Guiding system of translation type sprinkling machine and control method of guiding system

Abstract

The invention relates to the technical field of translation type sprinkling machines, in particular to a guiding system of a translation type sprinkling machine and a control method of the guiding system of the translation type sprinkling machine, comprising the following steps: acquiring a first distance between a measuring wheel of the translation type sprinkling machine and a reference object, and acquiring a second distance between the measuring wheel of the translation type sprinkling machine and the reference object after a preset time; according to the first interval, the second interval and the moving distance of the translation type sprinkling machine in the preset direction, the yaw distance and the yaw angle of the translation type sprinkling machine are obtained; and according to the yaw distance and the yaw angle, the moving direction of the translation type sprinkling machine is adjusted. The method has the beneficial effects that the yaw distance and the yaw angle of the translation type sprinkling machine can be calculated by acquiring the distance between the measuring wheel and the reference object; according to the yaw distance and the yaw angle, the moving direction of the translation type sprinkling machine is adjusted, and the moving direction of the translation type sprinkling machine can be automatically corrected through the control method.

Description

Technical Field

[0001] The invention relates to the technical field of a translational sprinkler, and in particular to a guide system of a translational sprinkler and a control method thereof. Background Art

[0002] A horizontal-moving sprinkler is a mechanical device used for large-scale farmland irrigation. It moves along a straight path and evenly sprays water onto the farmland. Traditional horizontal-moving sprinklers mainly rely on manual operation, requiring operators to manually adjust the machine's moving path and spraying range. However, with the development of agricultural automation technology, automatic guidance technology has been introduced into horizontal-moving sprinklers, which realizes the machine's autonomous movement and precise irrigation, improves work efficiency and reduces manual intervention.

[0003] At present, the common automatic guidance system of translational sprinkler irrigation machine mostly adopts the technology based on differential GPS (Global Positioning System) base station and wireless signal. Through high-precision satellite positioning and wireless communication, the position and movement direction of the sprinkler irrigation machine are determined in real time to ensure that it moves along the set trajectory. However, the automatic guidance system based on differential GPS has some shortcomings in practical applications. For example, since the stability of satellite signals is easily affected by terrain, meteorological conditions and interference sources, the positioning accuracy and reliability of the system are difficult to guarantee in certain environments. In addition, the transmission distance and strength of wireless signals are limited, which will also affect the real-time and stability of the system, resulting in the guidance deviation of the sprinkler irrigation machine and the decrease of irrigation accuracy. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a guide system for a translational sprinkler and a control method thereof.

[0005] The present invention is achieved through the following technical solutions:

[0006] A guide control method for a translational sprinkler, the control method comprising the following steps:

[0007] Acquire a first distance between the measuring wheel of the translational sprinkler and a reference object, and acquire a second distance between the measuring wheel of the translational sprinkler and the reference object after a preset time;

[0008] Obtaining a yaw distance and a yaw angle of the translational sprinkler according to the first spacing, the second spacing, and a moving distance of the translational sprinkler in a preset direction;

[0009] The moving direction of the translational sprinkler is adjusted according to the yaw distance and the yaw angle.

[0010] Further, the off-track distance is a difference between the first spacing and the second spacing; and / or

[0011] The yaw angle α=arctan(|D2-D1| / L), where D1 is the first spacing, D2 is the second spacing, and L is the moving distance.

[0012] Furthermore, “adjusting the moving direction of the translational sprinkler according to the yaw distance and the yaw angle” includes the following steps:

[0013] According to the moving direction of the translational sprinkler, the yaw distance and the yaw angle, the wheel group to be corrected and the speed correction value of the wheel group are obtained;

[0014] The speed of the wheel group that needs to be corrected is reduced by the speed correction value to adjust the moving direction of the translational sprinkler.

[0015] Furthermore, “obtaining the wheel set to be corrected and the speed correction value of the wheel set according to the moving direction of the translational sprinkler, the yaw distance and the yaw angle” includes the following steps:

[0016] When the translation sprinkler is moving forward, the speed correction value is:

[0017]

[0018] Where, Y is the speed correction value, K is P is the integral coefficient, x is the yaw distance, K D is the differential coefficient, dx is the change of the yaw distance per unit time, dt is the unit time, K I is the integration coefficient; and / or

[0019] When the translation sprinkler moves in the reverse direction, the speed correction value is:

[0020]

[0021] Where, Y is the speed correction value, K is P is the integral coefficient, x is the yaw distance, K D is the differential coefficient, dx is the change of the yaw distance per unit time, dt is the unit time, K I is the integration coefficient.

