Device for returning liquid dung to field and irrigation method

Abstract

The invention relates to the field of fertilizer and water returning, and discloses a device for liquid dung returning and an irrigation method, the device comprises a container, one side in the container is provided with a mixing tank, the other side is provided with a plurality of fertilizer tanks, and the bottom of each fertilizer tank is connected with the mixing tank through a connecting hose; an irrigation robot and a winding roller are arranged in the container on the front side of the fertilizer tank, and the winding roller is used for winding the connecting pipe; one end of the connecting pipe is connected with the mixing tank, the other end of the connecting pipe is connected with the irrigation robot, a filtering mechanism is arranged in the container, the filtering mechanism is connected with the mixing tank, and a clear water pipe is further arranged on the mixing tank. The connecting pipe is wound by the winding roller to pull the irrigation robot to perform retreating type recycling irrigation, so that different terrains and planting modes can be flexibly coped with, the labor intensity of workers is further reduced, and the precision and efficiency of fertilization are improved.

Description

Technical Field

[0001] The invention relates to the technical field of returning manure water to fields, and in particular to a device for returning manure water to fields and an irrigation method. Background Art

[0002] The standard for returning manure to the fields refers to an agricultural production model that scientifically and rationally applies organic fertilizers and water resources according to the characteristics of the land and the needs of crops to achieve a balance of fertilizer and water in the farmland. The establishment and implementation of the standard for returning manure to the fields can improve agricultural production efficiency, increase soil fertility, reduce agricultural non-point source pollution, and promote sustainable agricultural development to a certain extent. Organic fertilizers include poultry and livestock manure, plant roots and stems, etc., so the nitrogen, phosphorus and potassium content of the organic fertilizers produced is different, and the content of organic fertilizers required by different plants is also different. The existing manure-returning devices have the following advantages: A single fertilizer with a good ratio is used for fertilization, and an existing spray fertilization device is used. The existing spray fertilization device includes a fertilizer storage box. This fertilization method requires the storage fertilizer box to be replenished and replaced with the corresponding fertilizer every time, which is time-consuming and labor-intensive. The other method is to connect the fertilizer tank, the biogas tank, and the water tank through a pump to transport the corresponding liquid to the pipeline in the field, and the irrigation and fertilization are achieved through the spray holes on the pipeline. That is, the advantage of this system is that it integrates sprinkler irrigation and drip irrigation, watering and fertilization, saves water, fertilizer, energy, and labor, has a low manufacturing cost, and is widely used.

[0003] However, the shortcomings of the above system are that the pipeline connection is relatively cumbersome, and it is easy to cause problems such as pipeline and sprinkler blockage and inability to apply fertilizer at a fixed point. In addition, the cost is high and it is difficult to promote and apply on a large scale. Therefore, there is an urgent need for a device and irrigation method that can adjust the fertilizer ratio required by different crops in real time and can apply fertilizer at a fixed point.

[0004] No literature related to this application was found through the search. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a device for returning manure water to fields and an irrigation method, which solves the problem of insufficient fertilization accuracy.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] A device for returning manure water to fields comprises a container, an irrigation robot, a mixing tank, a winding roller, a plurality of fertilizer tanks and a filtering mechanism. A mixing tank is installed on one side of the container, a stirring assembly is arranged inside the mixing tank, a plurality of fertilizer tanks are arranged on the other side of the container, the bottom of each fertilizer tank is connected to the mixing tank through a connecting hose, an irrigation robot and a winding roller are arranged in the container on the front side of the fertilizer tank, the winding roller is used to reel in a connecting pipe; the water inlet end of the connecting pipe is connected to the mixing tank, and the water outlet end of the connecting pipe is connected to the irrigation robot; a filtering mechanism is arranged in the container on the rear side of the fertilizer tank, the inlet end of the filtering mechanism is connected to an outdoor septic tank, the outlet end of the filtering mechanism is connected to the mixing tank, and a clean water pipe is also arranged on the mixing tank for adding clean water to dilute fertilizer into the mixing tank; a control device is arranged in the container, manure water enters the mixing tank through the filtering mechanism, and according to the required ratio, the basic fertilizer and clean water in the required fertilizer tank are pumped into the mixing tank for mixing, and finally the irrigation robot is pulled to perform backward recovery irrigation by winding up the connecting pipe through the winding roller.

