A multi-UAV coordinated sprinkler irrigation system for alfalfa on a slope and a control method thereof

Abstract

The present invention relates to the field of sprinkler irrigation technology, and in particular to a multi-UAV coordinated sprinkler irrigation system for alfalfa on a slope and a control method thereof. The multi-UAV coordinated sprinkler irrigation system for alfalfa on a slope comprises a water tanker assembly, a vehicle-mounted power assembly, an irrigation assembly and a UAV assembly, wherein the UAV assembly is connected to the irrigation assembly, the irrigation assembly comprises a water pump, a pipe part, a plurality of nozzle parts, a plurality of knocking parts and a cleaning part, and the pipe part comprises a water supply riser, a storage pipe, a telescopic pipe, a sprinkler main pipe, a waste discharge pipe and a drain valve connected in sequence. The UAV assembly is used to hang the irrigation assembly and cooperate with the water tanker assembly to move in coordination to realize sprinkler irrigation in the spraying area. When the nozzle part is blocked, the knocking part can be lifted up by the pressure detection valve to start the knocking part, and the knocking part knocks the nozzle part to clear the nozzle part. The cleaning part can clean the inner wall of the pipeline part to prevent the dirt on the inner wall of the pipeline part from being blocked, and knock the pipeline part during irrigation to prevent the pipeline part from being blocked.

Description

Technical Field

[0001] The present invention relates to the technical field of sprinkler irrigation, and in particular to a sloping alfalfa multi-UAV coordinated sprinkler irrigation system and a control method thereof. Background Art

[0002] The ecological management of hillsides is an important part of the systematic management of "mountains, rivers, forests, farmlands, lakes, grasslands and sands". The basic principle of ecological restoration of hillsides is to plant trees where trees are suitable and to plant grass where grass is suitable. By artificially planting grassland on barren hillsides suitable for grass planting, we can improve the ecological environment, accelerate ecological restoration, and control soil erosion. We can also develop animal husbandry, cultivate characteristic industries, increase farmers' income, improve the living environment, and provide more and better grass and livestock products and ecological products.

[0003] The basic characteristics of hillsides are inclined surface, undulating ground, easy runoff from rainfall, poor soil water retention, sparse natural vegetation or low vegetation coverage. Artificially planting perennial grasslands on such slopes, especially planting some high-yield and high-quality perennial forage grasses, not only restores the ecology of the hillsides, but also increases the ground biomass, which can develop and expand the animal husbandry industry. Alfalfa is a perennial leguminous forage grass with the advantages of rich protein, comprehensive nutrition, and good palatability. It is known as the "king of forage grass" and has been widely planted in arid and semi-arid areas, especially in the hilly gully areas of the Loess Plateau. Alfalfa has good ecological suitability. To plant forage grass and perennial alfalfa on hillsides, first of all, it is necessary to ensure that the seedlings can emerge smoothly after sowing. If there is no natural rainfall during the critical period of plant growth, supplementary irrigation is required to ensure the growth of forage grass and a certain yield. However, although the irrigation technology of slope plants is not complicated, the engineering difficulty is large and the irrigation cost is high.

[0004] Traditional sprinklers, such as pointer-type, translation-type or reel-type sprinklers, all rely on fixed water sources, pumps, and channels, and require the site to be flat and the ground slope cannot exceed the requirements. If a fixed sprinkler system is used, it requires a larger investment in infrastructure such as pipe networks and pump stations. The use of mechanical sprinkler irrigation or engineering measures means high investment costs, low returns on grass planting, and a long and unfeasible payback period for engineering construction investment. At the same time, sprinkler pipes are prone to blockage, which in turn results in poor sprinkler irrigation effects. Summary of the invention

[0005] Based on this, it is necessary to provide a multi-UAV collaborative sprinkler irrigation system for alfalfa on a slope to solve at least one of the above-mentioned technical problems.

[0006] A sloping alfalfa multi-UAV coordinated sprinkler irrigation system comprises a water tanker assembly, a vehicle-mounted power assembly, an irrigation assembly and a UAV assembly, wherein the vehicle-mounted power assembly is mounted on the top of the water tanker assembly, the irrigation assembly is connected to the vehicle-mounted power assembly, the UAV assembly is connected to the irrigation assembly, the irrigation assembly comprises a water pump, a pipeline component, a plurality of nozzle components, a plurality of knocking components and a cleaning component, the water pump is mounted on the top of the water tanker assembly, one end of the pipeline component is connected to the water pump, a plurality of nozzle components and a plurality of knocking components are all mounted on the bottom of the pipeline component, the cleaning component is rollably mounted inside the pipeline component, the pipeline component comprises a water supply riser, a storage pipe, a telescopic pipe, a sprinkler main pipe, a waste discharge pipe and a drain valve connected in sequence, one end of the water supply riser is fixedly connected to the water pump, one end of the storage pipe is fixedly connected to the other end of the water supply riser, The lower end of the telescopic tube is fixedly connected to the other end of the storage tube, one end of the sprinkler main pipe is fixedly connected to the upper end of the telescopic tube, one end of the waste discharge pipe is fixedly connected to the other end of the sprinkler main pipe, a drain valve cover is arranged at the other end of the waste discharge pipe, a pressure detection valve is installed on the middle side wall of the sprinkler main pipe, the pressure detection valve is electrically connected to a plurality of knocking parts, a cleaning valve is installed on the bottom of the side wall of the storage pipe, the pressure detection valve is electrically connected to the vehicle-mounted power assembly, the inner pipe diameter width of the water supply riser is smaller than the inner pipe diameter width of the storage pipe, the inner pipe diameter width of the sprinkler main pipe is the same as the inner pipe diameter width of the storage pipe, the inner pipe diameter width of the waste discharge pipe is larger than the inner pipe diameter width of the sprinkler main pipe, the inner pipe diameter width of the telescopic tube is the same as the inner pipe diameter width of the sprinkler main pipe, and a block is installed at the connection between the waste discharge pipe and the sprinkler main pipe.

