Self-propelled water and fertilizer irrigation device and method based on intelligent navigation and multi-energy system

Abstract

The invention discloses a self-propelled water and fertilizer irrigation device and method based on intelligent navigation and a multi-energy system, and relates to the field of agricultural irrigation.The self-propelled water and fertilizer irrigation device comprises a rear rack, a front rack is arranged on the front side of the rear rack, a machine body is connected to the upper portion of the rear rack and the upper portion of the front rack, and stability adjusting mechanisms are installed on the rear side wall of the rear rack and the rear side wall of the front rack correspondingly; the bottom of the stable adjusting mechanism is connected with a wheel carrier, wheels are installed below the wheel carrier, a wheel shaft is connected to the middle of each wheel in a penetrating mode, and a bearing is connected between each wheel shaft and the corresponding wheel carrier. By arranging the hybrid energy system, the dependency of device power supply on the environment can be reduced, the storage battery can be automatically switched to provide power in rainy days and windless days, continuous supply of energy is ensured, and the reliability of the system is greatly improved; and by arranging the stability adjusting mechanism, the movement stability of the device on the uneven ground or the muddy area can be improved, and the possibility of slipping is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural irrigation, and in particular to a self-propelled water and fertilizer irrigation device and method based on intelligent navigation and a multi-energy system. Background Art

[0002] With the development of modern agriculture, the requirements for agricultural irrigation are gradually tending towards high efficiency, energy saving and precision. At present, there are various self-propelled irrigation equipment in the agricultural field. A Chinese patent document with reference announcement number (CN201610706126) discloses a self-propelled channel irrigation device and an irrigation method thereof, including an intelligent walking mechanism, a water supply mechanism, a PLC controller and a power supply system, to improve the automation level of channel irrigation and reduce manual labor.

[0003] The above patent document has the following defects: 1. Dependence on electricity. Although solar power generation is used to charge the DC power supply, this system may face energy shortage problems during long periods of rainy weather; 2. The mobile wheel has poor running stability. The current mobile wheel design may slip on muddy or uneven ground, resulting in errors in the water supply point; 3. The water supply is prone to blockage. The pumping devices and filters used may not be able to cope with water bodies with high sand content and are prone to blockage; 4. The path control and irrigation accuracy are low. The distance measurement module is based on mechanical measurement, and the accuracy is affected to a certain extent, especially when walking on uneven ground. Summary of the invention

[0004] The purpose of the present invention is to provide a self-propelled water and fertilizer irrigation device and method based on intelligent navigation and multi-energy system to solve the problems of strong energy dependence, poor mobility stability and insufficient filtering capacity proposed in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system, comprising a rear frame, a front frame is arranged on the front side of the rear frame, the rear frame and the front frame are connected with an organism above, the rear frame and the rear side wall of the front frame are both installed with a stabilizing adjustment mechanism, a wheel frame is connected to the bottom of the stabilizing adjustment mechanism, a wheel is installed below the wheel frame, a wheel axle is connected through the middle of the wheel, a bearing is connected between the wheel axle and the wheel frame, a walking motor is installed above the wheel axle, a reducer is connected to the shaft end of the walking motor, a bracket is connected to the front side of the front frame, a lifting mechanism is installed above the bracket, an irrigation frame is connected to the front side of the bracket, hinged seats are connected to the left and right sides of the irrigation frame, movable frames are hinged on the left and right sides of the irrigation frame, spray rods are installed on the front sides of the irrigation frame and the movable frame, a spray head is connected to the bottom of the spray rod, and a water supply mechanism is installed on the front side wall of the irrigation frame.

[0006] Preferably, the stable adjustment mechanism includes a mounting seat, an adjustment push rod is installed inside the mounting seat, the telescopic end of the adjustment push rod is connected to the upper surface of the wheel frame, and the mounting seat is installed on the side walls of the front frame and the rear frame by screws.

[0007] Preferably, hinge shafts are provided through both the front and rear sides of the bracket, the front side of the bracket is rotatably connected to the irrigation frame via the hinge shaft, and the rear side of the bracket is rotatably connected to the front frame via the hinge shaft.

