Sprinkling irrigation device and sprinkling irrigation adjusting method

Abstract

The invention provides a sprinkling irrigation device and a sprinkling irrigation adjusting method, and the device comprises a spanning frame which extends along a first direction; the supporting frames are arranged side by side in the first direction and fixedly connected to the lower portion of the straddle body frame; the guide wheel is rotationally installed below the supporting frame, and the advancing direction of the guide wheel is configured to be in the second direction; the adjusting device is connected to the supporting frame, the adjusting device is connected with a sprinkling irrigation head, and the adjusting device is configured to adjust the sprinkling irrigation height and the sprinkling irrigation direction of the sprinkling irrigation head; the control device is connected with the guide wheels and the adjusting device and determines the control state according to starting and stopping of the guide wheels. In the first state, the sprinkling directions of the sprinkling nozzles are controlled to at least face the first direction, and the sprinkling distances of the sprinkling nozzles intersect between the adjacent supporting frames; in the second state, the spraying direction of the sprinkling nozzles in the advancing direction of the guide wheels is controlled to be away from the advancing direction of the guide wheels. The height of the sprinkler head is adjusted by the adjusting device according to the height of crops, and effective and uniform irrigation is achieved.

Description

Technical Field

[0001] This application relates to the technical field of agricultural machinery, and particularly to a sprinkler irrigation device and a sprinkler irrigation adjustment method. Background Art

[0002] Large sprinkler irrigation devices have advantages such as high sprinkler irrigation efficiency and water resource conservation, and are particularly suitable for large-scale agricultural planting. With the development of the productivity level, the degree of intensification of agricultural production has been continuously improved, and the application scope of large sprinkler irrigation equipment has become increasingly wide. However, the sprinkler heads of large sprinkler irrigation devices are fixed and cannot meet the effective irrigation requirements of crops at different growth stages. At the same time, in order to effectively irrigate a large area of farmland, large sprinkler irrigation devices generally carry out irrigation while moving. When they stop moving, the sprinkler heads generally continue to sprinkle, and more accumulated water will affect the movement of the sprinkler irrigation machine and prevent continuous irrigation. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a sprinkler irrigation device and a sprinkler irrigation adjustment method that overcome the above problems or at least partially solve the above problems.

[0004] Based on the above purpose, in the first aspect of this application, a sprinkler irrigation device is provided, including:

[0005] A cross-frame extending along a first direction;

[0006] Support frames arranged in parallel along the first direction and fixedly connected below the cross-frame;

[0007] Guide wheels rotatably installed below the support frames, and the traveling direction of the guide wheels is configured to be along a second direction;

[0008] An adjustment device connected to the support frames, the adjustment device is connected with a sprinkler head, and the adjustment device is configured to adjust the sprinkler height and sprinkler direction of the sprinkler head;

[0009] A control device respectively connected to the guide wheels and the adjustment device, and determining a control state according to the start and stop of the guide wheels;

[0010] In a first state, controlling the spraying direction of the sprinkler head to at least face the first direction, and the sprinkler distance of the sprinkler head crosses between adjacent support frames;

[0011] In a second state, controlling the spraying direction of the sprinkler head located in the traveling direction of the guide wheels to be away from the traveling direction of the guide wheels.

[0012] Optionally, the support frame includes a first connecting beam and a second connecting beam. The first connecting beam extends obliquely downward along opposite sides of the cross-body frame facing the second direction, and both ends of the first connecting beam away from the cross-body frame are fixedly connected to both ends of the second connecting beam.

[0013] Optionally, the adjusting device includes two adjusting rods, two connecting rods, a connecting shaft, a rope body, a power structure, and a fixed seat;

[0014] The two adjusting rods are respectively rotatably connected to the first connecting beam, and sprinkler heads are connected to both ends of the two adjusting rods away from each other; the two adjusting rods are respectively slidably connected to the two connecting rods near each other, and the two connecting rods near each other are rotatably connected through a connecting shaft; the fixed seat is fixedly arranged on the second connecting beam, a turntable is rotatably connected to the fixed seat, one end of the rope body is connected to the connecting shaft, and the other end is wound around the turntable; the power structure is connected to the turntable;

[0015] Wherein, the distance between the two ends of the two adjusting rods away from each other and the first connecting beam is greater than the distance between the ends near each other and the first connecting beam.

[0016] Optionally, the adjusting device further includes a rotating motor, the rotating motor is connected between the adjusting rod and the sprinkler head, and the rotating motor is connected to the control device; the sprinkler head has a first spraying angle; the rotating motor has a first rotation stroke.

[0017] Optionally, the cross-body frame includes a cross beam extending along the first direction, and the cross beam is provided with a first cavity; the adjusting rods are both provided with second cavities;

[0018] A first water pipe is arranged in the first cavity, a second water pipe is arranged in the second cavity, the first water pipe penetrates through the side wall of the first cavity and extends towards the ends of the two adjusting rods near each other, and is connected to the second water pipe through a three-way valve, and one end of the second water pipe away from the three-way pipe is connected to the sprinkler head.