[0008] Moreover, the container comprises a box body, and an electric sliding door is installed on one side of the box body.

[0009] Moreover, the fertilizer tank includes a tank body and a tank rack, the tank body is arranged on the tank rack, a fertilizer filling pipe is arranged on the upper part of the tank body, and a feed pipe with a solenoid valve is arranged at the bottom of each tank body, and the bottom of the feed pipe is connected to the mixing tank through a connecting hose. There are 4 fertilizer tanks, which are respectively provided with nitrogen fertilizer, potassium fertilizer, phosphate fertilizer and medium-element fertilizer. A connecting pipe seat is arranged on one side of the upper surface of the mixing tank for inserting and fixing multiple connecting hoses.

[0010] Moreover, the filtering mechanism includes a base frame and a filtering connecting pipe, the base frame is provided with a coarse-grade plastic mesh sand and gravel filter and a fine-grade precision cast wire mesh filter, and the filtering connecting pipe is provided with a coarse-grade plastic mesh sand and gravel filter and a fine-grade precision cast wire mesh filter in sequence from the water inlet end to the water outlet end; the filtering mechanism is a secondary filtering mechanism.

[0011] Moreover, liquid level sensors are arranged in the mixing tank and the fertilizer tank.

[0012] Moreover, the irrigation robot includes a body and an irrigation mechanism, which is movably installed on the front side of the body, and a plug-in protrusion is formed on the front side of the body. The irrigation mechanism includes a mounting part, a horizontal distribution pipe and a soft bag dropper, and the mounting part is a connecting rod. The upper part of the connecting rod is formed with a socket that is compatible with the plug-in protrusion, and a horizontal distribution pipe is fixedly installed at the lower part of the connecting rod. A control valve is arranged inside the horizontal distribution pipe to control the switch of the horizontal distribution pipe. An addition pipe is fixedly connected to the rear end of the horizontal distribution pipe, and the addition pipe is used to be connected to the connecting pipe of the winding roller. A plurality of shunt pipes are evenly spaced and arranged on the lower surface of the horizontal distribution pipe, and a soft bag dropper is installed at each shunt pipe, and a plurality of through holes are opened inside the soft bag dropper.

[0013] Moreover, a camera is installed on the body, and the robot can determine the forward direction through the camera. A plurality of evenly distributed installation shafts are fixedly connected to the bottom side of the body, and the installation shafts are used to install universal wheels, and universal wheels are installed at the bottom ends of the installation shafts.

[0014] Moreover, a counterweight mechanism is detachably mounted on the lower surface of the front portion of the machine body, and the counterweight mechanism is a counterweight block or a temporary water supply tank.

[0015] Moreover, the stirring assembly includes a motor, which is installed on one side of the mixing tank. A stirring rod is installed at the output end of the motor, and the stirring rod rotates inside the mixing tank.

[0016] A method for returning manure water to fields on the surface, comprising the following steps:

[0017] S1. Preparation of fertilizer components and device connection: Classify and transport the existing nitrogen, phosphorus, potassium and medium-element fertilizers into different fertilizer tanks. Each fertilizer tank is used to store specific fertilizer components to ensure accurate distribution of components and provide a basis for subsequent fertilizer mixing. Move the device to the vicinity of the farmland to be irrigated, connect the filter connection pipe of the filter mechanism to the outdoor septic tank, and connect the clean water pipe to the natural water pipe.

[0018] S2. Mixing and diluting fertilizer components: according to the ratio requirements of the plants to be irrigated, the manure water from the septic tank is filtered through a filtering mechanism and then enters the mixing tank. At the same time, the solenoid valves of the corresponding fertilizer tanks are opened to transport the required fertilizer components from each fertilizer tank to the mixing tank. Clean water enters the mixing tank through a clean water pipe and is diluted together with the fertilizer components.