[0007] The water tank truck assembly is used to collect irrigation water, the vehicle-mounted power assembly provides power, the irrigation assembly is used to irrigate alfalfa, the drone assembly is used to hang the irrigation assembly and coordinate with the water tank truck assembly to achieve sprinkler irrigation in the spraying area, the pipe parts are used to transport irrigation water, the nozzle parts are used to spray irrigation water, and the knocking parts can be started by the pressure detection valve when the nozzle parts are blocked. The knocking parts knock on the nozzle parts to unclog the nozzle parts. The cleaning parts can clean the inner wall of the pipe parts to prevent the inner wall of the pipe parts from being blocked by dirt. During irrigation, the pipe parts can be knocked to prevent the pipe parts from being blocked.

[0008] Preferably, the water tanker truck assembly comprises a water tanker truck and an on-board water tank, wherein the on-board water tank is fixedly mounted on the top of the water tanker truck, and the on-board water tank contains irrigation water.

[0009] Preferably, the vehicle-mounted power assembly includes a power supply and a controller. The power supply is located above the water pump. The controller is electrically connected to the power supply. The controller is also located above the water pump. A first satellite positioning receiver is installed on the top of the controller. The first satellite positioning receiver is electrically connected to the controller.

[0010] Preferably, multiple nozzle components are installed at the bottom of the sprinkler pipe, and each nozzle component includes a connecting pipe and a top-spraying rotating nozzle. The upper end of the connecting pipe is fixedly connected to the bottom of the sprinkler pipe, and the top of the nozzle is fixedly connected to the lower end of the connecting pipe.

[0011] Preferably, multiple knocking members are installed at the bottom of the sprinkler pipe, and the multiple knocking members are respectively adjacent to the multiple nozzle members, each knocking member includes a driving rod and a knocking ball, the upper end of the driving rod is fixedly connected to the bottom of the sprinkler pipe, and the knocking ball is fixedly connected to the lower end of the driving rod.

[0012] Preferably, the cleaning member includes a cleaning ball and cleaning fluff, the cleaning ball is rollingly installed in the storage tube, the cleaning fluff is inserted on the outer surface of the cleaning ball, the radius of the cleaning ball is larger than the inner wall radius of the water supply riser, and the radius of the cleaning ball is smaller than the inner wall radius of the telescopic tube.

[0013] Preferably, the drone assembly includes a plurality of drone components, and the plurality of drone components are all connected to the top of the sprinkler main pipe.

[0014] Preferably, each drone component includes a suspension cable, a hanging device, a drone, a communication cable and a drone power supply cable, the lower end of the suspension cable is connected to the sprinkler pipe, the bottom of the hanging device is connected to the upper end of the suspension cable, the bottom of the drone is fixedly connected to the top of the hanging device, one end of the communication cable is electrically connected to the drone, and the other end of the communication cable is electrically connected to the power supply, the middle part of the communication cable is installed on the side wall of the sprinkler pipe, one end of the drone power supply cable is electrically connected to the drone, and the other end of the drone power supply cable is electrically connected to the power supply, and the middle part of the drone power supply cable is installed on the top of the sprinkler pipe.

[0015] The suspension cable can be made of steel wire rope or other materials; the communication cable adopts optical fiber communication transmission, which has the characteristics of high transmission rate, light weight, low cost and not easy to interfere. The data transmission frame is designed according to the time trigger protocol in the optical fiber communication interface to carry out efficient real-time data transmission. Therefore, part of the data processing and calculation work can be handed over to high-performance controllers, reducing the configuration and computing power requirements of the UAV's onboard control equipment and reducing system costs.

[0016] Preferably, a second satellite positioning receiver is installed on the top of each drone, which is electrically connected to the communication cable. A ground direction sensor is installed on the bottom of each drone, which is electrically connected to the communication cable. A knocking gap is formed between the cleaning ball and the inner wall of the waste discharge pipe.

[0017] The drone adopts a multi-axis multi-rotor structure with strong stability and large suspension mass. The drone itself does not carry a power battery, but is powered by a power source through the drone power cable to achieve long-term flight. The drone is equipped with a second satellite positioning receiver, as well as ranging sensors, visible light / infrared cameras and other equipment, and transmits data and commands to the controller in real time through a communication cable.

[0018] The drone can use its own second satellite positioning receiver to form a differential positioning system in combination with the first satellite positioning receiver to achieve high-precision dynamic positioning detection. Combined with the 6-axis inertial measurement sensor required for drone flight control, the Kalman fusion algorithm can be used to accurately calculate the positions of vehicles, drones, and aerial pipelines, so that the aerial pipelines always remain straight, the spacing L between drones remains equidistant, and the height difference D between drones remains equidistant. Control commands are issued from the controller to enable multiple drones to move, maintain altitude, and avoid obstacles.

[0019] The controller can quickly obtain the position, speed, attitude, traction and other parameters of each drone in real time. Through calculation, it can quickly coordinate and command the working status of each drone, so as to coordinate multiple drones to maintain a straight line in the air, keep the distance between drones equal, and keep the height difference equal. It can also coordinate each drone to have the effects of wind resistance, anti-sway, following, and stable position.

[0020] The controller communicates with each drone through optical fiber, can transmit camera data in real time, and uses the ample space and energy of the on-board equipment to configure a high-computing image processor, avoiding the difficulty of configuring high-computing processing units in traditional drones due to power consumption and weight limitations. Combined with satellite positioning data, cameras, height measurement sensors, etc., it can realize the judgment and identification of terrain and ground obstacles.

[0021] The power supply uses an independent generator and energy storage battery, which can meet the energy needs of multiple drones working stably and dynamically adjusting at the same time; the spraying main pipe with nozzles installed at a certain interval is connected to the 90-degree elbow on the top of the telescopic tube. The spraying main pipe can be rotated horizontally 90 degrees clockwise or counterclockwise through the 90-degree elbow on the top of the telescopic tube, so that multiple drones can lift the spraying main pipe and rotate it to an appropriate angle to enter the air above the spraying area.

[0022] The spray main pipe is a polyethylene pipe connected in sections for easy disassembly and transportation. The connection points of the drone suspension cable on the spray main pipe are equidistant.

[0023] The connecting elbow from the water pump outlet to the bottom of the water supply riser is close to the outside of the vehicle-mounted water tank and fixed; the top of the water supply riser is a 90-degree elbow interface, which is connected to the spray main pipe flange.