[0019] Optionally, the guide wheel is rotatably connected to the connection between the first connecting beam and the second connecting beam, and the difference between the distance between the two ends of the two adjusting rods away from each other and the length of the second connecting beam is not less than the second distance.

[0020] Optionally, the first spraying angle is 180°.

[0021] Optionally, the guide wheel is provided with a first sensor; a voltage regulator is arranged between the sprinkler head and the rotating motor, and the first sensor is connected to the control device.

[0022] Second aspect, the present application provides a sprinkler irrigation adjustment method, applicable to the sprinkler irrigation device described in the first aspect, including:

[0023] According to the height of the crops, use the adjustment device to adjust the height of the sprinkler head so that the distance between the sprinkler head and the crops is within the first distance range.

[0024] Optionally, the method further includes:

[0025] In response to the start of the guide wheel, control the spraying direction to cover the relative two side directions of the guide wheel along the first direction, and the irrigation distances of the sprinkler heads between the support frames cross;

[0026] In response to the stop of the guide wheel, determine the traveling direction of the guide wheel, and control the spraying direction of the sprinkler head located in the traveling direction of the guide wheel to be away from the traveling direction of the guide wheel.

[0027] As can be seen from the above, for the sprinkler irrigation device and the sprinkler irrigation adjustment method provided by the present application, for crops with different heights in different growth periods, before irrigation, use the adjustment device to adjust the height of the sprinkler head once, and uniform and effective irrigation can be achieved for the crops with the same height in the corresponding area, avoiding ineffective irrigation for crops with different heights due to the fixed height of the sprinkler head.

[0028] At the same time, for the large sprinkler irrigation device itself having a large gravity, the sprinkler irrigation device stops traveling during the irrigation process for corresponding irrigation. When further traveling, due to water accumulation caused by long-term irrigation, the sprinkler irrigation device cannot travel effectively. When the guide wheel stops traveling, the control device uses the adjustment device to automatically adjust the spraying direction of the sprinkler head to be away from the traveling direction of the guide wheel, avoiding water accumulation in the traveling direction of the guide wheel and ensuring the effective operation of the sprinkler irrigation device.

[0029] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically given below. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings described below are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a top view of the sprinkler irrigation device according to the embodiment of the present application;

[0032] Figure 2 Schematic diagram of the downward-adjustable sprinkler head according to an embodiment of the present application;

[0033] Figure 3 Schematic diagram of the sprinkler head adjusted to the middle position according to an embodiment of the present application;

[0034] Figure 4 Schematic diagram of the upward-adjustable sprinkler head according to an embodiment of the present application;

[0035] Figure 5 Schematic diagram of the sprinkler direction of the sprinkler head in the first state according to an embodiment of the present application;

[0036] Figure 6 Schematic diagram of the sprinkler direction of the sprinkler head in a second state according to an embodiment of the present application;

[0037] Figure 7 Schematic diagram of the sprinkler direction of the sprinkler head in another second state according to an embodiment of the present application.

[0038] Illustration: Cross-body frame 1, support frame 2, guide wheel 3, sprinkler head 5, first connecting beam 21, second connecting beam 22, adjusting rod 41, connecting rod 42, connecting shaft 43, rope body 44, fixed seat 45, turntable 46, rotating motor 48, cross beam 11, first water pipe 12, second water pipe 13, three-way valve 14, voltage regulator 6. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0040] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the ordinary meanings understood by those with ordinary skills in the field to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0041] Crops have different heights at different growth stages. To meet the better growth conditions and needs of crops, more reasonable irrigation is also required for crops of different heights. However, the sprinkler heads of large sprinkler irrigation devices are fixed. In the case of irrigation, regardless of the height of the crops, irrigation is carried out through the sprinkler heads of a fixed height, and effective irrigation for crops of different growth stages and different heights cannot be achieved.

[0042] Furthermore, for large-scale farmland, large sprinkler irrigation devices, such as truss sprinkler irrigation machines, adopt a multi-span truss structure. During the traveling process, when the water demand of the crops at the corresponding positions in the farmland is large due to irrigation requirements, the sprinkler irrigation device needs to stop traveling and use long-term irrigation to meet the irrigation requirements of the crops. The long-term water discharge of the sprinkler heads will cause water accumulation in the traveling direction of the metal truss. At the same time, the self-weight of the metal truss is too large, and the soil at the farmland is soft, which may cause the irrigation device to sink deeply and unable to continue the normal sprinkler irrigation work for the remaining crops.