[0019] S3, mixing and fertilizer preparation: In the mixing tank, the stirring rod is driven by motor 1 to stir, and nitrogen, phosphorus, potassium, medium element fertilizer and water are fully mixed to form a uniform fertilizer solution. After completion, the water pump in the mixing tank transports the fertilizer solution to the irrigation robot through the connecting pipe to prepare for the irrigation operation;

[0020] S4. Movement and preparation of the irrigation robot: Open the electric sliding door, move the irrigation robot out of the container, and drive it to the designated irrigation area. At the same time, the winding roller releases the connecting pipe synchronously to ensure that the connecting pipe is long enough to follow the irrigation robot to the irrigation start position. When the robot moves to the end of the irrigation area, that is, the irrigation start position, it is ready to enter the irrigation state;

[0021] S5. Reverse irrigation and recovery of the irrigation robot: When the irrigation robot reaches the starting position for irrigation, the reverse drive is started and the irrigation operation begins. At this time, the mixing tank delivers fertilizer water to the irrigation robot. During the irrigation process, the winding roller is synchronously rewound. The tension of the connecting pipe and the reverse drive of the universal drive wheel ensure that the irrigation robot retreats smoothly.

[0022] S6. End of irrigation operation and equipment reset: After the irrigation is completed, the irrigation robot continues to retreat to the starting position and finally returns to the container. The electric sliding door closes, the entire system is reset, the winding roller completes the rewinding of the connecting pipe, and the system automatically prepares for the next irrigation operation.

[0023] The advantages and positive effects of the present invention are:

[0024] 1. The present invention realizes fixed-point fertilization and directly delivers fertilizer to the roots of crops, thereby maximizing fertilizer utilization and reducing loss and environmental pollution. The irrigation robot also has automatic operation and path planning functions, and can flexibly respond to different terrains and planting patterns, further reducing manual labor intensity and improving the accuracy and efficiency of fertilization.

[0025] 2. The present invention simplifies pipeline connection and system operation, avoiding the complex pipeline layout and blockage problems in traditional systems. Through integrated fertilization and irrigation design, the frequency and difficulty of system maintenance are reduced, and the overall operating cost is reduced, making the system easier to promote and apply to large-scale agricultural production, significantly improving the efficiency and sustainability of agricultural production.

[0026] 3. The present invention analyzes the situation of the plots of land, monitors and detects the fertility of the plots of land, and achieves dynamic and real-time regulation of nitrogen, phosphorus and potassium fertilizers, thus realizing reasonable and phased fertilization for the first time.

[0027] 4. The present invention fully considers the changes in the total nitrogen content of manure water and the changes in the content of available nitrogen in the soil when calculating the staged fertilization, and innovatively adopts soil salinity as a reference indicator to measure the amount of manure water, which completely solves the soil salinization problem of manure water reuse in the prior art.

[0028] 5. This patent focuses on the importance of returning manure water to the fields, and makes an in-depth analysis of the rationality of manure water utilization, fertilizer addition, and fertilizer distribution, the importance of real-time fertilizer distribution, and its significance to crops and soil. Manure water can be used more in real time. Manure water contains microorganisms that can increase the content of soil organic matter, improve soil aggregate structure, increase soil permeability, increase the abundance of beneficial microbial communities in the soil, and increase yields. Reduce the use of chemical fertilizers. Chemical fertilizers lack organic matter. Long-term use will reduce the content of soil organic matter, reduce aggregates, compact the soil, and reduce soil permeability, resulting in reduced crop yields. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the container irrigation robot of the present invention placed inside;

[0031] Figure 3 This is a schematic diagram of the internal structure of the container of the present invention from the rear side

[0032] Figure 4 is a schematic diagram of the irrigation robot of the present invention;

[0033] Figure 5 It is a schematic diagram of the filtering mechanism of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the specification 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.

[0035] Embodiment 1:

[0036] Please see attached Figure 1 -Attached Figure 5The embodiment of the present invention provides a device for returning manure water to the field, comprising a container 2, an irrigation robot 1, a mixing tank 7, a winding roller 6, a plurality of fertilizer tanks 4 and a filtering mechanism 10, wherein a mixing tank is installed on one side of the container, and a stirring assembly is arranged inside the mixing tank for mixing fertilizers; a plurality of fertilizer tanks are arranged on the other side of the container, and the fertilizer tanks are used to store the required basic fertilizers, and the bottom of each fertilizer tank is connected to the mixing tank through a connecting hose, and an irrigation robot and a winding roller are arranged in the container on the front side of the fertilizer tank, respectively, and the irrigation robot is used to irrigate the farmland, and the winding roller is installed inside the container through a chassis, and is used to reel in the connecting pipe 5 and pull the irrigation robot to perform backward recovery irrigation; the connecting pipe 5 is used to pull the irrigation robot to retract the connecting pipe 5 and pull the irrigation robot to retract the connecting pipe 5 and retract the connecting pipe 5. The water inlet end of the pipe is connected to the mixing tank, and the water outlet end of the connecting pipe is connected to the irrigation robot. A filtering mechanism is arranged in the container on the rear side of the fertilizer tank. The inlet end 10-6 of the filtering mechanism is connected to the outdoor septic tank, and the outlet end 10-2 of the filtering mechanism is connected to the mixing tank. A clean water pipe 9 is also arranged on the mixing tank for adding clean water into the mixing tank to dilute the fertilizer. A control device is arranged in the container, and the control device is electrically connected to the mixing tank, the fertilizer tank, the filtering mechanism, the stirring assembly, the winding roller, and the irrigation robot. The fecal water enters the mixing tank through the filtering mechanism. According to the required ratio, the basic fertilizer in the fertilizer tank and the clean water are pumped into the mixing tank for mixing. Finally, the irrigation robot is pulled by winding the connecting pipe through the winding roller to perform backward recovery irrigation.

