Full-automatic irrigation system and irrigation pump station

Abstract

The invention relates to a full-automatic irrigation system and an irrigation pump station, the irrigation system comprises a movable chassis with at least three walking wheels, an irrigation pipeline storage bin arranged on the movable chassis, an irrigation water storage pool arranged on the irrigation pipeline storage bin and located below the irrigation pipeline storage bin, a first end rotationally connected with the movable chassis, a second end rotationally connected with the movable chassis, and a third end rotationally connected with the movable chassis; the first end of the irrigation pipeline is connected with an irrigation water storage pool, the second end of the irrigation pipeline is a free end, the first end of the irrigation pipeline is connected with the irrigation water storage pool, the second end of the irrigation pipeline is a free end, and the irrigation unit comprises a water pump connected with an irrigation pipeline storage bin, an irrigation spray head arranged on the height adjuster and a hose connected with the water pump and the irrigation spray head. According to the full-automatic irrigation system and the irrigation pump station, the roots of crops are directly irrigated in a walking type irrigation mode, root irrigation and precise irrigation can be achieved at the same time through the irrigation mode, meanwhile, the limitation of infrastructures is eliminated, and the full-automatic irrigation system and the irrigation pump station have higher flexibility.

Description

Technical Field

[0001] The present application relates to the field of modern agricultural technology, and in particular to a fully automatic irrigation system and an irrigation pump station. Background Art

[0002] One of the development directions of modern agriculture is scale, automation and intelligence. Scaling can achieve automation and intelligence through economies of scale. Taking irrigation as an example, small plots of land are mostly irrigated by flooding, but for large-scale planting, flooding is no longer used because the irrigation cost is too high and it will also cause excessive waste of water resources.

[0003] There are two current automated irrigation methods: drip irrigation and sprinkler irrigation. Drip irrigation is to lay irrigation pipes on the ground or bury irrigation pipes underground. Both methods can achieve precise irrigation to a certain extent, but they face the problem of high construction costs and pipeline renewal costs.

[0004] Sprinkler irrigation uses water pressure to achieve range irrigation, which can reduce water consumption to a certain extent. However, it is limited by the coverage distance of equipment, canal construction and deployment, and still requires a lot of infrastructure construction. In addition, this method is a foliar irrigation method and is not as effective as drip irrigation. Summary of the invention

[0005] The present application provides a fully automatic irrigation system and an irrigation pump station, which use a walking irrigation method to directly irrigate the roots of crops. This irrigation method can achieve root irrigation and precision irrigation at the same time, and at the same time get rid of infrastructure restrictions and have higher flexibility.

[0006] The above-mentioned purpose of the present application is achieved through the following technical solutions:

[0007] In a first aspect, the present application provides a fully automatic irrigation system, comprising:

[0008] A mobile chassis having at least three running wheels;

[0009] The irrigation pipe storage bin is arranged on the mobile chassis, and there is a distance between the irrigation pipe storage bin and the traveling wheels;

[0010] An irrigation water storage tank is provided on the irrigation pipe storage bin and is located below the irrigation pipe storage bin;

[0011] An irrigation arm, a first end of which is rotatably connected to the mobile chassis and a second end of which is a free end;

[0012] A plurality of moving units are arranged on the irrigation arm, and the moving units can reciprocate along the irrigation arm;

[0013] A height adjuster, provided on the mobile unit;

[0014] An irrigation unit, comprising a water pump connected to an irrigation pipe storage bin, an irrigation nozzle disposed on a height adjuster, and a hose connecting the water pump and the irrigation nozzle;

[0015] An irrigation pipe, a first end of which is connected to the irrigation water storage tank and a second end of which is a free end;

[0016] Wherein, the middle part of the irrigation pipe is folded and placed in the irrigation pipe storage bin;

[0017] The irrigation pipe storage bin is used to store and lay irrigation pipes.

[0018] In a possible implementation of the first aspect, the irrigation pipe storage bin includes:

[0019] The storage warehouse is arranged on the mobile chassis, and an inlet and outlet are arranged on one side of the storage warehouse;

[0020] A plurality of first positioning rings are arranged at intervals inside the storage bin, and the axes of the first positioning rings coincide with the axes of the inlet and outlet;

[0021] The mobile storage unit is arranged on the storage warehouse body. The moving direction of the mobile storage unit is perpendicular to the axis of the first positioning ring. A mobile storage unit is deployed between any two adjacent first positioning rings.

