059 A CN 111528059A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
- A01G25/023—Dispensing fittings for drip irrigation, e.g. drippers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
- G01N33/246—Earth materials for water content
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
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- Soil Sciences (AREA)
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Abstract
The invention relates to artificial intelligent watering equipment for landscaping, which comprises an advancing module, a navigation module, a soil humidity detection module, a watering module and an analysis control module, wherein the advancing module is used for moving and walking of the watering equipment, the navigation module is used for constructing a greening area map and planning an advancing path of the watering equipment, the soil humidity detection module is used for detecting the humidity of plant planting soil, the analysis control module is used for judging whether to carry out humidity detection on the soil or not according to the real-time position of the watering equipment, calculating the watering water quantity according to the detected soil humidity value and the set optimal plant humidity value, controlling the watering module to carry out quantitative watering, and controlling the watering equipment to advance according to the planned advancing path. The intelligent greening watering system can automatically walk in a greening area, and automatically and accurately and quantitatively water plants according to the humidity of the plant planting soil, so that the plants are always in the optimal water growth environment, the whole process does not need manual participation, and the automation and the intelligence of greening watering are realized.
Description
Technical Field
The invention relates to watering equipment, in particular to artificial intelligent watering equipment for landscaping.
Background
Most of the existing landscaping watering equipment is fixedly arranged at a certain position of a garden, and only plants in a small range near the fixed position of the existing landscaping watering equipment can be watered, even if the watering equipment is placed on a mobile vehicle to increase a moving function, the mobile vehicle also needs to be manually operated and controlled or driven, and automatic walking watering of the watering equipment cannot be realized. In addition, the existing watering equipment cannot accurately judge the water quantity of the plants to be watered, and only can manually control the watering quantity according to experience, so that the humidity or water saturation of the plant planting soil cannot be matched with the optimal humidity or optimal water saturation of the plant growth, and the normal growth of the plants is influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the artificial intelligent watering equipment for the landscaping, which can automatically plan the walking path according to the garden environment and accurately control the watering amount of the plants according to the plant types and the soil humidity.
The technical scheme for realizing the aim of the invention is as follows: an artificial intelligence equipment that waters of afforestation includes:
the travelling module comprises a travelling trolley, the travelling trolley comprises a chassis and wheels arranged on the chassis, and all or part of the wheels are provided with wheel driving mechanisms;
the navigation module is arranged on the movable trolley and comprises a position real-time detection sub-module and a path analysis sub-module, and the path analysis sub-module constructs a watering area map and plans a traveling path of the movable trolley according to the real-time position information of the movable trolley detected by the position real-time detection sub-module;
the soil humidity detection module comprises a humidity sensor, a probe and a probe driving mechanism, wherein the humidity sensor is arranged at the bottom of the probe, the top end of the probe is connected with the probe driving mechanism, and the probe driving mechanism is arranged on the movable trolley;
the watering module comprises a water tank, a water pump, a water pipe and a spray head, wherein the water tank is arranged on the movable trolley, the water pump is arranged at the bottom in the water tank, and an outlet of the water pump is connected with the spray head through the water pipe;
and the analysis control module is used for calculating the watering water quantity and controlling the watering module to carry out quantitative watering according to the soil humidity value detected by the soil humidity detection module and the set optimal plant humidity value, controlling the travelling trolley to travel according to the travelling path planned by the navigation module, judging whether to control the soil humidity detection module to carry out humidity detection on the soil according to the real-time position of the travelling trolley, accessing output signals of the path analysis submodule and the humidity sensor into the analysis control module, and accessing output signals of the analysis control module into the control ends of the wheel driving mechanism, the probe driving mechanism, the water pump and the spray head respectively.
Preferably, the path analysis sub-module constructs and stores a full-course or partial-area map of the watering area according to real-time position information detected by the position real-time detection sub-module in the full-course or partial-area for the first time in the watering area, plans a traveling path of the mobile trolley by matching and comparing the real-time position information of the mobile trolley detected by the position real-time detection sub-module with the constructed map, and newly constructs the map when the real-time position information of the mobile trolley detected by the position real-time detection sub-module is not matched with the constructed map.
