A speed control system and method for reducing inter-layer difference of reel-type sprinkler irrigation machine

Abstract

The present invention proposes a speed control system and method for reducing the inter-layer difference of a reel-type sprinkler. The length of the remaining PE pipe of the reel-type sprinkler during operation is monitored in real time, the reel reel radius is determined, and then the DC motor speed is calculated to keep the sprinkler vehicle moving at a uniform speed. When the remaining PE pipe length remains unchanged, it means that the sprinkler vehicle cannot be towed normally, and an alarm signal can be issued to notify the user of a system failure; when the remaining PE pipe length is less than a certain distance, an alarm signal can be issued to notify the user that the sprinkler operation is about to be completed, and when the remaining PE pipe length is less than the limit distance, the machine can be automatically shut down. The present invention improves the uniformity of the sprinkler operation of the reel sprinkler, reduces the dependence of the unit on manpower during the sprinkler operation, and provides technical support for the intelligent irrigation of the sprinkler.

Description

Technical Field

[0001] The invention relates to the field of GPS positioning and motor control, and in particular to a speed control system and method for reducing the inter-layer difference of a reel-type sprinkler irrigation machine. Background Art

[0002] With the continuous development of agricultural technology, reel sprinklers are widely used in the field of agricultural irrigation due to their superior sprinkler performance and good maneuverability, and have good market prospects.

[0003] However, there are still many problems with the reel sprinklers currently in use. Due to the long working time of the reel sprinkler, people cannot monitor the working status of the reel sprinkler in real time. During the operation of the reel sprinkler, the traction speed of the sprinkler truck changes with the number of PE pipe layers, and it is impossible to ensure that the sprinkler truck moves at a uniform speed. Especially when the number of PE pipe layers is large, the impact on the sprinkler intensity is more obvious. If the sprinkler truck encounters an obstacle or cannot be recovered smoothly due to motor damage, the user cannot know and take measures in the first time, resulting in over-irrigation or equipment damage. When the sprinkler operation is completed, the reel sprinkler cannot stop automatically, and is heavily dependent on manpower. Summary of the invention

[0004] The present invention proposes a speed control system and method for reducing the inter-layer difference of a reel-type sprinkler to solve the above-mentioned problem. By monitoring the remaining PE pipe length, the operation progress of the reel-type sprinkler is monitored in real time to prevent excessive sprinkler irrigation or even equipment damage accidents caused by the stop of the sprinkler vehicle. The inter-layer difference of the reel-type sprinkler can be reduced, and the sprinkler vehicle can be ensured to be pulled at a uniform speed during the operation. The sprinkler can also be automatically shut down when the operation is completed, thereby overcoming the shortcomings of the prior art.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A speed control system for reducing the inter-layer difference of a reel-type sprinkler irrigation machine includes a mobile-end GPS module, a mobile-end LoRa module, a mobile-end processor, a solar power supply module, a fixed-end GPS module, a fixed-end LoRa module, a fixed-end processor, a GPRS wireless transmission module, a mobile phone APP client, and a DC motor. The mobile-end GPS acquisition module is connected to the mobile-end processor, the mobile-end LoRa module is connected to the mobile-end processor, the solar power supply module supplies power to all mobile-end devices, the fixed-end GPS module is connected to the fixed-end processor, the fixed-end LoRa module is connected to the fixed-end processor, the DC motor is connected to the fixed-end processor, the GPRS wireless transmission module is connected to the fixed-end processor, and the GPRS wireless transmission module can transmit data to the mobile phone APP client.

[0007] The mobile-end GPS module transmits the mobile-end geographic location information to the mobile-end processor, and the mobile-end processor transmits the mobile-end geographic location information to the fixed-end processor via the LoRa wireless transmission module. Meanwhile, the fixed-end GPS module transmits the fixed-end geographic location information to the fixed-end processor, and the fixed-end processor calculates the remaining PE pipe length L during the operation of the reel-type sprinkler through the geographic information of the two locations.

[0008] First, pull all the PE pipes of the reel sprinkler open, set the DC motor speed n, and keep the DC motor speed n unchanged, that is, the DC motor angular velocity ω m unchanged, that is, the reel rewinding angular velocity ω j The speed of the nozzle vehicle v and the remaining PE pipe length L are monitored and recorded in real time; the real-time change value of the reel recovery radius r is calculated by formula (1)(2)(3) The gearbox ratio is I t The transmission ratio of the transmission chain between the gearbox and the reel is I c With the remaining PE pipe length L as the horizontal coordinate and the reel recovery radius r as the vertical coordinate, the change relationship of r with respect to L can be obtained: r=f(L).

