Large translation type sprinkling irrigation equipment and walking control method

Abstract

The invention relates to the technical field of sprinkling irrigation equipment, and provides large translation type sprinkling irrigation equipment and a walking control method. The large translation type sprinkling irrigation equipment comprises a main tower vehicle, a main control unit, a plurality of slave tower vehicles and a plurality of slave control units, and trusses are arranged between the main tower vehicle and the slave tower vehicles and between the adjacent slave tower vehicles. The master control unit comprises a master controller, a first stepping motor and a first encoder, the master controller and the first stepping motor are both arranged on a master tower vehicle, the first encoder is arranged on wheels of the master tower vehicle, the slave control unit comprises a slave controller, a second stepping motor and a second encoder, the slave controller and the second stepping motor are both arranged on a slave tower vehicle, and the second encoder is arranged on the slave tower vehicle. And the second encoder is arranged on a wheel of the slave tower vehicle. The defects that when an existing sprinkling machine works, running synchronism of all spans is poor, a support of the sprinkling machine is prone to distortion, and running faults are prone to occurring are overcome.

Description

Technical Field

[0001] The invention relates to the technical field of sprinkler irrigation equipment, and in particular to a large-scale translational sprinkler irrigation equipment and a travel control method. Background Art

[0002] In the prior art, common large sprinklers include two structures: large pointer sprinklers and large translation sprinklers.

[0003] Large pointer sprinklers are also called center pivot sprinklers. They have sprinklers at intervals on a bracket that can move automatically. During operation, the bracket rotates around the center point with a water supply system and performs sprinkler irrigation. The branch pipes of large translation sprinklers are supported on a truss that can move automatically. The truss moves in a straight line along a set path while the branch pipes perform sprinkler irrigation. However, the existing large pointer sprinklers and large translation sprinklers have poor synchronization between spans during operation, which makes the bracket of the sprinkler very easy to twist, resulting in operation failure. Summary of the invention

[0004] The invention provides a large-scale translation type sprinkler irrigation equipment and a travel control method, which are used to solve the defect that the existing sprinkler irrigation machine has poor synchronization of operation between spans during operation, which causes the support of the sprinkler irrigation machine to be easily twisted and prone to operation failure.

[0005] On the one hand, the present invention provides a large-scale translational sprinkler irrigation equipment, including: a main tower vehicle, a main control unit, a plurality of slave tower vehicles and a plurality of slave control units corresponding to the slave tower vehicles one by one, the main tower vehicle and the plurality of slave tower vehicles are arranged side by side, and trusses are provided between the main tower vehicle and the slave tower vehicles and between adjacent slave tower vehicles.

[0006] The main control unit includes a main controller, a first stepper motor and a first encoder. The main controller and the first stepper motor are both arranged on the main tower vehicle. The first encoder is arranged on the wheel of the main tower vehicle. The first stepper motor and the first encoder are both communicatively connected to the main controller.

[0007] The slave control unit includes a slave controller, a second stepper motor and a second encoder. The slave controller and the second stepper motor are both arranged on the slave tower vehicle. The second encoder is arranged on the wheels of the slave tower vehicle. The second stepper motor and the second encoder are both communicatively connected to the slave controller.

[0008] The main controller is used to obtain the preset travel speed of the main tower vehicle and control the rotation speed of the first stepper motor, the first encoder is used to obtain the current travel speed of the main tower vehicle and feed it back to the main controller, the slave controller is communicatively connected to the main controller, the slave controller is used to obtain the preset travel speed of the main tower vehicle and control the rotation speed of the second stepper motor, the second encoder is used to obtain the current travel speed of the slave tower vehicle and feed it back to the slave controller, so that the slave tower vehicle and the main tower vehicle both travel at the preset travel speed.

[0009] The large-scale translational sprinkler irrigation equipment provided by the present invention further includes a steering unit, which includes a steering motor and a steering mechanism; the steering motor and the steering mechanism are both arranged on the main tower vehicle, the output shaft of the steering motor is transmission-connected to the steering mechanism, and the steering mechanism is transmission-connected to the wheels of the main tower vehicle.

[0010] The large-scale translational sprinkler irrigation equipment provided by the present invention also includes a navigation control unit, which includes an image acquisition device and an image processing module; the image acquisition device is arranged on the main tower vehicle, and the image acquisition device is used to acquire images of the wheels of the main tower vehicle and the water channels in front and behind the main tower vehicle in real time, and the image acquisition device and the steering motor are both communicatively connected to the image processing module.