Preferably, the path analysis sub-module adopts a GPS, SLAM or optical flow sensing mode to construct a map and plan a traveling path of the mobile car, and the position real-time detection sub-module includes a GPS receiver, a camera or an optical flow sensor.
Preferably, the module of watering still includes shower nozzle elevating system and shower nozzle rotary mechanism, shower nozzle elevating system is rack and pinion mechanism, worm gear mechanism or ball screw mechanism, shower nozzle elevating system's transmission portion fixed set up in on the travelling car, shower nozzle elevating system's removal portion is connected shower nozzle rotary mechanism, shower nozzle rotary mechanism drive is connected the shower nozzle, analysis and control module's corresponding control signal inserts the control end of shower nozzle elevating system's transmission portion.
Preferably, shower nozzle rotary mechanism includes disc, axis of rotation, driving gear and driven gear, shower nozzle elevating system's lift portion the top with the coaxial perpendicular fixed connection in bottom surface of disc, the bottom of axis of rotation with the coaxial perpendicular rotation in top surface of disc is connected, the coaxial fixed suit of driven gear is in the axis of rotation, the driving gear with driven gear meshes, the driving gear is equipped with its pivoted driving gear motor of drive, the driving gear motor fixed set up in on the disc, shower nozzle fixed connection be in the axis of rotation, analysis and control module's corresponding control signal inserts the control end of driving gear motor.
Preferably, the probe driving mechanism is a rack and pinion mechanism, a worm gear mechanism or a ball screw mechanism, a transmission part of the probe driving mechanism is fixedly arranged on the movable trolley, the bottom end of a moving part of the probe driving mechanism is fixedly connected with the top end of the probe, the moving part of the probe driving mechanism is positioned outside the movable trolley or a through hole through which the moving part of the probe driving mechanism can pass is arranged on a chassis of the movable trolley, or the probe driving mechanism is a manipulator.
Preferably, the artificial intelligent watering equipment for landscaping further comprises a plant identification module, the plant identification module comprises a plant identification camera, the signal output of the plant identification camera is connected to the analysis control module, the analysis control module stores image information of all plants in the watering area and the optimal humidity value of each plant growth, the analysis control module matches and compares the plant image shot by the plant identification camera with the image information of the plants stored in the analysis control module, calls the optimal humidity value of the plant growth according to the comparison result, and calculates the water quantity needed to be watered in the growing area of the plant by combining the soil humidity value detected by the soil humidity detection module.
Preferably, the artificial intelligent watering equipment for landscaping further comprises a display module, the display module comprises a display screen, the display screen is fixedly arranged on the movable trolley, and the corresponding display signal of the analysis control module is connected to the display screen.
Preferably, the artificial intelligent watering equipment for landscaping further comprises a voice module, the voice module comprises a loudspeaker, the loudspeaker is fixedly arranged on the movable trolley, and the corresponding voice prompt signal of the analysis control module is connected to the loudspeaker.
Preferably, the artificial intelligent watering equipment for landscaping further comprises a power supply module, wherein the power supply module is fixedly arranged on the movable trolley, the power supply output of the power supply module is connected to each module and each driving mechanism, and the power supply module comprises a solar cell and/or a storage battery.
The invention has the beneficial effects that:
1. the invention can intelligently plan the travelling path of the mobile trolley in a garden area or a watering area through the navigation module, realizes automatic walking watering of watering equipment in the environment without manual control or intervention, and realizes automation and intellectualization of landscaping watering.
2. The invention can automatically detect the humidity of the plant planting soil through the soil humidity detection module, automatically identify the plant type through the plant identification module, calculate the water quantity needed to be watered in the plant or the planting area where the plant is located by combining the optimal humidity value of the plant growth, automatically control the watering module to carry out accurate quantitative watering, enable the plant to be always in the optimal water growth environment (the optimal soil humidity or the optimal soil water saturation) and ensure the healthy growth of the plant.