[0037] The container includes a box body, and an electric sliding door 2-1 is installed on one side of the box body. The electric sliding door is opened and closed to adjust the entry and exit of the irrigation robot, ensuring that the equipment can be safely stored in a non-working state and effectively preventing the external environment from affecting the internal equipment;

[0038] The fertilizer tank comprises a tank body and a tank rack 4-1, wherein the tank body is arranged on the tank rack, a fertilizer filling pipe is arranged on the upper part of the tank body, a liquid level sensor is arranged in the tank body, a feeding pipe 14 with a solenoid valve 15 is arranged at the bottom of each tank body, and the bottom of each feeding pipe is connected to the mixing tank through a connecting hose. In this embodiment, four fertilizer tanks are arranged, and the four fertilizer tanks are respectively provided with nitrogen fertilizer, potassium fertilizer, phosphate fertilizer and medium element fertilizer; different fertilizers are sequentially transported to the mixing tank through the connecting hose 12 installed at the bottom to achieve accurate fertilizer ratio;

[0039] The filtering mechanism comprises a base frame and a filtering connecting pipe 10-7, on which a coarse-grade plastic mesh sand and gravel filter 10-3, a fine-grade precision cast wire mesh filter 10-1 and a water pump 10-5 are arranged, and the filtering connecting pipe is connected with the water pump, the coarse-grade plastic mesh sand and gravel filter and the fine-grade precision cast wire mesh filter in sequence from the water inlet end to the water outlet end; the filtering mechanism is a two-stage filtering mechanism, which ensures that the manure water entering the mixing tank is free of impurities, and further improves the quality of the fertilizer solution;

[0040] The mixing tank is used to mix various fertilizers. A connecting pipe seat 11 is provided on one side of the upper surface of the mixing tank for inserting and fixing multiple connecting hoses. A stirring component is provided inside the mixing tank. The component fully mixes manure, nitrogen, phosphorus, potassium and other fertilizers with water through rotation and stirring to form a uniform fertilizer solution. A liquid level sensor is also provided in the mixing tank. The clean water pipe is used to add clean water to the mixing tank to dilute the fertilizer, ensuring that the final fertilizer solution meets the irrigation requirements. Through the mutual cooperation of various components, the system of the present invention can efficiently and stably complete the whole process of returning manure to the field.

[0041] The irrigation robot comprises a body and an irrigation mechanism, wherein the irrigation mechanism is movably mounted on the front side of the body. Specifically, a plug-in protrusion 1-2 is formed on the front side of the body, and the irrigation mechanism comprises a mounting portion 1-1, a horizontal distribution pipe 1-3 and a soft bag dropper 1-5. The mounting portion is a connecting rod, and a socket matched with the plug-in protrusion is formed on the upper part of the connecting rod. A horizontal distribution pipe is fixedly mounted on the lower part of the connecting rod. The horizontal distribution pipe is made of stainless steel and has excellent corrosion resistance. It has strong corrosion resistance to various fertilizers and waters. A control valve is arranged inside the pipe layout to control the switch of the horizontal distribution pipe. An addition pipe is fixedly connected to the rear end of the horizontal distribution pipe. The addition pipe is used to connect to the connecting pipe of the winding roller. A plurality of shunt pipes 1-4 are evenly spaced and arranged on the lower surface of the horizontal distribution pipe. A soft bag dripper is installed at each shunt pipe. A plurality of perforations are opened inside the soft bag dripper. Fertilizer and water can drip onto the plant surface through the perforations. The water flow formed by the soft bag dripper is small, which prevents the water flow from directly impacting the ground and causing damage to the soil structure, thereby ensuring the uniformity and effectiveness of irrigation.