[0024] The UAV power supply cable and communication cable are respectively connected from the power supply and the controller, and are wired along the outer wall of the pipeline. They are connected to the UAV power supply cable and communication cable attached to the suspension cable at the hanging point of the suspension cable on the sprinkler main pipe with waterproof joints.

[0025] The present invention also provides a method for controlling the coordinated sprinkler irrigation of alfalfa on a sloping land by multiple unmanned aerial vehicles. The control method adopts the above-mentioned coordinated sprinkler irrigation system for alfalfa on a sloping land by multiple unmanned aerial vehicles. The control method comprises the following steps:

[0026] Step S1: Determine the route for the water tanker, build field roads for the water tanker if the ground conditions are complex, and install pipelines and drones.

[0027] Step S2: Start the drone to lift the sprinkler pipe and place it above the spraying area.

[0028] Step S3: Start the water pump, the water tanker moves slowly, and multiple drones suspend the sprinkler main pipe to coordinate the displacement of the water tanker to achieve sprinkler irrigation in the spraying area.

[0029] Step S4: When the nozzle is blocked, the pressure in the sprinkler pipe rises, the pressure detection valve lifts up and activates multiple knocking pieces, and the knocking pieces turn over and knock the connecting pipe to clear the connecting pipe.

[0030] Step S5: After the knocking, the nozzle piece is still blocked, the pressure in the sprinkler main pipe rises, the drain valve flips, the irrigation water is discharged from the other end of the waste discharge pipe, the dirt flows out from the knocking gap, the connecting pipe is unblocked, the pressure in the sprinkler main pipe drops, the drain valve is closed, the pressure detection valve is retracted, and the knocking piece is closed, and this is repeated until the irrigation is finished.

[0031] The present invention adopts a vehicle-mounted water tank as a mobile tool and the power, power generation, water pump and controller integrated thereon, and adopts multiple drones to coordinately suspend the pipe parts connected as a whole and place them above the grass. The drones are coordinated and controlled by the power supply centralized to keep the multiple drones in a straight line in the air and maintain a certain height difference along the slope. The water tank truck moves slowly to achieve strip spraying with the length of the sprinkler main pipe as the width. The water tank truck can spray from a high position to a low slope, and can also spray from a low position to a high slope. The water tank truck has a simple structure and is easy to obtain materials. It is suitable for planting grass and restoring vegetation in complex terrain conditions such as hills and slopes, and can greatly save manpower and improve the utilization efficiency of irrigation water resources. When in use, first determine the route of the water tanker. If the ground conditions are complex, a field road for the water tanker should be built first. Then the water tanker, pipeline and drone are transported to the spraying area, the pipeline and drone are installed, the drone is started to lift the sprinkler main pipe and place it above the spraying area, and the water pump is started to spray. The water tanker moves slowly and the coordinated displacement of the pipelines suspended by multiple drones can realize the sprinkler irrigation of the spraying area. The present invention can be used in grass planting or vegetation restoration in complex terrain conditions such as hills and slopes.

[0032] By setting a cleaning ball, after starting the water pump, the irrigation water in the vehicle-mounted water tank enters the water supply riser through the water pump, and the irrigation water enters the receiving pipe through the water supply riser. The irrigation water flushes the cleaning ball, so that the cleaning ball follows the water flow and enters the telescopic tube, the sprinkler irrigation pipe and the waste discharge pipe in sequence. When the cleaning ball passes through the telescopic tube, the sprinkler irrigation pipe and the waste discharge pipe, the cleaning fluff on the cleaning ball can cooperate with the irrigation water to clean the inner wall of the telescopic tube, the sprinkler irrigation pipe and the waste discharge pipe, thereby preventing dirt from being generated inside the telescopic tube, the sprinkler irrigation pipe and the waste discharge pipe, thereby causing clogging of the nozzle, thereby reducing the irrigation effect.

[0033] By setting a knocking piece, during irrigation, the cleaning ball rolls in the waste discharge pipe. When the nozzle is blocked, the pressure in the sprinkler main pipe gradually rises, and the pressure detection valve lifts up and starts multiple knocking pieces. The driving rod of each knocking piece starts to knock the connecting pipe, so that the blockage in the connecting pipe is dispersed, thereby unblocking the connecting pipe so that irrigation water can flow out. After the connecting pipe is unblocked, the pressure in the sprinkler main pipe drops, the pressure detection valve retracts, and the knocking piece closes.

[0034] By setting up a waste discharge pipe, after knocking, the nozzle is still blocked, and the pressure in the sprinkler irrigation pipe continues to rise. When the sprinkler irrigation pipe rises to a certain level, the drain valve opens, and a knocking gap is formed between the cleaning ball and the inner wall of the waste discharge pipe. The irrigation water will flush the cleaning ball, causing the cleaning ball to roll in the waste discharge pipe and knock the inner wall and block of the waste discharge pipe, so that the dirt on the waste discharge pipe and the sprinkler irrigation pipe falls off and is discharged from the other end of the waste discharge pipe. At the same time, the irrigation water will discharge the large pieces of dirt blocked in the connecting pipe from the waste discharge pipe, preventing large The block of dirt will be blocked in the connecting pipe again after the knocking piece is knocked out. When the irrigation water flushes the cleaning ball, it also flushes the cleaning fluff on the cleaning ball, so that the dirt on the cleaning fluff falls off and is discharged from the waste discharge pipe. The block can prevent the cleaning ball from falling out of the waste discharge pipe. After the dirt flows out from the knocking gap, the connecting pipe is unblocked, and the drain valve closes the other end of the waste discharge pipe under the action of the torsion spring. The pressure in the sprinkler main pipe drops, the pressure detection valve retracts, and the knocking piece is closed. This is repeated to prevent the sprinkler head from being blocked, thereby reducing the irrigation effect.

[0035] The invention has an ingenious and simple structure and is easy to obtain. It is suitable for planting grass and restoring vegetation in complex terrain conditions such as hills and slopes. It can greatly save manpower and improve the utilization efficiency of irrigation water resources. At the same time, it can also prevent the blockage of irrigation pipes, thereby reducing the irrigation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic plan view of an overall embodiment.

[0037] Figure 2 A schematic diagram of another scene of an embodiment

[0038] Figure 3 It is a plan view of a water tank truck assembly and part of the vehicle-mounted power assembly according to an embodiment.