3. The watering module can realize automatic lifting and automatic rotation of the spray head through the arrangement of the spray head lifting mechanism and the spray head rotating mechanism, and is suitable for watering and irrigating different planting environments or different types of plants (such as potted plants, flat-land plants, slope-planted plants, trees or flower clusters and the like).
4. The probe driving mechanism can automatically drive the probe to carry the humidity sensor to be inserted into the planting soil of the plant after the watering equipment moves to the plant planting area, automatically detect the soil humidity, determine the water shortage degree of the plant, and further control the watering module through the analysis control module to realize accurate quantitative watering of the plant, so that the watering amount is not too much or too little, the healthy growth of the plant can be met, the waste of water resources can not be caused, and the utilization level of the water resources can be effectively improved.
Drawings
FIG. 1 is a schematic diagram of the hardware architecture of one embodiment of the present invention;
FIG. 2 is a functional block diagram of the present invention;
fig. 3 is an external view schematically showing an embodiment of the present invention.
Detailed Description
Referring to fig. 1, 2 and 3, the invention discloses an artificial intelligent watering device for landscaping, which comprises an advancing module, a navigation module, a soil humidity detection module, a watering module and an analysis control module. The travelling module is used for moving and walking of watering equipment and comprises a travelling trolley, wherein the travelling trolley comprises a chassis 1 and wheels arranged on the chassis, all or part of the wheels are provided with wheel driving mechanisms, generally, the number of the wheels is four, the wheels comprise two front wheels 2 and two rear wheels 3, the front wheels are steering wheels and are respectively arranged on the left side and the right side of the front part of the bottom surface of the chassis, the wheel driving mechanisms of the front wheels are wheel steering motors, the rear wheels are driving wheels and are respectively arranged on the left side and the right side of the rear part of the bottom surface of the chassis, the wheel driving mechanisms of the rear wheels are wheel driving motors, and construction and control of the travelling trolley can be carried out according to the prior art. The navigation module is used for planning the advancing path of the watering equipment, is arranged on the movable trolley and comprises a position real-time detection sub-module and a path analysis sub-module, and the path analysis sub-module constructs a watering area map and plans the advancing path of the movable trolley according to the real-time position information (the real-time position information in the advancing process or in the static state) of the movable trolley detected by the position real-time detection sub-module. Soil moisture detection module is used for detecting the humidity of plant planting regional soil, including humidity transducer 4, probe 5 and probe actuating mechanism, humidity transducer fixed set up in the bottom of probe, the top of probe is connected probe actuating mechanism's action portion, probe actuating mechanism sets up on the travelling car. The watering module is used for watering and irrigating plants and comprises a water tank 6, a water pump 7, a water conveying pipe 8 and a spray head 9, wherein the water tank is fixedly arranged on the chassis of the movable trolley, the water pump is fixedly arranged at the bottom in the water tank, an outlet (water outlet) of the water pump is connected with the spray head through the water conveying pipe, the spray head can be provided with a control valve, and the control valve can be an electromagnetic valve. The analysis control module is used for calculating the watering water quantity and controlling the watering module to carry out quantitative watering according to the soil humidity value detected by the soil humidity detection module and the set optimal plant humidity value, controlling the travelling trolley to travel according to the travelling path planned by the navigation module, judging whether to control the soil humidity detection module to carry out humidity detection on the soil according to the real-time position of the travelling trolley, connecting output signals of the path analysis submodule and the humidity sensor into the analysis control module, connecting output signals of the analysis control module into the control ends of the wheel driving mechanism, the probe driving mechanism, the water pump and the spray head respectively, and adopting a 51 single chip microcomputer or a control panel.
The invention can intelligently plan the travelling path of the mobile trolley in a garden area or a watering area through the navigation module, realize automatic walking watering of watering equipment in the environment without manual control or intervention, and realize automation and intellectualization of landscaping watering. And after the watering equipment moves to a plant planting area, the soil humidity detection module is automatically controlled to detect the soil humidity, the water shortage degree of the plant is determined, and then the watering module is controlled by the analysis control module to realize accurate quantitative watering of the plant, so that the watering amount is not too much or too little, the healthy growth of the plant can be met, the waste of water resources can not be caused, and the utilization level of the water resources can be effectively improved.