[0042] The body is also equipped with a camera 16, through which the robot can determine the direction of travel. The bottom side of the body is fixedly connected with a plurality of evenly distributed mounting shafts 1-6, which are used to mount universal wheels 1-7. The bottom end of the mounting shaft is equipped with a universal wheel, which can rotate 360°, making the robot more flexible in movement.

[0043] In the specific implementation of the present invention, in order to ensure the stability of the backward irrigation of the irrigation machine robot, a counterweight mechanism is detachably installed on the lower surface of the front part of the body, and the counterweight mechanism can be selected as a counterweight block or a temporary water supply tank;

[0044] The bottom of the irrigation robot is equipped with universal drive wheels, which enable the robot to move flexibly within the irrigation area, not only ensuring the coverage of the irrigation, but also effectively assisting the robot to be recovered into the container after the irrigation is completed, thus realizing automatic operation;

[0045] Specifically, the stirring assembly includes a motor 8, which is installed on one side of the mixing tank. A stirring rod is installed at the output end of the motor, and the stirring rod rotates inside the mixing tank; these stirring rods are driven by the motor to rotate inside the mixing tank. The design of the stirring rod can not only effectively promote the mixing of the fertilizer solution, but also ensure that the various components are fully integrated during the mixing process to form a uniform fertilizer solution. This setting method helps to complete efficient stirring in a shorter time, ensure that the final output fertilizer solution has a consistent component distribution and an ideal dilution, and provide a stable source of fertilizer for subsequent irrigation operations.

[0046] Embodiment 2:

[0047] A method for returning manure water to fields on the surface, comprising the following steps:

[0048] S1. Preparation of fertilizer components and device connection: Classify and transport the existing nitrogen, phosphorus, potassium and medium-element fertilizers into different fertilizer tanks. Each fertilizer tank is used to store specific fertilizer components to ensure accurate distribution of components and provide a basis for subsequent fertilizer mixing. Move the device to the vicinity of the farmland to be irrigated, connect the filter connection pipe of the filter mechanism to the outdoor septic tank, and connect the clean water pipe to the natural water pipe.

[0049] S2. Mixing and diluting of fertilizer components: according to the ratio requirements of the plants to be irrigated, the manure water from the septic tank is filtered through a filtering mechanism and then enters the mixing tank. At the same time, the solenoid valve of the corresponding fertilizer tank is opened, and the fertilizer in the fertilizer tank is transported from each fertilizer tank to the mixing tank through a fertilizer pump. Clean water enters the mixing tank through a clean water pipe and is diluted together with the fertilizer components.

[0050] S3, mixing and fertilizer preparation: In the mixing tank, the motor drives the stirring rod to stir, and the nitrogen, phosphorus, potassium, and medium element fertilizers are fully mixed with water to form a uniform fertilizer solution. After completion, the water pump in the mixing tank transports the fertilizer solution to the irrigation robot through the connecting pipe to prepare for the irrigation operation;

[0051] S4. Movement and preparation of the irrigation robot: Open the electric sliding door, move the irrigation robot out of the container, and drive it to the designated irrigation area. At the same time, the winding roller releases the connecting pipe synchronously to ensure that the connecting pipe is long enough to follow the irrigation robot to the irrigation start position. When the robot moves to the end of the irrigation area, that is, the irrigation start position, it is ready to enter the irrigation state;

[0052] S5. Reverse irrigation and recovery of the irrigation robot: When the irrigation robot reaches the starting position for irrigation, the reverse drive is started and the irrigation operation begins. At this time, the mixing tank delivers fertilizer water to the irrigation robot. During the irrigation process, the winding roller is synchronously rewound. The tension of the connecting pipe and the reverse drive of the universal drive wheel ensure that the irrigation robot retreats smoothly.

[0053] S6. End of irrigation operation and equipment reset: After the irrigation is completed, the irrigation robot continues to retreat to the starting position and finally returns to the container. The electric sliding door closes, the entire system is reset, the winding roller completes the rewinding of the connecting pipe, and the system automatically prepares for the next irrigation operation.