[0022] In a possible implementation of the first aspect, the mobile storage unit includes:

[0023] Mobile trolley;

[0024] A second guide ring is located in the storage bin and connected to the moving trolley;

[0025] Wherein, a track groove for the second guide ring to move is provided on the storage bin body.

[0026] In a possible implementation manner of the first aspect, it further includes a guide arm disposed on the storage bin body near the inlet and outlet and outside the storage bin body, and the guide arm is used to place the irrigation pipe on the ground.

[0027] In a possible implementation of the first aspect, a cleaning unit is further provided on the guide arm, and the cleaning unit includes:

[0028] A cleaning ring is provided on the guide arm, and flushing holes are evenly distributed on the inner side of the cleaning ring;

[0029] A cleaning water pump is arranged on a mobile chassis, and both ends of the cleaning water pump are respectively connected to an irrigation water storage tank and a cleaning ring;

[0030] In this, the irrigation pipe passes through the cleaning ring.

[0031] In a possible implementation of the first aspect, a lubrication unit is further provided on the guide arm, and the lubrication unit includes:

[0032] A lubrication plate, provided on the guide arm;

[0033] The lubricating liquid storage tank and the lubricating pump are both arranged on the mobile chassis, and the two ends of the lubricating pump are respectively connected to the lubricating liquid storage tank and the lubricating plate;

[0034] The lubrication plate is located between the irrigation pipe and the guide arm.

[0035] In a possible implementation manner of the first aspect, the method further includes:

[0036] A control valve is provided on the irrigation sprinkler head, and the control valve is used to open and close the irrigation sprinkler head;

[0037] The sensor is arranged on the irrigation sprinkler head and is used to collect signals. The signals collected by the sensor are used as switch signals of the control valve.

[0038] In a possible implementation manner of the first aspect, the irrigation sprinkler has two output ends, and the two output ends are oriented in opposite directions.

[0039] In a second aspect, the present application provides an irrigation pump station, comprising a fully automatic irrigation system as described in the first aspect and any implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of a fully automatic irrigation system provided by this application.

[0041] Figure 2 It is a structural schematic diagram of a walking wheel provided in the present application to realize rotation.

[0042] Figure 3 This is a schematic diagram of the connection between an irrigation arm and a mobile chassis provided in the present application.

[0043] Figure 4 This is a schematic diagram of the internal structure of an irrigation pipe storage bin provided in this application.

[0044] Figure 5 This is a schematic diagram of the connection between an irrigation pipeline and an irrigation water storage tank provided in the present application.

[0045] Figure 6 This is a schematic diagram of the walking route and irrigation coverage area of ​​a fully automatic irrigation system provided by the present application when it is working.

[0046] Figure 7 It is a structural schematic diagram of a mobile storage unit provided in this application.

[0047] Figure 8 and Fig. 9 This is a schematic diagram of the storage process of an irrigation pipe provided in the present application.

[0048] Fig.10 This is a schematic diagram of the connection between a guide arm and a storage bin body provided in the present application.

[0049] Fig.11 It is a schematic diagram of a cleaning unit provided in the present application for flushing the outer wall of an irrigation pipe.

[0050] Fig.12 It is a structural schematic diagram of a lubrication unit provided in this application.

[0051] Fig.13 This is a schematic diagram of the position of a control valve and a sensor provided in this application.

[0052] In the figure, 1. mobile chassis, 2. irrigation pipe storage bin, 3. irrigation water storage tank, 4. irrigation arm, 5. mobile unit, 6. height adjuster, 7. irrigation unit, 8. irrigation pipe, 11. walking wheel, 21. storage bin body, 22. inlet and outlet, 23. first positioning ring, 24. mobile storage unit, 25. guide arm, 71. water pump, 72. irrigation nozzle, 73. hose, 74. control valve, 75. sensor, 241. mobile trolley, 242. second guide ring, 9. cleaning unit, 91. cleaning ring, 92. flushing hole, 93. cleaning water pump, 10. lubrication unit, 101. lubrication plate, 102. lubricating liquid storage tank, 103. lubrication pump. DETAILED DESCRIPTION

[0053] The technical solution in this application is further described in detail below in conjunction with the accompanying drawings.

