A sprinkler control system and a sprinkler device

Abstract

The application relates to the technical field of sprinkling irrigation, in particular to a sprinkling irrigation control system and a sprinkling irrigation device; the sprinkling irrigation control system comprises a map acquisition unit configured to acquire target region information; a sprinkling irrigation execution unit, the sprinkling irrigation execution unit comprises a nozzle and a water flow driving unit, wherein the pitch angle and the rotation angle of the nozzle are adjustable; and a sprinkling irrigation control unit configured to control the sprinkling irrigation execution unit to sprinkle a target region based on the acquired target region information; by arranging the sprinkling irrigation control system, the irrigation uniformity and the irrigation precision are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sprinkling irrigation, and particularly relates to a sprinkling irrigation control system and a sprinkling irrigation device. BACKGROUND

[0002] With the development of technology, people have higher requirements for the working performance of the irrigation device; specifically, the existing irrigation process has problems such as insufficient irrigation uniformity and inaccurate irrigation edges, among which, uneven irrigation will cause the grassland to be too wet or too dry, and inaccurate irrigation edges will cause waste of water resources and affect the placement of articles in non-irrigated areas, and thus the user experience of the irrigation device is poor. SUMMARY

[0003] In view of the above problems of the prior art, the purpose of the present application is to improve the irrigation uniformity and accuracy by setting a sprinkling irrigation control system.

[0004] In order to solve the above problems, the present application provides a sprinkling irrigation system, comprising:

[0005] A map acquisition unit is configured to acquire target region information;

[0006] A sprinkling irrigation execution unit, the sprinkling irrigation execution unit comprises a nozzle and a water flow driving unit, wherein the pitch angle and the rotation angle of the nozzle are adjustable;

[0007] A sprinkling irrigation control unit is configured to control the sprinkling irrigation execution unit to sprinkle the target region based on the acquired target region information.

[0008] In the embodiment of the present application, the target region information comprises boundary information of the target region, relative position information of the sprinkling irrigation execution unit and the target region, and control parameter information corresponding to the boundary information.

[0009] In the embodiment of the present application, the boundary information of the target region comprises a plurality of target sprinkling points; and the sprinkling irrigation control unit comprises:

[0010] A sprinkling irrigation strategy generation unit is configured to predict and determine the control parameter information between adjacent target sprinkling points based on the control parameter information corresponding to the plurality of target sprinkling points.

[0011] In the embodiment of the present application, the control parameter information comprises the pitch angle of the nozzle, the rotation angle of the nozzle, and the output water flow of the water flow driving unit.

[0012] In the embodiments of the present application, the sprinkling strategy generation unit is configured to, in a case where the sprinkling farthest distance is within a first interval, maintain the output water flow rate at 20-40% of the maximum water flow rate, and adjust the pitch angle to adjust the sprinkling farthest distance, wherein the first interval is a circle with the sprinkling execution unit as the center and a first preset distance as the radius.

[0013] Further, in the above embodiments, the pitch angle is adjusted to be between -10 and 15°, and / or the first interval is within 0-6 meters.

[0014] In the embodiments of the present application, the sprinkling strategy generation unit is configured to, in a case where the sprinkling farthest distance is within a second interval, maintain the pitch angle at 10-15°, and adjust the output water flow rate to adjust the sprinkling farthest distance, wherein the second interval is a space in a circle with the sprinkling execution unit as the center and a second preset distance as the radius, except for the first interval, and wherein the second preset distance is greater than the first preset distance.

[0015] Further, in the above embodiments, the output water flow rate is adjusted to be 30-100% of the maximum water flow rate, and / or the second interval is within 5-12 meters.

[0016] In the embodiments of the present application, the sprinkling strategy generation unit is configured to, in a case where the sprinkling farthest distance is within a third interval, maintain the output water flow rate at 90-100% of the maximum water flow rate, and adjust the pitch angle to adjust the sprinkling farthest distance, wherein the third interval is a space in a circle with the sprinkling execution unit as the center and a third preset distance as the radius, except for the first interval and the second interval, and wherein the third preset distance is greater than the second preset distance.

[0017] Further, in the above embodiments, the pitch angle is adjusted to be between 10 and 25°, and / or the third interval is within 11-15 meters.

[0018] In the embodiments of the present application, the sprinkling control system further comprises:

[0019] The map information input unit is configured to input or modify the target region information to the map acquisition unit.

[0020] In the embodiments of the present application, the sprinkling control system further comprises:

[0021] The information reading unit is configured to read the target region information, and is configured to send the target region information to the sprinkling control unit.

