A method for automatically adjusting the height of a sprinkler head of a sprinkling machine based on laser ranging

Abstract

This invention discloses an automatic sprinkler head height adjustment method based on laser ranging. This method automatically acquires relevant information about the irrigation target and automatically adjusts the sprinkler head to a suitable height to complete crop irrigation. It effectively avoids the problem of frequently manually adjusting the sprinkler head height due to changes in crop growth height, thus reducing irrigation efficiency. This ensures irrigation quality and avoids waste or ineffective use of water and chemical reagents. It not only improves irrigation uniformity and water-saving efficiency but also provides personalized services based on the characteristics of different regions without frequent manual intervention in height changes, simplifying management workload and improving production efficiency.

Description

Technical Field

[0001] This application belongs to the field of sprinkler head height adjustment, specifically relating to an automatic method for adjusting sprinkler head height based on laser ranging. Background Technology

[0002] Sprinkler irrigation is an important method of agricultural irrigation. Currently, sprinkler irrigation machines are widely used to improve irrigation efficiency. These machines spray pressurized water through specialized equipment from nozzles into the air, breaking it down into fine droplets that are evenly distributed across the field, providing moisture to crops, flowers, and seedlings. However, due to the significant height differences among various crop types, the height of the sprinkler nozzles needs to be manually adjusted to meet the irrigation requirements of different crops. This manual adjustment reduces the efficiency of the sprinkler irrigation system and causes some inconvenience for crop irrigation. Summary of the Invention

[0003] To address the problem that manual adjustment of sprinkler head height is required during sprinkler irrigation operations, which reduces irrigation efficiency, a laser ranging-based automatic sprinkler head height adjustment method is proposed. This method enables real-time monitoring of crop height and automatically adjusts the sprinkler head height accordingly, resulting in a high degree of automation and improved irrigation efficiency.

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

[0005] Step 1: Obtain the location information of the sprinkler irrigation machine, and obtain the crop information of the irrigation target based on the location information of the sprinkler irrigation machine. The crop information includes the average height of the irrigation target corresponding to the location information of the sprinkler irrigation machine. Calculate the initial height of the sprinkler head based on the average height of the irrigation target. The initial height of the sprinkler head is the sum of the average height of the irrigation target and a fixed difference.

[0006] Step 2: Determine if the initial height of the sprinkler head is within the irrigation limit. If so, adjust the sprinkler head to the initial height and proceed to Step 3. Otherwise, issue an over-limit alarm and stop the irrigation operation.

[0007] Step 3: After adjusting the nozzle height to the initial height, the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target are obtained through the laser sensor. Based on the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target, the actual height of the irrigation target is obtained. It is then determined whether the nozzle is located above the top of the irrigation target and whether the vertical distance between the nozzle and the top of the irrigation target is within the threshold range. If so, irrigation is performed; otherwise, a new irrigation height is obtained based on the vertical distance between the nozzle and the top of the irrigation target and the initial height of the nozzle.

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

[0009] Beneficial effects

[0010] This invention discloses an automatic sprinkler head height adjustment method based on laser ranging. This method automatically acquires relevant information about the irrigation target and automatically adjusts the sprinkler head to a suitable height to complete crop irrigation. It effectively avoids the problem of frequently manually adjusting the sprinkler head height due to changes in crop growth height, thus reducing irrigation efficiency. This ensures irrigation quality and avoids waste or ineffective use of water and chemical reagents. It not only improves irrigation uniformity and water-saving efficiency but also provides personalized services based on the characteristics of different regions without frequent manual intervention in height changes, simplifying management workload and improving production efficiency. Attached Figure Description

[0011] Figure 1 This is a flowchart illustrating the automatic height adjustment method for sprinkler heads of sprinkler irrigation machines based on laser ranging, according to an embodiment of this application.