[0008] Preferably, the lifting mechanism includes a fixed seat installed on the front side wall of the front frame, two connecting rods are connected to the top of the fixed seat, a middle pin is arranged between the two connecting rods, an upper pin is connected between the top of the connecting rod at the top and the fixed seat, and a lower pin is connected between the bottom of the connecting rod at the bottom and the bracket. A lifting push rod is installed on the fixed seat, and connecting pins are connected at both upper and lower ends of the lifting push rod. A rotational connection is formed between the two connecting rods via the middle pin, the connecting rod at the top is rotationally connected to the fixed seat via the upper pin, and the bottom of the connecting rod at the bottom is rotationally connected to the bracket via the lower pin, the top of the lifting push rod is rotationally connected to the middle of the connecting rod at the top via the connecting pin, and the bottom of the lifting push rod is rotationally connected to the fixed seat via the connecting pin.

[0009] Preferably, the water supply mechanism includes a cyclone separator, a water inlet is connected to one side of the cyclone separator, a first filter is connected to the other side of the cyclone separator, a second filter is arranged on the side of the first filter away from the cyclone separator, a water pump is installed between the first filter and the second filter, a water supply port is connected to the bottom of the second filter, mounting blocks are connected to the rear side walls of the first filter and the second filter, and the first filter and the second filter are mounted on the front side wall of the irrigation rack through the mounting blocks.

[0010] Preferably, the interior of the body includes: PLC controller, responsible for the intelligent control of the entire system, including the management of the stabilization regulation mechanism and the water supply mechanism; The soil collection system is used to collect and transmit soil environmental data from different regions, providing the PLC controller with accurate numerical data on soil moisture and the content of nitrogen, phosphorus and potassium nutrients; The navigation module is used to combine the path planning algorithm to plan the wheel travel path in real time to ensure accurate arrival at each water supply point; The data processing module is used to analyze the data collected by the soil collection system through AI algorithms, and dynamically calculate the most suitable irrigation time and water volume based on factors such as weather forecasts, crop growth cycles and soil types; Hybrid energy system for continuous supply of electrical energy to the device; Alarm module, used for real-time early warning, reminding users of irrigation status through LED warning lights, and providing historical data reports for analysis; Wireless communication module, used for remote data transmission of the device; The mobile terminal forms a remote communication connection with the PLC controller through the wireless communication module for remote monitoring.

[0011] Preferably, the soil collection system comprises: Moisture sensor, used to monitor soil moisture in real time; Nitrogen, phosphorus and potassium sensors are used to detect the content of nitrogen, phosphorus and potassium nutrients in the soil.

[0012] Preferably, there are several moisture sensors, which are installed in upper and lower layers by being buried in the soil to monitor the soil moisture in layers.

[0013] Preferably, the hybrid energy system comprises: A solar power supply module, used to convert solar energy into electrical energy for powering the device; A wind power supply module, used to convert wind energy into electrical energy for powering the device; The battery is used to provide backup power for the device on rainy days or in windless environments.