[0039] Figure 4 An embodiment Figure 3 A plan view from another angle.

[0040] Figure 5 It is a schematic plan view of a portion of an irrigation component according to an embodiment.

[0041] Figure 6 The figure is a plan view of some drone components according to an embodiment.

[0042] Figure 7 It is a three-dimensional schematic diagram of an irrigation assembly according to an embodiment.

[0043] Figure 8 An embodiment Figure 7 A magnified schematic diagram of center A.

[0044] Fig. 9An embodiment Figure 7 A magnified schematic diagram of point B in the middle.

[0045] Fig.10 The figure is a cross-sectional schematic diagram of a waste discharge pipe according to an embodiment.

[0046] Fig.11 The figure is a cross-sectional schematic diagram of a portion of a pipeline component according to an embodiment.

[0047] In the figure: 10, water tanker assembly; 11, water tanker; 12, vehicle-mounted water tank; 20, vehicle-mounted power assembly; 21, power supply; 22, controller; 23, first satellite positioning receiver; 30, irrigation assembly; 31, water pump; 32, pipe parts; 33, nozzle parts; 34, knocking parts; 35, cleaning parts; 320, water supply riser; 321, storage pipe; 322, sprinkler main pipe; 323, waste discharge pipe; 324, discharge valve; 32 5. Pressure detection valve; 326. Cleaning valve; 327. Telescopic tube; 328. Block; 330. Connecting tube; 331. Nozzle; 340. Driving rod; 341. Tapping ball; 350. Cleaning ball; 40. UAV assembly; 41. UAV parts; 42. Suspension cable; 43. UAV; 44. Communication cable; 45. UAV power supply cable; 46. Second satellite positioning receiver; 47. Earth direction sensor; 410. Suspension device. DETAILED DESCRIPTION

[0048] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0049] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0051] An embodiment provided by the present invention is as follows: Figures 1 to 11 As shown, a multi-UAV coordinated sprinkler irrigation system for alfalfa on a slope includes a water tanker assembly 10, a vehicle-mounted power assembly 20, an irrigation assembly 30 and a UAV assembly 40. The vehicle-mounted power assembly 20 is installed on the top of the water tanker assembly 10, the irrigation assembly 30 is connected to the vehicle-mounted power assembly 20, the UAV assembly 40 is connected to the irrigation assembly 30, and the irrigation assembly 30 includes a water pump 31, a pipe part 32, a plurality of nozzle parts 33, a plurality of knocking parts 34 and a cleaning part 35. The water pump 31 is installed on the top of the water tanker assembly 10. At the top, one end of the pipe member 32 is connected to the water pump 31, multiple nozzle members 33 and multiple knocking members 34 are installed at the bottom of the pipe member 32, and the cleaning member 35 is rotatably installed inside the pipe member 32. The pipe member 32 includes a water supply riser 320, a storage pipe 321, a telescopic pipe 327, a sprinkler main pipe 322, a waste discharge pipe 323 and a drain valve 324 connected in sequence. One end of the water supply riser 320 is fixedly connected to the water pump 31, and one end of the storage pipe 321 is fixedly connected to the other end of the water supply riser 320. The lower end of the telescopic tube 327 is fixedly connected to the other end of the storage tube 321, one end of the sprinkler main pipe 322 is fixedly connected to the upper end of the telescopic tube 327, one end of the waste discharge pipe 323 is fixedly connected to the other end of the sprinkler main pipe 322, and the drain valve 324 is covered on the other end of the waste discharge pipe 323. A pressure detection valve 325 is installed on the middle side wall of the sprinkler main pipe 322, and the pressure detection valve 325 is electrically connected to a plurality of knocking members 34. A cleaning valve 325 is installed on the bottom of the side wall of the storage tube 321. 6. The pressure detection valve 325 is electrically connected to the vehicle-mounted power assembly 20. The inner diameter width of the water supply riser 320 is smaller than the inner diameter width of the storage tube 321. The inner diameter width of the sprinkler main pipe 322 is the same as the inner diameter width of the storage tube 321. The inner diameter width of the waste discharge pipe 323 is larger than the inner diameter width of the sprinkler main pipe 322. The inner diameter width of the telescopic tube 327 is the same as the inner diameter width of the sprinkler main pipe 322. A block 328 is installed at the connection between the waste discharge pipe 323 and the sprinkler main pipe 322.

[0052] The water tanker assembly 10 is used to collect irrigation water, the vehicle-mounted power assembly 20 provides power, the irrigation assembly 30 is used to irrigate alfalfa, the drone assembly 40 is used to hang the irrigation assembly 30 and cooperate with the water tanker assembly 10 to move in coordination to achieve sprinkler irrigation in the spraying area, the pipe part 32 is used to transport irrigation water, the nozzle part 33 is used to spray irrigation water, and the knocking part 34 can be started by the pressure detection valve 325 when the nozzle part 33 is blocked. The knocking part 34 knocks the nozzle part 33 to clear the nozzle part 33, and the cleaning part 35 can clean the inner wall of the pipe part 32 to prevent the inner wall of the pipe part 32 from being blocked by dirt, and knock the pipe part 32 during irrigation to prevent the pipe part 32 from being blocked.

[0053] like Figures 1 to 4As shown, the water tanker assembly 10 includes a water tanker 11 and a vehicle-mounted water tank 12 . The vehicle-mounted water tank 12 is fixedly mounted on the top of the water tanker 11 , and the vehicle-mounted water tank 12 contains irrigation water (not shown).

[0054] like Figures 1 to 4 As shown, the vehicle-mounted power assembly 20 includes a power supply 21 and a controller 22. The power supply 21 is located above the water pump 31. The controller 22 is electrically connected to the power supply 21. The controller 22 is located above the water pump 31. A first satellite positioning receiver 23 is installed on the top of the controller 22. The first satellite positioning receiver 23 is electrically connected to the controller 22.

[0055] like Figure 1 and Figures 7 and 8 As shown, multiple nozzle components 33 are installed at the bottom of the sprinkler pipe 322, and each nozzle component 33 includes a connecting pipe 330 and a top-spraying rotating nozzle 331. The upper end of the connecting pipe 330 is fixedly connected to the bottom of the sprinkler pipe 322, and the top of the nozzle 331 is fixedly connected to the lower end of the connecting pipe 330.