[0012] Figure 2 This is a structural diagram of the automatic height adjustment device for sprinkler heads based on laser ranging, according to an embodiment of this application. Detailed Implementation

[0013] The following will combine Figure 1 This embodiment describes an automatic height adjustment method for sprinkler heads of sprinkler irrigation machines based on laser ranging, comprising:

[0014] Step 1: Obtain the location information of the sprinkler irrigation machine, and obtain the crop information of the irrigation target based on the location information of the sprinkler irrigation machine. The crop information includes the average height of the irrigation target corresponding to the location information of the sprinkler irrigation machine. Calculate the initial height of the sprinkler head based on the average height of the irrigation target. The initial height of the sprinkler head is the sum of the average height of the irrigation target and a fixed difference.

[0015] Step 2: Determine if the initial height of the sprinkler head is within the irrigation limit. If so, adjust the sprinkler head to the initial height and proceed to Step 3. Otherwise, issue an over-limit alarm and stop the irrigation operation.

[0016] Step 3: After adjusting the nozzle height to the initial height, the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target are obtained through the laser sensor. Based on the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target, the actual height of the irrigation target is obtained. It is then determined whether the nozzle is located above the top of the irrigation target and whether the vertical distance between the nozzle and the top of the irrigation target is within the threshold range. If so, irrigation is performed; otherwise, a new irrigation height is obtained based on the vertical distance between the nozzle and the top of the irrigation target and the initial height of the nozzle.

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

[0018] Specifically, a crop type database is pre-set, which includes crop information corresponding to the location information. The crop information includes crop type, maturity status, and average crop height. The current location information of the sprinkler is obtained through GPS positioning or GIS technology, thereby obtaining the crop type of the irrigation target and the average height of the target crop during the current period. The initial height of the sprinkler head is calculated based on the average height of the irrigation target. The calculation method for the initial height H of the sprinkler head is: H = H + D, where H is the average height of the irrigation target and D is a fixed difference set according to the average height H of the irrigation target.

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

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

[0021] Furthermore, D represents the average height of the sprinkler irrigation target. The set fixed difference Setting a fixed differential helps improve sprinkler irrigation efficiency, ensures adequate crop irrigation, and reduces 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 irrigation set according to the sprinkler machine model, respectively, and H S This represents the actual height of the sprinkler irrigation target.

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

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

[0025] Specifically, if the actual height of the 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 collisions with the crop, which could damage its growth.

[0026] Furthermore, the method for determining whether the new sprinkler height is within the sprinkler limit is as follows: Based on the sprinkler machine model, set the upper sprinkler limit L2 and the lower sprinkler limit L1, and determine H... n Does it satisfy L1 < H? n If ≤L2 is true, then the sprinkler height is within the sprinkler limit; otherwise, the sprinkler height is not within the sprinkler limit.

[0027] Specifically, since sprinkler irrigation machines have a limited operating height range, with an upper limit L2 and a lower limit L1, it is necessary to determine whether the new sprinkler irrigation height is within the sprinkler irrigation limits. The lower limit L1 is a critical height set to prevent the machine from hitting the soil or obstacles due to being too low. The upper limit L2 ensures that the machine will not tip over or affect normal operation if it is raised too high. In this case, the sprinkler irrigation machine will issue an over-limit alarm in a timely manner.

[0028] Specific Implementation Method Two: Combining Figure 2 This embodiment describes an automatic height adjustment device for sprinkler heads based on laser ranging, comprising a sprinkler body, a sensor, a controller, and a motor;

[0029] The sensor is used to acquire the position information of the sprinkler and send it to the controller. The controller is used to obtain the crop information of the irrigation target based on the position information of the sprinkler, including the average height of the irrigation target. The controller calculates the initial height of the sprinkler head based on the average height of the irrigation target, and determines whether the initial height of the sprinkler head is within the irrigation limit. If so, the initial height of the sprinkler head is sent to the motor; otherwise, an over-limit alarm is triggered. The motor is used to adjust the sprinkler head to the initial height based on the received initial height of the sprinkler head.