[0011] According to the large-scale translational sprinkler equipment provided by the present invention, a posture alarm unit is provided between adjacent trusses, and the posture alarm unit includes a negative feedback laser, a spectrometer, a first photodetector, a second photodetector and a signal processing module; the negative feedback laser and the spectrometer are both provided on the truss located upstream, the first photodetector and the second photodetector are respectively provided on both sides of the truss located downstream, the output end of the negative feedback laser is connected to the incident end of the spectrometer, and the two output ends of the spectrometer are respectively facing the first photodetector and the second photodetector; the first photodetector and the second photodetector are both communicatively connected to the signal processing module, and the signal processing module is communicatively connected to the slave controller.

[0012] According to the large-scale translational sprinkler irrigation equipment provided by the present invention, both emission ends of the light splitting device are provided with collimators.

[0013] Another aspect of the present invention provides a travel control method for the large-scale translational sprinkler irrigation equipment based on any one of the above items, comprising the following steps.

[0014] Based on the irrigation water volume and the irrigation time, a preset travel speed of the large-scale translational sprinkler irrigation equipment is determined, and a preset travel speed of the main tower vehicle is determined.

[0015] Based on the preset travel speed of the main tower vehicle, the preset travel speed of the slave tower vehicle is determined, and the preset travel speed of the slave tower vehicle is equal to the preset travel speed of the main tower vehicle.

[0016] The current traveling speeds of the master tower vehicle and the slave tower vehicle are obtained.

[0017] Based on the current travel speeds of the main tower vehicle and the slave tower vehicle, the pulse emission frequency of the first stepper motor and the second stepper motor is adjusted so that the main tower vehicle and the slave tower vehicle both travel at a preset travel speed.

[0018] The walking control method provided by the present invention also includes the following steps.

[0019] Based on the preset travel speed of the main tower vehicle, the preset pulse emission frequency of the first stepper motor is determined, and pulses are emitted to the first stepper motor at the preset frequency, so that the main tower vehicle moves at the preset travel speed.

[0020] According to the walking control method provided by the present invention, the preset pulse emission frequency of the first stepper motor f Satisfy the following formula.

[0021] ; in, r is the wheel radius of the main tower vehicle, k is the reduction ratio of the wheels and wheel bearings of the main tower vehicle, h For irrigation water, d is the length of the large-scale translational sprinkler irrigation equipment, n is the number of sprinkler heads of the large-scale translational sprinkler irrigation equipment, q is the flow rate of the nozzle, a is the number of subdivisions of the first stepper motor.

[0022] The walking control method provided by the present invention also includes the following steps.

[0023] The image signal of the water channel at the front and rear positions of the main tower vehicle is obtained.

[0024] Based on the image signal of the water channel at the front and rear positions of the main tower vehicle, the edge direction of the water channel is identified.

[0025] The edge direction of the water channel in the image signal is compared with a preset direction to determine a deviation between the edge direction of the water channel in the image signal and the preset direction.

[0026] Based on the deviation between the edge direction of the water channel in the image signal and the preset direction, the output shaft steering and rotation angle of the steering motor are adjusted.

[0027] The walking control method provided by the present invention also includes the following steps.

[0028] Get the laser signal currently received by the photodetector.

[0029] Based on the current laser signal, the offset between the current adjacent trusses is determined.

[0030] Based on the current offset between the adjacent trusses, a control instruction is issued to the corresponding slave controller to adjust the offset between the adjacent trusses to a set range.

[0031] The large-scale translational sprinkler irrigation equipment provided by the present invention is provided with a main control unit and a slave control unit on the main tower vehicle and the slave tower vehicle respectively. During the movement of the sprinkler irrigation equipment, the main controller can obtain the preset movement speed of the main tower vehicle and control the rotation speed of the first stepper motor, the first encoder can obtain the current movement speed of the main tower vehicle and feed back to the main controller, the slave controller is connected to the main controller in communication, the slave controller can obtain the preset movement speed of the main tower vehicle and control the rotation speed of the second stepper motor, the second encoder can obtain the current movement speed of the slave tower vehicle and feed back to the slave controller, so that the slave tower vehicle and the main tower vehicle can move at the preset movement speed. This ensures that the trusses in the large-scale translational sprinkler irrigation equipment can move synchronously, avoiding the potential safety hazards of the sprinkler irrigation equipment operation caused by the step-by-step action control method adopted in the prior art.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a schematic diagram of a large-scale translational sprinkler irrigation equipment provided by an embodiment of the present invention.

