Sprinkling machine nozzle height automatic adjusting method based on laser ranging

Abstract

According to the automatic sprinkling machine nozzle height adjusting method based on laser ranging, related information of a sprinkling target can be automatically obtained, the nozzle is automatically adjusted to the proper height, and crop sprinkling work is completed; the problem that the spray irrigation efficiency is reduced due to the fact that the height of a spray head of a spray irrigation machine is frequently manually operated due to the change of the growth height of crops during spray irrigation operation can be effectively solved, the irrigation quality is ensured, waste or invalid use of water, chemical reagents and the like is avoided, and the irrigation uniformity and the water-saving efficiency can be improved; and personalized services can be provided according to the characteristics of different regions without frequent manual intervention on the height change process, so that the management workload is simplified, and the production efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of sprinkler nozzle height adjustment, and specifically relates to a sprinkler nozzle height automatic adjustment method based on laser ranging. Background Art

[0002] Sprinkler irrigation is an important method of agricultural irrigation. At present, in order to improve the efficiency of sprinkler irrigation, sprinklers are mostly used to complete the sprinkler irrigation of crops. Sprinklers spray water with a certain pressure into the air through special equipment from the nozzle, which is scattered into small water droplets and evenly sprinkled on the field to provide water for crops, flowers, seedlings and other plants. However, due to the large difference in height of different types of crops, the sprinkler needs to manually adjust the height of the sprinkler nozzle to meet the sprinkler irrigation needs of different types of crops during sprinkler irrigation. The manual adjustment of the sprinkler nozzle height reduces the sprinkler irrigation efficiency and brings certain inconvenience to crop sprinkler irrigation. Summary of the invention

[0003] In order to solve the problem in the prior art that the sprinkler nozzle height needs to be manually adjusted during sprinkler irrigation operations, which reduces the sprinkler irrigation efficiency, a sprinkler nozzle height automatic adjustment method based on laser ranging is proposed; the method can realize real-time monitoring of crop height and automatically adjust the sprinkler nozzle height according to the crop height, with a high degree of automation, thereby improving the sprinkler irrigation efficiency of the sprinkler.

[0004] A method for automatically adjusting the height of a sprinkler nozzle based on laser ranging, comprising:

[0005] Step 1: Acquire the location information of the sprinkler, and obtain the crop information of the sprinkler target according to the location information of the sprinkler, wherein the crop information includes the average height of the sprinkler target corresponding to the location information of the sprinkler, and calculate the initial height of the sprinkler head according to the average height of the sprinkler target; the initial height of the sprinkler head is the sum of the average height of the sprinkler target and the fixed difference;

[0006] Step 2: Determine whether the initial height of the sprinkler head is within the sprinkler irrigation limit range. If so, adjust the sprinkler head to the initial height of the sprinkler head and proceed to step 3. If not, issue an over-limit alarm and stop the sprinkler irrigation operation.

[0007] Step 3: After adjusting the height of the sprinkler head to the initial height of the sprinkler head, the vertical distance between the sprinkler head and the top of the sprinkler target and the positional relationship between the sprinkler head and the top of the sprinkler target are obtained through the laser sensor, and the actual height of the sprinkler target is obtained according to the vertical distance between the sprinkler head and the top of the sprinkler target and the positional relationship between the sprinkler head and the top of the sprinkler target, and it is judged whether the sprinkler head is above the top of the sprinkler target and the vertical distance between the sprinkler head and the top of the sprinkler target is within the threshold range. If so, sprinkler irrigation is performed, otherwise a new sprinkler height is obtained according to the vertical distance between the sprinkler head and the top of the sprinkler target and the initial height of the sprinkler head;

[0008] Step 4: Determine whether the new sprinkler height is within the sprinkler limit range. If so, adjust the sprinkler head to the new sprinkler height and perform sprinkler operation. Otherwise, issue an over-limit alarm and stop the sprinkler operation.