[0056] like Figure 1 and Figures 7 and 8 As shown, multiple knocking members 34 are installed at the bottom of the sprinkler pipe 322, and the multiple knocking members 34 are respectively adjacent to the multiple nozzle members 33. Each knocking member 34 includes a driving rod 340 and a knocking ball 341. The upper end of the driving rod 340 is fixedly connected to the bottom of the sprinkler pipe 322, and the knocking ball 341 is fixedly connected to the lower end of the driving rod 340.

[0057] like Figures 6 to 11 As shown, the cleaning member 35 includes a cleaning ball 350 and cleaning fluff (not shown), the cleaning ball 350 is rollingly installed in the storage tube 321, the cleaning fluff is inserted on the outer surface of the cleaning ball 350, the radius of the cleaning ball 350 is larger than the inner wall radius of the water supply riser 320, and the radius of the cleaning ball 350 is smaller than the inner wall radius of the telescopic tube 327.

[0058] like Figure 1 and Figure 7 As shown, the drone assembly 40 includes a plurality of drone components 41 , and the plurality of drone components 41 are all connected to the top of the sprinkler main pipe 322 .

[0059] like Figures 1 to 7As shown, each drone component 41 includes a suspension cable 42, a hanging device 410, a drone 43, a communication cable 44 and a drone power supply cable 45. The lower end of the suspension cable 42 is connected to the sprinkler main pipe 322, the bottom of the hanging device 410 is connected to the upper end of the suspension cable 42, the bottom of the drone 43 is fixedly connected to the top of the hanging device 410, one end of the communication cable 44 is electrically connected to the drone 43, and the other end of the communication cable 44 is electrically connected to the power supply 21, the middle part of the communication cable 44 is installed on the side wall of the sprinkler main pipe 322, one end of the drone power supply cable 45 is electrically connected to the drone 43, and the other end of the drone power supply cable 45 is electrically connected to the power supply 21, and the middle part of the drone power supply cable 45 is installed on the top of the sprinkler main pipe 322.

[0060] like Figures 1 to 10 As shown, a second satellite positioning receiver 46 is installed on the top of each drone 43, and the second satellite positioning receiver 46 is electrically connected to the communication cable 44. A ground direction sensor 47 is installed on the bottom of each drone 43, and the ground direction sensor 47 is electrically connected to the communication cable 44. A knocking gap (not marked in the figure) is formed between the cleaning ball 350 and the inner wall of the waste discharge pipe 323.

[0061] The present invention also provides a method for controlling the coordinated sprinkler irrigation of alfalfa on a sloping land by multiple unmanned aerial vehicles. The control method adopts the above-mentioned coordinated sprinkler irrigation system for alfalfa on a sloping land by multiple unmanned aerial vehicles. The control method comprises the following steps:

[0062] Step S1: Determine the route of the water tanker 11, build a field road for the water tanker 11 to pass through if the ground conditions are complex, and install pipelines and drones 43.

[0063] Step S2: Start the drone 43 to lift the sprinkler pipe 322 and place the sprinkler pipe 322 above the spraying area.

[0064] Step S3: Start the water pump 31, the water tanker 11 moves slowly, and multiple drones 43 suspend the sprinkler main pipe 322 to coordinate the displacement of the water tanker 11 to achieve sprinkler irrigation in the spraying area.

[0065] Step S4: When the nozzle 33 causes blockage, the pressure in the sprinkler main pipe 322 rises, and the pressure detection valve 325 lifts up and starts the multiple knocking pieces 34, and the knocking pieces 34 turn over and knock the connecting pipe 330 to clear the connecting pipe 330.

[0066] Step S5: After the knocking, the nozzle part 33 is still blocked, the pressure in the sprinkler pipe 322 rises, the drain valve 324 flips, the irrigation water is discharged from the other end of the waste discharge pipe 323, the dirt flows out from the knocking gap, the connecting pipe 330 is unblocked, the pressure in the sprinkler pipe 322 drops, the drain valve 324 is closed, the pressure detection valve 325 is retracted, and the knocking part 34 is closed, and this is repeated until the irrigation is finished.

[0067] During installation: install the vehicle-mounted power assembly 20 on the top of the water tanker assembly 10, the water pump 31 on the top of the water tanker assembly 10, multiple nozzles 33 and multiple knocking pieces 34 on the bottom of the pipe 32, the cleaning piece 35 rollingly installed inside the pipe 32, and the vehicle-mounted water tank 12 fixedly installed on the top of the water tanker 11. Multiple nozzles 33 are installed on the bottom of the sprinkler pipe 322, multiple knocking pieces 34 are installed on the bottom of the sprinkler pipe 322, the cleaning ball 350 is rollingly installed in the storage tube 321, the middle of the communication cable 44 is installed on the side wall of the sprinkler pipe 322, and the middle of the drone power supply cable 45 is installed on the top of the sprinkler pipe 322.

[0068] When in use: 1. Move the water tanker 11 to the bottom of the slope, control the drone 43 to fly above the slope, and the interval between each drone 43 is the same. The drone 43 adopts a multi-axis multi-rotor structure with strong stability and large suspension mass. The drone 43 itself does not carry a power battery, but is powered by the power supply 21 through the drone power cable 45 to achieve long-term air flight. The drone 43 is equipped with a second satellite positioning receiver 46, as well as ranging sensors, visible light / infrared cameras and other equipment, and transmits data and instructions in real time with the controller 22 through the communication cable 44.

[0069] 2. The drone 43 can form a differential positioning system through the second satellite positioning receiver 46 equipped by itself and the first satellite positioning receiver 23 to achieve high-precision dynamic positioning detection. Combined with the six-axis inertial measurement sensor required for the flight control of the drone 43, the Kalman fusion algorithm can be used to accurately calculate the positions of the vehicle, drone 43, and aerial pipelines, so that the aerial pipelines always remain straight, and the horizontal spacing between two adjacent drones 43 forms a spacing L, and the spacing L between two adjacent drones 43 is the same. The vertical spacing between two adjacent drones 43 forms a spacing D, and the spacing D between two adjacent drones 43 is the same. The controller 22 sends control instructions to enable multiple drones 43 to move, maintain altitude, avoid obstacles, and other actions.

