An irrigation system continuously monitors status of lawns or plants under its care and directs water to where it is needed when it is needed to maintain lawn or plant health. The system can significantly reduce water usage, unnecessary seepage, and runoff. A irrigation robot refills a water tank from a refill station and then deliver the water where it is needed. An image sensor can continually take and analyze images of the lawns or plants to determine watering needs. The image sensor can also monitor the irrigation robot. The robot may also include a steerable water nozzle to deliver water to harder to reach locations.