[0009] Beneficial Effects

[0010] The present invention discloses an automatic height adjustment method for sprinkler nozzles based on laser ranging, which can automatically obtain relevant information of sprinkler irrigation targets, automatically adjust the nozzles to a suitable height, and complete crop sprinkler irrigation. It can effectively avoid the problem of reducing sprinkler irrigation efficiency due to frequent manual adjustment of sprinkler nozzle height due to crop growth height changes during sprinkler irrigation operations, ensure irrigation quality and avoid waste or ineffective use of water and chemical reagents, etc., not only can it improve irrigation uniformity and water-saving efficiency, but it can also provide personalized services according to the characteristics of different regions without frequent manual intervention in the height change process, thereby simplifying management workload and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a flow chart of a method for automatically adjusting the height of a sprinkler nozzle based on laser ranging according to an embodiment of the present application;

[0012] Figure 2 This is a structural diagram of an automatic sprinkler head height adjustment device based on laser ranging according to an embodiment of the present application. DETAILED DESCRIPTION

[0013] The following will be combined Figure 1 , describing this embodiment, a method for automatically adjusting the height of a sprinkler nozzle based on laser ranging, comprising:

[0014] Step 1: Acquire the location information of the sprinkler, and obtain the crop information of the sprinkler target according to the location information of the sprinkler, wherein the crop information includes the average height of the sprinkler target corresponding to the location information of the sprinkler, and calculate the initial height of the sprinkler head according to the average height of the sprinkler target; the initial height of the sprinkler head is the sum of the average height of the sprinkler target and the fixed difference;

[0015] Step 2: Determine whether the initial height of the sprinkler head is within the sprinkler irrigation limit range. If so, adjust the sprinkler head to the initial height of the sprinkler head and proceed to step 3. If not, issue an over-limit alarm and stop the sprinkler irrigation operation.

[0016] Step 3: After adjusting the height of the sprinkler head to the initial height of the sprinkler head, the vertical distance between the sprinkler head and the top of the sprinkler target and the positional relationship between the sprinkler head and the top of the sprinkler target are obtained through the laser sensor, and the actual height of the sprinkler target is obtained according to the vertical distance between the sprinkler head and the top of the sprinkler target and the positional relationship between the sprinkler head and the top of the sprinkler target, and it is judged whether the sprinkler head is above the top of the sprinkler target and the vertical distance between the sprinkler head and the top of the sprinkler target is within the threshold range. If so, sprinkler irrigation is performed, otherwise a new sprinkler height is obtained according to the vertical distance between the sprinkler head and the top of the sprinkler target and the initial height of the sprinkler head;

[0017] Step 4: Determine whether the new sprinkler irrigation height is within the sprinkler irrigation limit range. If so, adjust the sprinkler head to the new sprinkler irrigation height and perform sprinkler irrigation operations. Otherwise, issue an over-limit alarm and stop the sprinkler irrigation operation.

[0018] Specifically, a crop type database is pre-set, and the database includes crop information corresponding to the location information, and the crop information includes crop type, maturity status, and average height of the crop; the current location information of the sprinkler is obtained through GPS positioning or GIS technology, and then the crop type of the sprinkler target and the average height of the sprinkler target crop in this period are obtained, and the initial height of the sprinkler head is calculated according to the average height of the sprinkler target. The calculation method of the initial height H of the sprinkler head is: H=H+D, wherein H is the average height of the sprinkler target, and D is a fixed difference set according to the average height H of the sprinkler target;

[0019] Determine whether the initial height of the sprinkler head is within the sprinkler irrigation limit. If so, adjust the sprinkler head height to the initial height of the sprinkler head. Otherwise, issue an over-limit alarm.

[0020] Furthermore, the method for automatic adjustment of sprinkler nozzle height based on laser ranging also includes updating the average height of the sprinkler target in the crop information according to the actual height of the sprinkler target.

[0021] Furthermore, D is the average height of the sprinkler target. The fixed difference is set. The setting of fixed difference helps to improve the efficiency of sprinkler irrigation, ensure sufficient irrigation of crops and reduce resource waste

[0022] Furthermore, the threshold range is max(L1-H S ,0.1×(L2-L1)) to min(L2-H S ,0.3×(L2-L1)), where L2 and L1 are the upper and lower limits of sprinkler irrigation set according to the sprinkler model, respectively. S It is the actual height of the sprinkler target.

[0023] Specifically, due to the height differences between individual crops, in order to ensure the irrigation effect during crop irrigation, a certain distance between the sprinkler head and the top of the irrigation target needs to be maintained in the vertical direction.