[0035] Figure 2 It is a schematic diagram of a steering unit and a navigation control unit in a large-scale translational sprinkler irrigation equipment provided in an embodiment of the present invention.

[0036] Figure 3 This is one of the schematic diagrams of the posture alarm unit in the large-scale translational sprinkler irrigation equipment provided by the embodiment of the present invention.

[0037] Figure 4 This is the second schematic diagram of the posture alarm unit in the large-scale translational sprinkler irrigation equipment provided by the embodiment of the present invention.

[0038] Figure 5 It is a flow chart of the walking control method provided by an embodiment of the present invention.

[0039] Reference numerals: 10. Main tower vehicle; 20. Main control unit; 30. Slave tower vehicle; 40. Slave control unit; 50. Truss; 60. Steering unit; 610. Steering motor; 620. Steering mechanism; 70. Navigation control unit; 710. Image acquisition device; 720. Image processing module; 80. Attitude alarm unit; 810. Negative feedback laser; 820. Spectral splitter; 830. First photodetector; 840. Second photodetector; 850. Signal processing module; 860. Collimator. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0042] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0043] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0045] Combine the following Figures 1 to 5 The invention describes a large-scale translation type sprinkler irrigation equipment and a travel control method.

[0046] See also Figure 1 As shown, the large-scale translational sprinkler irrigation equipment provided by the embodiment of the present invention includes: a main tower vehicle 10, a main control unit 20, a plurality of slave tower vehicles 30 and a plurality of slave control units 40 corresponding to the slave tower vehicles 30 one by one. The main tower vehicle 10 and the plurality of slave tower vehicles 30 are arranged side by side, and trusses 50 are provided between the main tower vehicle 10 and the slave tower vehicles 30 and between adjacent slave tower vehicles 30.

[0047] The main control unit 20 includes a main controller, a first stepper motor and a first encoder. The main controller and the first stepper motor are both arranged on the main tower vehicle 10. The first encoder is arranged on the wheels of the main tower vehicle 10. The first stepper motor and the first encoder are both communicatively connected to the main controller.

[0048] The slave control unit 40 includes a slave controller, a second stepper motor and a second encoder. The slave controller and the second stepper motor are both arranged on the slave tower vehicle 30. The second encoder is arranged on the wheels of the slave tower vehicle 30. The second stepper motor and the second encoder are both communicatively connected with the slave controller.

[0049] The main controller is used to obtain the preset travel speed of the main tower vehicle 10 and control the rotation speed of the first stepper motor. The first encoder is used to obtain the current travel speed of the main tower vehicle 10 and feed it back to the main controller. The slave controller is communicated with the main controller. The slave controller is used to obtain the preset travel speed of the main tower vehicle 10 and control the rotation speed of the second stepper motor. The second encoder is used to obtain the current travel speed of the slave tower vehicle 30 and feed it back to the slave controller, so that the slave tower vehicle 30 and the main tower vehicle 10 both travel at the preset travel speed.

[0050] The large-scale translational sprinkler irrigation equipment provided by the present invention is provided with a main control unit 20 and a slave control unit 40 respectively on the main tower vehicle 10 and the slave tower vehicle 30. During the movement of the sprinkler irrigation equipment, the main controller can obtain the preset movement speed of the main tower vehicle 10 and control the rotation speed of the first stepper motor, the first encoder can obtain the current movement speed of the main tower vehicle 10 and feed it back to the main controller, the slave controller is connected to the main controller in communication, the slave controller can obtain the preset movement speed of the main tower vehicle 10 and control the rotation speed of the second stepper motor, the second encoder can obtain the current movement speed of the slave tower vehicle 30 and feed it back to the slave controller, so that the slave tower vehicle 30 and the main tower vehicle 10 both move at the preset movement speed. This ensures that the trusses 50 in the large-scale translational sprinkler irrigation equipment can move synchronously, avoiding the potential safety hazards of the sprinkler irrigation equipment operation caused by the step-by-step action control method adopted in the prior art.