[0054] The present application discloses a fully automatic irrigation system. In some examples, the fully automatic irrigation system disclosed in the present application includes a mobile chassis 1, an irrigation pipe storage bin 2, an irrigation water storage tank 3, an irrigation arm 4, a mobile unit 5, a height adjuster 6, a watering unit 7 and an irrigation pipe 8.

[0055] See also Figure 1 A traveling wheel 11 is arranged on the mobile chassis 1 , and the number of the traveling wheels 11 is three or four. For the power of the traveling wheel 11 , a hub motor is generally used because the hub motor can be directly integrated inside the traveling wheel 11 .

[0056] The steering of the running wheel 11 is achieved through a steering system. One possible implementation method is to use a steering motor to control the direction on the mobile chassis 1. Figure 2 As shown, the front running wheel 11 is installed on a base with a rotation function, and the steering motor drives the base to rotate, thereby realizing direction adjustment.

[0057] The irrigation pipe storage bin 2 is also arranged on the mobile chassis 1, and there is a distance between the irrigation pipe storage bin 2 and the running wheel 11. During use, the irrigation pipe storage bin 2 is located above the crops. The irrigation water storage tank 3 is installed on the irrigation pipe storage bin 2 and is located below the irrigation pipe storage bin 2. The function of the storage tank is to store a certain amount of water for the irrigation unit 7 to use.

[0058] The reason for storing water is that in the long-distance water supply scenario, the water pressure may be unstable, which will make it impossible to accurately control the amount of irrigation water. Using the irrigation water storage tank 3 to store a certain amount of water in advance can keep the output of the irrigation unit 7 stable.

[0059] Another function of the irrigation water storage tank 3 is that it does not require the irrigation pipe 8 to always maintain high pressure, which can extend the service life of the irrigation pipe 8 to a certain extent.

[0060] The first end of the irrigation arm 4 is rotatably connected to the mobile chassis 1, and the second end is a free end. The rotation of the irrigation arm 4 and the mobile chassis 1 is achieved by a motor. Figure 3 As shown, the irrigation arms 4 are unfolded when in use, and are retracted when moved or not in use.

[0061] A plurality of mobile units 5 are provided on the irrigation arm 4, and the mobile units 5 can reciprocate along the irrigation arm 4 to adapt to different spacings of crops. At the same time, there is also a height adjuster 6 on the mobile unit 5, and the height adjuster 6 has two functions. The first is to adjust the irrigation height according to the actual height of the crops, and the second is that when the mobile chassis 1 has a lifting function, it can be adjusted synchronously when the height of the mobile chassis 1 changes.

[0062] The irrigation arm 4 cannot cover the area in front of the mobile chassis 1 here, so it is necessary to add a set of fixed irrigation arms in front of or behind the mobile chassis 1. The fixed irrigation arms do not need to be unfolded, and the mobile unit 5, height adjuster 6 and watering unit 7 are installed on them.

[0063] In some possible implementations, the mobile unit 5 is composed of a base slidably connected to the irrigation arm 4, a motor mounted on the base, and a controller fixed on the base. The motor realizes gear transmission through a gear and a rack on the irrigation arm 4.

[0064] The moving units 5 on the irrigation arms 4 share a common rack.

[0065] Here, the load of the irrigation arm 4 needs to be determined according to the length and strength of the irrigation arm 4. When the load of the irrigation arm 4 is large, it is necessary to deploy support wheels at the end of the irrigation arm 4, and the support wheels are also installed on an independent mobile unit 5.

[0066] See also Figure 1 and Figure 3 The irrigation unit 7 consists of three parts: a water pump 71, an irrigation nozzle 72 and a hose 73. The water pump 71 is connected to the irrigation pipe storage bin 2, the irrigation nozzle 72 is installed on the height adjuster 6, and the hose connects the water pump 71 and the irrigation nozzle 72 together.

[0067] During irrigation, the water pump 71 delivers the water in the irrigation water storage tank 3 to the irrigation nozzle 72 through the hose 73. The water sprayed from the irrigation nozzle 72 will fall on the roots of the crops or at a certain distance from the ground, thereby achieving precise irrigation.

[0068] See also Figure 4 and Figure 5 The first end of the irrigation pipe 8 is connected to the irrigation water storage tank 3, the second end is a free end, and the middle part is folded and placed in the irrigation pipe storage bin 2, which serves to supply water to the irrigation water storage tank 3.

[0069] In some possible implementations, the portion of the irrigation pipe 8 between the irrigation pipe storage tank 2 and the irrigation water storage tank 3 is a hard pipe.