[0022] In another aspect, the application also provides a sprinkling irrigation equipment, which applies the sprinkling irrigation control system in the application.

[0023] Due to the above technical solution, the sprinkling irrigation control system has the following beneficial effects:

[0024] By setting the sprinkling irrigation execution unit to be adjustable in pitch angle and rotation angle, and setting the map acquisition unit and the sprinkling irrigation control unit, the sprinkling irrigation control unit controls the pitch angle and the rotation angle of the sprinkling irrigation execution unit based on the collected information of the target area, so that the target area can be evenly covered, automatic sampling irrigation is realized, and the uniformity and precision of the sprinkling irrigation of the target area are improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0026] Figure 1 is a structural schematic diagram of the sprinkling irrigation control system provided by the embodiments of the application;

[0027] Figure 2 is a working schematic diagram of the nozzle in the sprinkling irrigation control system provided by the embodiments of the application;

[0028] Figure 3 is a sprinkling irrigation point prediction schematic diagram in the sprinkling irrigation control system provided by the embodiments of the application;

[0029] Figure 4 is a sprinkling irrigation point screening schematic diagram in the sprinkling irrigation control system provided by the embodiments of the application.

[0030] Among them, 1-nozzle. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the application will be described clearly and completely in the following with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0032] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application. In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0033] Combination Figures 1-2 This application introduces a sprinkler irrigation control system provided by an embodiment of the present application. The system includes:

[0034] The map acquisition unit is set to collect information about the target area; the target area is the area to be irrigated, which can be a regular-shaped area or an irregular-shaped area.

[0035] The sprinkler irrigation actuator includes a nozzle and a water flow drive unit. The pitch angle and rotation angle of the nozzle are adjustable. Specifically, the water flow drive unit is used to drive water to spray out from the nozzle, thereby forming a water curtain.

[0036] The sprinkler control unit is configured to control the sprinkler execution unit to perform sprinkler irrigation on the target area based on the collected target area information.

[0037] In this embodiment, the water flow driving unit can be a water pump; the driving force of the water flow driving unit affects the water flow impact force and water flow coverage distance of the nozzle.

[0038] In the embodiments of this application, different nozzle pitch angles result in different water jet heights and water jet coverage distances; different nozzle rotation angles result in different water jet directions.

[0039] In the embodiment of the present application, the spray irrigation execution unit is set to be adjustable in pitch angle and rotation angle, and the map acquisition unit and the spray irrigation control unit are set, the spray irrigation control unit controls the pitch angle and the rotation angle of the spray irrigation execution unit based on the collected information of the target area, and the target area can be uniformly covered by the to-be-irrigated area, automatic sampling irrigation is realized, and the uniformity and precision of irrigation of the target area are improved.

[0040] In the embodiment of the present application, the target area information includes boundary information of the target area, relative position information of the spray irrigation execution unit and the target area, and control parameter information corresponding to the boundary information; specifically, the boundary information of the target area represents the shape of the target area, the relative position information of the spray irrigation execution unit and the target area represents the working starting position point of the spray irrigation execution unit; and the control parameter information corresponding to the boundary information represents the pitch angle and the rotation angle required by the spray irrigation execution unit when covering the target area to be irrigated.

[0041] In the embodiment of the present application, the boundary information of the target area, the relative position information of the spray irrigation execution unit and the target area, and the control parameter information corresponding to the boundary information are collected, so as to improve the control precision of the spray irrigation execution unit, and then automatic sampling irrigation is realized, and the uniformity and precision of irrigation of the target area are improved.

[0042] In the embodiment of the present application, the boundary information of the target area includes a plurality of target spray irrigation points; and the spray irrigation control unit includes a spray irrigation strategy generation unit, which is set to predict and determine the control parameter information between adjacent target spray irrigation points based on the control parameter information corresponding to the plurality of target spray irrigation points.

[0043] In the embodiment of the present application, the plurality of target spray irrigation points are connected to form the boundary of the target area; and each of the plurality of target spray irrigation points corresponds to a group of control angles, and each group of control angles includes a pitch angle and a rotation angle.

[0044] In the embodiment of the present application, the spray irrigation strategy generation unit can determine the control parameter information between adjacent target spray irrigation points in an interpolation manner.

[0045] In the embodiment of the present application, the plurality of target spray irrigation points include a first spray irrigation point and a second spray irrigation point, the spray irrigation strategy generation unit performs interpolation prediction based on the control parameter information corresponding to the first spray irrigation point and the second spray irrigation point, and determines the control parameter information corresponding to a third spray irrigation point; wherein the third spray irrigation point is a point on the connecting line of the first spray irrigation point and the second spray irrigation point; specifically, the third spray irrigation point can be one point or a plurality of points.

