Spray irrigation machine system and method

Abstract

The invention relates to a spraying irrigation machine system and method. The spraying irrigation machine system comprises a spraying machine and a control system arranged on the spraying machine. The spraying machine comprises a frame body, trusses symmetrically and fixedly arranged on the two sides of the frame body, walking assemblies symmetrically arranged at the bottom of the frame body, a control table fixedly arranged on one side of the frame body and spraying heads arranged on the trusses at intervals, and the spraying heads communicate with an external water source through water pipes. The control system is arranged in the console; the control system comprises a Beidou unit which is used for obtaining current positioning in real time. According to the invention, through integration of the Beidou unit and the main control module, autonomous navigation and intelligent control of the sprinkling irrigation machine are realized. According to the system, a full-coverage spraying path can be automatically generated according to actual terrain and boundary coordinates, irrigation operation is automatically executed, manual intervention is not needed, and the intelligent level and the automation level of irrigation operation are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sprinkler irrigation, and particularly to a sprinkler irrigation machine system and method. Background Art

[0002] In the field of modern agricultural irrigation, as an important irrigation device, sprinkler irrigation machines are widely used in irrigation operations in areas such as farmland, orchards, and lawns. Traditional sprinkler irrigation machines mainly rely on manual operation or tractor traction for operation. Although the irrigation efficiency has been improved to a certain extent, there are still many deficiencies.

[0003] I. Limitations of manually operated sprinkler irrigation machines

[0004] When manually operating a sprinkler irrigation machine, the accuracy and uniformity of irrigation are often limited by factors such as the skills, experience, and physical strength of the operator. Due to the limited judgment and operation ability of humans, it is difficult to ensure that each irrigation can accurately cover every area that needs to be irrigated, resulting in problems of irrigation repetition or omission. Especially in the irrigation operation of large - area farmland, the efficiency and accuracy of manual operation are even more difficult to guarantee.

[0005] II. Deficiencies of tractor - towed sprinkler irrigation machines

[0006] Compared with manual operation, tractor - towed sprinkler irrigation machines have improved the efficiency and coverage of irrigation operations to a certain extent. However, tractor - towed operations also have obvious deficiencies. First, when a tractor travels in the field, it is easy to compact and damage the soil and crops, affecting the normal growth of crops. Second, during the irrigation process of a tractor - towed sprinkler irrigation machine, manual monitoring and adjustment are still required to ensure the uniformity and accuracy of irrigation. However, due to human participation, it is still difficult to completely avoid the problems of irrigation repetition or omission.

[0007] Irrigation repetition and omission not only lead to waste of water resources and energy, but also have an adverse impact on crop growth. Irrigation repetition will cause excessive water in the roots of crops, affecting the respiration and nutrient absorption of crops; while irrigation omission will cause crop water shortage, affecting its normal growth and yield.

[0008] Therefore, there is a need for a sprinkler irrigation machine system with autonomous navigation and precise irrigation Summary of the Invention

[0009] In view of this, the present invention aims to propose a sprinkler irrigation machine system and method to solve the problems in the prior art.

[0010] To achieve the above object, the technical solution of the present invention is realized as follows:

[0011] The present invention proposes a sprinkler irrigation machine system, which includes a sprinkler and a control system provided on the sprinkler;

[0012] The sprinkler includes a frame body, trusses symmetrically and fixedly arranged on both sides of the frame body, traveling components symmetrically arranged at the bottom of the frame body, a control console fixedly arranged on one side of the frame body, and nozzles spaced on the trusses. Each nozzle is communicated with an external water source through a water pipe, and the control system is arranged in the control console;

[0013] The control system includes a Beidou unit for obtaining the current positioning in real time;

[0014] A main control module for receiving the position signal of the Beidou unit, combining the boundary coordinates of the current area to generate a sprinkling path for full coverage of the working area, driving the traveling components to move according to the sprinkling path and real-time position data, and simultaneously controlling the nozzles to spray water.

[0015] Further, the Beidou unit includes a signal receiving module and an inertial navigation module;

[0016] The signal receiving module is used for receiving the signals of Beidou satellites to update the real-time positioning of the sprinkler in real time;

[0017] The inertial navigation module is used for short-term path calculation when the signal is lost.

[0018] Further, the traveling components include a fixing plate fixedly connected to the frame body, a steering motor fixedly arranged on the fixing plate, a second gear fixedly arranged at the output end of the steering motor, a first gear meshing with the second gear, a steering plate fixedly connected to the bottom end of the first gear, inclined plates symmetrically and fixedly arranged on the bottom surface of the steering plate, traveling wheels rotatably arranged between the fixing plates, and a driving motor fixedly arranged on the fixing plate. The end of the driving motor is fixedly connected to the traveling wheel, and the top end of the first gear is rotatably connected to the fixing plate;

[0019] The driving motor and the steering motor are electrically connected to the main control module.