[0014] A method for a self-propelled water and fertilizer irrigation device based on intelligent navigation and a multi-energy system, comprising the following steps: S1: The travel motor drives the axle to rotate through the reducer, and the axle drives the wheel to rotate relative to the wheel frame, so that the wheel drives the machine body to travel; S2: The irrigation water pre-stored in the machine is connected to the water inlet through a pipe, the water supply port is connected to the spray rod through a pipe, and the water pump is started to drive the irrigation water to flow, so that the irrigation water is filtered through the first filter and the second filter in turn, and the filtered irrigation water finally flows into the spray rod and is sprayed out from the nozzle to irrigate the land; S3: Control the extension of the lifting push rod, and the telescopic end of the lifting push rod applies a thrust to the upper connecting rod through the connecting pin, so that the upper connecting rod moves upward relative to the fixed seat around the upper pin, and the connecting rod drives another connecting rod at the bottom to move upward through the middle pin, and the connecting rod at the bottom pulls the bracket to move upward through the connecting pin, and the bracket pulls the irrigation rack to move upward, and the irrigation rack drives the spray rod and the sprinkler head to move upward, and the height of the sprinkler head is adjusted according to the actual height of the crop; S4: When the wheels are driving on uneven ground or muddy areas, the distance between the front frame and the rear frame and the bottom of the wheel is adjusted by telescoping the adjusting push rod to balance the height of the wheels on the same side and keep the machine body driving stably; S5: During driving, in the case of sufficient sunlight, windy weather without sunlight, and windless weather without sunlight, the device is automatically powered by the solar power supply module, wind power supply module, and battery to ensure a continuous supply of energy.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The self-propelled water and fertilizer irrigation device and method based on intelligent navigation and multi-energy system is provided with a hybrid energy system, which is composed of a solar power supply module, a wind power supply module and a battery. The solar power supply module collects solar energy and converts it into electrical energy for power supply in sunny weather, and converts wind energy into electrical energy for power supply in weather without sun and with sufficient wind. The battery is used for backup power supply on rainy days and in windless environments. It has three power supply modes, which reduces the dependence of the device power supply on the environment, and can automatically switch to the battery to provide power on rainy days and windless weather, thereby ensuring the continuous supply of energy and greatly improving the reliability of the system.

[0016] 2. This self-propelled water and fertilizer irrigation device and method based on intelligent navigation and multi-energy system is equipped with a stable adjustment mechanism, and the wheels and wheel frames are installed on the rear frame and the front frame through the stable adjustment mechanism. During the rotation of the wheels, the distance from the front frame and the rear frame to the bottom of the wheels is adjusted by adjusting the push rod to extend and retract, thereby balancing the height of the wheels on the same side and maintaining the stable driving of the body, so as to improve the mobile stability of the device on uneven ground or muddy areas.

[0017] 3. This self-propelled water and fertilizer irrigation device and method based on intelligent navigation and multi-energy system, by setting up a water supply mechanism, adopts the first filter net and the second filter net to form a two-stage filtration system, and combines with a water pump to enhance the processing capacity of impurities in the water and reduce clogging. The first filter net and the second filter net are used in conjunction with a cyclone separator to ensure that the pumping system operates without trouble for a long time.

[0018] 4. This self-propelled water and fertilizer irrigation device and method based on intelligent navigation and multi-energy system, by setting up a navigation module and combining a path planning algorithm, replaces the original distance measurement module to ensure accurate navigation to the target water supply point in various terrains and avoid deviations caused by uneven ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall logic block diagram of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention; Figure 3 It is a schematic diagram of the structure of the water supply mechanism of the present invention; Figure 4 It is a schematic diagram of the connection structure between the stabilizing adjustment mechanism of the present invention and the wheel and the wheel frame.