[0051] Specifically, see Figure 1 As shown, in this embodiment, the number of the slave tower vehicles 30 is three, and the main tower vehicle 10 is located at the end.

[0052] The main control unit 20 further includes a first stepper motor driver, and the slave control unit 40 further includes a second stepper motor driver. The main controller can calculate the preset travel speed of the sprinkler irrigation equipment according to the irrigation water volume, irrigation time, etc. Then, the preset travel speed of the sprinkler irrigation equipment is converted into the pulse emission frequency of the first stepper motor, and pulses of the corresponding frequency are emitted to the first stepper motor, and the first stepper motor driver controls the operation of the first stepper motor.

[0053] The first encoder is installed on the wheel bearing of the main tower vehicle 10, and the second encoder is installed on the wheel bearing of the slave tower vehicle 30. The first encoder and the second encoder can feed back the collected wheel rotation angle signals to the main controller and the slave controller respectively. The main controller and the slave controller calculate the current travel speed of the main tower vehicle 10 and the slave tower vehicle 30 according to the wheel rotation angle signals fed back by the first encoder and the second encoder, respectively, and adjust the pulse frequency output by the first stepper motor and the second stepper motor, so that the sprinkler equipment can move forward at a uniform speed according to the set speed, and ensure the synchronous and coordinated operation of the adjacent span trusses 50.

[0054] See also Figure 2 As shown, according to some embodiments of the present invention, the large-scale translational sprinkler irrigation equipment further includes a steering unit 60, which includes a steering motor 610 and a steering mechanism 620; the steering motor 610 and the steering mechanism 620 are both provided on the main tower vehicle 10, the output shaft of the steering motor 610 is transmission-connected with the steering mechanism 620, and the steering mechanism 620 is transmission-connected with the wheels of the main tower vehicle 10. By providing the steering unit 60, the travel direction of the main tower vehicle 10 can be changed by the steering motor 610 and the steering mechanism 620 when the main tower vehicle 10 deviates from the set travel path.

[0055] See also Figure 2 As shown, according to some embodiments of the present invention, the large-scale translational sprinkler irrigation equipment further includes a navigation control unit 70, and the navigation control unit 70 includes an image acquisition device 710 and an image processing module 720; the image acquisition device 710 is provided on the main tower vehicle 10, and the image acquisition device 710 is used to acquire images of the wheels of the main tower vehicle 10 and the water channels in front and behind the main tower vehicle 10 in real time, and the image acquisition device 710 and the steering motor 610 are both in communication connection with the image processing module 720. By providing the navigation control unit 70, the images of the wheels of the main tower vehicle 10 and the water channels in front and behind the main tower vehicle 10 acquired in real time by the image acquisition device 710 can be transmitted to the image processing module 720, and the image processing module 720 can identify the direction of the edge position of the water channel in the image, so as to determine whether the traveling direction of the main tower vehicle 10 is offset, and if the traveling direction of the main tower vehicle 10 is offset, a control instruction can be issued to the steering motor 610 to rotate its output shaft in a set direction, so that the main tower vehicle 10 travels in the set direction.

[0056] Specifically, the image acquisition device 710 is a bird's-eye view camera. When the sprinkler equipment is moving, the bird's-eye view camera can obtain image information of the wheels of the main tower vehicle 10 and the water channels in front and behind the main tower vehicle 10 at a set angle, and can upload the obtained image information to the image processing module 720.

[0057] The image processing module 720 is an embedded system with image recognition capabilities, which can process and analyze the acquired images. It has a built-in trained object recognition model based on Faster-R-CNN, which can identify the direction information of the wheels of the main tower vehicle 10 and the edge of the channel in the picture. The algorithm can calculate the distance between the wheel and the center of the channel by the length of the wheel in the picture, and calculate the difference between the distance and the preset distance. When the difference exceeds the threshold, the angle at which the wheel needs to turn is calculated and transmitted to the steering unit 60 to adjust the travel direction of the main tower vehicle 10 in real time so that it always runs along the channel.

[0058] It should be noted that when calculating the distance between the wheel and the channel center, it is necessary to first measure the radius of the wheel. and the distance from the overhead camera to the wheel axle If the focal length of the overhead camera is f , the distance between the wheel and the channel L The calculation is as follows.