[0054] Specifically, step S1 ensures that the device can be effectively operated through the preparation of fertilizer components and device connection preparation, and also lays an accurate foundation for the subsequent fertilizer ratio, which helps to achieve scientific and reasonable fertilizer ratio management. Step S2, the mixing preparation and dilution of fertilizer components, further optimizes the preparation process of fertilizer solution. Through precise metering and stable delivery, as well as secondary filtration of manure water entering the mixing tank, it ensures that the fertilizer solution in the mixing tank is free of impurities, thereby improving the uniformity of the final irrigation effect and soil absorption efficiency. Step S3, mixing, stirring and fertilizer preparation, achieves uniform mixing of the fertilizer solution through an efficient stirring mechanism, so that the various components can be fully integrated to form a homogeneous fertilizer solution, which not only improves the fertilization effect, but also effectively avoids the problem of fertilizer efficiency fluctuations caused by uneven components. Step S4, the movement and preparation of the irrigation robot ensures the equipment The flexibility and coverage of the irrigation process are ensured by the synchronous release of the winding roller, which ensures the free movement of the irrigation robot in the irrigation area, enabling it to accurately locate the starting position of irrigation and prepare for uniform irrigation. The reverse irrigation and recovery of the irrigation robot in step S5 is cleverly designed through the reverse drive, which effectively avoids direct contact between the equipment and the ground and prevents sludge adhesion, while ensuring the smoothness and stability of the irrigation process. The synchronous rewinding of the winding roller further ensures the neat recovery of the connecting pipe and reduces equipment wear and maintenance requirements. The end of the irrigation operation and the reset of the equipment in step S6 realize the automated management of the entire system. Through the automatic return of the irrigation robot and the closing of the electric sliding door, the equipment quickly enters the standby state after completing the irrigation task, preparing for the next irrigation task, which improves the overall work efficiency and ease of operation of the system.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for returning manure water to fields, characterized in that: The invention comprises a container, an irrigation robot, a mixing tank, a winding roller, a plurality of fertilizer tanks and a filtering mechanism. A mixing tank is installed on one side of the container, a stirring assembly is arranged inside the mixing tank, a plurality of fertilizer tanks are arranged on the other side of the container, the bottom of each fertilizer tank is connected to the mixing tank through a connecting hose, an irrigation robot and a winding roller are arranged in the container on the front side of the fertilizer tank, the winding roller is used to reel in a connecting pipe; the water inlet end of the connecting pipe is connected to the mixing tank, the water outlet end of the connecting pipe is connected to the irrigation robot, a filtering mechanism is arranged in the container on the rear side of the fertilizer tank, the inlet end of the filtering mechanism is connected to an outdoor septic tank, the outlet end of the filtering mechanism is connected to the mixing tank, and a clean water pipe is also arranged on the mixing tank for adding clean water to the mixing tank to dilute the fertilizer, a control device is arranged in the container, the fecal water enters the mixing tank through the filtering mechanism, the basic fertilizer and clean water in the required fertilizer tank are pumped into the mixing tank according to the ratio requirements for mixing, and finally the irrigation robot is pulled to perform backward recovery irrigation by reeling in the connecting pipe through the winding roller.

2. The device for returning manure water to fields according to claim 1, characterized in that: The container comprises a box body, and an electric sliding door is installed on one side of the box body.

3. The device for returning manure water to fields according to claim 1, characterized in that: The fertilizer tank includes a tank body and a tank rack, the tank body is arranged on the tank rack, a fertilizer filling pipe is arranged on the upper part of the tank body, a feed pipe with a solenoid valve is arranged at the bottom of each tank body, and the bottom of the feed pipe is connected to the mixing tank through a connecting hose. There are 4 fertilizer tanks, which are respectively provided with nitrogen fertilizer, potassium fertilizer, phosphate fertilizer and medium-element fertilizer. A connecting pipe seat is arranged on one side of the upper surface of the mixing tank for inserting and fixing multiple connecting hoses.

4. The device for returning manure water to fields according to claim 1, characterized in that: The filtering mechanism includes a base frame and a filtering connecting pipe, on which a coarse-grade plastic mesh sand and gravel filter and a fine-grade precision cast wire mesh filter are arranged, and on the filtering connecting pipe, a coarse-grade plastic mesh sand and gravel filter and a fine-grade precision cast wire mesh filter are sequentially connected from the water inlet end to the water outlet end; the filtering mechanism is a two-level filtering mechanism.