[0070] 3. The controller 22 can quickly obtain the position, speed, attitude, traction and other parameters of each drone 43 in real time. Through calculation, it can quickly coordinate and command the working status of each drone 43, so as to coordinate multiple drones 43 to maintain a straight line in the air, and keep the distance between the drones 43 at the same distance, the height difference at the same height difference, and coordinate each drone 43 to have the effects of wind resistance, anti-sway, following and stable position.

[0071] 4. The controller 22 communicates with each drone 43 through optical fiber, can transmit camera data in real time, and uses the sufficient space and energy of the vehicle-mounted equipment to configure a high-computing image processor, avoiding the inconvenience of configuring a high-computing processing unit for the traditional drone 43 due to power consumption and weight limitations. Combined with satellite positioning data, cameras, height measurement sensors, etc., it can realize the judgment and identification of terrain and ground obstacles.

[0072] 5. When using, first determine the route of the water tanker 11. If the ground conditions are complicated, a field road for the water tanker 11 to pass should be built first, and then the water tanker 11, irrigation assembly 30 and drone 43 are transported to the spraying area, and the pipeline and drone 43 are installed. Start the drone 43 to lift the irrigation assembly 30 and place it above the spraying area, start the water pump 31 to spray, and realize sprinkler irrigation in the spraying area through the slow movement of the water tanker 11 and the coordinated displacement of the suspended pipelines of multiple drones 43.

[0073] 6. After starting the water pump 31, the irrigation water in the vehicle-mounted water tank 12 enters the water supply riser 320 through the water pump 31, and the irrigation water enters the storage pipe 321 through the water supply riser 320. The irrigation water flushes the cleaning ball 350, so that the cleaning ball 350 follows the water flow and enters the telescopic pipe 327, the sprinkler pipe 322 and the waste discharge pipe 323 in sequence. When the cleaning ball 350 passes through the telescopic pipe 327, the sprinkler pipe 322 and the waste discharge pipe 323, the cleaning fluff on the cleaning ball 350 can cooperate with the irrigation water to clean The inner walls of the telescopic tube 327, the sprinkler irrigation pipe 322 and the waste discharge pipe 323 prevent dirt from being generated inside the telescopic tube 327, the sprinkler irrigation pipe 322 and the waste discharge pipe 323, which may cause blockage of the nozzle 331 and reduce the irrigation effect. At the same time, the cleaning ball 350 can knock on the inside of the waste discharge pipe 323 under the flushing of irrigation water during irrigation to prevent dirt from adhering to the inner walls of the telescopic tube 327, the sprinkler irrigation pipe 322 and the waste discharge pipe 323, causing dirt accumulation and pipe blockage.

[0074] 7. During irrigation, the cleaning ball 350 rolls in the waste discharge pipe 323. When the nozzle 33 is blocked, the pressure in the sprinkler main pipe 322 gradually rises, and the pressure detection valve 325 lifts up and starts multiple knocking pieces 34. The driving rod 340 of each knocking piece 34 swings, so that the knocking ball 341 can knock on the connecting pipe 330, so that the blockage in the connecting pipe 330 is dispersed, and then the connecting pipe 330 is unblocked, and the irrigation water can flow out. After the connecting pipe 330 is unblocked, the pressure in the sprinkler main pipe 322 drops, the pressure detection valve 325 retracts, and the knocking piece 34 is closed.

[0075] 8. After the knocking, the nozzle 33 is still blocked, and the pressure in the sprinkler pipe 322 continues to rise. When the sprinkler pipe 322 rises to a certain level, the drain valve 324 opens, and a knocking gap is formed between the cleaning ball 350 and the inner wall of the waste discharge pipe 323. The irrigation water will flush the cleaning ball 350, causing the cleaning ball 350 to roll in the waste discharge pipe 323 and knock the inner wall and the block 328 of the waste discharge pipe 323, so that the dirt on the waste discharge pipe 323 and the sprinkler pipe 322 falls off and is discharged from the other end of the waste discharge pipe 323. At the same time, the irrigation water will discharge the large pieces of dirt blocked in the connecting pipe 330 from the waste discharge pipe 323, preventing the large pieces of dirt from being discharged from the waste discharge pipe 323. The dirt is blocked in the connecting pipe 330 again after being knocked down by the knocking piece 34. When the irrigation water flushes the cleaning ball 350, it also flushes the cleaning fluff on the cleaning ball 350, so that the dirt on the cleaning fluff falls off and is discharged from the waste discharge pipe 323. The block 328 can prevent the cleaning ball 350 from escaping from the waste discharge pipe 323. After the dirt flows out from the knocking gap, the connecting pipe 330 is unblocked, and the drain valve 324 closes the other end of the waste discharge pipe 323 under the action of the torsion spring. The pressure in the sprinkler main pipe 322 drops, the pressure detection valve 325 retracts, and the knocking piece 34 is closed. This is repeated to prevent the nozzle part 33 from being blocked, thereby reducing the irrigation effect. When the sprinkler main pipe 322 is tilted upward, after the water pump 31 is turned off, the cleaning ball 350 will roll out of the waste discharge pipe 323 and into the storage pipe 321. When the cleaning ball 350 needs to be inspected, the cleaning valve 326 on the storage pipe 321 can be opened to take out the cleaning ball 350.

[0076] The present invention adopts a vehicle-mounted water tank 12 as a mobile tool and the power, power generation, water pump 31 and controller 22 integrated thereon, and adopts multiple drones 43 to coordinately suspend the pipe parts 32 connected as a whole and place them above the grass. The drones 43 centrally powered by the power supply 21 are coordinated and controlled so that the multiple drones 43 maintain a straight line in the air and maintain a certain height difference along the slope. Through the slow movement of the water tank truck 11, strip spraying with the length of the sprinkler main pipe 322 as the width is achieved. The water tank truck 11 can spray from a high position to a low slope (the height of the water tank truck 11 is higher than the height of the slope body), and can also spray from a low position to a high slope (the height of the water tank truck 11 is lower than the height of the slope body). In addition, the structure is simple and the materials are convenient to obtain. It is suitable for grass planting and vegetation restoration in complex terrain conditions such as hilly slopes, which can greatly save manpower and improve the utilization efficiency of irrigation water resources. When in use, first determine the route of the water tanker 11. If the ground conditions are complex, a field road for the water tanker 11 should be built first. Then, the water tanker 11, the pipeline and the drone 43 are transported to the spraying area, the pipeline and the drone 43 are installed, the drone 43 is started to lift the sprinkler main pipe 322 and place it above the spraying area, and the water pump 31 is started to spray. The water tanker 11 moves slowly and the coordinated displacement of the pipelines suspended by multiple drones 43 can realize the sprinkler irrigation of the spraying area. The present invention can be used in grass planting or vegetation restoration in complex terrain conditions such as hills and slopes.