[0024] Furthermore, the new irrigation height H is obtained according to the vertical distance between the sprinkler head and the top of the sprinkler target and the initial height of the sprinkler head. n The method is: if the sprinkler head is located above the sprinkler target, then H n =H-D1+D, where D1 is the vertical distance between the sprinkler head and the top of the sprinkler target, D is the fixed difference, and H is the initial height of the sprinkler head; if the sprinkler head is below the sprinkler target, then H n =H+D1+D.

[0025] Specifically, if the actual height of the current crop differs too much from the average height determined by the system, the nozzle height needs to be readjusted to achieve effective irrigation and avoid mechanical collision with the crop, thereby damaging the crop growth.

[0026] Furthermore, the method for judging whether the new sprinkler height is within the sprinkler limit is as follows: setting the sprinkler upper limit L2 and the sprinkler lower limit L1 according to the sprinkler model, judging H n Whether L1<H n ≤L2If yes, the sprinkler height is within the sprinkler limit, if no, the sprinkler height is not within the sprinkler limit.

[0027] Specifically, since the sprinkler has an extreme operating height range for sprinkler irrigation, the sprinkler upper limit L2 and the sprinkler lower limit L1, it is necessary to determine whether the new sprinkler height is within the sprinkler irrigation limit of the sprinkler. The sprinkler lower limit L1 refers to a critical height set to prevent the machine from being too low and touching the soil or obstacles; the sprinkler upper limit L2 ensures that the machine will not overturn or affect normal operation due to being lifted too high, and the sprinkler will promptly issue an over-limit alarm.

[0028] Specific implementation method 2: Combination Figure 2 The present embodiment is described as a sprinkler head height automatic adjustment device based on laser ranging, comprising a sprinkler body, a sensor, a controller and a motor;

[0029] The sensor is used to obtain the position information of the sprinkler and send the position information of the sprinkler to the controller; the controller is used to obtain the crop information of the sprinkler target according to the position information of the sprinkler, and the crop information includes the average height of the sprinkler target, and the initial height of the sprinkler is calculated according to the average height of the sprinkler target, and it is judged whether the initial height of the sprinkler is within the sprinkler limit. If so, the initial height of the sprinkler is sent to the motor, and if not, an over-limit alarm is issued; the motor is used to adjust the sprinkler to the initial height of the sprinkler according to the received initial height of the sprinkler;

[0030] The sensor is also used to obtain the vertical distance between the sprinkler head and the top of the sprinkler irrigation target and the positional relationship between the sprinkler head and the top of the sprinkler irrigation target, and send the vertical distance between the sprinkler head and the top of the sprinkler irrigation target and the positional relationship between the sprinkler head and the top of the sprinkler irrigation target to the controller;

[0031] The controller obtains the actual height of the irrigation target according to the vertical distance between the sprinkler head and the top of the irrigation target and the positional relationship between the sprinkler head and the top of the irrigation target, and determines whether the sprinkler head is located above the top of the irrigation target and the vertical distance between the sprinkler head and the top of the irrigation target is within a threshold range. If so, the sprinkler head is controlled to perform the irrigation operation. If not, a new irrigation height is obtained according to the vertical distance between the sprinkler head and the top of the irrigation target and the initial height of the sprinkler head.

[0032] The controller is also used to determine whether the new sprinkler irrigation height is within the sprinkler irrigation limit range. If so, the new sprinkler irrigation height is sent to the motor. If not, an over-limit alarm signal is generated to issue an over-limit alarm. The motor is also used to control the sprinkler head to adjust to the new sprinkler irrigation height according to the received new sprinkler irrigation height. After the sprinkler head is adjusted to the new sprinkler irrigation height, the controller controls the sprinkler head to perform sprinkler irrigation operations.

[0033] Furthermore, the sensor includes a position sensor and a laser ranging sensor; the position sensor is used to obtain the position information of the sprinkler and send the position information of the sprinkler to the controller; the laser ranging sensor is used to obtain the vertical distance between the sprinkler head and the top of the sprinkler target and send the vertical distance between the sprinkler head and the top of the sprinkler target to the controller.