[0022] Furthermore, “reducing the speed of the wheel group that needs to be corrected by the speed correction value to adjust the moving direction of the translational sprinkler” also includes the following steps:

[0023] When the translatory sprinkler is moving forward, and the translatory sprinkler is located on the left side of the reference object, and the translatory sprinkler deviates to the left side of the preset direction, the wheel set that needs to be corrected is the right wheel set of the translatory sprinkler; and / or

[0024] When the translatory sprinkler is moving forward and is located on the left side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or

[0025] When the translatory sprinkler is moving forward, and the translatory sprinkler is located on the right side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is the left wheel set of the translatory sprinkler; and / or

[0026] When the translatory sprinkler is moving forward and is located on the right side of the reference object, and the translatory sprinkler deviates to the left side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or

[0027] When the translatory sprinkler moves in the reverse direction and is located on the left side of the reference object, and the translatory sprinkler deviates to the left side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or

[0028] When the translatory sprinkler moves in the reverse direction, and the translatory sprinkler is located on the left side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is the right wheel set of the translatory sprinkler; and / or

[0029] When the translatory sprinkler moves in the reverse direction and is located on the right side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or

[0030] When the translatory sprinkler moves in the reverse direction and is located on the right side of the reference object, and deviates to the left side of the preset direction, the wheel set that needs to be corrected is the left wheel set of the translatory sprinkler.

[0031] Furthermore, “determining the wheelset that needs to be corrected according to the speed correction value” includes the following steps:

[0032] When the speed correction value is greater than 0, the wheelset that needs to be corrected is the right wheelset; and / or

[0033] When the speed correction value is less than 0, the wheelset that needs to be corrected is the left wheelset.

[0034] A guide control method for a translational sprinkler, the control method comprising the following steps:

[0035] Obtaining terrain information below and in front of the translational sprinkler;

[0036] According to the terrain information below, the translational sprinkler is controlled to enter a working state and move along a reference object;

[0037] When the reference object is lost in the lower terrain information, the working state and the moving state of the translational sprinkler are controlled according to the front terrain information.

[0038] The present application also discloses a guiding system for a translational sprinkler, the guiding system comprising:

[0039] A measuring device capable of acquiring terrain information at the location of the translational sprinkler;

[0040] A driving assembly capable of driving the translational sprinkler to move;

[0041] A control module, wherein the measuring device and the driving assembly are both electrically connected to the control module, and the control module is configured as the guidance control method as described above, and the control module can control the driving assembly according to the terrain information obtained by the measuring device to control the moving direction of the translational sprinkler.

[0042] Furthermore, the measuring device is a laser point cloud scanner; and / or

[0043] The driving assembly includes a first driving member and a second driving member, wherein the first driving member can control the moving speed of the left wheel group of the translational sprinkler, and the second driving member can control the moving speed of the right wheel group of the translational sprinkler.

[0044] The beneficial effects of the present invention are:

[0045] The present invention can calculate the yaw distance and yaw angle of the translational sprinkler by obtaining the distance between the measuring wheel and the reference object, and adjust the moving direction of the translational sprinkler according to the yaw distance and the yaw angle. The moving direction of the translational sprinkler can be automatically corrected by this control method.

[0046] Furthermore, the present invention can also obtain the terrain information below and in front of the translatory sprinkler, and control the translatory sprinkler to enter the working state and move along the reference object according to the terrain information below. When the reference object is lost in the terrain information below, the working state and moving state of the translatory sprinkler are controlled according to the terrain information in front. This control method can identify obstacles so that the translatory sprinkler can be controlled more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the translational sprinkler of the present invention;

[0048] Figure 2 It is a schematic diagram of the structure of the laser point cloud scanner of the present invention;

[0049] Figure 3 It is a schematic diagram of the structure of the water channel and the obstacle of the present invention;

[0050] Figure 4 It is a schematic diagram of the measurement state of the first spacing and the second spacing of the present invention;

[0051] Figure 5 1 is a schematic diagram of a top view of the structure of the first spacing and the second spacing in the present invention in the measurement state, and the position of the axle of the middle wheel set during the two measurements is shown in the figure to show the wheel spacing L;

[0052] Figure 6 is a schematic diagram of the yaw state of the translational sprinkler in case 1 of the present invention;

[0053] Figure 7 It is a structural schematic diagram of the translational sprinkler of the present invention;

[0054] Figure 8 It is a structural schematic diagram of the translational sprinkler of the present invention;

[0055] Fig. 9 It is a structural schematic diagram of the translational sprinkler of the present invention;

[0056] Figures 6 to 9 In, P START Indicates the starting point, P end represents the end point, x represents the yaw distance, and α represents the yaw angle;

[0057] ANT1 represents the first reference point on the translational sprinkler, ANT2 represents the second reference point on the translational sprinkler, the arrow passing through ANT1 and ANT2 points to the forward movement direction of the translational sprinkler, and the direction opposite to the direction in the figure is the reverse movement direction of the translational sprinkler. DETAILED DESCRIPTION

[0058] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and the best embodiment. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the invention.