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

[0031] The controller obtains the actual height of the irrigation target based on the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target. It then determines whether the nozzle is located above the top of the irrigation target and whether the vertical distance between the nozzle and the top of the irrigation target is within a threshold range. If so, the controller controls the nozzle to perform irrigation operations. Otherwise, it obtains a new irrigation height based on the vertical distance between the nozzle and the top of the irrigation target and the initial height of the nozzle.

[0032] The controller is also used to determine whether the new irrigation height is within the irrigation limit range. If so, it sends the new irrigation height to the motor; otherwise, it generates an over-limit alarm signal. The motor is also used to control the sprinkler head to adjust to the new irrigation height according to the received new irrigation height. After the sprinkler head is adjusted to the new irrigation height, the controller controls the sprinkler head to perform irrigation operation.

[0033] Furthermore, the sensor includes a position sensor and a laser rangefinder; the position sensor is used to acquire the position information of the sprinkler and send the position information of the sprinkler to the controller; the laser rangefinder is used to acquire 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 rangefinders 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 nozzle and the top of the crop.

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

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

[0037] Specific Implementation: The sprinkler is moved to the area of ​​the crop to be irrigated. The GPS locator obtains the current location information of the sprinkler and the crop information of the target crop is obtained based on the location information of the sprinkler. It is then determined that the crop to be irrigated is corn. At this time, the average height of the corn is 235 cm. A fixed difference of 23.5 cm is set, and the initial height of the sprinkler head is obtained as 258.5 cm. The sprinkler is a JP75-300 model. The upper limit of the sprinkler is set to 3 meters and the lower limit is set to 0.5 meters. It is determined that the initial height of the sprinkler head is within the sprinkler's sprinkler limits. The drive motor adjusts the height of the sprinkler head to 258.5 cm. The laser rangefinder measures the vertical distance between the sprinkler head and the top of the corn stalk at this time as 5.5 cm. The sprinkler head is located above the top of the corn stalk. The actual height of the corn stalk is 253 cm. The threshold range of the vertical distance between the sprinkler head and the top of the corn stalk is 25 cm to 47 cm. The vertical distance between the sprinkler head and the top of the corn stalk is not within the threshold range, so the sprinkler work cannot be completed and a new sprinkler height needs to be recalculated.

[0038] The sprinkler head is positioned above the irrigation target, according to formula H n =H-D1+D Calculate the new sprinkler height, where H is the initial sprinkler height of 258.5 cm, D1 is the vertical distance between the sprinkler head and the top of the irrigation target of 5.5 cm, and the new sprinkler height is 276.5 cm; Store the actual height of the irrigation target, update the average height of the irrigation target crop information; Determine if the new sprinkler height is within the irrigation limit, adjust the sprinkler head to the new sprinkler height and carry out the sprinkler operation.

[0039] When the current irrigation task is completed, the sprinkler is moved to the next irrigation location. The sprinkler then obtains its current location information again through the GPS positioning device. The above steps are repeated until the irrigation work of the crop is completed.

Claims

1. A method for automatically adjusting the height of a sprinkler head of a sprinkler based on laser ranging, characterized in that, include: Step 1: Obtain the location information of the sprinkler machine, and obtain the crop information of the irrigation target based on the location information of the sprinkler machine. The crop information includes the average height of the irrigation target corresponding to the location information of the sprinkler machine, and calculate the initial height of the sprinkler head based on the average height of the irrigation target. The initial height of the nozzle is the sum of the average height of the irrigation target and a fixed difference; The fixed difference is one-tenth of the average height of the sprinkler target; Step 2: Determine if the initial height of the sprinkler head is within the irrigation limit. If so, adjust the sprinkler head to the initial height and proceed to Step 3. Otherwise, issue an over-limit alarm and stop the irrigation operation. Step 3: After adjusting the nozzle height to the initial height, the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target are obtained through the laser sensor. Based on the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target, the actual height of the irrigation target is obtained. It is then determined whether the nozzle is located above the top of the irrigation target and whether the vertical distance between the nozzle and the top of the irrigation target is within the threshold range. If so, irrigation is performed; otherwise, a new irrigation height is obtained based on the vertical distance between the nozzle and the top of the irrigation target and the initial height of the nozzle. Step 4: Determine if the new sprinkler height is within the sprinkler limit range. If so, adjust the sprinkler head to the new sprinkler height and start the sprinkler operation. Otherwise, issue an over-limit alarm and stop the sprinkler operation. The threshold range is to wherein, and are a sprinkling upper limit and a sprinkling lower limit, respectively, set according to a sprinkling machine model, is a sprinkling target actual height; The new irrigation height is obtained based on the vertical distance between the sprinkler head and the top of the irrigation target and the initial height of the sprinkler head. The method is as follows: if sprinkler head 2 is located above the irrigation target, then ,in, Let D be the vertical distance between the sprinkler head and the top of the target area, D be the fixed difference, and H be the initial height of the sprinkler head; if the sprinkler head is below the target area, then... .