[0077] By setting the cleaning ball 350, after starting the water pump 31, the irrigation water in the vehicle-mounted water tank 12 enters the water supply riser 320 through the water pump 31, and the irrigation water enters the storage tube 321 through the water supply riser 320. The irrigation water flushes the cleaning ball 350, so that the cleaning ball 350 follows the water flow and enters the telescopic tube 327, the sprinkler irrigation pipe 322 and the waste discharge pipe 323 in sequence. When the cleaning ball 350 passes through the telescopic tube 327, the sprinkler irrigation pipe 322 and the waste discharge pipe 323, the cleaning fluff on the cleaning ball 350 can cooperate with the irrigation water to clean the inner wall of the telescopic tube 327, the sprinkler irrigation pipe 322 and the waste discharge pipe 323, so as to prevent the formation of dirt inside the telescopic tube 327, the sprinkler irrigation pipe 322 and the waste discharge pipe 323, thereby causing the blockage of the nozzle 331 and reducing the irrigation effect.

[0078] By setting the knocking piece 34, during irrigation, the cleaning ball 350 rolls in the waste discharge pipe 323. When the nozzle piece 33 causes blockage, the pressure in the sprinkler main pipe 322 gradually increases, and the pressure detection valve 325 lifts up and starts multiple knocking pieces 34. The driving rod 340 of each knocking piece 34 starts to knock the connecting pipe 330, so that the blockage in the connecting pipe 330 is dispersed, and then the connecting pipe 330 is unblocked for irrigation water to flow out. After the connecting pipe 330 is unblocked, the pressure in the sprinkler main pipe 322 drops, the pressure detection valve 325 retracts, and the knocking piece 34 is closed.

[0079] By setting the waste discharge pipe 323, after the knocking, the nozzle part 33 is still blocked, and the pressure in the sprinkler irrigation main pipe 322 continues to rise. When the sprinkler irrigation main pipe 322 rises to a certain level, the drain valve 324 is opened, and a knocking gap is formed between the cleaning ball 350 and the inner wall of the waste discharge pipe 323. The irrigation water will flush the cleaning ball 350, so that the cleaning ball 350 rolls in the waste discharge pipe 323 and knocks the inner wall of the waste discharge pipe 323 and the block 328, so that the dirt on the waste discharge pipe 323 and the sprinkler irrigation main pipe 322 falls off and is discharged from the other end of the waste discharge pipe 323. At the same time, the irrigation water will discharge the large pieces of dirt blocked in the connecting pipe 330 from the waste discharge pipe 323 , to prevent large pieces of dirt from being blocked in the connecting pipe 330 again after the knocking piece 34 is knocked down. When the irrigation water flushes the cleaning ball 350, the irrigation water also flushes the cleaning fluff on the cleaning ball 350, so that the dirt on the cleaning fluff falls off and is discharged from the waste discharge pipe 323. The block 328 can prevent the cleaning ball 350 from escaping from the waste discharge pipe 323. After the dirt flows out from the knocking gap, the connecting pipe 330 is unblocked, and the drain valve 324 closes the other end of the waste discharge pipe 323 under the action of the torsion spring. The pressure in the sprinkler main pipe 322 drops, the pressure detection valve 325 retracts, and the knocking piece 34 is closed. This is repeated to prevent the nozzle part 33 from being blocked, thereby reducing the irrigation effect.

[0080] The invention has an ingenious and simple structure and is easy to obtain. It is suitable for planting grass and restoring vegetation in complex terrain conditions such as hills and slopes. It can greatly save manpower and improve the utilization efficiency of irrigation water resources. At the same time, it can also prevent the blockage of irrigation pipes, thereby reducing the irrigation effect.

[0081] All possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above-mentioned embodiments only express several embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A multi-UAV coordinated sprinkler irrigation system for alfalfa on a slope, characterized in that: The invention comprises a water tanker assembly (10), a vehicle-mounted power assembly (20), an irrigation assembly (30) and an unmanned aerial vehicle assembly (40); the vehicle-mounted power assembly (20) is mounted on the top of the water tanker assembly (10); the irrigation assembly (30) is connected to the vehicle-mounted power assembly (20); the unmanned aerial vehicle assembly (40) is connected to the irrigation assembly (30); the irrigation assembly (30) comprises a water pump (31), a pipe member (32), a plurality of nozzle members (33), a plurality of knocking members (34) and a cleaning member (35); the water pump (31) is mounted on the top of the water tanker assembly (10); one end of the pipe member (32) is connected to the water pump (31); the plurality of nozzle members (33) and the plurality of knocking members (34) are both mounted on the bottom of the pipe member (32); the cleaning member (35) is rotatably mounted inside the pipe member (32); the pipe member (32) comprises a water supply riser (320), a storage pipe (321), a telescopic pipe (327), The sprinkler main pipe (322), the waste discharge pipe (323) and the drain valve (324), one end of the water supply riser (320) is fixedly connected to the water pump (31), one end of the storage pipe (321) is fixedly connected to the other end of the water supply riser (320), the lower end of the telescopic pipe (327) is fixedly connected to the other end of the storage pipe (321), one end of the sprinkler main pipe (322) is fixedly connected to the upper end of the telescopic pipe (327), and the waste discharge pipe (323) is fixedly connected to the upper end of the telescopic pipe (327). One end of the sprinkler pipe (322) is fixedly connected to the other end of the sprinkler pipe (322); a drain valve (324) is covered on the other end of the waste discharge pipe (323); a pressure detection valve (325) is installed on the middle side wall of the sprinkler pipe (322); the pressure detection valve (325) is electrically connected to a plurality of knocking members (34); a cleaning valve (326) is installed on the bottom of the side wall of the storage pipe (321); and the pressure detection valve (325) is electrically connected to the vehicle-mounted power assembly (20); When the nozzle member (33) causes blockage, the pressure in the sprinkler main pipe (322) rises, the pressure detection valve (325) lifts up and activates the plurality of knocking members (34), and the knocking members (34) turn over and knock the connecting pipe (330), thereby clearing the connecting pipe (330); The inner diameter width of the water supply riser (320) is smaller than the inner diameter width of the storage pipe (321); the inner diameter width of the sprinkler pipe (322) is the same as the inner diameter width of the storage pipe (321); the inner diameter width of the waste discharge pipe (323) is larger than the inner diameter width of the sprinkler pipe (322); the inner diameter width of the telescopic pipe (327) is the same as the inner diameter width of the sprinkler pipe (322); and a stopper (328) is installed at the connection between the waste discharge pipe (323) and the sprinkler pipe (322); A plurality of nozzle components (33) are installed at the bottom of the sprinkler irrigation main pipe (322), each nozzle component (33) comprising a connecting pipe (330) and a top-spraying rotating nozzle (331), the upper end of the connecting pipe (330) being fixedly connected to the bottom of the sprinkler irrigation main pipe (322), and the top of the nozzle (331) being fixedly connected to the lower end of the connecting pipe (330); A plurality of knocking members (34) are mounted on the bottom of the sprinkler pipe (322), and the plurality of knocking members (34) are respectively adjacent to the plurality of sprinkler head members (33). Each knocking member (34) comprises a driving rod (340) and a knocking ball (341). The upper end of the driving rod (340) is fixedly connected to the bottom of the sprinkler pipe (322), and the knocking ball (341) is fixedly connected to the lower end of the driving rod (340).