[0009] ω m =2πn (1)

[0010]

[0011] v=ω j r (3)

[0012] When the sprinkler is operating normally, the DC motor drives the reel to recycle the PE pipe, and the PE pipe pulls the sprinkler car. As the number of PE pipe layers changes when the reel rewinds, the rewinding radius of the PE pipe becomes larger and larger, and the pulling speed of the sprinkler car becomes faster and faster. In order to keep the pulling speed v of the sprinkler car constant, the DC motor speed n needs to change. The relationship between the DC motor speed and the remaining PE pipe length can be obtained from formulas (1), (2), and (3), because r=f(L), so

[0013] When the sprinkler vehicle of the reel-type sprinkler machine encounters an obstacle during the traction process, the PE pipe cannot be recovered normally, so the remaining PE pipe length remains unchanged, and the fixed-end processor will issue an alarm and report it to the mobile phone APP client through the GPRS wireless transmission module, informing the user of the system failure; when the remaining PE pipe length L is less than a certain distance, the fixed-end processor sends an alarm signal and reports it to the mobile phone APP client through the GPRS wireless transmission module, informing the user that the sprinkler irrigation operation is about to be completed; when the remaining PE pipe length L is less than the limit distance, the DC motor stops rotating, and the fixed-end processor sends an alarm signal and reports it to the mobile phone APP client through the GPRS wireless transmission module, informing the user that the sprinkler irrigation operation is completed.

[0014] A speed control system and method for reducing the inter-layer difference of a reel-type sprinkler irrigation machine. The specific implementation steps are as follows:

[0015] 1) Before the sprinkler irrigation operation begins, use a tractor to drag the sprinkler truck to the other end of the field, set the sprinkler truck travel speed v, and the system measures the remaining PE pipe length L at this time;

[0016] 2) According to the formula After calculating the DC motor speed n, the DC motor starts and the reel begins to recycle;

[0017] 3) The system continuously monitors the remaining PE pipe length L, controls the speed of the DC motor, ensures that the nozzle vehicle moves at a constant speed, and transmits the data to the mobile phone APP client through the GPRS wireless transmission module;

[0018] 4) When the sprinkler head vehicle of the reel sprinkler encounters an obstacle during the traction process, the PE pipe cannot be recovered normally, resulting in the remaining PE pipe length remaining unchanged. The fixed-end processor will issue an alarm and report it to the mobile phone APP client through the GPRS wireless transmission module to inform the user of the system failure (if the system has no failure, this step will not be triggered);

[0019] 5) When the remaining PE pipe length L is less than a certain distance, the fixed-end processor sends an alarm signal and reports it to the mobile phone APP client through the GPRS wireless transmission module;

[0020] 6) When the remaining PE pipe length L is less than the limit distance, the DC motor stops rotating and the sprinkler irrigation operation is completed.

[0021] The beneficial effects of the present invention are as follows: 1) By applying the system and method, the remaining PE pipe length can be monitored in real time. The DC motor speed can be calculated through the relationship between the remaining PE pipe length and the rewind radius. By adjusting the DC motor speed, the inter-layer difference of the reel-type sprinkler can be reduced to ensure the uniform speed of the sprinkler vehicle. 2) When the sprinkler vehicle of the reel-type sprinkler encounters an obstacle during the traction process, the PE pipe cannot be recovered normally, so the remaining PE pipe length remains unchanged. The fixed-end processor will issue an alarm and report it to the mobile phone APP client through the GPRS wireless transmission module to inform the user of the system failure. 3) When the remaining PE pipe length L is less than a certain distance, an alarm signal can be issued to notify the user. When the remaining PE pipe length L is less than the limit distance, the system can automatically shut down, reducing the reliance on manpower during the use of the reel-type sprinkler. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the system of the present invention

[0023] Figure 2 The schematic diagram of the system of the present invention is DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be further described clearly and completely below in conjunction with the drawings in the specification of the present invention. Obviously, the described embodiments are only part of the embodiments of the technical solutions of the present invention, rather than all of the embodiments.

[0025] A speed control system and method for reducing the inter-layer difference of a reel-type sprinkler irrigation machine includes a mobile end and a fixed end. The mobile end includes a mobile end GPS module 1, a mobile end LoRa module 3, a mobile end processor 2, and a solar power supply module 4. The fixed end includes a fixed end GPS module 8, a fixed end LoRa module 5, a fixed end processor 6, a GPRS wireless transmission module 9, a DC motor 7, and a mobile phone APP client 10. The system schematic diagram is shown in FIG. Figure 1 As shown, the system schematic diagram is as follows Figure 2 As shown, the mobile-end GPS module 1 is connected to the mobile-end processor 2, the mobile-end LoRa module 3 is connected to the mobile-end processor 2, the fixed-end GPS module 8 is connected to the fixed-end processor 6, the fixed-end LoRa module 5 is connected to the fixed-end processor 6, the DC motor 7 is connected to the fixed-end processor 6, and the GPRS wireless transmission module 9 is connected to the fixed-end processor 6. The GPRS wireless transmission module 9 can transmit data to the mobile phone APP client 10.