2. The method for automatic adjustment of sprinkler head height based on laser ranging according to claim 1, characterized in that: It also includes updating the average height of the sprinkler target in the crop information based on the actual height of the sprinkler target.

3. An automatic height adjustment device for sprinkler heads of sprinkler irrigation machines based on laser ranging, characterized in that: Includes the sprinkler machine body, sensors, controller, and motor; The sensor acquires the position information of the sprinkler irrigation machine and sends this information to the controller. The controller obtains the crop information of the irrigation target based on the sprinkler irrigation machine's position information, including the average height of the target crop. It calculates the initial sprinkler head height based on the average height of the target crop, determines whether the initial sprinkler head height is within the irrigation limit, and if so, sends the initial sprinkler head height to the motor; otherwise, it issues an over-limit alarm. The motor adjusts the sprinkler head to the received initial sprinkler head height. The initial sprinkler head height is the sum of the average height of the irrigation target and a fixed difference, where the fixed difference is one-tenth of the average height of the irrigation target. The sensor is also used to obtain the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target, and send the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target to the controller; The controller obtains the actual height of the irrigation target based on the vertical distance between the nozzle and the top of the irrigation target and the positional relationship between the nozzle and the top of the irrigation target. It then determines whether the nozzle is located above the top of the irrigation target and whether the vertical distance between the nozzle and the top of the irrigation target is within a threshold range. If so, the controller controls the nozzle to perform irrigation operations. Otherwise, it obtains a new irrigation height based on the vertical distance between the nozzle and the top of the irrigation target and the initial height of the nozzle. The controller is also used to determine whether the new irrigation height is within the irrigation limit range. If so, it sends the new irrigation height to the motor; otherwise, it generates an over-limit alarm signal. The motor is also used to control the sprinkler head to adjust to the new irrigation height according to the received new irrigation height. After the sprinkler head is adjusted to the new irrigation height, the controller controls the sprinkler head to perform irrigation operation. The threshold range is to ,in, and These are the upper and lower limits for sprinkler irrigation, set according to the model of the sprinkler irrigation machine. The actual height of the sprinkler target; The new irrigation height is obtained based on the vertical distance between the sprinkler head and the top of the irrigation target and the initial height of the sprinkler head. The method is as follows: if sprinkler head 2 is located above the irrigation target, then ,in, Let D be the vertical distance between the sprinkler head and the top of the target area, D be the fixed difference, and H be the initial height of the sprinkler head; if the sprinkler head is below the target area, then... .

4. The automatic height adjustment device for sprinkler heads of a sprinkler machine based on laser ranging according to claim 3, characterized in that: The sensors include a position sensor and a laser rangefinder; the position sensor is used to acquire the position information of the sprinkler and send the position information of the sprinkler to the controller; the laser rangefinder is used to acquire 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.

5. The laser ranging based sprinkler nozzle height automatic adjusting device according to claim 4, characterized in that: The location sensor is a GPS locator or a GIS locator.

6. The laser ranging based sprinkler nozzle height automatic adjusting device according to claim 5, wherein: The sprinkler is a JP75-300 model.

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