[0043] Based on this, the embodiment of the present application provides a sprinkler irrigation device, including:

[0044] A cross-body frame 1 extending along the first direction X; a support frame 2 arranged in parallel along the first direction X and fixedly connected below the cross-body frame 1; a guide wheel 3 rotatably installed below the support frame 2, and the traveling direction of the guide wheel 3 is configured to be along the second direction Y; the first direction X and the second direction Y are perpendicular to each other on the horizontal plane; an adjusting device connected to the support frame 2, the adjusting device is connected with a sprinkler head 5, and the adjusting device is configured to adjust the sprinkler height and sprinkler direction of the sprinkler head 5; a control device (not shown in the figure) is respectively connected to the guide wheel 3 and the adjusting device, and controls the adjusting device to adjust the height of the sprinkler head 5 and determines the control device according to the start and stop of the guide wheel 3; in the first state, the spraying direction of the sprinkler head 5 is at least directed towards the first direction X, and the sprinkler distance of the sprinkler head 5 crosses between adjacent support frames 2; in the second state, the spraying direction of the sprinkler head 5 located in the traveling direction of the guide wheel 3 is away from the traveling direction of the guide wheel 3.

[0045] In this embodiment, the cross-body frame 1 extends along the first direction X to provide a span range in the first direction X, and the traveling direction of the guide wheel 3 is directed towards the second direction Y to determine the traveling direction. Through the combination of the distance of the traveling direction of the guide wheel 3 and the span range, the coverage of the crops in this area is realized, so that the sprinkler head 5 can effectively irrigate the crops in this area.

[0046] Furthermore, as a large-scale machine, the cross-body frame 1 has a relatively large span in the first direction X. While providing support for the cross-body frame 1 through the support frame 2, an effective height is provided for the cross-body frame 1 to avoid damaging crops due to insufficient height during the sprinkler irrigation process. The adjusting device is arranged on the support frame 2. The sprinkler height of the sprinkler head 5 is adjusted through the adjusting device. According to the height of the crops, the height of the sprinkler head 5 is adjusted by using the adjusting device so that the distance between the sprinkler head 5 and the crops is within the first distance range. At the same time, different support frames 2 are connected by the same cross-body frame 1, which can realize the effective synchronization of the sprinkler heads 5 on different support frames 2 during the sprinkler irrigation process.

[0047] It should be noted that not all support frames 2 are provided with guide wheels 3. Appropriate guide wheels 3 are set according to the span range of the cross-body frame 1. For example, when the span range of the cross-body frame 1 is relatively small, guide wheels 3 are only arranged on the support frames 2 connected to both ends of the cross-body frame 1, as Figure 1 shown.

[0048] In some exemplary embodiments, the first distance range can be between 1 m and 1.5 m, or other distances set according to the irrigation requirements of different crops, which are not specifically limited herein.

[0049] In some alternative embodiments, the adjusting device can manually adjust the height of the sprinkler head 5, or automatically adjust the height of the sprinkler head 5 through the control of the control device. In the case of manual control, it can be adjusted according to the actual situation so that the distance between the sprinkler head 5 and the crops is within the first distance range. In the case of automatic control, the height of the crops can also be input into the control device or the height of the crops can be directly collected by using a camera to control the adjusting device through the control device so that the distance between the sprinkler head 5 and the crops is within the first distance range.

[0050] In some other alternative embodiments, the height of the sprinkler head 5 is automatically adjusted through the control of the control device. Different adjustment gears are set for crops of different heights. Exemplarily, when the height of the crops is less than the first height, the first gear is used to adjust the height of the sprinkler head 5 (as Figure 2 shown); when the height of the crops is greater than the first height and less than or equal to the second height, the second gear is used to adjust the height of the sprinkler head 5 (as Figure 3 shown); when the crops are greater than the second height, the third gear is used to adjust the height of the sprinkler head 5 (as Figure 4 shown).

[0051] After adjusting the height of the sprinkler head 5 on the sprinkler irrigation device for different heights of crops, during the sprinkler irrigation process, in order to achieve the irrigation of a large area of farmland, the sprinkler irrigation range of the sprinkler head 5 also needs to cover the traveling direction of the guide wheel 3. In some irrigation scenarios, the guide wheel 3 stops traveling. For example, in a sprinkler irrigation area with a relatively large water demand, the guide wheel 3 stops traveling, and the sprinkler head 5 is used for long-term sprinkler irrigation to meet the irrigation demand. Or due to the relatively high overall irrigation demand of the crops, the reciprocating sprinkler irrigation of the sprinkler irrigation device is used to meet the irrigation demand. After reaching the end of the farmland, the guide wheel 3 stops traveling. In the above irrigation scenarios, since the guide wheel 3 travels along the second direction Y, it can meet the irrigation along the second direction Y. To meet the overall sprinkler irrigation, when the sprinkler head 5 is normally sprinkling water, at least the sprinkling direction faces the first direction X, so as to meet the sprinkler irrigation while the sprinkler irrigation device is traveling in the second direction Y by the guide wheel 3 and sprinkle water in the first direction X, realizing the irrigation of crops in the area covered by the extension direction and the traveling direction of the cross-body frame 1.