[0070] Combined with the content mentioned in the background technology, we can see that one of the elements for achieving precision irrigation in large-scale planting is long-distance water supply. Some existing technologies are achieved with the help of ground pipes, underground pipes and canals, all of which require construction and recycling, and damage also faces the problem of positioning and point repair.

[0071] In this application, the irrigation pipe 8 is directly used for long-distance water supply. The first end of the irrigation pipe 8 is connected to the irrigation water storage tank 3, and the second end is a free end. When in use, the second end of the irrigation pipe 8 is connected to the irrigation pump station or the canal, so that long-distance water supply can be achieved. Figure 6 As shown, the middle part is a canal, and there are crops on both sides. The dotted lines between the crops are for irrigation, and the thick solid lines between the crops are for driving paths.

[0072] The function of the irrigation pipe storage bin 2 is to store and lay the irrigation pipe 8, so as to realize the automatic laying of the irrigation pipe 8 in coordination with the movement of the mobile chassis 1. Assuming that the coverage width of one irrigation is 10 meters and the diameter of the irrigation pipe 8 is 50 centimeters, then when the width of the irrigation pipe storage bin 2 is controlled at one meter, the mobile chassis 1 can move forward about 900 meters.

[0073] Of course, there is also a method of using rollers to wrap the irrigation pipe 8. In this method, the irrigation pipe 8 is directly wound around a storage tray, similar to a cable. There is obvious squeezing between the irrigation pipes 8, which will cause local pressure instability in the irrigation pipes 8. The irrigation pipes 8 are in a filled state during the irrigation process, which will aggravate this phenomenon.

[0074] It is also necessary to consider that the water in the irrigation pipe 8 needs to be released when not in use. During storage, the cross-sectional area of ​​the irrigation pipe 8 will change, and it is difficult to fully restore it when it is filled again. There is a solution of using high-hardness pipes, but this kind of pipe is heavy and has a heavy load problem in long-distance water supply scenarios.

[0075] There are also problems with stability and wheel sinking caused by excessive contact pressure with the field when the height is too high.

[0076] In the present application, the irrigation pipes 8 in the irrigation pipe storage bin 2 are laid flat, and there is no vertical squeezing between the irrigation pipes 8. Therefore, the shape of the irrigation pipes 8 is stabilized, and there is no need to use high-hardness pipes to avoid deformation.

[0077] For some examples, see Figure 4 and Figure 7 The irrigation pipe storage bin 2 includes a storage bin body 21, a first positioning ring 23 and a mobile storage unit 24. The storage bin body 21 is fixedly mounted on the mobile chassis 1. An inlet and outlet 22 is provided on one side of the storage bin body 21. The inlet and outlet 22 is supplied to the irrigation pipe 8 for use.

[0078] There are multiple first positioning rings 23 , which are arranged at intervals inside the storage bin 21 , and their function is to limit the irrigation pipe 8 so that the irrigation pipe 8 can be folded in a predetermined shape.

[0079] The axis of the first positioning ring 23 coincides with the axis of the inlet and outlet 22 .

[0080] The mobile storage unit 24 is deployed on the storage warehouse body 21 . The moving direction of the mobile storage unit 24 is perpendicular to the axis of the first positioning ring 23 , and one mobile storage unit 24 is deployed between any two adjacent first positioning rings 23 .

[0081] The function of the mobile storage unit 24 is to pull the irrigation pipe 8 so that the irrigation pipe 8 can be completely folded in the irrigation pipe storage bin 2. The mobile storage unit 24 includes a moving trolley 241 and a second guide ring 242, and the second guide ring 242 is located in the storage bin body 21 and connected to the moving trolley 241.

[0082] The storage bin body 21 is provided with a track groove for the second guide ring 242 to move, so that the moving trolley 241 can drive the second guide ring 242 to move inside the storage bin body 21 .

[0083] In the above content, the first positioning ring 23 is fixed, and the second guide ring 242 is movable. There is a second guide ring 242 whose position can be changed between the two first positioning rings 23 whose positions are fixed. When the second guide ring 242 moves, the irrigation pipe 8 between the two first positioning rings 23 whose positions are fixed will also move accordingly.

[0084] The second guide rings 242 on the storage bin body 21 move sequentially, so that the irrigation pipe 8 can be folded in the storage bin body 21 according to a predetermined shape. Figure 8 and Fig. 9 shown.