[0059] ; in, The wheel and channel edge in the acquired image The ratio between the distance and the size of the wheel.

[0060] If the sprinkler equipment is set along the distance from the edge of the canal At speed v Run, and automatically correct to the set position after time t, then the angle that the wheel needs to turn is calculated as follows.

[0061] ; When it is determined that the moving direction of the main tower vehicle 10 deviates, a control signal can be output to the steering motor 610, and the steering motor 610 adjusts the moving direction of the main tower vehicle 10 through the steering mechanism 620 to ensure that the sprinkler irrigation equipment always moves along the direction of the water channel.

[0062] See also Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, a posture alarm unit 80 is provided between adjacent trusses 50, and the posture alarm unit 80 includes a negative feedback laser 810, a spectrometer 820, a first photodetector 830, a second photodetector 840 and a signal processing module 850; the negative feedback laser 810 and the spectrometer 820 are both provided on the upstream truss 50, the first photodetector 830 and the second photodetector 840 are respectively provided on both sides of the downstream truss 50, the output end of the negative feedback laser 810 is connected to the input end of the spectrometer 820, the two output ends of the spectrometer 820 are respectively opposite to the first photodetector 830 and the second photodetector 840, and the two output ends of the spectrometer 820 are both provided with a collimator 860; the first photodetector 830 and the second photodetector 840 are both communicatively connected to the signal processing module 850, and the signal processing module 850 is communicatively connected to the slave controller. By setting a posture alarm unit 80 between adjacent trusses 50, an alarm signal can be generated and fed back to the walking controller (slave controller) when deviation occurs in the operation of each truss 50, so as to achieve timely adjustment of the walking posture and prevent the truss 50 from being damaged due to excessive offset.

[0063] Specifically, the laser emitted by the negative feedback laser 810 is a 400nm visible light. The driving circuit of the negative feedback laser 810 is integrated in the signal processing module 850. The current modulation method is used to modulate the light emission amplitude of the negative feedback laser 810 through a 10kHz sine wave. The laser beam emitted by the negative feedback laser 810 is divided into two beams after passing through the splitting optical path in the splitting device 820. The beams are emitted by the collimators 860 respectively installed on both sides of the truss. The collimators 860 can make the photoelectric signal emit at a very small divergence angle ( Figure 3 and Figure 4 The laser emission angle is the maximum allowable deviation of the two trusses 50, which is usually less than or equal to 1°.

[0064] The first photodetector 830 and the second photodetector 840 are respectively arranged on both sides of the downstream truss 50, for receiving the corresponding laser signal and converting it into a current signal. In addition to the integrated laser driving circuit, the signal processing module 850 also includes a photodetector data acquisition and conditioning circuit, an AD conversion circuit and a data analysis circuit. By processing the photodetector signal, the detector receiving circuit uses a phase-locked loop to determine whether there is a 10kHz modulated light signal in the signal, so as to determine whether the deviation between adjacent trusses 50 is within the allowable range under the background of strong ambient light.

[0065] See also Figure 3 As shown, when the offset between adjacent trusses 50 is smaller than the range covered by the laser, the first photodetector 830 and the second photodetector 840 are able to detect the modulated laser signal.

[0066] See also Figure 4 As shown, when the deviation is too large, the first photodetector 830 and the second photodetector 840 will move out of the laser coverage range, and the posture alarm unit 80 will send an alarm signal to the slave controller, and the slave controller will adjust the posture of the slave tower vehicle 30 by adjusting the running speed to correct the deviation.

[0067] The walking control method provided by the present invention is described below. The walking control method described below and the large-scale translational sprinkler irrigation equipment described this morning can be referenced to each other.

[0068] See also Figure 5 As shown, the walking control method provided by the embodiment of the present invention includes the following steps.

[0069] S510 , based on the irrigation water volume and the irrigation time, determining a preset travel speed of the large-scale translational sprinkler irrigation equipment, and determining a preset travel speed of the main tower vehicle 10 .

[0070] S520 : Based on the preset travel speed of the main tower vehicle 10 , determine the preset travel speed of the slave tower vehicle 30 , and the preset travel speed of the slave tower vehicle 30 is equal to the preset travel speed of the main tower vehicle 10 .

[0071] S530 : Acquire the current travel speeds of the main tower vehicle 10 and the slave tower vehicle 30 .