[0034] Specifically, the use of laser ranging overcomes the weaknesses of traditional mechanical or photoelectric switch detection, such as lag and poor adaptability to complex terrain. High-performance laser rangefinders can continuously measure the distance between the sprinkler and the top of the crop.

[0035] Furthermore, the position sensor is a GPS locator or a GIS locator.

[0036] Furthermore, the sprinkler is a JP75-300 sprinkler.

[0037] Specific implementation example: the sprinkler is moved to the crop area to be sprinkled, the GPS locator obtains the current position information of the sprinkler, and the crop information of the sprinkler target is obtained according to the position information of the sprinkler, and then the crop to be irrigated is corn. At this time, the average height of corn is 235 cm, and the fixed difference is set to 23.5 cm, and the initial height of the sprinkler is 258.5 cm; the sprinkler is a JP75-300 sprinkler, and the upper limit of sprinkler irrigation is set to 3 meters, and the lower limit of sprinkler irrigation is set to 0.5 meters. It is judged that the initial height of the sprinkler is within the sprinkler irrigation limit of the sprinkler, and the drive motor adjusts the height of the sprinkler to 258.5 cm; the laser rangefinder measures that the vertical distance between the sprinkler and the top of the corn stalk is 5.5 cm at this time, the sprinkler is located above the top of the corn stalk, and the actual height of the corn stalk is 253 cm. The threshold range of the vertical distance between the sprinkler and the top of the corn stalk is 25 cm to 47 cm. If the vertical distance between the sprinkler and the top of the corn stalk is not within the threshold range, the sprinkler irrigation work cannot be completed, and a new sprinkler height needs to be recalculated;

[0038] The sprinkler head is located above the irrigation target. According to the formula H n =H-D1+D calculate the new sprinkler height, where H is the initial height of the sprinkler head 258.5 cm, D1 is the vertical distance between the sprinkler head and the top of the sprinkler target 5.5 cm, and the new sprinkler height is 276.5 cm; store the actual height of the sprinkler target, update the average height of the sprinkler target of the sprinkler target crop information; determine whether the new sprinkler height is within the sprinkler limit, adjust the sprinkler head to the new sprinkler height and perform sprinkler operations.

[0039] When the current sprinkler irrigation task is completed, the sprinkler is moved to the next sprinkler irrigation position, and the sprinkler obtains the current position information of the sprinkler through the GPS locator again, and repeats the above steps until the sprinkler irrigation work of the crop is completed.

Claims

1. A method for automatically adjusting the height of a sprinkler nozzle based on laser ranging, characterized in that: include: Step 1: Acquire the position information of the sprinkler, and obtain the crop information of the sprinkler target according to the position information of the sprinkler, wherein the crop information includes the average height of the sprinkler target corresponding to the position information of the sprinkler, and calculate the initial height of the sprinkler head according to the average height of the sprinkler target; The initial height of the sprinkler head is the sum of the average height of the sprinkler irrigation target and the fixed difference; Step 2: Determine whether the initial height of the sprinkler head is within the sprinkler irrigation limit range. If so, adjust the sprinkler head to the initial height of the sprinkler head and proceed to step 3. If not, issue an over-limit alarm and stop the sprinkler irrigation operation. Step 3: After adjusting the height of the sprinkler head to the initial height of the sprinkler head, the vertical distance between the sprinkler head and the top of the sprinkler target and the positional relationship between the sprinkler head and the top of the sprinkler target are obtained through the laser sensor, and the actual height of the sprinkler target is obtained according to the vertical distance between the sprinkler head and the top of the sprinkler target and the positional relationship between the sprinkler head and the top of the sprinkler target, and it is judged whether the sprinkler head is above the top of the sprinkler target and the vertical distance between the sprinkler head and the top of the sprinkler target is within the threshold range. If so, sprinkler irrigation is performed, otherwise a new sprinkler height is obtained according to the vertical distance between the sprinkler head and the top of the sprinkler target and the initial height of the sprinkler head; Step 4: Determine whether the new sprinkler irrigation height is within the sprinkler irrigation limit range. If so, adjust the sprinkler head to the new sprinkler irrigation height and perform sprinkler irrigation operations. Otherwise, issue an over-limit alarm and stop the sprinkler irrigation operation.