The path analysis sub-module preferably constructs a full-course or partial-area map of the watering area according to real-time position information detected by the position real-time detection sub-module in the first full-course or partial area of the watering area (namely, the first traveling process of the watering equipment in the watering area), and stores the full-course or partial-area map in a map database inside the path analysis sub-module, if the constructed map is a partial-area map of the watering area, when the mobile trolley travels to the other partial area of the watering area, another partial-area map is constructed, and two or more partial-area maps are combined to construct a full-course map of the watering area. On the basis of the existing electronic map information, information related to detection and watering control, such as planted crops, planting periods or growing time, soil humidity (according to detection depth) required by each growing period and the like in corresponding areas can be set. And the real-time position information of the mobile trolley detected by the position real-time detection submodule in the travelling process of the mobile trolley is matched and compared with a constructed map (stored in the path analysis submodule), the travelling path of the mobile trolley is planned, and the map is newly constructed and stored when the real-time position information of the mobile trolley detected by the position real-time detection submodule is not matched with the constructed map. When the watering equipment is used for watering and irrigating the gardens again, the map of the area stored in the path analysis submodule is called according to the real-time position information of the movable trolley detected by the position real-time detection submodule, reconstruction is not needed, and the map reconstruction work is executed only when the real-time position information of the movable trolley is not matched with the constructed map.
The path analysis sub-module preferably adopts a GPS, SLAM or optical flow sensing mode to construct a map and plan the travelling path of the mobile trolley, the path analysis sub-module may comprise or adopt suitable map construction and travelling path planning data processing software in the prior art, and the position real-time detection sub-module may correspondingly comprise or adopt a GPS receiver, a camera or an optical flow sensor.
The module that waters still preferredly includes shower nozzle elevating system and shower nozzle rotary mechanism, shower nozzle elevating system is rack and pinion mechanism, worm gear mechanism or ball mechanism, shower nozzle elevating system's transmission portion fixed set up in on the travelling car, shower nozzle elevating system's removal portion is connected shower nozzle rotary mechanism, shower nozzle rotary mechanism drive is connected the shower nozzle, analysis control module's corresponding control signal inserts the control end of shower nozzle elevating system's transmission portion. For example, the spray head lifting mechanism is a rack and pinion mechanism, a rack 10 of the rack and pinion mechanism is vertically arranged, a slide rail 11 is vertically and fixedly arranged on the top surface of the chassis, the slide rail is positioned on one side of the water tank, a slide block 12 is fixedly arranged on the rack, the slide block is in sliding fit with the slide rail, a gear 13 of the rack and pinion mechanism is arranged on a frame of the movable trolley through a support, the gear is meshed with the rack, the gear is provided with a gear driving motor, and a corresponding control signal of the analysis control module is connected to a control end of the gear driving motor. The sprayer rotating mechanism can comprise a disc 14, a rotating shaft 15, a driving gear 16 and a driven gear 17, the top end of the rack is coaxially and vertically fixedly connected with the bottom surface of the disc, the bottom end of the rotating shaft is coaxially and vertically rotatably connected with the top surface of the disc (such as connected with a bearing), the driven gear is coaxially and fixedly sleeved on the rotating shaft, the driving gear is meshed with the driven gear, the driving gear is provided with a driving gear motor 18 for driving the driving gear motor to rotate, a motor output shaft of the driving gear motor is coaxially and fixedly connected with the driving gear, the driving gear motor is fixedly arranged on the disc, the sprayer is fixedly connected on the rotating shaft, a corresponding control signal of the analysis control module is connected to a control end of the driving gear motor, the quantity of the sprayers can be a plurality, and the sprayers can be respectively connected with the water, or connected and communicated with a connecting pipe 19 which is rotationally connected with the water conveying pipe, such as connected through a rotary joint. The number of the spray head lifting mechanisms and the spray head rotating mechanisms can be one set, two sets or more sets, and each spray head rotating mechanism is in driving connection with a spray head. The module of watering passes through shower nozzle elevating system with shower nozzle rotary mechanism's setting can realize the automatic rising and the autogiration of shower nozzle can be according to the different planting environment and the kind automatically regulated of plant whether the height, the turned angle of shower nozzle and when watering need the shower nozzle lasts and rotates or swings to the adaptation is to the irrigation that waters of different planting environment under or different kinds of plant (like potted plant, slope planting plant, trees or florescence etc.) to different planting environment.