[0020] In the figure: 1, rear frame; 2, front frame; 3, machine body; 4, stabilizing adjustment mechanism; 41, mounting seat; 42, adjusting push rod; 5, wheel frame; 6, wheel; 7, wheel axle; 8, bearing; 9, travel motor; 10, reducer; 11, bracket; 111, articulated shaft; 12, lifting mechanism; 121, fixed seat; 122, connecting rod; 123, middle pin shaft; 124, upper pin shaft; 125, lower pin shaft; 126, lifting push rod; 127, connecting pin shaft; 13, irrigation frame; 14, articulated seat; 15, movable frame; 16, spray rod; 17. Nozzle; 18. Water supply mechanism; 181. Water inlet; 182. Cyclone separator; 183. First filter; 184. Water pump; 185. Second filter; 186. Water supply port; 187. Mounting block; 19. PLC controller; 20. Soil collection system; 21. Navigation module; 22. Data processing module; 23. Hybrid energy system; 24. Alarm module; 25. Wireless communication module; 26. Moisture sensor; 27. Solar power supply module; 28. Wind power supply module; 29. ​​Battery; 30. Mobile terminal. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0022] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] like Figures 1 to 4As shown, the self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system in this embodiment includes a rear frame 1, a front frame 2 is arranged on the front side of the rear frame 1, the front frame 2 is connected to the rear frame 1 to form the main frame structure of the device, the rear frame 1 and the front frame 2 are connected to the body 3 above, and the rear side walls of the rear frame 1 and the front frame 2 are both installed with a stabilizing adjustment mechanism 4 for maintaining the stability of the device during travel, a wheel frame 5 is connected to the bottom of the stabilizing adjustment mechanism 4, and a wheel 6 is installed below the wheel frame 5. The wheel 6 can be a narrow rubber wheel with tire teeth or a crawler wheel. The rubber crawler wheel enhances the ground grip and reduces the possibility of slipping. A wheel axle 7 is connected through the middle of the wheel 6, a bearing 8 is connected between the wheel axle 7 and the wheel frame 5, and the wheel axle 7 is rotatably connected to the wheel frame 5 via the bearing 8. A travel motor 9 is installed above the wheel axle 7, and a reducer 10 is connected to the shaft end of the travel motor 9. The wheel axle 7 is driven to rotate through the travel motor 9 via the reducer 10, and the wheel axle 7 drives the wheel 6 The front frame 2 is connected with a bracket 11 at the front side, and the bracket 11 is used to connect the front frame 2 and the irrigation frame 13. A lifting mechanism 12 is installed above the bracket 11, which is used to drive the bracket 11 to rotate up and down relative to the front frame 2 around the hinge shaft 111, thereby driving the irrigation frame 13 to rotate up and down to adjust the height of the water outlet of the sprinkler 17. The front side of the bracket 11 is connected with the irrigation frame 13, and the left and right sides of the irrigation frame 13 are connected with hinge seats 14. The left and right sides of the irrigation frame 13 are hinged with movable frames 15. The movable frame 15 rotates relative to the irrigation frame 13 through the hinge seats 14, and can be folded on the left and right sides of the irrigation frame 13 to adjust the coverage area of ​​the sprinkler 17 irrigation. Spray rods 16 are installed on the front sides of the irrigation frame 13 and the movable frame 15. The bottom of the spray rod 16 is connected to the sprinkler 17. A water supply mechanism 18 is installed on the front side wall of the irrigation frame 13. The water supply mechanism 18 is connected to the spray rod 16 through a pipeline to pass irrigation water to the sprinkler 17.

[0025] Specifically, the stable adjustment mechanism 4 includes a mounting seat 41, an adjusting push rod 42 is installed inside the mounting seat 41, and the telescopic end of the adjusting push rod 42 is connected to the upper surface of the wheel frame 5. During the rotation of the wheel 6, the distance from the front frame 2, the rear frame 1 to the bottom of the wheel 6 is adjusted by adjusting the push rod 42 to thereby balance the height of the wheel 6 on the same side and maintain the stable driving of the machine body 3, so as to improve the moving stability of the device on uneven ground or muddy areas. The mounting seat 41 is mounted on the side walls of the front frame 2 and the rear frame 1 by screws, and screws are provided on one side of the mounting seat 41, and a plurality of screw holes are provided on the front frame 2 and the rear frame 1. The mounting seat 41 is detachably mounted on the front frame 2 and the rear frame 1 by screws, and the position of the mounting seat 41 on the front frame 2 and the rear frame 1 can be adjusted so that the spacing between the wheels 6 on the same side can be changed.

[0026] Furthermore, hinge shafts 111 are provided on both the front and rear sides of the bracket 11. The front side of the bracket 11 is rotatably connected to the irrigation rack 13 via the hinge shaft 111, and the rear side of the bracket 11 is rotatably connected to the front frame 2 via the hinge shaft 111. When the connecting rod 122 moves upward and pulls the rear side of the bracket 11 to rotate upward around the hinge shaft 111, the front side of the bracket 11 rotates relative to the irrigation rack 13 via the hinge shaft 111, and drives the irrigation rack 13 to move vertically upward, ensuring that the water spraying direction of the sprinkler 17 on the irrigation rack 13 is downward.