[0072] S540: Based on the current travel speeds of the main tower vehicle 10 and the slave tower vehicle 30, adjust the pulse emission frequency of the first stepper motor and the second stepper motor so that the main tower vehicle 10 and the slave tower vehicle 30 both travel at a preset travel speed.

[0073] The travel control method provided by the present invention obtains the current travel speeds of the main tower vehicle 10 and the slave tower vehicle 30, and based on the current travel speeds of the main tower vehicle 10 and the slave tower vehicle 30, adjusts the pulse emission frequency of the first stepper motor and the second stepper motor, so that the main tower vehicle 10 and the slave tower vehicle 30 can both travel at a preset travel speed, thereby ensuring that the trusses 50 in the large-scale translational sprinkler irrigation equipment can travel synchronously, avoiding the potential safety hazards of sprinkler irrigation equipment operation caused by the step-by-step action control method adopted in the prior art.

[0074] Specifically, in step S510, after the irrigation water volume and irrigation time of this irrigation operation are obtained, the preset travel speed of the sprinkler irrigation equipment can be obtained in combination with data such as the flow rate of the sprinkler head. The preset travel speed is the ideal travel speed of the sprinkler irrigation equipment.

[0075] In step S520 , after the preset travel speed of the master tower vehicle 10 is calculated, the master controller may transmit the speed signal to the slave controllers so that each slave tower vehicle 30 maintains the preset travel speed.

[0076] In step S530, the wheel rotation angle signals of the wheels of the main tower vehicle 10 and the slave tower vehicle 30 can be collected by the first encoder and the second encoder, and the rotation angle signals are fed back to the main controller and the slave controller, respectively. The main controller and the slave controller calculate the current travel speeds of the main tower vehicle 10 and the slave tower vehicle 30 according to the wheel rotation angle signals fed back by the first encoder and the second encoder, respectively.

[0077] In step S540, the main controller and the slave controller respectively calculate the current travel speeds of the main tower vehicle 10 and the slave tower vehicle 30 according to the wheel rotation angle signals fed back by the first encoder and the second encoder, and adjust the pulse frequencies output by the first stepper motor and the second stepper motor, so that the sprinkler equipment can move forward at a uniform speed at the set speed and ensure the synchronous and coordinated operation of adjacent span trusses 50.

[0078] According to some embodiments of the present invention, the walking control method further includes the following steps.

[0079] Based on the preset travel speed of the main tower vehicle 10, the preset pulse emission frequency of the first stepper motor is determined, and pulses are emitted to the first stepper motor at the preset frequency, so that the main tower vehicle 10 travels at the preset travel speed. Since the preset pulse emission frequency is calculated based on the preset travel speed of the main tower vehicle 10, the movement of the stepper motor can be accurately controlled, ensuring that the main tower vehicle 10 travels at a stable speed.

[0080] Specifically, the preset pulse transmission frequency f of the first stepper motor satisfies the following formula.

[0081] ; in, r is the wheel radius of the main tower vehicle 10, k The reduction ratio of the wheels and wheel bearings of the main tower vehicle 10 is h For irrigation water, d is the length of the large translation sprinkler equipment. n The number of sprinkler heads for large-scale horizontal sprinkler irrigation equipment. q is the flow rate of the nozzle, a is the subdivision number of the first stepper motor, a Each pulse step makes the rotor of the motor rotate one circle.

[0082] Through the above steps, the preset pulse emission frequency of the first stepper motor can be accurately obtained, thereby improving the accuracy of the movement of the sprinkler irrigation equipment.

[0083] According to some embodiments of the present invention, the walking control method further includes the following steps.

[0084] The image signal of the water channel at the front and rear positions of the current main tower vehicle 10 is obtained.

[0085] Based on the image signal of the water channel at the current front and rear positions of the main tower vehicle 10, the edge direction of the water channel is identified.

[0086] The edge direction of the water channel in the image signal is compared with a preset direction to determine a deviation between the edge direction of the water channel in the image signal and the preset direction.

[0087] Based on the deviation between the edge direction of the water channel in the image signal and the preset direction, the output shaft direction and rotation angle of the steering motor 610 are adjusted.