2. According to claim 1, a method for automatically adjusting the height of a sprinkler nozzle based on laser ranging is characterized in that: It also includes updating the average height of the sprinkler irrigation target in the crop information according to the actual height of the sprinkler irrigation target.

3. The method for automatically adjusting the height of a sprinkler nozzle based on laser ranging according to claim 1 is characterized in that: The fixed difference is one tenth of the average height of the irrigation targets.

4. The method for automatically adjusting the height of a sprinkler nozzle based on laser ranging according to claim 1 is characterized in that: The threshold range is max(L1-H S ,0.1×(L2-L1)) to min(L2-H S ,0.3×(L2-L1)), where L2 and L1 are the upper and lower limits of sprinkler irrigation set according to the sprinkler model, respectively. S It is the actual height of the sprinkler target.

5. The method for automatically adjusting the height of a sprinkler nozzle based on laser ranging according to claim 3 is characterized in that: The new irrigation height H is obtained based on the vertical distance between the sprinkler head and the top of the sprinkler target and the initial height of the sprinkler head. n The method is: if the sprinkler head is located above the sprinkler target, then H n =H-D1+D, where D1 is the vertical distance between the sprinkler head and the top of the sprinkler target, D is the fixed difference, and H is the initial height of the sprinkler head; if the sprinkler head is below the sprinkler target, then H n =H+D1+D.

6. An automatic height adjustment device for sprinkler nozzles based on laser ranging, characterized in that: It includes sprinkler body, sensor, controller and motor; The sensor is used to obtain the position information of the sprinkler and send the position information of the sprinkler to the controller; the controller is used to obtain the crop information of the sprinkler target according to the position information of the sprinkler, and the crop information includes the average height of the sprinkler target, and the initial height of the sprinkler is calculated according to the average height of the sprinkler target, and it is judged whether the initial height of the sprinkler is within the sprinkler limit. If so, the initial height of the sprinkler is sent to the motor, and if not, an over-limit alarm is issued; the motor is used to adjust the sprinkler to the initial height of the sprinkler according to the received initial height of the sprinkler; The sensor is also used to obtain the vertical distance between the sprinkler head and the top of the sprinkler irrigation target and the positional relationship between the sprinkler head and the top of the sprinkler irrigation target, and send the vertical distance between the sprinkler head and the top of the sprinkler irrigation target and the positional relationship between the sprinkler head and the top of the sprinkler irrigation target to the controller; The controller obtains the actual height of the irrigation target according to the vertical distance between the sprinkler head and the top of the irrigation target and the positional relationship between the sprinkler head and the top of the irrigation target, and determines whether the sprinkler head is located above the top of the irrigation target and the vertical distance between the sprinkler head and the top of the irrigation target is within a threshold range. If so, the sprinkler head is controlled to perform the irrigation operation. If not, a new irrigation height is obtained according to the vertical distance between the sprinkler head and the top of the irrigation target and the initial height of the sprinkler head. The controller is also used to determine whether the new sprinkler irrigation height is within the sprinkler irrigation limit range. If so, the new sprinkler irrigation height is sent to the motor. If not, an over-limit alarm signal is generated to issue an over-limit alarm. The motor is also used to control the sprinkler head to adjust to the new sprinkler irrigation height according to the received new sprinkler irrigation height. After the sprinkler head is adjusted to the new sprinkler irrigation height, the controller controls the sprinkler head to perform sprinkler irrigation operations.

7. The automatic height adjustment device for sprinkler nozzles based on laser ranging according to claim 6 is characterized in that: The sensor includes a position sensor and a laser ranging sensor; the position sensor is used to obtain the position information of the sprinkler and send the position information of the sprinkler to the controller; the laser ranging sensor is used to obtain the distance between the sprinkler head and the top of the sprinkler target and send the distance between the sprinkler head and the top of the sprinkler target to the controller.

8. The automatic height adjustment device for sprinkler nozzles based on laser ranging according to claim 7 is characterized in that: The position sensor is a GPS locator or a GIS locator.

9. The automatic height adjustment device for sprinkler nozzles based on laser ranging according to claim 6 is characterized in that: The sprinkler is JP75-300.

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