[0027] Furthermore, the lifting mechanism 12 includes a fixed seat 121 installed on the front side wall of the front frame 2, the fixed seat 121 is L-shaped, and two connecting rods 122 are connected to the top of the fixed seat 121, and a middle pin 123 is arranged between the two connecting rods 122, an upper pin 124 is connected between the top of the upper connecting rod 122 and the fixed seat 121, and a lower pin 125 is connected between the bottom of the lower connecting rod 122 and the bracket 11, and a lifting push rod 126 is installed on the fixed seat 121, and the upper and lower ends of the lifting push rod 126 are connected with connecting pins 127, and the two connecting rods 122 are rotatably connected through the middle pin 123, the upper connecting rod 122 is rotatably connected to the fixed seat 121 through the upper pin 124, and the bottom of the lower connecting rod 122 is connected to the bracket through the lower pin 125. 11 is rotatably connected, the top of the lifting push rod 126 is rotatably connected to the middle of the connecting rod 122 at the top through the connecting pin 127, and the bottom of the lifting push rod 126 is rotatably connected to the fixed seat 121 through the connecting pin 127. By controlling the extension of the lifting push rod 126, the telescopic end of the lifting push rod 126 applies a thrust to the connecting rod 122 at the top through the connecting pin 127, so that the connecting rod 122 at the top moves up relative to the fixed seat 121 around the upper pin 124, and the connecting rod 122 drives another connecting rod 122 at the bottom to move up through the middle pin 123, and the connecting rod 122 at the bottom pulls the bracket 11 to move up through the connecting pin 127, the bracket 11 pulls the irrigation frame 13 to move up, and the irrigation frame 13 drives the spray rod 16 and the sprinkler 17 to move up, and the height of the sprinkler 17 can be adjusted according to the actual height of the crops.

[0028] Furthermore, the water supply mechanism 18 includes a cyclone separator 182, which can be used to assist in removing solid impurities in the irrigation water. A water inlet 181 is connected to one side of the cyclone separator 182, which is used to pass the irrigation water stored in the body 3 into the water supply mechanism 18. A first filter screen 183 is connected to the other side of the cyclone separator 182. A second filter screen 185 is provided on the side of the first filter screen 183 away from the cyclone separator 182. The first filter screen 183 and the second filter screen 185 are used in combination with the cyclone separator 182 to enhance the processing capacity of impurities in the water and reduce clogging. A water pump 184 is installed between the first filter screen 183 and the second filter screen 185. The bottom of the second filter screen 185 is connected to the There is a water supply port 186, and the rear side walls of the first filter 183 and the second filter 185 are connected to the mounting block 187. The first filter 183 and the second filter 185 are installed on the front side wall of the irrigation frame 13 through the mounting block 187. The water supply port 186 is connected to the spray rod 16 through a pipeline. In addition, a fertilizer storage tank is installed above the second filter 185, and a valve is installed between the fertilizer storage tank and the second filter 185. The fertilizer ratio can be automatically controlled by controlling the opening and closing of the valve to realize drip irrigation. The water pump 184 adopts a higher lift and suction head, which can cope with complex water source conditions. The multi-stage filtration structure ensures that impurities in the water source are effectively filtered out before entering the spray rod 16 to prevent clogging of the nozzle 17.