[0088] Specifically, the image signal of the water channel in front and behind the main tower vehicle 10 is measured by the overhead camera. When the irrigation device is moving, the overhead camera and the main tower vehicle 10 remain relatively fixed. When the main tower vehicle 10 deviates from the set moving direction, there will be a certain deviation between the edge direction of the water channel in the image signal collected by the overhead camera and the preset direction. When the deviation value is greater than the set value, the output shaft steering and rotation angle of the steering motor 610 can be adjusted to correct the moving direction of the main tower vehicle 10.

[0089] According to some embodiments of the present invention, the walking control method further includes the following steps.

[0090] Get the laser signal currently received by the photodetector.

[0091] Based on the current laser signal, the offset between the current adjacent trusses 50 is determined.

[0092] Based on the current offset between adjacent trusses 50 , a control instruction is issued from the controller to adjust the offset between adjacent trusses 50 to within a set range.

[0093] Through the above control means, when deviation occurs in the operation of each truss 50, an alarm signal can be generated and fed back to the walking controller (slave controller), so as to achieve timely adjustment of the walking posture and prevent the truss 50 from being damaged due to excessive deviation.

[0094] It can be seen from the description of the above embodiments that the large-scale translational sprinkler irrigation equipment and the travel control method provided by the present invention have at least the following advantages.

[0095] (1) The large-scale translational sprinkler irrigation equipment provided by the present invention, during the movement of the sprinkler irrigation equipment, the main controller can obtain the preset travel speed of the main tower vehicle 10 and control the rotation speed of the first stepper motor, the first encoder can obtain the current travel speed of the main tower vehicle 10 and feed it back to the main controller, the slave controller is connected to the main controller in communication, the slave controller can obtain the preset travel speed of the main tower vehicle 10 and control the rotation speed of the second stepper motor, the second encoder can obtain the current travel speed of the slave tower vehicle 30 and feed it back to the slave controller, so that the slave tower vehicle 30 and the main tower vehicle 10 both move at the preset travel speed. This ensures that the trusses 50 in the large-scale translational sprinkler irrigation equipment can move synchronously, avoiding the potential safety hazards of the sprinkler irrigation equipment operation caused by the step-by-step action control method adopted in the prior art.

[0096] (2) The large-scale translational sprinkler irrigation equipment provided by the present invention can transmit the images of the wheels of the main tower vehicle 10 and the water channels in front and behind the main tower vehicle 10 acquired in real time by the image acquisition device 710 to the image processing module 720 by providing a navigation control unit 70. The image processing module 720 can identify the direction of the edge of the water channel in the image to determine whether the moving direction of the main tower vehicle 10 is offset. If the moving direction of the main tower vehicle 10 is offset, a control instruction can be issued to the steering motor 610 to rotate its output shaft in a set direction so that the main tower vehicle 10 moves in the set direction.

[0097] (3) The large-scale translational sprinkler irrigation equipment provided by the present invention can generate an alarm signal and feed it back to the travel controller (slave controller) when the operation of each truss 50 deviates by setting a posture alarm unit 80 between adjacent trusses 50, so as to achieve timely adjustment of the walking posture and prevent the truss 50 from being damaged due to excessive offset.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A large-scale translational sprinkler irrigation equipment, characterized in that: include: A main tower vehicle, a main control unit, a plurality of slave tower vehicles and a plurality of slave control units corresponding to the slave tower vehicles one by one, the main tower vehicle and the plurality of slave tower vehicles are arranged side by side, and trusses are arranged between the main tower vehicle and the slave tower vehicles and between adjacent slave tower vehicles; The main control unit includes a main controller, a first stepper motor and a first encoder, the main controller and the first stepper motor are both arranged on the main tower vehicle, the first encoder is arranged on the wheel of the main tower vehicle, and the first stepper motor and the first encoder are both communicatively connected with the main controller; The slave control unit includes a slave controller, a second stepper motor and a second encoder, the slave controller and the second stepper motor are both arranged on the slave tower vehicle, the second encoder is arranged on the wheel of the slave tower vehicle, and the second stepper motor and the second encoder are both communicatively connected with the slave controller; The main controller is used to obtain the preset travel speed of the main tower vehicle and control the rotation speed of the first stepper motor, the first encoder is used to obtain the current travel speed of the main tower vehicle and feed it back to the main controller, the slave controller is communicatively connected to the main controller, the slave controller is used to obtain the preset travel speed of the main tower vehicle and control the rotation speed of the second stepper motor, the second encoder is used to obtain the current travel speed of the slave tower vehicle and feed it back to the slave controller, so that the slave tower vehicle and the main tower vehicle both travel at the preset travel speed.