[0046] In the embodiments of the present application, the distance between the adjacent sprinkling points including the third sprinkling point is within a preset distance range, for example, the distance between the first sprinkling point and the second sprinkling point is 15 m, and the preset distance range is 4-5 m, at this time, two third sprinkling points should be inserted between the first sprinkling point and the second sprinkling point.

[0047] In the embodiments of the present application, the sprinkling strategy generation unit is further configured to determine the third sprinkling point as a target sprinkling point, so that the sprinkling strategy generation unit predicts the control parameters between the first sprinkling point and the third sprinkling point and between the second sprinkling point and the third sprinkling point.

[0048] In the embodiments of the present application, the sprinkling strategy generation unit can further input the control parameter information corresponding to the plurality of target sprinkling points into the prediction learning model for prediction to obtain the control parameter information between the adjacent target sprinkling points; wherein the prediction learning model is obtained by prediction learning based on the control parameters corresponding to the plurality of sample sprinkling points.

[0049] In the embodiments of the present application, the sprinkling strategy generation unit is further configured to, in the case that the third sprinkling point is a plurality of points, screen the third sprinkling points so that the angle difference between the rotation angles corresponding to the adjacent sprinkling points is greater than a first preset angle and less than a second preset angle.

[0050] Reference Figure 3 In the embodiments of the present application, it is assumed that the plurality of target sprinkling points are pose1, pose2, pose3 and pose4, at this time, the sprinkling strategy generation unit predicts the sprinkling points between pose1 and pose2, between pose2 and pose3 and between pose3 and pose4 to obtain a plurality of third sprinkling points; specifically, 3 points are predicted between pose1 and pose2, 5 points are predicted between pose2 and pose3, and 3 points are predicted between pose3 and pose4.

[0051] Reference Figure 4 In the case that the rotation angle difference between the adjacent sprinkling points is greater than the first preset angle and less than the second preset angle, the plurality of third sprinkling points are screened to obtain the control sprinkling points corresponding to the boundaries of the target region; specifically, one middle point is retained from the three points between pose1 and pose2, two points are retained from the five points between pose2 and pose3, there is one point screened out between the two points, and one middle point is retained from the three points between pose3 and pose4 to meet the above conditions.

[0052] In the embodiments of the present application, the control parameter information includes the pitch angle of the nozzle, the rotation angle of the nozzle and the output water flow corresponding to the water flow driving unit.

[0053] In the embodiment of the present application, the output water flow corresponding to the water flow driving unit represents the impact force of the water flow. The greater the output water flow, the higher the stability of the water curtain sprayed by the nozzle, and the greater the water flow impact force. Conversely, the smaller the output water flow, the lower the stability of the sprayed water curtain. The water flow impact force affects the water flow coverage distance and the impact force on the irrigated ground.

[0054] In the specific embodiment of the present application, the output water flow corresponding to different target sprinkling points can be different, and the output water flow corresponding to different target sprinkling points can also be the same.

[0055] In the embodiment of the present application, by setting the output water flow corresponding to the water flow driving unit, it can avoid that the water flow is too large to break the turf, and also avoid that the water flow is too small to cause the water curtain to be greatly affected by external force, thereby improving the reliability and irrigation accuracy of irrigation.

[0056] In the embodiment of the present application, the spray strategy generation unit is configured to, in the case that the farthest irrigation distance is in a first interval, maintain the output water flow to be 20%-40% of the maximum water flow, and adjust the pitch angle to adjust the farthest irrigation distance, wherein the first interval is a circle with the spray execution unit as the center and a first preset distance as the radius.

[0057] In the embodiment of the present application, maintaining the output water flow to be 20%-40% of the maximum water flow represents that the water flow impact force is small. Preferably, in the case that the farthest irrigation distance is in the first interval, the output water flow is maintained to be 30% of the maximum water flow.

[0058] In the specific embodiment of the present application, the first preset distance can be 5-6 m, and preferably, the first preset distance is 5.75 m.

[0059] In the specific embodiment of the present application, the maximum water flow of the output water flow is 45-50 L / min, and preferably, the maximum water flow of the output water flow is 49.5 L / min.

[0060] In the specific embodiment of the present application, in the case that the farthest irrigation distance is in the first interval, the adjustment angle of the pitch angle is-10-15°, and in the case that the pitch angle is 0°, the spraying direction of the nozzle is parallel to the horizontal plane.