[0052] During the normal sprinkler irrigation process, the guide wheel 3 travels along the second direction Y. That is, in the first state, the spraying direction of the sprinkler head 5 is controlled to face at least the first direction X, and the sprinkler irrigation distance of the sprinkler head 5 crosses between adjacent support frames 2, as Figure 5 shown. In the first state, the guide wheel 3 continues to travel. The traveling direction of the guide wheel 3 will not cause the guide wheel 3 to sink deeply due to long-term water accumulation. The guide wheel 3 continues to travel along the second direction Y and has corresponding inertia, and will not cause it to be unable to travel. At the same time, the sprinkler irrigation range of the sprinkler head 5 meets the irrigation demand in this area. During the process when the guide wheel 3 stops sprinkler irrigation, that is, in the second state, the spraying direction of the sprinkler head 5 located in the traveling direction of the guide wheel 3 is controlled to face the side of the support frame 2 away from the guide wheel 3, as Figure 6 shown. In the second state, the guide wheel 3 stops traveling. If the sprinkler head 5 continues to spray water in the traveling direction of the guide wheel 3, it will cause water accumulation in the traveling direction of the guide wheel 3. Due to the self-weight of the cross-body frame 1 and the support frame 2, and the relatively soft soil quality of the farmland where the crops are planted, it will cause the guide wheel 3 to sink. When the guide wheel 3 wants to travel again along the first direction X, it will be unable to continue traveling due to sinking, resulting in an ineffective irrigation situation.

[0053] It should be noted that in the second state, the control device only changes the spraying direction of the sprinkler head 5 located in the traveling direction of the guide wheel 3, and the spraying direction of the sprinkler head 5 not in the traveling direction of the guide wheel 3 can not be adjusted as above.

[0054] After the second state, the new traveling direction of the guide wheel 3 can be to continue in the original traveling direction, as Figure 6 shown. It can also be in the direction opposite to the original traveling direction, as Figure 7 shown.

[0055] In some exemplary embodiments, the control device may be provided in the control room or console of the sprinkler device, which is not specifically limited herein.

[0056] In some embodiments, the support frame 2 includes a first connecting beam 21 and a second connecting beam 22. The first connecting beam 21 extends obliquely downward along opposite sides of the cross-frame 1 towards the second direction Y. The ends of the first connecting beam 21 away from the cross-frame 1 are fixedly connected to the two ends of the second connecting beam 22 respectively.

[0057] In this embodiment, the support frame 2 not only needs to support the cross-frame 1, but also needs to support the adjusting device and the sprinkler head 5. At the same time, it is necessary to eliminate the stress brought by the travel of the guide wheel 3 in the second direction Y. By using the first connecting beam 21 to extend obliquely downward along opposite sides of the cross-frame 1 towards the second direction Y, and the ends of the first connecting beam 21 away from one side of the cross-frame 1 are fixedly connected to the two ends of the second connecting beam 22 respectively, the whole support frame 2 forms a triangular structure through the first connecting beam 21 and the second connecting beam 22. Through the stability of this triangular structure, effective support for the cross-frame 1, the adjusting device and the sprinkler head 5 is realized, and at the same time, the stress brought by the travel of the guide wheel 3 in the second direction Y is eliminated.

[0058] In some alternative embodiments, at least two first connecting beams 21 are provided on the same side of the cross-frame 1. The ends of the two first connecting beams 21 close to the cross-frame 1 are separated by a third distance, and the ends away from the cross-frame 1 are fixedly connected.

[0059] When the stress along the second direction Y is eliminated by the triangular structure supported by the first connecting beam 21 and the second connecting beam 22, the cross-frame 1 extends along the first direction X, which will also bring stress along the first direction X. By forming another triangular structure between the two first connecting beams 21 on the same side of the cross-frame 1 and the cross-frame 1, through the stability of this triangular structure, effective support for the cross-frame 1, the adjusting device and the sprinkler head 5 is further realized, and at the same time, the stress brought by the cross-frame 1 along the first direction X is eliminated.

[0060] In some embodiments, the adjusting device includes two adjusting rods 41, two connecting rods 42, a connecting shaft 43, a rope body 44, a power structure and a fixing seat 45;

[0061] The two adjusting rods 41 are respectively rotatably connected to the first connecting beams 21 located on the opposite sides of the cross-body frame 1 along the second direction Y. The spray heads 5 are connected to the mutually remote ends of the two adjusting rods 41; the mutually proximate ends of the two adjusting rods 41 are respectively slidably connected to the two connecting rods 42, and the mutually proximate ends of the two connecting rods 42 are rotatably connected through a connecting shaft 43; a fixed seat 45 is fixedly arranged on the second connecting beam 22, a turntable 46 is rotatably connected to the fixed seat 45, one end of a rope body 44 is fixedly connected to the connecting shaft 43, and the other end is wound around the turntable 46, and a power structure (not shown in the figure) is connected to the turntable 46. Among them, the distance between the mutually remote ends of the two adjusting rods 41 and the first connecting beam 21 is greater than the distance between the mutually proximate ends and the first connecting beam 21.

[0062] In some exemplary embodiments, the power structure can be a handle or a motor. Manual adjustment can be performed through the handle, and automatic adjustment can also be performed through the motor. Specific limitations are not made here.