The top of water tank can be uncovered, and its upper portion is equipped with horizontal baffle 20, the baffle is cyclic annular, all around marginal with the inner wall correspondence all around of water tank can dismantle sealing connection, the baffle certainly the inner wall of water tank to the slope sets up downwards in the water tank, the setting of baffle can collect the rainwater in the rainy day, and the reuse is used for the watering of plant, can effectively the water economy resource, in the water tank the below of baffle can be equipped with the cover the filter screen 21 of water tank cross section for the filtration of rainwater, can be equipped with the drain on the bottom lateral wall of water tank and supply the through-hole that the raceway passed, the pore wall of through-hole with the pipe wall sealing connection of raceway.
The probe driving mechanism can be a gear rack mechanism, a worm gear mechanism or a ball screw mechanism, a transmission part of the probe driving mechanism is fixedly arranged on the movable trolley, the bottom end of a moving part of the probe driving mechanism is fixedly connected with the top end of the probe, the moving part of the probe driving mechanism is positioned outside the movable trolley or a through hole through which the moving part of the probe driving mechanism can pass is arranged on a chassis of the movable trolley, or the probe driving mechanism is a mechanical arm. For example, the probe driving mechanism is a rack and pinion mechanism, a probe rack 22 of the rack and pinion mechanism is vertically arranged, a probe rack slide rail 23 is vertically and fixedly arranged on the top surface of the chassis, a probe rack slide block 24 is fixedly arranged on the probe rack, the probe rack slide block is in sliding fit with the probe rack slide rail, a probe gear 25 of the rack and pinion mechanism is installed on a frame of the moving trolley through a support, the probe gear is meshed with the probe rack, the probe gear is provided with a probe gear driving motor, a corresponding control signal of the analysis control module is accessed to a control end of the probe gear driving motor, the bottom end of the probe rack is fixedly connected with the top end of the probe, and a through hole 26 for the probe rack and the probe to pass through is arranged on the chassis. The probe driving mechanism can automatically drive the probe to carry the humidity sensor to be inserted into the planting soil of the plant after the watering equipment is moved to a plant planting area, automatically detects the soil humidity, determines the water shortage degree of the plant, and then controls the watering module to realize accurate quantitative watering of the plant through the analysis control module, so that the watering amount is not too much or too little, the healthy growth of the plant can be met, the waste of water resources can not be caused, and the utilization level of the water resources can be effectively improved.
The garden greening artificial intelligent watering equipment also preferably comprises a plant identification module, the plant identification module comprises a plant identification camera, the signal output of the plant identification camera is accessed into the analysis control module, the plant identification camera and the position real-time detection sub-module can adopt the same camera or different cameras, a plant information database is arranged in the analysis control module, the image information of all plants in a watering area and the optimal humidity value of each plant growth are stored in the plant information database, the moving trolley scans or shoots images in a certain range (such as 2m, 3m or 5 m) in front of the moving trolley through the plant identification camera in the advancing process, if plants exist in the images, the moving trolley is controlled to stop near the plants through the analysis control module, and the soil humidity detection module is controlled to detect the humidity of the planting soil, meanwhile, the analysis control module matches and compares the plant image scanned or shot by the plant identification camera with the image information of the plant stored in the analysis control module, calls the optimal soil humidity value of the plant growth according to the comparison result, calculates the water quantity needed to be watered in the growth area of the plant by combining the soil humidity value detected by the soil humidity detection module (the calculation mode is stored in the analysis control module), and then carries out accurate quantitative watering through the watering module, so that the plant is always in the optimal water growth environment (the optimal soil humidity or the optimal soil water saturation), and the healthy growth of the plant is ensured. The corresponding relation of the leaf chromaticity and the soil humidity of the corresponding plant in different growth periods to the plant growth adaptability can be established, the corresponding relation (database) of the watering amount corresponding to the different chromaticity of the leaf in a specific growth period and a specific watering interval is established, the average chromaticity value of all leaves in the image can be used as a judgment basis, the leaf identification of various plants is carried out through a characteristic identification or edge identification technology, and the corresponding identification standard is prestored. The plant identification module can mark the plant species and the position information on a map which is constructed and stored in the path analysis sub-module after identifying the plant species and the position in the area for the first time to form a plant distribution diagram, when the watering equipment waters the plants in the area again, the parking position of the movable trolley is directly determined according to the plant position information on the plant distribution diagram, soil humidity detection is carried out, the optimal soil humidity value of the growth of the plants is called, and the plant distribution diagram reconstruction work is carried out only when the plant image scanned or shot by the plant identification module is not matched with the plant information of the corresponding area in the plant distribution diagram. The criteria on the map that the plant species and location information has been constructed and stored in the path analysis sub-module may be any suitable map information adding means or means.