[0026] The mobile terminal GPS module 1 transmits the mobile terminal location information to the mobile terminal processor 2, and the mobile terminal processor 2 transmits the mobile terminal location information to the fixed terminal processor 6 through the LoRa wireless transmission module. The solar power supply module 4 is responsible for powering all devices on the mobile terminal. At the same time, the fixed terminal GPS module 8 transmits the fixed terminal location information to the fixed terminal processor 6. The fixed terminal processor 6 obtains the remaining PE pipe length L through the location information of the fixed terminal and the mobile terminal. The specific calculation method is not repeated here. The purpose is to obtain the remaining PE pipe length in real time.

[0027] Pull all the PE pipes of the reel sprinkler apart, and set the DC motor 7 speed n = 1200r / min unchanged by the fixed end processor 6, that is, the DC motor angular velocity ω m =125.6rad / s and the reel rewinding angular velocity ω j =0.0209rad / s unchanged, gearbox ratio I t =300, the transmission ratio of the transmission chain between the gearbox and the reel is I c =20, real-time monitoring and recording of the remaining PE pipe length L and the nozzle vehicle travel speed v. Initially, the total length of the PE pipe is 253.2m, the PE pipe is wound on the first layer of the reel, and the nozzle vehicle travel speed v1 = 49.926m / s; when the remaining PE pipe length is 199.1m, the PE pipe begins to wind on the second layer of the reel, and the nozzle vehicle travel speed suddenly changes to v2 = 55.578m / s; when the remaining PE pipe length is 138.8m, the PE pipe begins to wind on the third layer of the reel, and the nozzle vehicle travel speed suddenly changes to v3 = 61.23m / s; when the remaining PE pipe length is 72.5m, the PE pipe begins to wind on the fourth layer of the reel, and the nozzle vehicle travel speed suddenly changes to v4 = 66.882m / s. The calculation formula for the reel recovery radius r is obtained from formulas (1)(2)(3):

[0028] ω m =2πn (1)

[0029]

[0030] v=ω j r (3)

[0031] It is found that when the PE tube starts to be wound on the first layer of the reel, r1 = 0.6625m, when the PE tube starts to be wound on the second layer of the reel, r2 = 0.7375m, when the PE tube starts to be wound on the third layer of the reel, r3 = 0.8125m, and when the PE tube starts to be wound on the fourth layer of the reel, r4 = 0.8875m. With the remaining PE tube length L as the horizontal coordinate and the reel recovery radius r as the vertical coordinate, the relationship between r and L can be obtained as shown in formula (4).

[0032]

[0033] When the sprinkler is operating normally, in order to keep the sprinkler trolley traction speed v constant, the speed n of the DC motor 7 needs to change. The sprinkler trolley traction speed v is set to 50m / h. From formulas (1), (2), and (3), it can be obtained that Since r = f(L), When the remaining PE pipe length is between 199.1m and 253.2m, the speed of DC motor 7 is n1 = 1201r / min, when the remaining PE pipe length is between 138.8m and 199.1m, the speed of DC motor 7 is n2 = 1079r / min, when the remaining PE pipe length is between 72.5m and 138.8m, the speed of DC motor 7 is n3 = 979r / min, and when the remaining PE pipe length is between 0 and 72.5m, the speed of DC motor 7 is n4 = 897r / min. This ensures that the traction speed of the reel sprinkler sprinkler is constant.

[0034] When the sprinkler vehicle of the reel-type sprinkler machine encounters an obstacle during the traction process, the PE pipe cannot be recovered normally, resulting in the remaining PE pipe length remaining unchanged. The fixed-end processor will issue an alarm and report it to the mobile phone APP client 10 through the GPRS wireless transmission module 9, informing the user of the system failure; when the remaining PE pipe length L is less than 10m, the fixed-end processor 6 issues an alarm and reports it to the mobile phone APP client 10 through the GPRS wireless transmission module 9, informing the user that the sprinkler irrigation operation is about to be completed; when the remaining PE pipe length L is less than 5m, the DC motor 7 stops rotating, and the fixed-end processor 6 issues an alarm and reports it to the mobile phone APP client 10 through the GPRS wireless transmission module 9, informing the user that the sprinkler irrigation operation is completed.