5. The device for returning manure water to fields according to claim 1, characterized in that: Liquid level sensors are arranged in the mixing tank and the fertilizer tank.

6. The device for returning manure water to fields according to claim 1, characterized in that: The irrigation robot includes a body and an irrigation mechanism, which is movably mounted on the front side of the body, and a plug-in protrusion is formed on the front side of the body. The irrigation mechanism includes a mounting portion, a horizontal distribution pipe and a soft bag dropper, and the mounting portion is a connecting rod. A socket matched with the plug-in protrusion is formed on the upper part of the connecting rod, and a horizontal distribution pipe is fixedly installed on the lower part of the connecting rod. A control valve is arranged inside the horizontal distribution pipe to control the switch of the horizontal distribution pipe. An addition pipe is fixedly connected to the rear end of the horizontal distribution pipe, and the addition pipe is used to be connected to the connecting pipe of the winding roller. A plurality of shunt pipes are evenly spaced and arranged on the lower surface of the horizontal distribution pipe, and a soft bag dropper is installed at each shunt pipe, and a plurality of through holes are opened inside the soft bag dropper.

7. The device for returning manure water to fields according to claim 1, characterized in that: A camera is also installed on the body, and the robot can determine the forward direction through the camera. A plurality of evenly distributed installation shafts are fixedly connected to the bottom side of the body, and the installation shafts are used to install universal wheels, and universal wheels are installed at the bottom ends of the installation shafts.

8. The device for returning manure water to fields according to claim 1, characterized in that: A counterweight mechanism is detachably mounted on the lower surface of the front portion of the machine body, and the counterweight mechanism is a counterweight block or a temporary water supply tank.

9. The device for returning manure water to fields according to claim 1, characterized in that: The stirring assembly comprises a motor, which is installed at one side of the mixing tank. A stirring rod is installed at each output end of the motor, and the stirring rod rotates inside the mixing tank.

10. An irrigation method for returning manure water to fields on the surface, according to the device for returning manure water to fields according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Preparation of fertilizer components and device connection: Classify and transport the existing nitrogen, phosphorus, potassium and medium-element fertilizers into different fertilizer tanks. Each fertilizer tank is used to store specific fertilizer components to ensure accurate distribution of components and provide a basis for subsequent fertilizer mixing. Move the device to the vicinity of the farmland to be irrigated, connect the filter connection pipe of the filter mechanism to the outdoor septic tank, and connect the clean water pipe to the natural water pipe. S2. Mixing and diluting fertilizer components: according to the ratio requirements of the plants to be irrigated, the manure water from the septic tank is filtered through a filtering mechanism and then enters the mixing tank. At the same time, the solenoid valves of the corresponding fertilizer tanks are opened to transport the required fertilizer components from each fertilizer tank to the mixing tank. Clean water enters the mixing tank through a clean water pipe and is diluted together with the fertilizer components. S3, mixing and fertilizer preparation: In the mixing tank, the stirring rod is driven by motor 1 to stir, and nitrogen, phosphorus, potassium, medium element fertilizer and water are fully mixed to form a uniform fertilizer solution. After completion, the water pump in the mixing tank transports the fertilizer solution to the irrigation robot through the connecting pipe to prepare for the irrigation operation; S4. Movement and preparation of the irrigation robot: Open the electric sliding door, move the irrigation robot out of the container, and drive it to the designated irrigation area. At the same time, the winding roller releases the connecting pipe synchronously to ensure that the connecting pipe is long enough to follow the irrigation robot to the irrigation start position. When the robot moves to the end of the irrigation area, that is, the irrigation start position, it is ready to enter the irrigation state; S5. Reverse irrigation and recovery of the irrigation robot: When the irrigation robot reaches the starting position for irrigation, the reverse drive is started and the irrigation operation begins. At this time, the mixing tank delivers fertilizer water to the irrigation robot. During the irrigation process, the winding roller is synchronously rewound. The tension of the connecting pipe and the reverse drive of the universal drive wheel ensure that the irrigation robot retreats smoothly. S6. End of irrigation operation and equipment reset: After the irrigation is completed, the irrigation robot continues to retreat to the starting position and finally returns to the container. The electric sliding door closes, the entire system is reset, the winding roller completes the rewinding of the connecting pipe, and the system automatically prepares for the next irrigation operation.

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