Afforestation artificial intelligence equipment of watering can also include keeps away the barrier module, it includes obstacle detection terminal 27 to keep away the barrier module, obstacle detection terminal installs the front end on travelling car's chassis, obstacle detection terminal's output signal inserts analysis control module, obstacle detection terminal is used for detecting whether have the barrier in certain distance range (if 1m, 1.5m or 2 m) in the place ahead of travelling car, if have the barrier then pass through analysis control module control the wheel turns to motor drive the front wheel turns to, obstacle detection terminal can be infrared ray sensor or ultrasonic sensor.
The artificial intelligent watering equipment for landscaping can further comprise a display module, the display module comprises a display screen, the display screen is fixedly arranged on the movable trolley, corresponding display signals of the analysis control module are connected into the display screen, the display screen is used for displaying a watering area map, the travelling path, the soil humidity value, the watering amount, the electric quantity of the equipment, a man-machine conversation interface and other information of the movable trolley, watering time and watering frequency can be set artificially through the man-machine conversation interface, and the timing setting function of the watering time and the watering frequency can adopt any suitable man-machine conversation timing setting mode or means.
The artificial intelligent watering equipment for landscaping can further comprise a voice module, the voice module comprises a loudspeaker, the loudspeaker is fixedly arranged on the movable trolley, corresponding voice prompt signals of the analysis control module are connected to the loudspeaker, and the loudspeaker is used for voice prompt of soil humidity value, watering amount, electric quantity of the equipment, watering time, watering frequency, fault diagnosis and the like.
The artificial intelligent watering equipment for landscaping can further comprise a power supply module 28, wherein the power supply module is fixedly arranged on the movable trolley, power supply output of the power supply module is connected with each module and each driving mechanism and used for supplying power to each module and each driving mechanism, the power supply module can comprise a solar cell and/or a storage battery, the solar cell can adopt any suitable conventional solar power generation system and is provided with an energy storage device, the electric energy converted by the solar cell can be stored when the watering equipment does not perform watering operation, the storage battery is used as a standby battery, and the watering equipment can be ensured to normally work on cloudy days, insufficient sunlight, shielded sunlight or when the solar cell breaks down.
The artificial intelligent watering equipment for landscaping can be provided with a shell 29, the shell can be set into a robot shape, an automobile shape, a plant shape or an animal shape so as to improve the overall aesthetic degree of the equipment, the shell is fixedly arranged on a chassis of a movable trolley, modules are arranged in the shell, a spray head extends out of the shell, a camera 30 and a display screen 31 are embedded on a shell of the shell, and a through hole 32 for transmitting sound of a loudspeaker is arranged on the shell of the shell.
The artificial intelligent watering equipment for landscaping is not only suitable for plant watering in gardens, but also suitable for plant watering in greening areas such as residential quarters, parks and the like.