[0061] In the specific embodiment of the present application, in the case that the farthest irrigation distance is in the first interval, the pitch angle is adjusted to be-10-15°, and / or the first interval is 0-6 m.

[0062] In the embodiment of the present application, by keeping the output water flow small in the case that the farthest sprinkling distance is in the first interval, adjusting the sprinkling distance by adjusting the pitch angle, the flow rate of the sprinkling water curtain is small, and there is enough dispersion for uniform sprinkling, and the pitch angle is low, so the sprinkling ground will not be damaged, thereby improving the sprinkling reliability and sprinkling accuracy.

[0063] In the embodiment of the present application, the sprinkling strategy generating unit is configured to keep the pitch angle at 10-15° and adjust the output water flow to adjust the farthest sprinkling distance in the case that the farthest sprinkling distance is in the second interval, wherein the second interval is a space in a circle with the sprinkling executing unit as the center and a second preset distance as the radius, and the second preset distance is greater than the first preset distance.

[0064] In the specific embodiment of the present application, the pitch angle is kept unchanged at 13° in the case that the farthest sprinkling distance is in the second interval.

[0065] In the specific embodiment of the present application, the second preset distance can be 10-12 m, and preferably, the second preset distance is 11.2 m.

[0066] In the specific embodiment of the present application, the output water flow is adjusted in the range of 30%-100% of the maximum water flow in the case that the farthest sprinkling distance is in the second interval.

[0067] In the embodiment of the present application, by keeping the pitch angle unchanged and adjusting the output water flow to adjust the farthest sprinkling distance in the case that the farthest sprinkling distance is in the second interval, the sprinkling accuracy is ensured, and a farther sprinkling distance can be achieved.

[0068] In the specific embodiment of the present application, the output water flow is adjusted in the range of 30%-100% of the maximum water flow in the case that the farthest sprinkling distance is in the second interval, and / or the second interval is within 5-12 m.

[0069] In the embodiment of the present application, the sprinkling strategy generating unit is configured to keep the output water flow at 90%-100% of the maximum water flow and adjust the pitch angle to adjust the farthest sprinkling distance in the case that the farthest sprinkling distance is in the third interval, wherein the third interval is a space in a circle with the sprinkling executing unit as the center and a third preset distance as the radius, and the third preset distance is greater than the second preset distance.

[0070] In the specific embodiment of the present application, the output water flow is kept at the maximum water flow in the case that the farthest sprinkling distance is in the third interval.

[0071] In the embodiments of the present application, the third preset distance can be 11-15 m, and preferably, the third preset distance is 14 m.

[0072] In the embodiments of the present application, in the case that the farthest sprinkling distance is in the third interval, the adjustment range of the pitch angle is 10-25°.

[0073] In the embodiments of the present application, by keeping the output water flow at a large water flow in the case that the farthest sprinkling distance is in the third interval, and by adjusting the pitch angle to adjust the farthest sprinkling distance, the far distance irrigation water curtain is ensured to have good windproof performance, thereby improving the reliability and irrigation accuracy of irrigation.

[0074] In the embodiments of the present application, in the case that the farthest sprinkling distance is in the third interval, the pitch angle is adjusted to be between 10-25°, and / or the third interval is 11-15 m.

[0075] In the embodiments of the present application, a rectangular coordinate system is established with the sprinkling execution unit as the coordinate axis origin, at this time, each target sprinkling point can be expressed in coordinates, and the map acquisition unit is used to acquire the geographic coordinates (x, y) and the farthest sprinkling distance of the target sprinkling point.

[0076] In the embodiments of the present application, the sprinkling strategy generation unit is further configured to determine the rotation angle corresponding to the target sprinkling point based on the geographic coordinates and the farthest sprinkling distance acquired by the map acquisition unit, and specifically, the rotation angle corresponding to the target sprinkling point can be determined by the following formula:

[0077] x=Lcosα

[0078] Or the following formula is used:

[0079] y=Lsinα

[0080] Wherein, (x, y) is the geographic coordinates corresponding to the target sprinkling point, L is the farthest sprinkling distance, and a is the rotation angle.

[0081] In the embodiments of the present application, the sprinkling control system further comprises a map information input unit configured to input or modify the target area information to the map acquisition unit.

[0082] In the embodiments of the present application, by setting the map information input unit, the target area information acquired by the map acquisition unit is modified, thereby improving the accuracy of the target area information, and further improving the irrigation accuracy.

[0083] In the embodiments of the present application, the sprinkling control system further comprises:

[0084] The information reading unit is configured to read the target area information, and is configured to send the target area information to the sprinkling control unit.