[0063] It can be understood that when the power structure is a handle, the handle is fixedly connected to the turntable 46. When the power structure is a motor, the motor is fixedly connected to the fixed seat 45, and the output shaft of the motor is fixedly connected to the rotating shaft of the turntable 46.

[0064] In this embodiment, the following description is made with the power structure being a handle.

[0065] Before irrigation, according to the height of the crops, for example, when the crops are relatively short, the turntable 46 is rotated through the handle to release the rope body 44 wound around the turntable 46. Through the lever formed by the adjusting rod 41 and the first connecting beam 21, the gravity provided by the mutually remote ends of the two adjusting rods 41 is downward, driving the spray head 5 to move downward and approach the crops, while the mutually proximate ends of the two adjusting rods 41 slide toward the mutually remote ends of the two connecting rods 42, thereby adjusting the height of the spray head 5 so that the distance between the spray head 5 and the crops is within the first distance range, as Figure 2 shown. For example, when the crops are relatively tall, the handle is rotated through the handle to wind more of the rope body 44 around the turntable 46. Through the lever formed by the adjusting rod 41 and the first connecting beam 21, it is pulled downward through the connecting shaft 43. The mutually proximate ends of the two connecting rods 42 move downward, the mutually proximate ends of the two adjusting rods 41 slide toward the mutually remote ends of the two connecting rods 42, and the mutually remote ends of the two adjusting rods 41 move upward, thereby adjusting the height of the spray head 5 so that the distance between the spray head 5 and the crops is within the first distance range, as Figure 4 shown.

[0066] It can be understood that for the first large-scale farmland, the growth periods of the crops in the same area are the same, and the heights of the crops in the corresponding area are roughly the same. Before irrigating the crops, the height of the sprinkler head 5 is adjusted to a suitable position by the adjusting device, that is, the distance from the crops is within the first distance range. Subsequently, there is no need to repeat the adjustment during the irrigation process using the sprinkler head 5 in this area.

[0067] If the power device is a motor, the motor is connected to the control device, and the output shaft of the motor is controlled by the control device to rotate, so as to realize the automatic adjustment of the height of the sprinkler head 5.

[0068] In some embodiments, the adjusting device further includes a rotating motor 48. The rotating motor 48 is connected between the adjusting rod 41 and the sprinkler head 5. The rotating motor 48 is connected to the control device. The sprinkler head 5 has a first spraying angle; the rotating motor 48 has a first rotation stroke.

[0069] In some embodiments, the first spraying angle is 180°. Exemplarily, the first rotation stroke is 90°. The first rotation stroke can also be other angles, such as 80° - 110°, as long as the spraying direction can be avoided from the traveling direction of the guide wheel 3, and no specific limitation is made here.

[0070] In this embodiment, by setting the fixed first spraying angle of the sprinkler head 5 and the fixed first rotation stroke of the rotating motor 48, the precise control of the spraying direction of the sprinkler head 5 is realized by controlling the rotation of the rotating motor 48 through the control device in the first state and the second state.

[0071] In some irrigation scenarios, the guide wheel 3 stops traveling. For example, in a sprinkler irrigation area with a relatively large water demand, the guide wheel 3 stops traveling, and the sprinkler head 5 is used for long-term sprinkler irrigation to meet the irrigation demand. Or due to the relatively high overall irrigation demand of the crops, the reciprocating sprinkler irrigation of the sprinkler irrigation device is used to meet the irrigation demand. After reaching the end of the farmland, the guide wheel 3 stops traveling.

[0072] During the normal sprinkler irrigation process, the guide wheel 3 travels along the second direction Y. That is, in the first state, the control device controls the rotating motor 48 so that the spraying direction of the sprinkler head 5 faces within the 180° sector of the traveling direction of the guide wheel 3, and the sprinkler irrigation distance of the sprinkler head 5 crosses between adjacent support frames 2, as Figure 5 shown. In the first state, the guide wheel 3 continues to travel. The guide wheel 3 will not sink deeply due to long-term water accumulation in its traveling direction. The guide wheel 3 continues to travel along the second direction Y and has corresponding inertia, and will not cause inability to travel. At the same time, the sprinkler irrigation range of the sprinkler head 5 meets the irrigation demand for this area.

[0073] During the process when the guide wheel 3 stops sprinkling irrigation, that is, in the second state, the control device controls the rotation motor 48 to rotate the sprinkler head 5 located in the traveling direction of the guide wheel 3 by 90°, and the spraying direction of the sprinkler head 5 faces the side of the support frame 2 away from the guide wheel 3, as Figure 6 shown. In the second state, the guide wheel 3 stops traveling. If the sprinkler head 5 continuously sprays water in the traveling direction of the guide wheel 3, water accumulation will be caused in the traveling direction of the guide wheel 3. Due to the self-weight of the cross-body frame 1 and the support frame 2, and the relatively soft soil quality of the farmland where the crops are planted, the guide wheel 3 will sink. When the guide wheel 3 wants to travel again along the first direction X, it will be unable to continue traveling due to the sinking, resulting in an ineffective irrigation situation.