[0059] In the description of the invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the invention.

[0060] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "setting", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] The invention provides a guiding system of a translational sprinkler, comprising a measuring device, a driving component and a control module.

[0062] Reference Figure 1 In this embodiment, the translational sprinkler includes a left wheel group, a middle wheel group and a right wheel group. Among them, the middle wheel group is a measuring wheel of the measuring device. Figure 2 , the measuring device is specifically a laser point cloud scanner. The laser point cloud scanner can obtain terrain information near the translational sprinkler. Specifically, the laser point cloud scanner can obtain terrain information below the measuring wheel and terrain information in front of the measuring wheel. The laser point cloud scanner can also identify a reference object and obtain the distance between the measuring wheel and the reference object. In this embodiment, the reference object is a canal. The middle wheel group of the translational sprinkler is arranged near the canal, and the translational sprinkler is set to move along the canal.

[0063] The driving assembly includes a first driving member and a second driving member, wherein the first driving member can control the rotation speed of the left wheel group, and the second driving member can control the rotation speed of the right wheel group. When both the left wheel group and the right wheel group rotate at a preset rotation speed, the translational sprinkler can be driven to move forward. When the first driving member drives the left wheel group to rotate at a speed lower than the preset rotation speed, and the right wheel group rotates at a preset rotation speed, the translational sprinkler can be driven to move to the left. When the left wheel group rotates at a preset rotation speed, and the second driving member drives the right wheel group to rotate at a speed lower than the preset rotation speed, the translational sprinkler can be driven to move to the right.

[0064] The measuring device and the driving assembly are both electrically connected to the control module. Specifically, the laser point cloud scanner is connected to the control module via a serial port unit. The power supply module supplies power to the laser point cloud scanner, the control module, the first driving member, and the second driving member. The control module can control the driving assembly according to the terrain information obtained by the measuring device to control the moving direction of the translational sprinkler. The control module is configured to execute a guidance control method for the translational sprinkler. The guidance control method includes the following steps:

[0065] S101, the laser point cloud scanner obtains the terrain information below and in front of the translational sprinkler. Specifically, the laser point cloud scanner is configured to obtain the terrain information below and in front of the translational sprinkler. Then, S102 is executed.

[0066] S102, according to the terrain information below the translational sprinkler obtained by the laser point cloud scanner, control the translational sprinkler to enter the working state and move along the reference object. In this embodiment, the reference object is a canal. This step specifically controls the translational sprinkler to move along the canal.

[0067] Further, refer to Figure 3 , when the reference object is lost in the terrain information below the translational sprinkler obtained by the laser point cloud scanner (such as Figure 3 The working state and moving state of the translatory sprinkler are controlled according to the front terrain information. Specifically, when there is no canal in the terrain information below the translatory sprinkler, it is determined whether there is a canal in the terrain information in front of the translatory sprinkler. If there is a canal, it means that the canal is blocked by an obstacle, and the user can be reminded to remove the obstacle, such as taking the water pump of the translatory sprinkler out of the canal, so that the translatory sprinkler can continue to move forward. If there is no canal in the front terrain information, the translatory sprinkler is driven to stop moving.

[0068] The guidance control method of the translational sprinkler also includes the following steps:

[0069] S201, obtaining a first distance D1 between the measuring wheel of the translational sprinkler and a reference object, and obtaining a second distance D2 between the measuring wheel of the translational sprinkler and the reference object after a preset time, see Figure 4 In this embodiment, the measuring wheel is the middle wheel set of the translational sprinkler, and the reference object is the water channel. Then, S202 is executed.

[0070] S202, according to the first distance D1, the second distance D2 and the moving distance L of the translational sprinkler in a preset direction, obtain the yaw distance x and the yaw angle α of the translational sprinkler. Figure 5 , the distance L is the moving distance of the translational sprinkler after a preset time along a preset direction. In other words, the distance L is a set value.

[0071] The calculation formula of the yaw distance x is x = |D2-D1|;

[0072] The calculation formula of the yaw angle α is α=arctan(|D2-D1| / L).