[0085] For some examples, see Figure 4 and Fig.10 , a guide arm 25 is added, and the guide arm 25 is located on the storage bin body 21 near the inlet and outlet 22 and outside the storage bin body 21, and its function is to place the irrigation pipe 8 on the ground. That is, one end of the guide arm 25 is located below the inlet and outlet 22 on the storage bin body 21, and the other end is close to the ground, and the irrigation pipe 8 ( Fig.10 The dotted line in the figure can be stably placed on the ground under the support of the guide arm 25.

[0086] For further information, see Fig.10 A cleaning unit 9 is added to the guide arm 25 , and the cleaning unit 9 is used to remove dust and particles adhering to the outer wall of the irrigation pipe 8 .

[0087] It should be understood that when the irrigation pipe 8 is pulled and moved inside the storage bin 21 , it will rub against the inner wall of the storage bin 21 . At this time, if there is dust and particles on the outer wall of the irrigation pipe 8 , it will cause additional wear on the irrigation pipe 8 .

[0088] The cleaning unit 9 is used to avoid extra wear of the irrigation pipe 8. The cleaning unit 9 comprises a cleaning ring 91 and a cleaning water pump 93. The cleaning ring 91 is fixedly mounted on the guide arm 25, for example, at the end of the guide arm 25. The flushing holes 92 are evenly distributed on the inner side of the cleaning ring 91.

[0089] The cleaning water pump 93 is installed on the mobile chassis 1 or the irrigation water storage tank 3, and the two ends of the cleaning water pump 93 are connected to the irrigation water storage tank 3 and the cleaning ring 91 respectively. When the cleaning water pump 93 is working, the water in the irrigation water storage tank 3 is sent to the cleaning ring 91, and the water in the cleaning ring 91 is sprayed out through the flushing hole 92 to flush the outer wall of the irrigation pipe 8. Fig.11 shown.

[0090] Furthermore, a lubrication unit 10 is added, which includes a lubrication plate 101 , a lubrication liquid storage tank 102 and a lubrication pump 103 . The lubrication plate 101 is fixedly mounted on the guide arm 25 , and the lubrication liquid storage tank 102 and the lubrication pump 103 are both mounted on the mobile chassis 1 .

[0091] Both ends of the lubrication pump 103 are connected to the lubrication liquid storage tank 102 and the lubrication plate 101 respectively, so as to deliver the lubrication liquid stored in the lubrication liquid storage tank 102 to the lubrication plate 101 .

[0092] The lubricating plate 101 is located between the irrigation pipe 8 and the guide arm 25. When the irrigation pipe 8 passes through the lubricating plate 101, the bottom of the irrigation pipe 8 will be evenly coated with lubricating liquid. The lubricating liquid can effectively reduce the friction resistance of the irrigation pipe 8 when it moves, and can further reduce the additional wear of the irrigation pipe 8.

[0093] For some examples, see Fig.13 A control valve 74 and a sensor 75 are also added. The control valve 74 is installed on the irrigation nozzle 72 to open and close the irrigation nozzle 72. The sensor 75 is also installed on the irrigation nozzle 72.

[0094] The sensor 75 is used to collect signals. When the collected signal is an image, an image sensor is used. When the collected signal is an electrical signal, a proximity sensor is used. The signal collected by the sensor 75 is used as a switch signal of the control valve 74.

[0095] In some possible implementations, the irrigation sprinkler 72 has two output ends, and the two output ends are oriented in opposite directions, so that two rows of crops can be irrigated at the same time, which can reduce the number of mobile units 5 and height adjusters 6.

[0096] The fully automatic irrigation system disclosed in the present application is powered by batteries, which are generally located at the bottom of the irrigation water storage tank 3. On the one hand, the center of gravity of the system can be lowered, and on the other hand, the irrigation water storage tank 3 can be used to achieve a certain degree of cooling.

[0097] For automatic control, the present application uses a programmable logic controller (PLC, DCS) to implement it. The programmable logic controller includes a master controller and multiple sub-controllers. The mobile chassis 1 and its accessories use a sub-controller, and an irrigation arm 4 and its accessories use a sub-controller. The mobile storage unit 24 is controlled by a single-chip microcomputer. All mobile storage units 24 use a sub-controller, and the water pump 71, the cleaning unit 9 and the lubrication unit 10 use a sub-controller. If the subordinates of the sub-controller still need to be controlled, a single-chip microcomputer is used to realize the automation of local actions.