[0074] It should be noted that after the second state, the control device determines the traveling direction according to the travel amount of the guide wheel 3. For example, it continues to move forward along the original traveling direction or moves in the opposite direction of the original traveling direction, so as to control the rotation motor 48 to change the sprinkling direction of the sprinkler head 5 by using the traveling direction.

[0075] In some embodiments, the cross-body frame 1 includes a cross beam 11 extending along the first direction X, and the cross beam 11 is provided with a first cavity; the adjusting rods 41 are each provided with a second cavity; a first water pipe 12 is arranged in the first cavity, a second water pipe 13 is arranged in the second cavity, the first water pipe 12 penetrates through the side wall of the first cavity and extends towards the adjacent ends of the two adjusting rods 41, and is connected to the second water pipe 13 through a three-way valve 14, and one end of the second water pipe 13 away from the three-way pipe is connected to the sprinkler head 5.

[0076] It can be understood that the first water pipe 12 in the first cavity of the cross-body frame 1 extending along the first direction X is used as the main water path, and the second water pipe 13 is used as a branch to supply water to the sprinkler heads 5 corresponding to different support frames 2.

[0077] In some embodiments, the guide wheel 3 is rotatably connected to the joint of the first connecting beam 21 and the second connecting beam 22, and the difference between the distance between the mutually remote ends of the two adjusting rods 41 and the length of the second connecting beam 22 is not less than the second distance.

[0078] In this embodiment, in order to achieve uniform irrigation of crops and ensure that the water sprayed by the sprinkler head 5 effectively irrigates the crops, during the process of adjusting the height of the sprinkler head 5 by the adjustment device, it is necessary to avoid interference between the sprinkler head 5 and the guide wheel 3 due to the rotation of the adjusting rod 41 relative to the first connecting beam 21, or to prevent the water sprayed from being blocked by the guide wheel 3 and thus unable to effectively irrigate the crops. By making the difference between the distance between the mutually remote ends of the two adjusting rods 41 and the length of the second connecting beam 22 not less than the second distance, when the sprinkler head 5 moves up and down, the water sprayed from the sprinkler head 5 can uniformly irrigate the crops without obstruction.

[0079] In some embodiments, the guide wheel 3 is provided with a first sensor (not shown in the figure); a voltage regulator 6 is provided between the sprinkler head 5 and the rotary motor 48, and both the first sensor and the voltage regulator 6 are connected to the control device.

[0080] In some exemplary embodiments, the first sensor can be any one or more of a magnetoelectric wheel speed sensor, a Hall wheel speed sensor, an optoelectronic wheel speed sensor, etc.

[0081] The control device controls the start and stop of the guide wheel 3 collected by the first sensor, so as to adjust the spraying direction of the sprinkler head 5. Specifically, when the guide wheel 3 is moving forward normally, the first sensor collects the forward movement of the guide wheel 3, and the control device controls the rotary motor 48 to rotate, so that the spraying direction of the sprinkler head faces at least the first direction X, and the spraying distance of the sprinkler head 5 crosses between adjacent support frames 2. When the guide wheel 3 stops moving forward, the first sensor collects the stop of the guide wheel 3, and the control device controls the rotary motor 48 to rotate, so that the spraying direction of the sprinkler head 5 located in the forward movement direction of the guide wheel 3 is away from the forward movement direction of the guide wheel 3.

[0082] For different crops, the atomization requirements for the water sprayed by the sprinkler head 5 are different during the irrigation process. When the distance between adjacent support frames 2 is determined, the water pressure of the water flowing out of the sprinkler head 5 can be adjusted by the voltage regulator 6, so as to further make the formed water mist meet the irrigation requirements of different crops.

[0083] Based on the same inventive concept, the embodiment of the present application provides a sprinkler irrigation adjustment method, which is applicable to the sprinkler irrigation device described in any of the above embodiments, including:

[0084] According to the height of the crops, use the adjustment device to adjust the height of the sprinkler head 5 so that the distance between the sprinkler head 5 and the crops is within the first distance range.

[0085] The adjusting device can manually adjust the height of the sprinkler head 5 or automatically adjust the height of the sprinkler head 5 through the control of the control device. In the case of manual control, it can be adjusted according to the actual situation so that the distance between the sprinkler head 5 and the crops is within the first distance range.

[0086] In the case of automatic control, the height of the crops can also be input into the control device or the height of the crops can be directly collected by the camera to control the adjusting device through the control device so that the distance between the sprinkler head 5 and the crops is within the first distance range.

[0087] In some exemplary embodiments, the first distance range can be between 1m and 1.5m.