[0073] S203, adjusting the moving direction of the translational sprinkler according to the yaw distance and the yaw angle. This step specifically includes the following steps:

[0074] S2031, calculate the speed correction value according to the moving direction of the horizontal moving sprinkler. Specifically, the horizontal moving sprinkler will move back and forth between two points when working. Therefore, the starting point and the end point of the horizontal moving sprinkler are set. When the horizontal moving sprinkler moves from the starting point to the end point, the speed correction value Y is calculated using the following formula:

[0075]

[0076] Where, Y is the speed correction value, K is P is the integral coefficient, x is the yaw distance, K D is the differential coefficient, dx is the change of the yaw distance per unit time, dt is the unit time, K I is the integration coefficient.

[0077] When the translation sprinkler moves from the end point to the starting point, the speed correction value Y is calculated using the following formula:

[0078]

[0079] Where, Y is the speed correction value, K is P is the integral coefficient, x is the yaw distance, K D is the differential coefficient, dx is the change of the yaw distance per unit time, dt is the unit time, K I is the integration coefficient.

[0080] S2032, determining the wheel set that needs to be corrected according to the moving direction, the position relative to the reference object, the yaw direction and the speed correction value of the translational sprinkler. Specifically, the following 8 situations are included:

[0081] Case 1: Reference Figure 6 , when the translatory sprinkler is moving forward, and the translatory sprinkler is located on the left side of the water channel, and the translatory sprinkler deviates to the left side of the preset direction, the wheel set that needs to be corrected is the right wheel set of the translatory sprinkler;

[0082] Case 2: Reference Figure 7 , when the translational sprinkler is moving forward, and the translational sprinkler is located on the left side of the water channel, and the translational sprinkler deviates to the right side of the preset direction, the wheel group that needs to be corrected is determined according to the speed correction value;

[0083] Case 3: Reference Figure 8 , when the translatory sprinkler is moving forward, and the translatory sprinkler is located on the right side of the water channel, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is the left wheel set of the translatory sprinkler;

[0084] Case 4: Reference Fig. 9 , when the translational sprinkler is moving forward, and the translational sprinkler is located on the right side of the water channel, and the translational sprinkler deviates to the left side of the preset direction, the wheel group that needs to be corrected is determined according to the speed correction value;

[0085] Case 5: Reference Figure 6 , when the translation sprinkler moves in the reverse direction (with Figure 6 ANT1 to ANT2 in the figure are in the opposite direction), and the translational sprinkler is located on the left side of the canal, and when the translational sprinkler deviates to the left side of the preset direction, the wheel group that needs to be corrected is determined according to the speed correction value;

[0086] Case 6: Reference Figure 7 , when the translation sprinkler moves in the reverse direction (with Figure 7 ANT1 to ANT2 in the figure are in the opposite direction), and the translatory sprinkler is located on the left side of the canal, and when the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is the right wheel set of the translatory sprinkler;

[0087] Case 7: Reference Figure 8 , when the translation sprinkler moves in the reverse direction (with Figure 8ANT1 to ANT2 in the figure are in the opposite direction), and the translational sprinkler is located on the right side of the canal, and when the translational sprinkler deviates to the right side of the preset direction, the wheel group that needs to be corrected is determined according to the speed correction value;

[0088] Case 8: Reference Fig. 9 , when the translation sprinkler moves in the reverse direction (with Fig. 9 ANT1 to ANT2 in the figure are in opposite directions), and the translatory sprinkler is located on the right side of the canal, and when the translatory sprinkler deviates to the left side of the preset direction, the wheel group that needs to be corrected is the left wheel group of the translatory sprinkler.

[0089] Furthermore, in the above 8 situations, the specific determination method of "needing to determine the wheel set that needs to be corrected according to the speed correction value" is:

[0090] When the speed correction value is greater than 0, the wheelset that needs to be corrected is the right wheelset; and / or

[0091] When the speed correction value is less than 0, the wheelset that needs to be corrected is the left wheelset.

[0092] In summary, S2032 can determine the wheel set that needs to be corrected for the translational sprinkler, and then S2033 is executed.

[0093] S2033, the speed of the wheel group that needs to be corrected is reduced by the speed correction value calculated in S2031, and the wheel group that does not need to be corrected is moved forward at a preset speed. For example, the speed of the left wheel group is reduced, and the right wheel group is moved forward at a preset speed, so that the horizontal-moving sprinkler can be deflected to the left to correct the moving direction of the horizontal-moving sprinkler.

[0094] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A guidance control method for a translational sprinkler, characterized in that: The following steps are involved: Acquire a first distance between the measuring wheel of the translational sprinkler and a reference object, and acquire a second distance between the measuring wheel of the translational sprinkler and the reference object after a preset time; Obtaining a yaw distance and a yaw angle of the translational sprinkler according to the first spacing, the second spacing, and a moving distance of the translational sprinkler in a preset direction; The moving direction of the translational sprinkler is adjusted according to the yaw distance and the yaw angle.