[0085] In the embodiments of the present application, the information reading unit is further configured to store the target region information, so as to facilitate the management and calibration of the irrigation control system.

[0086] The working principle of the irrigation control system provided by the embodiments of the present application is as follows:

[0087] The map acquisition unit acquires the target region information of the target region, wherein the map information input unit can modify the acquired target region information to improve the accuracy of the target region information; the information reading unit sends the information acquired by the map acquisition unit to the irrigation control unit, and the irrigation strategy unit in the irrigation control unit determines the control parameter information corresponding to each of the plurality of target irrigation points based on the coordinate axes corresponding to the boundaries of the target regions and the farthest irrigation distance, specifically, the control parameter information includes the pitch angle, the rotation angle and the output water flow corresponding to the water flow driving unit; the irrigation control unit controls the operation of the irrigation execution unit based on the control parameter information.

[0088] The irrigation control system in the embodiments of the present application has the following beneficial effects:

[0089] By setting the irrigation execution unit to be adjustable in pitch angle and rotation angle, and setting the map acquisition unit and the irrigation control unit, the irrigation control unit controls the pitch angle and the rotation angle of the irrigation execution unit based on the acquired information of the target region, which can uniformly cover all the target regions to be irrigated, realizes automatic sampling irrigation, and improves the irrigation uniformity and irrigation accuracy of the target region.

[0090] The embodiments of the present application further provide an irrigation device applying the irrigation control system in the embodiments of the present application.

[0091] The above description has fully disclosed the specific embodiments of the present application. It should be noted that any modification made by those skilled in the art to the specific embodiments of the present application does not deviate from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the foregoing specific embodiments.

Claims

1. A sprinkler control system, characterized by, Comprising: a map collecting unit configured to collect target region information; a sprinkling execution unit comprising a nozzle and a water flow driving unit, wherein a pitch angle and a rotation angle of the nozzle are adjustable; a sprinkling control unit configured to control the sprinkling execution unit to sprinkle a target region based on the collected target region information; the boundary information of the target region comprises a plurality of target sprinkling points; the sprinkling control unit comprises: a sprinkling strategy generating unit configured to determine control parameter information between adjacent target sprinkling points based on control parameter information corresponding to the plurality of target sprinkling points.

2. The sprinkler control system of claim 1, wherein, the target region information comprises boundary information of the target region, relative position information between the sprinkling execution unit and the target region, and control parameter information corresponding to the boundary information.

3. The sprinkler control system of claim 1, wherein, the control parameter information comprises a pitch angle of the nozzle, a rotation angle of the nozzle, and an output water flow corresponding to the water flow driving unit.

4. The sprinkler control system of claim 3, wherein, the sprinkling strategy generating unit is configured to, in a case that a sprinkling farthest distance is within a first interval, maintain the output water flow at 20%-40% of a maximum water flow, and adjust the pitch angle to adjust the sprinkling farthest distance, wherein the first interval is a circle with the sprinkling execution unit as a center and a first preset distance as a radius.

5. The sprinkler control system of claim 4, wherein, the pitch angle is adjusted to -10-15°, and / or the first interval is 0-6 meters.

6. The sprinkler control system of claim 4, wherein, the sprinkling strategy generating unit is configured to, in a case that the sprinkling farthest distance is within a second interval, maintain the pitch angle at 10-15°, and adjust the output water flow to adjust the sprinkling farthest distance, wherein the second interval is a space in a circle with the sprinkling execution unit as a center and a second preset distance as a radius, except for the first interval, and the second preset distance is greater than the first preset distance.

7. The sprinkler control system of claim 6, wherein, the output water flow is adjusted to 30%-100% of the maximum water flow, and / or the second interval is 5-12 meters.

8. The sprinkler control system of claim 6, wherein, the sprinkling strategy generating unit is configured to, in a case that the sprinkling farthest distance is within a third interval, maintain the output water flow at 90%-100% of the maximum water flow, and adjust the pitch angle to adjust the sprinkling farthest distance, wherein the third interval is a space in a circle with the sprinkling execution unit as a center and a third preset distance as a radius, except for the first interval and the second interval, and the third preset distance is greater than the second preset distance.

9. The sprinkler control system of claim 8, wherein, the pitch angle is adjusted to 10-25°, and / or the third interval is 11-15 meters.

10. The sprinkler control system of claim 1, wherein, Further comprising: a map information input unit configured to input or modify the target region information to the map collecting unit.

11. A sprinkler apparatus, characterized by application of the sprinkling control system according to any one of claims 1-10.

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