[0035] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A speed control system for reducing the inter-layer difference of a reel-type sprinkler irrigation machine, characterized in that: It comprises a mobile terminal GPS module (1), a mobile terminal LoRa module (3), a mobile terminal processor (2), a solar power supply module (4), a fixed terminal GPS module (8), a fixed terminal LoRa module (5), a fixed terminal processor (6), a GPRS wireless transmission module (9), a mobile phone APP client (10) and a DC motor (7), wherein the solar power supply module (4) is responsible for supplying power to all devices on the mobile terminal; The mobile end GPS module (1) is connected to the mobile end processor (2), the mobile end LoRa module (3) is connected to the mobile end processor (2), the fixed end GPS module (8) is connected to the fixed end processor (6), the fixed end LoRa module (5) is connected to the fixed end processor (6), the DC motor (7) is connected to the fixed end processor (6), and the GPRS wireless transmission module (9) is connected to the fixed end processor (6). The GPRS wireless transmission module (9) can transmit data to a mobile phone APP client (10); The mobile terminal GPS module (1) transmits the mobile terminal geographical location information to the mobile terminal processor (2), and the mobile terminal processor (2) transmits the mobile terminal geographical location information to the fixed terminal processor (6) via the LoRa wireless transmission module. At the same time, the fixed terminal GPS module (8) transmits the fixed terminal geographical location information to the fixed terminal processor (6), and the fixed terminal processor (6) calculates the remaining PE pipe length L distance based on the information of the two geographical locations; The operation process of the system is as follows: first, all the PE tubes are pulled apart, and the fixed end processor (6) sets the speed n of the DC motor (7) to remain unchanged, that is, the angular velocity ωm of the DC motor and the reel reel angular velocity ωj are kept unchanged, and the remaining PE tube length L and the travel speed of the nozzle vehicle are monitored and recorded in real time; when the number of PE tube winding layers increases, the reel reel radius r will also increase. oh m =2πn(1) v=ω j r(3) Where: n is the speed of the DC motor, ω m is the angular velocity of the DC motor, ω j is the reel rewinding angular velocity, I t The transmission ratio of the gearbox is I c is the transmission ratio of the transmission chain between the gearbox and the reel, v is the travel speed of the nozzle carriage, and r is the reel reel radius; The reel recovery radius can be calculated from formula (1), (2), and (3): With the remaining PE pipe length L as the horizontal coordinate and the reel recovery radius r as the vertical coordinate, the relationship between r and L can be obtained: r = f (L); When the sprinkler is operating normally, in order to keep the sprinkler vehicle moving at a constant speed v, the DC motor speed n needs to change. The relationship between the DC motor speed and the remaining PE pipe length can be obtained from formulas (1), (2), and (3), because r=f(L), so Therefore, by continuously reducing the speed of the DC motor, the nozzle vehicle can be guaranteed to move at a uniform speed; When the sprinkler head vehicle of the reel-type sprinkler irrigation machine encounters an obstacle during the traction process, resulting in the PE pipe being unable to be normally recovered and the remaining PE pipe length being unchanged, the fixed-end processor (6) will issue an alarm and report it to the mobile phone APP client (10) through the GPRS wireless transmission module (9), informing the user of the system failure; when the remaining PE pipe length L is less than a certain distance, the fixed-end processor (6) issues an alarm signal and reports it to the mobile phone APP client (10) through the GPRS wireless transmission module (9), informing the user that the sprinkler irrigation operation is about to be completed; when the remaining PE pipe length L is less than the limit distance, the DC motor (7) stops rotating, and the fixed-end processor (6) issues an alarm signal and reports it to the mobile phone APP client (10) through the GPRS wireless transmission module (9), informing the user that the sprinkler irrigation operation is completed.

2. According to the speed control system for reducing the inter-layer difference of a reel-type sprinkler irrigation machine according to claim 1, the control method steps are as follows: 1) Before the sprinkler irrigation operation begins, use a tractor to drag the sprinkler truck to the other end of the field, set the sprinkler truck travel speed v, and the system measures the remaining PE pipe length L at this time; 2) After the DC motor speed n is calculated by the formula, the DC motor starts and the reel begins to recycle; 3) The system continuously monitors the remaining PE pipe length L, controls the speed of the DC motor, ensures that the nozzle vehicle moves at a constant speed, and transmits the data to the mobile phone APP client through the GPRS wireless transmission module; 4) When the sprinkler vehicle of the reel-type sprinkler machine encounters an obstacle during the traction process, the PE pipe cannot be recovered normally, so the remaining length of the PE pipe remains unchanged. The fixed-end processor will issue an alarm and report it to the mobile phone APP client through the GPRS wireless transmission module to inform the user of the system failure. If the system has no failure, this step will not be triggered; 5) When the remaining PE pipe length L is less than a certain distance, the fixed-end processor sends an alarm signal and reports it to the mobile phone APP client through the GPRS wireless transmission module, informing the user that the sprinkler irrigation operation is about to be completed; When the remaining PE pipe length L is less than the limit distance, the DC motor stops rotating, and the fixed-end processor sends an alarm signal and reports it to the mobile phone APP client through the GPRS wireless transmission module, informing the user that the sprinkler irrigation operation is completed.

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