[0029] Furthermore, the interior of the body 3 includes: The PLC controller 19 is responsible for the intelligent control of the entire system, including the management of the stabilizing regulating mechanism 4 and the water supply mechanism 18; The soil collection system 20 is used to collect and transmit soil environmental data from different regions, and provide the PLC controller 19 with accurate numerical data of soil moisture and nitrogen, phosphorus and potassium nutrient content; The navigation module 21 is used to combine the path planning algorithm to plan the walking path of the wheel 6 in real time to ensure accurate arrival at each water supply point. The RTK-GPS high-precision navigation module 21 is used in combination with the path planning algorithm to replace the original distance measurement module to ensure accurate navigation to the target water supply point in various terrains and avoid deviations caused by uneven ground. The data processing module 22 is used to analyze the data collected by the soil collection system 20 through an AI algorithm, and dynamically calculate the most suitable irrigation time and water amount in combination with factors such as weather forecasts, crop growth cycles and soil types; A hybrid energy system 23 is used to continuously supply electric energy to the device. The hybrid energy system 23 using solar energy, wind energy and lithium batteries can automatically switch to lithium batteries to provide electricity in rainy days or windless environments; Alarm module 24, used for real-time early warning, reminding users of irrigation status through LED warning lights, and providing historical data reports for analysis; Wireless communication module 25, used for remote data transmission of the device; The mobile terminal 31 forms a remote communication connection with the PLC controller 19 through the wireless communication module 25 for remote monitoring. The irrigation parameters can be remotely set and monitored through a mobile phone App or a computer, thus achieving truly unmanned management.

[0030] Furthermore, the soil collection system 20 includes: A moisture sensor 26 is used to monitor the moisture of the soil in real time; The nitrogen, phosphorus and potassium sensor 27 is used to detect the content of nitrogen, phosphorus and potassium nutrients in the soil. It integrates water sensor data and crop growth data to achieve the optimal irrigation amount and fertilizer ratio.

[0031] Furthermore, there are several moisture sensors 26, which are installed in upper and lower layers by being buried in the soil to monitor the soil moisture in layers, forming a multi-layer sensor network to more scientifically evaluate the soil moisture status.

[0032] Furthermore, the hybrid energy system 23 includes: A solar power supply module 28, used to convert solar energy into electrical energy for powering the device; A wind power supply module 29, used to convert wind energy into electrical energy for powering the device; The battery 30 is used to provide backup power for the device on rainy days or in windless environments. It has three power supply modes, which reduce the device's dependence on the environment. On rainy days and in windless weather, it can automatically switch to the battery 30 to provide power, ensuring a continuous supply of energy and greatly improving the reliability of the system. The combination of solar energy, wind energy and lithium batteries improves the applicability and endurance of the equipment.

[0033] A method for a self-propelled water and fertilizer irrigation device based on intelligent navigation and a multi-energy system, comprising the following steps: S1: The travel motor 9 drives the axle 7 to rotate via the reducer 10, and the axle 7 drives the wheel 6 to rotate relative to the wheel frame 5, so that the wheel 6 drives the machine body 3 to travel; S2: The irrigation water pre-stored in the body 3 is connected to the water inlet 181 through a pipeline, and the water supply port 186 is connected to the spray rod 16 through a pipeline, and the water pump 184 is started to drive the irrigation water to flow, so that the irrigation water is filtered through the first filter 183 and the second filter 185 in turn, and the filtered irrigation water finally flows into the spray rod 16 and is sprayed from the nozzle 17 to irrigate the land; S3: Control the lifting push rod 126 to extend, and the telescopic end of the lifting push rod 126 applies a thrust to the upper connecting rod 122 via the connecting pin 127, so that the upper connecting rod 122 moves up relative to the fixed seat 121 around the upper pin 124, and the connecting rod 122 drives another connecting rod 122 at the bottom to move up via the middle pin 123, and the connecting rod 122 at the bottom pulls the bracket 11 to move up via the connecting pin 127, and the bracket 11 pulls the irrigation frame 13 to move up, and the irrigation frame 13 drives the spray rod 16 and the sprinkler 17 to move up, and the height of the sprinkler 17 is adjusted according to the actual height of the crops; S4: When the wheel 6 is traveling on an uneven ground or a muddy area, the adjusting push rod 42 is telescopically adjusted to adjust the distance between the front frame 2 and the rear frame 1 and the bottom of the wheel 6 to balance the height of the wheel 6 on the same side and maintain the stable driving of the machine body 3; S5: During driving, in the case of sufficient sunlight, windy weather without sunlight, and windless weather without sunlight, the solar power supply module 28, the wind power supply module 29, and the battery 30 are automatically switched to supply power to the device, respectively, to ensure a continuous supply of energy.