2. The guidance control method of a translational sprinkler according to claim 1, characterized in that: The off-track distance is the difference between the first spacing and the second spacing; and / or The yaw angle α=arctan(|D2-D1| / L), where D1 is the first spacing, D2 is the second spacing, and L is the moving distance.

3. The guidance control method of a translational sprinkler according to claim 1, characterized in that: “Adjusting the moving direction of the translational sprinkler according to the yaw distance and the yaw angle” comprises the following steps: According to the moving direction of the translational sprinkler, the yaw distance and the yaw angle, the wheel group to be corrected and the speed correction value of the wheel group are obtained; The speed of the wheel group that needs to be corrected is reduced by the speed correction value to adjust the moving direction of the translational sprinkler.

4. The guidance control method of a translational sprinkler according to claim 3, characterized in that: “According to the moving direction of the translational sprinkler, the yaw distance and the yaw angle, obtaining the wheel set to be corrected and the speed correction value of the wheel set” comprises the following steps: When the translation sprinkler is moving forward, the speed correction value is: Where, Y is the speed correction value, K is P is the integral coefficient, x is the yaw distance, K D is the differential coefficient, dx is the change of the yaw distance per unit time, dt is the unit time, K I is the integration coefficient; and / or When the translation sprinkler moves in the reverse direction, the speed correction value is: Where, Y is the speed correction value, K is P is the integral coefficient, x is the yaw distance, K D is the differential coefficient, dx is the change of the yaw distance per unit time, dt is the unit time, K I is the integration coefficient.

5. The guidance control method of a translational sprinkler according to claim 4, characterized in that: “Lowering the speed of the wheel group that needs to be corrected by the speed correction value to adjust the moving direction of the translational sprinkler” also includes the following steps: When the translatory sprinkler is moving forward, and the translatory sprinkler is located on the left side of the reference object, and the translatory sprinkler deviates to the left side of the preset direction, the wheel set that needs to be corrected is the right wheel set of the translatory sprinkler; and / or When the translatory sprinkler is moving forward and is located on the left side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or When the translatory sprinkler is moving forward, and the translatory sprinkler is located on the right side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is the left wheel set of the translatory sprinkler; and / or When the translatory sprinkler is moving forward and is located on the right side of the reference object, and the translatory sprinkler deviates to the left side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or When the translatory sprinkler moves in the reverse direction and is located on the left side of the reference object, and the translatory sprinkler deviates to the left side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or When the translatory sprinkler moves in the reverse direction, and the translatory sprinkler is located on the left side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is the right wheel set of the translatory sprinkler; and / or When the translatory sprinkler moves in the reverse direction and is located on the right side of the reference object, and the translatory sprinkler deviates to the right side of the preset direction, the wheel set that needs to be corrected is determined according to the speed correction value; and / or When the translatory sprinkler moves in the reverse direction, is located on the right side of the reference object, and deviates to the left side of the preset direction, the wheel set that needs to be corrected is the left wheel set of the translatory sprinkler.

6. A guide control method for a translational sprinkler according to claim 5, characterized in that: “Judging the wheel set that needs to be corrected according to the speed correction value” comprises the following steps: When the speed correction value is greater than 0, the wheelset that needs to be corrected is the right wheelset; and / or When the speed correction value is less than 0, the wheelset that needs to be corrected is the left wheelset.

7. A guidance control method for a translational sprinkler, characterized in that: The following steps are involved: Obtaining terrain information below and in front of the translational sprinkler; According to the terrain information below, the translational sprinkler is controlled to enter a working state and move along a reference object; When the reference object is lost in the lower terrain information, the working state and the moving state of the translational sprinkler are controlled according to the front terrain information.

8. A guide system for a translational sprinkler, characterized in that: include: A measuring device capable of acquiring terrain information at the location of the translational sprinkler; A driving assembly capable of driving the translational sprinkler to move; A control module, wherein the measuring device and the driving assembly are both electrically connected to the control module, and the control module is configured as a guidance control method as described in any one of claims 1 to 7, and the control module can control the driving assembly according to the terrain information obtained by the measuring device to control the moving direction of the translational sprinkler.

9. The guide system of a translational sprinkler according to claim 8, characterized in that: The measuring device is a laser point cloud scanner; and / or The driving assembly includes a first driving member and a second driving member, wherein the first driving member can control the moving speed of the left wheel group of the translational sprinkler, and the second driving member can control the moving speed of the right wheel group of the translational sprinkler.

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