The main working principle and process of the invention are as follows: when the watering equipment waters plants in a greening area for the first time, the path analysis submodule constructs a map of the greening area and stores the map according to the real-time position information of the movable trolley detected by the position real-time detection submodule as the movable trolley enters the greening area, and the real-time position information of the movable trolley detected by the position real-time detection submodule of the movable trolley in the advancing process of the movable trolley is matched and compared with the constructed map so as to plan the advancing path of the movable trolley. The plant identification module scans or shoots an image in a certain range in front of the mobile vehicle through the plant identification camera, if no plant exists in the image, the mobile vehicle continues to move, if a plant exists in the image, the mobile vehicle is controlled to stop near the plant through the analysis control module, the soil humidity detection module is controlled to detect the humidity of the plant planting soil, meanwhile, the analysis control module matches and compares the plant image scanned or shot by the plant identification camera with the image information of the plant stored in the mobile vehicle, the optimal soil humidity value for the plant growth is called according to the comparison result, the watering amount required by the growth area of the plant is calculated by combining the soil humidity value detected by the soil humidity detection module, and meanwhile, the plant type and position information are marked on the constructed map to form a plant distribution map, and the watering module is controlled by the analysis control module to perform accurate quantitative watering, and the movable trolley continues to move after the quantitative watering is finished. When the real-time position information of the moving trolley detected by the position real-time detection sub-module is not matched with the constructed map or the plant image scanned or shot by the plant identification module is not matched with the plant information of the corresponding area in the plant distribution diagram, reconstructing the map or the plant distribution diagram. When the watering equipment waters the plants in the greening area again, the map and the plant distribution map constructed in the first watering process are directly called to control the advancing of the watering equipment, detect the soil humidity and water the plants.
Claims (10)
1. The utility model provides an artificial intelligence equipment of watering of afforestation which characterized in that includes:
the travelling module comprises a travelling trolley, the travelling trolley comprises a chassis and wheels arranged on the chassis, and all or part of the wheels are provided with wheel driving mechanisms;
the navigation module is arranged on the movable trolley and comprises a position real-time detection sub-module and a path analysis sub-module, and the path analysis sub-module constructs a watering area map and plans a traveling path of the movable trolley according to the real-time position information of the movable trolley detected by the position real-time detection sub-module;
the soil humidity detection module comprises a humidity sensor, a probe and a probe driving mechanism, wherein the humidity sensor is arranged at the bottom of the probe, the top end of the probe is connected with the probe driving mechanism, and the probe driving mechanism is arranged on the movable trolley;
the watering module comprises a water tank, a water pump, a water pipe and a spray head, wherein the water tank is arranged on the movable trolley, the water pump is arranged at the bottom in the water tank, and an outlet of the water pump is connected with the spray head through the water pipe;
and the analysis control module is used for calculating the watering water quantity and controlling the watering module to carry out quantitative watering according to the soil humidity value detected by the soil humidity detection module and the set optimal plant humidity value, controlling the travelling trolley to travel according to the travelling path planned by the navigation module, judging whether to control the soil humidity detection module to carry out humidity detection on the soil according to the real-time position of the travelling trolley, accessing output signals of the path analysis submodule and the humidity sensor into the analysis control module, and accessing output signals of the analysis control module into the control ends of the wheel driving mechanism, the probe driving mechanism, the water pump and the spray head respectively.
2. An artificial intelligent watering device for landscaping as defined in claim 1, wherein the path analysis sub-module constructs and stores a full or partial area map of a watering area based on real-time position information detected by the real-time position detection sub-module for the first full or partial area in the watering area, maps the traveling path of the mobile cart by matching and comparing the real-time position information of the mobile cart detected by the real-time position detection sub-module with the constructed map, and newly constructs the map when the real-time position information of the mobile cart detected by the real-time position detection sub-module does not match with the constructed map.
3. An artificial intelligent watering device for landscaping as claimed in claim 2 wherein the path analysis sub-module maps and plans the path of travel of the mobile cart using GPS, SLAM or optical flow sensing, and the real-time location detection sub-module includes a GPS receiver, camera or optical flow sensor.