[0034] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A self-propelled water and fertilizer irrigation device based on intelligent navigation and a multi-energy system, comprising a rear frame (1), characterized in that: The front side of the rear frame (1) is provided with a front frame (2); the rear frame (1) and the front frame (2) are connected to a body (3); the rear side walls of the rear frame (1) and the front frame (2) are both installed with a stabilizing adjustment mechanism (4); the bottom of the stabilizing adjustment mechanism (4) is connected to a wheel frame (5); a wheel (6) is installed below the wheel frame (5); a wheel axle (7) is connected through the middle of the wheel (6); a bearing (8) is connected between the wheel axle (7) and the wheel frame (5); a travel motor (9) is installed above the wheel axle (7); the shaft end of the travel motor (9) is connected to a A reducer (10) is connected, the front side of the front frame (2) is connected to a bracket (11), a lifting mechanism (12) is installed above the bracket (11), the front side of the bracket (11) is connected to an irrigation frame (13), the left and right sides of the irrigation frame (13) are connected to hinge seats (14), the left and right sides of the irrigation frame (13) are hinged to movable frames (15), the front sides of the irrigation frame (13) and the movable frame (15) are both installed with spray rods (16), the bottom of the spray rod (16) is connected to a spray head (17), and the front side wall of the irrigation frame (13) is installed with a water supply mechanism (18).

2. The self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system according to claim 1 is characterized in that: The stabilizing adjustment mechanism (4) comprises a mounting seat (41), an adjusting push rod (42) is installed inside the mounting seat (41), a telescopic end of the adjusting push rod (42) is connected to the upper surface of the wheel frame (5), and the mounting seat (41) is mounted on the side walls of the front frame (2) and the rear frame (1) by means of screws.

3. The self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system according to claim 1 is characterized in that: Hinge shafts (111) are provided through both the front and rear sides of the support (11); the front side of the support (11) is rotatably connected to the irrigation frame (13) via the hinge shaft (111); and the rear side of the support (11) is rotatably connected to the front frame (2) via the hinge shaft (111).

4. The self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system according to claim 1 is characterized in that: The lifting mechanism (12) comprises a fixing seat (121) mounted on the front side wall of the front frame (2); two connecting rods (122) are connected to the top of the fixing seat (121); a middle pin shaft (123) is provided between the two connecting rods (122); an upper pin shaft (124) is provided between the top of the upper connecting rod (122) and the fixing seat (121); a lower pin shaft (125) is provided between the bottom of the lower connecting rod (122) and the bracket (11); a lifting push rod (126) is installed on the fixing seat (121); and the lifting push rod (126) has two upper and lower parts. Both ends are connected with connecting pins (127) passing through them, and the two connecting rods (122) are rotatably connected via a middle pin (123). The connecting rod (122) at the top is rotatably connected to the fixed seat (121) via an upper pin (124), and the bottom of the connecting rod (122) at the bottom is rotatably connected to the bracket (11) via a lower pin (125). The top of the lifting push rod (126) is rotatably connected to the middle of the connecting rod (122) at the top via a connecting pin (127), and the bottom of the lifting push rod (126) is rotatably connected to the fixed seat (121) via a connecting pin (127).

5. The self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system according to claim 1 is characterized in that: The water supply mechanism (18) comprises a cyclone separator (182), one side of the cyclone separator (182) is connected to a water inlet (181), the other side of the cyclone separator (182) is connected to a first filter screen (183), a second filter screen (185) is provided on a side of the first filter screen (183) away from the cyclone separator (182), a water pump (184) is installed between the first filter screen (183) and the second filter screen (185), the bottom of the second filter screen (185) is connected to a water supply port (186), the rear side walls of the first filter screen (183) and the second filter screen (185) are both connected to mounting blocks (187), and the first filter screen (183) and the second filter screen (185) are both installed on the front side wall of the irrigation frame (13) via the mounting blocks (187).