[0088] Specifically, before irrigation, according to the height of the crops, for example, when the crops are relatively short, the rope body 44 wound around the turntable 46 is released by turning the turntable 46 with the handle. Through the lever formed by the adjusting rod 41 and the first connecting beam 21, the gravity provided by the mutually remote ends of the two adjusting rods 41 is downward, driving the sprinkler head 5 to move downward and approach the crops, while the mutually close ends of the two adjusting rods 41 slide toward the mutually remote ends of the two connecting rods 42, thereby realizing the adjustment of the height of the sprinkler head 5 so that the distance between the sprinkler head 5 and the crops is within the first distance range, as Figure 2 shown. For example, when the crops are relatively tall, turn the turntable 46 with the handle to wind more rope body 44 around the turntable 46. Through the lever formed by the adjusting rod 41 and the first connecting beam 21, pull downward through the connecting shaft 43. The mutually close ends of the two connecting rods 42 move downward, the mutually close ends of the two adjusting rods 41 slide toward the mutually remote ends of the two connecting rods 42, and the mutually remote ends of the two adjusting rods 41 move upward, thereby realizing the adjustment of the height of the sprinkler head 5 so that the distance between the sprinkler head 5 and the crops is within the first distance range, as Figure 4 shown.

[0089] It can be understood that in a large-scale farmland, the growth periods of the crops in the same area are the same, and the heights of the crops in the corresponding area are roughly the same. Before irrigating the crops, the height of the sprinkler head 5 is adjusted to a suitable position by using the adjusting device, that is, the distance from the crops is within the first distance range. During the subsequent irrigation of the crops in this area by using the sprinkler head 5, there is no need to repeat the adjustment.

[0090] In some embodiments, the method further includes: in response to the start of the guide wheel 3, controlling the spraying direction to cover the relative two side directions of the guide wheel 3 along the first direction X, and the irrigation distances of the sprinkler heads 5 between the support frames 2 cross;

[0091] In response to the stop of the guide wheel 3, determine the traveling direction of the guide wheel 3, and control the spraying direction of the sprinkler head 5 in the traveling direction of the guide wheel 3 to be away from the traveling direction of the guide wheel 3.

[0092] During the normal sprinkler irrigation process, the guide wheel 3 travels along the second direction Y. That is, in the first state, control the spraying direction of the sprinkler head 5 to be at least towards the first direction X, and the irrigation distance of the sprinkler head 5 crosses between adjacent support frames 2, as Figure 5 shown. In the first state, the guide wheel 3 continues to travel. There will be no situation where the guide wheel 3 sinks deeply due to long-term water accumulation in the traveling direction of the guide wheel 3. The guide wheel 3 continues to travel along the second direction Y and has corresponding inertia, and will not cause inability to travel. At the same time, the irrigation range of the sprinkler head 5 meets the irrigation requirements for this area. During the process of the guide wheel 3 stopping for sprinkler irrigation, that is, in the second state, control the spraying direction of the sprinkler head 5 in the traveling direction of the guide wheel 3 to be towards the side of the support frame 2 away from the guide wheel 3, as Figure 6 shown. In the second state, the guide wheel 3 stops traveling. If the sprinkler head 5 continues to spray water in the traveling direction of the guide wheel 3, water accumulation will be caused in the traveling direction of the guide wheel 3. Due to the self-weight of the cross-body frame 1 and the support frame 2, and the relatively soft soil of the farmland where the crops are planted, the guide wheel 3 will sink. When the guide wheel 3 wants to travel again along the first direction X, it will be unable to continue traveling due to sinking, resulting in a situation where effective irrigation cannot be achieved.

[0093] It should be noted that in the second state, the control device only changes the spraying direction of the sprinkler head 5 located in the traveling direction of the guide wheel 3, and the spraying direction of the sprinkler head 5 not in the traveling direction of the guide wheel 3 may not be adjusted as described above.

[0094] After the second state, the new traveling direction of the guide wheel 3 can be to continue in the original traveling direction, as Figure 6 shown. It can also be in the direction opposite to the original traveling direction, as Figure 7 shown.

[0095] Specifically, during the normal sprinkler irrigation process, the guide wheel 3 travels along the second direction Y. That is, in the first state, control the rotation motor 48 through the control device so that the spraying direction of the sprinkler head 5 is within a 180° sector in the traveling direction of the guide wheel 3, and the irrigation distance of the sprinkler head 5 crosses between adjacent support frames 2, as Figure 5 shown. In the first state, the guide wheel 3 continues to travel. There will be no situation where the guide wheel 3 sinks deeply due to long-term water accumulation in the traveling direction of the guide wheel 3. The guide wheel 3 continues to travel along the second direction Y and has corresponding inertia, and will not cause inability to travel. At the same time, the irrigation range of the sprinkler head 5 meets the irrigation requirements for this area.