2. The large-scale translational sprinkler irrigation equipment according to claim 1 is characterized in that: Also included is a steering unit, the steering unit comprising a steering motor and a steering mechanism; The steering motor and the steering mechanism are both arranged on the main tower vehicle, the output shaft of the steering motor is drivingly connected to the steering mechanism, and the steering mechanism is drivingly connected to the wheels of the main tower vehicle.

3. The large-scale translational sprinkler irrigation equipment according to claim 2 is characterized in that: It also includes a navigation control unit, which includes an image acquisition device and an image processing module; The image acquisition device is arranged on the main tower vehicle, and is used to acquire images of the wheels of the main tower vehicle and the water channels in front and behind the main tower vehicle in real time. The image acquisition device and the steering motor are both communicatively connected to the image processing module.

4. The large-scale translational sprinkler irrigation equipment according to claim 1, characterized in that: A posture alarm unit is provided between adjacent trusses, and the posture alarm unit includes a negative feedback laser, a spectrometer, a first photodetector, a second photodetector and a signal processing module; The negative feedback laser and the light splitting device are both arranged on the truss located upstream, the first photodetector and the second photodetector are respectively arranged on both sides of the truss located downstream, the output end of the negative feedback laser is connected to the input end of the light splitting device, and the two output ends of the light splitting device are respectively facing the first photodetector and the second photodetector; The first photodetector and the second photodetector are both connected to the signal processing module for communication, and the signal processing module is connected to the slave controller for communication.

5. The large-scale translational sprinkler irrigation equipment according to claim 4, characterized in that: Both emission ends of the light splitting device are provided with collimators.

6. A walking control method for a large-scale translational sprinkler irrigation equipment according to any one of claims 1 to 5, characterized in that: include: Based on the irrigation water volume and the irrigation time, determining a preset travel speed of the large-scale translational sprinkler irrigation equipment and determining a preset travel speed of the main tower vehicle; Determining a preset travel speed of the slave tower vehicle based on the preset travel speed of the master tower vehicle, wherein the preset travel speed of the slave tower vehicle is equal to the preset travel speed of the master tower vehicle; Acquire the current travel speeds of the main tower vehicle and the slave tower vehicle; Based on the current travel speeds of the main tower vehicle and the slave tower vehicle, the pulse emission frequency of the first stepper motor and the second stepper motor is adjusted so that the main tower vehicle and the slave tower vehicle both travel at a preset travel speed.

7. The walking control method according to claim 6, characterized in that: Also includes: Based on the preset travel speed of the main tower vehicle, the preset pulse emission frequency of the first stepper motor is determined, and pulses are emitted to the first stepper motor at the preset frequency, so that the main tower vehicle moves at the preset travel speed.

8. The walking control method according to claim 7, characterized in that: The preset pulse transmission frequency of the first stepper motor satisfy: ； in, is the wheel radius of the main tower vehicle, is the reduction ratio of the wheels and wheel bearings of the main tower vehicle, For irrigation water, is the length of the large-scale translational sprinkler irrigation equipment, is the number of sprinkler heads of the large-scale translational sprinkler irrigation equipment, is the flow rate of the nozzle, is the number of subdivisions of the first stepper motor.

9. The walking control method according to any one of claims 6 to 8, characterized in that: Also includes: Acquire the image signal of the water channel in front and behind the main tower vehicle; Based on the image signal of the canal at the front and rear positions of the main tower vehicle, the edge direction of the canal is identified; Comparing the edge direction of the water channel in the image signal with a preset direction to determine a deviation between the edge direction of the water channel in the image signal and the preset direction; Based on the deviation between the edge direction of the water channel in the image signal and the preset direction, the output shaft steering and rotation angle of the steering motor are adjusted.

10. The walking control method according to any one of claims 6 to 8, characterized in that: Also includes: Obtain the laser signal currently received by the photodetector; Determine the offset between the adjacent trusses based on the current laser signal; Based on the current offset between the adjacent trusses, a control instruction is issued to the corresponding slave controller to adjust the offset between the adjacent trusses to a set range.

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