6. The self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system according to claim 1 is characterized in that: The body (3) includes: A PLC controller (19) is responsible for the intelligent control of the entire system, including the management of the stabilizing regulating mechanism (4) and the water supply mechanism (18); A soil collection system (20) is used to collect soil environmental data of different regions and transmit it, providing the PLC controller (19) with accurate numerical data of soil moisture and nitrogen, phosphorus and potassium nutrient element contents; A navigation module (21) is used to combine a path planning algorithm to plan the walking path of the wheel (6) in real time to ensure that each water supply point is accurately reached; A data processing module (22) is used to analyze the data collected by the soil collection system (20) through an AI algorithm, and dynamically calculate the most suitable irrigation time and water amount in combination with factors such as weather forecasts, crop growth cycles and soil types; A hybrid energy system (23) for continuously supplying electrical energy to the device; An alarm module (24) is used for real-time early warning, reminding the user of the irrigation status through an LED warning light, and providing a historical data report for analysis; A wireless communication module (25) for remote data transmission of the device; The mobile terminal (31) forms a remote communication connection with the PLC controller (19) via the wireless communication module (25) to perform remote monitoring.

7. The self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system according to claim 6 is characterized in that: The soil collection system (20) comprises: A moisture sensor (26) is used to monitor the moisture of the soil in real time; The nitrogen, phosphorus and potassium sensor (27) is used to detect the content of nitrogen, phosphorus and potassium nutrient elements in the soil.

8. The self-propelled water and fertilizer irrigation device and method based on intelligent navigation and multi-energy system according to claim 7 is characterized in that: The moisture sensors (26) are in a plurality and are installed in upper and lower layers by being buried in the soil to monitor the soil moisture in layers.

9. The self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system according to claim 6 is characterized in that: The hybrid energy system (23) comprises: A solar power supply module (28) for converting solar energy into electrical energy for powering the device; A wind energy power supply module (29), used for converting wind energy into electrical energy for powering the device; The storage battery (30) is used to provide backup power for the device in rainy days or in a windless environment.

10. A method for a self-propelled water and fertilizer irrigation device based on intelligent navigation and multi-energy system, characterized in that: The following steps are involved: S1: The travel motor (9) drives the wheel shaft (7) to rotate via the reducer (10), and the wheel shaft (7) drives the wheel (6) to rotate relative to the wheel frame (5), so that the wheel (6) drives the machine body (3) to travel; S2: the irrigation water pre-stored in the body (3) is connected to the water inlet (181) through a pipeline, the water supply port (186) is connected to the spray rod (16) through a pipeline, and the water pump (184) is started to drive the irrigation water to flow, so that the irrigation water is filtered through the first filter net (183) and the second filter net (185) in turn, and the filtered irrigation water finally flows into the spray rod (16) and is sprayed out from the spray head (17) to irrigate the land; S3: Controlling the lifting push rod (126) to extend, the telescopic end of the lifting push rod (126) exerts a thrust on the upper connecting rod (122) via the connecting pin (127), so that the upper connecting rod (122) moves upward relative to the fixed seat (121) around the upper pin (124), and the connecting rod (122) drives another connecting rod (122) at the bottom to move upward via the middle pin (123), and the connecting rod (122) at the bottom pulls the bracket (11) to move upward via the connecting pin (127), and the bracket (11) pulls the irrigation frame (13) to move upward, and the irrigation frame (13) drives the spray rod (16) and the spray head (17) to move upward, and the height of the spray head (17) is adjusted according to the actual height of the crop; S4: When the wheel (6) is traveling on an uneven ground or a muddy area, the distance between the front frame (2), the rear frame (1) and the bottom of the wheel (6) is adjusted by telescoping the adjusting push rod (42) to balance the height of the wheel (6) on the same side and maintain the stable driving of the machine body (3); S5: During driving, in the case of sufficient sunlight, windy weather without sunlight, and windless weather without sunlight, the solar power supply module (28), the wind power supply module (29), and the storage battery (30) are automatically switched to supply power to the device, respectively, to ensure a continuous supply of energy.

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