[0096] During the process when the guide wheel 3 stops sprinkling irrigation, that is, in the second state, the control device controls the rotation motor 48 to rotate the sprinkler head 5 located in the traveling direction of the guide wheel 3 by 90°, and the sprinkling direction of the sprinkler head 5 faces the side of the support frame 2 away from the guide wheel 3, as Figure 6 shown. In the second state, when the guide wheel 3 stops traveling, if the sprinkler head 5 continuously sprays water in the traveling direction of the guide wheel 3, water accumulation will be caused in the traveling direction of the guide wheel 3. Due to the self-gravity of the cross-body frame 1 and the support frame 2, and the relatively soft soil quality of the farmland where the crops are planted, the guide wheel 3 will sink. When the guide wheel 3 wants to travel again along the first direction X, it will be unable to continue traveling due to the sinking, resulting in a situation where effective irrigation cannot be achieved.

[0097] Those of ordinary skill in the art should understand that: The discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; Under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, and they are not provided in detail for the sake of brevity.

[0098] In addition, for simplicity of explanation and discussion, and in order not to make the embodiments of the present application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. In addition, the device may be shown in block diagram form in order not to make the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application will be implemented (that is, these details should be completely within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0099] Although the present application has been described in connection with specific embodiments of the present application, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0100] Embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A sprinkler irrigation device, characterized in that: include: A spanning frame extending along a first direction; Support frames, arranged in parallel along the first direction and fixedly connected below the span frame; A guide wheel is rotatably mounted below the support frame, and the travel direction of the guide wheel is configured to be along the second direction; An adjusting device connected to the support frame, the adjusting device being connected to a sprinkler head, and the adjusting device being configured to adjust the sprinkler height and sprinkler direction of the sprinkler head; A control device, connected to the guide wheel and the adjustment device respectively, and determining a control state according to the start and stop of the guide wheel; In the first state, the spraying direction of the sprinkler head is controlled to be at least toward the first direction, and the spraying distance of the sprinkler head crosses between adjacent support frames; In the second state, the spraying direction of the sprinkler head located in the traveling direction of the guide wheel is controlled to be away from the traveling direction of the guide wheel.

2. The sprinkler device according to claim 1, characterized in that: The support frame includes a first connecting beam and a second connecting beam. The first connecting beams extend obliquely downward along opposite sides of the span frame toward the second direction. One end of the first connecting beam away from the span frame is fixedly connected to two ends of the second connecting beam.

3. The sprinkler irrigation device according to claim 2, characterized in that: The adjusting device comprises two adjusting rods, two connecting rods, a connecting shaft, a rope body, a power structure and a fixing seat; The two adjusting rods are rotatably connected to the first connecting beam respectively, and the ends of the two adjusting rods that are far away from each other are connected to the sprinkler head; the ends of the two adjusting rods that are close to each other are respectively slidably connected to the two connecting rods, and the ends of the two connecting rods that are close to each other are rotatably connected through a connecting shaft; the fixing seat is fixedly arranged on the second connecting beam, and the fixing seat is rotatably connected to a rotating disk, one end of the rope body is connected to the connecting shaft, and the other end is diffracted on the rotating disk; the power structure is connected to the rotating disk; Wherein, the distance between the ends of the two adjustment rods that are far away from each other and the first connecting beam is greater than the distance between the ends that are close to each other and the first connecting beam.

4. The sprinkler device according to claim 3, characterized in that: The adjusting device further comprises a rotary motor, which is connected between the adjusting rod and the sprinkler head and is connected to the control device; the sprinkler head has a first spraying angle; and the rotary motor has a first rotation stroke.

5. The sprinkler device according to claim 3, characterized in that: The cross-body frame includes a crossbeam extending along the first direction, and the crossbeam is provided with a first cavity; the adjustment rods are each provided with a second cavity; A first water pipe is provided in the first cavity, and a second water pipe is provided in the second cavity. The first water pipe penetrates the side wall of the first cavity and extends to the end close to the two adjusting rods, and is connected to the second water pipe through a three-way valve. The end of the second water pipe away from the three-way pipe is connected to the sprinkler head.

6. The sprinkler irrigation device according to claim 3, characterized in that: The guide wheel is rotatably connected to the connection between the first connecting beam and the second connecting beam, and the difference between the distance between the ends of the two adjustment rods that are away from each other and the length of the second connecting beam is not less than the second distance.

7. The sprinkler irrigation device according to claim 4, characterized in that: The first spraying angle is 180°.

8. The sprinkler irrigation device according to claim 1, characterized in that: The guide wheel is provided with a first sensor; a voltage regulator is provided between the sprinkler head and the rotating motor, and the first sensor is connected to the control device.

9. A sprinkler irrigation regulation method, characterized in that: The sprinkler irrigation device according to any one of claims 1 to 8 comprises: According to the height of the crops, the height of the sprinkler head is adjusted by using the adjusting device so that the distance between the sprinkler head and the crops is within a first distance interval.

10. The method according to claim 9, characterized in that Also includes: In response to the guide wheel being started, the spraying direction is controlled to cover the two opposite sides of the guide wheel along the first direction, and the spraying distances of the sprinkler heads between the support frames are crossed; In response to the guide wheel stopping, the travel direction of the guide wheel is determined, and the spraying direction of the sprinkler head located in the travel direction of the guide wheel is controlled to move away from the travel direction of the guide wheel.

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