4. An artificial intelligent watering device for landscaping as defined in claim 3, wherein the watering module further comprises a nozzle lifting mechanism and a nozzle rotating mechanism, the nozzle lifting mechanism is a rack and pinion mechanism, a worm and gear mechanism or a ball screw mechanism, a transmission part of the nozzle lifting mechanism is fixedly arranged on the movable trolley, a moving part of the nozzle lifting mechanism is connected with the nozzle rotating mechanism, the nozzle rotating mechanism is in driving connection with the nozzle, and a corresponding control signal of the analysis control module is connected to a control end of the transmission part of the nozzle lifting mechanism.
5. An artificial intelligent watering device for landscaping as defined in claim 4, wherein the nozzle rotating mechanism comprises a disc, a rotating shaft, a driving gear and a driven gear, the top end of the elevating part of the nozzle elevating mechanism is coaxially and vertically fixed with the bottom surface of the disc, the bottom end of the rotating shaft is coaxially and vertically connected with the top surface of the disc, the driven gear is coaxially and fixedly sleeved on the rotating shaft, the driving gear is engaged with the driven gear, the driving gear is provided with a driving gear motor for driving the driving gear to rotate, the driving gear motor is fixedly arranged on the disc, the nozzle is fixedly connected on the rotating shaft, and the corresponding control signal of the analysis control module is connected to the control end of the driving gear motor.
6. An artificial intelligent watering device for landscaping as defined in claim 5, wherein the probe driving mechanism is a rack and pinion mechanism, a worm and gear mechanism or a ball screw mechanism, a transmission part of the probe driving mechanism is fixedly arranged on the mobile trolley, a bottom end of a moving part of the probe driving mechanism is fixedly connected with a top end of the probe, the moving part of the probe driving mechanism is positioned outside the mobile trolley or on a chassis of the mobile trolley is provided with a through hole for the moving part of the probe driving mechanism to pass through, or the probe driving mechanism is a manipulator.
7. An artificial intelligent watering device for landscaping according to claim 1, 2, 3, 4, 5 or 6, further comprising a plant identification module, wherein the plant identification module comprises a plant identification camera, a signal output of the plant identification camera is connected to the analysis control module, the analysis control module stores image information of all plants in the watering area and an optimal humidity value of each plant growth, the analysis control module matches and compares the plant image shot by the plant identification camera with the image information of the plants stored in the analysis control module, calls the optimal humidity value of the plant growth according to the comparison result, and calculates the water quantity needed to be watered in the plant growing area by combining with the soil humidity value detected by the soil humidity detection module.
8. An artificial intelligent watering device for landscaping as defined in claim 7, further comprising a display module including a display screen, the display screen being fixedly disposed on the mobile cart, and a corresponding display signal of the analysis control module being connected to the display screen.
9. An artificial intelligent watering device for landscaping as defined in claim 8, further comprising a voice module including a speaker, the speaker being fixedly mounted on the mobile cart, the corresponding voice prompt signal of the analysis control module being connected to the speaker.
10. An artificial intelligent watering device for landscaping as defined in claim 9, further comprising a power supply module, wherein the power supply module is fixedly disposed on the mobile cart, and power supply output of the power supply module is connected to each module and each driving mechanism, and the power supply module comprises a solar cell and/or a storage battery.
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| CN202010493405.9A CN111528059A (en) | 2020-06-03 | 2020-06-03 | Artificial intelligent watering equipment for landscaping |
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| CN112753548A (en) * | 2021-01-19 | 2021-05-07 | 邢台市农业科学研究院 | Wheat water conservation equipment of watering |
| CN113179924A (en) * | 2021-05-10 | 2021-07-30 | 中外智库国际经济文化交流(北京)中心 | Artificial intelligence device for promoting growth of vine |
| CN113341106A (en) * | 2021-06-03 | 2021-09-03 | 广州大学 | Automatic dry depth probe and method for predicting and acquiring dry depth information |
| CN113575382A (en) * | 2021-07-16 | 2021-11-02 | 重庆大学 | Recognizable automatic flower watering trolley based on air water taking |
| CN114128605A (en) * | 2021-11-26 | 2022-03-04 | 苏州吴林园林发展有限公司 | Efficient is sprinkler for afforestation engineering |
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