2. The slope alfalfa multi-UAV coordinated sprinkler irrigation system according to claim 1 is characterized by: The water tanker assembly (10) comprises a water tanker (11) and an on-board water tank (12); the on-board water tank (12) is fixedly mounted on the top of the water tanker (11); and irrigation water is stored in the on-board water tank (12).

3. The slope alfalfa multi-UAV coordinated sprinkler irrigation system according to claim 2 is characterized in that: The vehicle-mounted power assembly (20) comprises a power source (21) and a controller (22); the power source (21) is located above the water pump (31); the controller (22) is electrically connected to the power source (21); and the controller (22) is located above the water pump (31); a first satellite positioning receiver (23) is installed on the top of the controller (22); and the first satellite positioning receiver (23) is electrically connected to the controller (22).

4. The slope alfalfa multi-UAV coordinated sprinkler irrigation system according to claim 3 is characterized by: The cleaning member (35) comprises a cleaning ball (350) and cleaning fluff, the cleaning ball (350) is rotatably mounted in the storage tube (321), the cleaning fluff is inserted into the outer surface of the cleaning ball (350), the radius of the cleaning ball (350) is greater than the inner wall radius of the water supply riser (320), and the radius of the cleaning ball (350) is smaller than the inner wall radius of the telescopic tube (327).

5. The slope alfalfa multi-UAV coordinated sprinkler irrigation system according to claim 4 is characterized in that: The drone assembly (40) comprises a plurality of drone components (41), and the plurality of drone components (41) are all connected to the top of the sprinkler main pipe (322).

6. The slope alfalfa multi-UAV coordinated sprinkler irrigation system according to claim 5, characterized in that: Each drone component (41) includes a suspension cable (42), a hanging device (410), a drone (43), a communication cable (44) and a drone power supply cable (45); the lower end of the suspension cable (42) is connected to the sprinkler main pipe (322); the bottom of the hanging device (410) is connected to the upper end of the suspension cable (42); the bottom of the drone (43) is fixedly connected to the top of the hanging device (410); one end of the communication cable (44) is electrically connected to the drone (43); the other end of the communication cable (44) is electrically connected to the power supply (21); the middle part of the communication cable (44) is installed on the side wall of the sprinkler main pipe (322); one end of the drone power supply cable (45) is electrically connected to the drone (43); the other end of the drone power supply cable (45) is electrically connected to the power supply (21); and the middle part of the drone power supply cable (45) is installed on the top of the sprinkler main pipe (322).

7. The slope alfalfa multi-UAV coordinated sprinkler irrigation system according to claim 6, characterized in that: A second satellite positioning receiver (46) is installed on the top of each drone (43), and the second satellite positioning receiver (46) is electrically connected to the communication cable (44). A ground direction sensor (47) is installed on the bottom of each drone (43), and the ground direction sensor (47) is electrically connected to the communication cable (44). A knocking gap is formed between the cleaning ball (350) and the inner wall of the waste discharge pipe (323).

8. A method for controlling the coordinated sprinkler irrigation of alfalfa on a slope by multiple UAVs, characterized in that: Using the slope alfalfa multi-UAV coordinated sprinkler irrigation system as described in claim 7, the control method includes the following steps: Step S1: determine the route of the water tanker (11), build a field road for the water tanker (11) to pass if the ground conditions are complex, and install pipelines and drones (43); Step S2: starting the drone (43) to lift the sprinkler pipe (322) and position the sprinkler pipe (322) above the spraying area; Step S3: starting the water pump (31), the water tanker (11) moves slowly, and multiple drones (43) suspend the sprinkler main pipe (322) to coordinate the displacement of the water tanker (11) to achieve sprinkler irrigation in the spraying area; Step S4: When the nozzle member (33) causes blockage, the pressure in the sprinkler main pipe (322) rises, the pressure detection valve (325) lifts up and activates the plurality of knocking members (34), and the knocking members (34) turn over and knock the connecting pipe (330), thereby clearing the connecting pipe (330); Step S5: After the knocking, the nozzle member (33) is still blocked, the pressure in the sprinkler pipe (322) increases, the drain valve (324) turns over, the irrigation water is discharged from the other end of the waste discharge pipe (323), the dirt flows out from the knocking gap, the connecting pipe (330) is unblocked, the pressure in the sprinkler pipe (322) decreases, the drain valve (324) is closed, the pressure detection valve (325) is retracted, and the knocking member (34) is closed, and this process is repeated until the irrigation is finished.

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