[0098] The present application also discloses an irrigation pump station, comprising any one of the fully automatic irrigation systems described above.

[0099] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A fully automatic irrigation system, characterized in that: include: A mobile chassis (1) having at least three running wheels (11); The irrigation pipe storage bin (2) is arranged on the mobile chassis (1), and there is a distance between the irrigation pipe storage bin (2) and the running wheel (11); An irrigation water storage tank (3) is arranged on the irrigation pipe storage bin (2) and is located below the irrigation pipe storage bin (2); An irrigation arm (4), the first end of which is rotatably connected to the mobile chassis (1) and the second end of which is a free end; A plurality of movable units (5) are arranged on the irrigation arm (4), and the movable units (5) are capable of reciprocating along the irrigation arm (4); A height adjuster (6) is provided on the moving unit (5); An irrigation unit (7) comprising a water pump (71) connected to the irrigation pipe storage bin (2), an irrigation nozzle (72) provided on the height adjuster (6), and a hose (73) connecting the water pump (71) and the irrigation nozzle (72); An irrigation pipe (8), the first end of which is connected to the irrigation water storage tank (3) and the second end of which is a free end; Wherein, the middle part of the irrigation pipe (8) is folded and placed in the irrigation pipe storage bin (2); The irrigation pipe storage bin (2) is used for storing and laying out the irrigation pipes (8).

2. The fully automatic irrigation system according to claim 1, characterized in that: The irrigation pipe storage bin (2) comprises: A storage bin (21) is disposed on the mobile chassis (1), and an inlet and outlet (22) is provided on one side of the storage bin (21); A plurality of first positioning rings (23) are arranged at intervals inside the storage bin body (21), and the axes of the first positioning rings (23) coincide with the axes of the inlet and outlet (22); The mobile storage unit (24) is arranged on the storage warehouse body (21); the moving direction of the mobile storage unit (24) is perpendicular to the axis of the first positioning ring (23); and one mobile storage unit (24) is arranged between any two adjacent first positioning rings (23).

3. The fully automatic irrigation system according to claim 2, characterized in that: The mobile storage unit (24) comprises: Mobile trolley (241); A second guide ring (242) is located in the storage bin body (21) and is connected to the moving trolley (241); Wherein, the storage bin body (21) is provided with a track groove for the second guide ring (242) to move.

4. The fully automatic irrigation system according to claim 2 or 3, characterized in that: It also includes a guide arm (25) which is arranged on the storage bin body (21) near the inlet and outlet (22) and outside the storage bin body (21), and the guide arm (25) is used to place the irrigation pipe (8) on the ground.

5. The fully automatic irrigation system according to claim 4, characterized in that: The guide arm (25) is also provided with a cleaning unit (9), which comprises: A cleaning ring (91) is arranged on the guide arm (25), and flushing holes (92) are evenly distributed on the inner side of the cleaning ring (91); A cleaning water pump (93) is arranged on the mobile chassis (1), and two ends of the cleaning water pump (93) are respectively connected to the irrigation water storage tank (3) and the cleaning ring (91); Therein, the irrigation pipe (8) passes through the cleaning ring (91).

6. The fully automatic irrigation system according to claim 4, characterized in that: The guide arm (25) is also provided with a lubrication unit (10), and the lubrication unit (10) comprises: A lubricating plate (101) is provided on the guide arm (25); The lubricating liquid storage tank (102) and the lubricating pump (103) are both arranged on the mobile chassis (1), and the two ends of the lubricating pump (103) are respectively connected to the lubricating liquid storage tank (102) and the lubricating plate (101); Wherein, the lubricating plate (101) is located between the irrigation pipe (8) and the guide arm (25).

7. The fully automatic irrigation system according to claim 1, characterized in that: Also includes: A control valve (74) is provided on the irrigation sprinkler (72), and the control valve (74) is used to open and close the irrigation sprinkler (72); The sensor (75) is arranged on the irrigation nozzle (72). The sensor (75) is used to collect signals. The signals collected by the sensor (75) are used as switch signals of the control valve (74).

8. The fully automatic irrigation system according to claim 1 or 7, characterized in that: The irrigation sprinkler (72) has two output ends, and the two output ends face in opposite directions.

9. An irrigation pump station, characterized in that: Comprising a fully automatic irrigation system as described in any one of claims 1 to 8.

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