[0020] Further, the diameter of the first gear is larger than that of the second gear.

[0021] Further, the traveling wheels are a combination of one or several of rubber wheels and crawler wheels.

[0022] Further, a plurality of lidars electrically connected to the main control module are spaced on the frame body and the trusses. The main control module receives the real-time terrain information scanned by the lidars and dynamically adjusts the advancing direction in combination with the sprinkling path and real-time position data.

[0023] Further, the main control module is communicatively connected to the external device through a G module. The external device is used for remotely inputting boundary coordinates, inputting a sprinkling path, and querying the real-time positioning.

[0024] Further, the main control module is communicatively connected to the cloud storage through the Internet of Things module, and the cloud storage is used to upload the operation tasks to the cloud for saving and backup.

[0025] The present invention also provides a control method, which is applied to the above-mentioned sprinkler system. The method includes the following steps:

[0026] S1, input the boundary coordinates into the main control module, and the main control module generates a full-coverage spraying path;

[0027] S2, the Beidou unit receives the signals of Beidou satellites, generates the real-time positioning of the sprinkler, and transmits it to the main control module;

[0028] S3, the main control module controls the operation of the traveling component, drives the sprinkler to move or turn along the spraying route, and at the same time controls the nozzle to spray water;

[0029] S4, after the sprinkler finishes traveling along the spraying path, turn off the traveling component and the nozzle.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] In the present invention, by integrating the Beidou unit and the main control module, the autonomous navigation and intelligent control of the sprinkler are realized. This system can automatically generate a full-coverage spraying path according to the actual terrain and boundary coordinates, and automatically execute the irrigation operation without manual intervention, greatly improving the intelligent and automated level of the irrigation operation. In addition, based on the real-time position data provided by the Beidou unit, the main control module can accurately control the moving speed and direction of the sprinkler, as well as the opening and closing of the nozzle 3, so as to achieve precise irrigation. This avoids the problems of repeated or omitted irrigation and improves the utilization efficiency of water resources.

[0032] In addition, since the system can automatically generate the optimal spraying path and accurately control the movement and spraying of the sprinkler, it can greatly reduce unnecessary energy consumption and waste. Compared with the traditional sprinkler, this system not only improves the irrigation efficiency but also realizes energy conservation and consumption reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0034] Figure 1 is the overall structural schematic diagram of the present invention;

[0035] Figure 2 is the structural schematic diagram of the frame of the present invention;

[0036] Figure 3 Schematic structural diagram of the walking component of the present invention;

[0037] Figure 4 Schematic diagram of the control system of the present invention;

[0038] Figure 5 Schematic diagram of the Beidou unit of the present invention;

[0039] Figure 6 Flow chart of the operation method of the present invention;

[0040] Figure 7 Another schematic structural diagram of the walking component of the present invention;

[0041] Figure 8 Detailed schematic structural diagram of the walking component of the present invention.

[0042] Explanation of reference numerals:

[0043] 1, frame; 2, truss; 3, nozzle; 4, support frame; 401, fixing plate; 402, steering motor; 403, first gear; 404, second gear; 405, driving motor; 406, inclined plate; 407, walking wheel; 408, steering plate; 5, vertical frame; 6, console; 7, lidar; 16, driving motor one; 17, gear A; 18, gear B; 18-1, rotating part; 18-2, fixing part; 19, fixing frame; 20, walking wheel; 21, driving motor two; 22, fixing plate. Detailed implementation manners

[0044] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0045] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "back", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0046] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installation", "connection", "linkage", and "connector" shall 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 mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific situations.

[0047] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0048] Embodiment 1

[0049] Overall, this embodiment proposes a sprinkler irrigation machine system, which includes a sprinkler and a control system arranged on the sprinkler.

[0050] As Figure 1 shown, the sprinkler includes a frame 1, trusses 2 symmetrically and fixedly arranged on both sides of the frame 1, traveling components symmetrically arranged at the bottom of the frame 1, a console 6 fixedly arranged on one side of the frame 1, and nozzles 3 arranged at intervals on the trusses 2. Each nozzle 3 is communicated with an external water source through a water pipe, and the control system is arranged in the console 6.

[0051] As Figure 4 shown, the control system includes a Beidou unit for obtaining the current position in real time.

[0052] A main control module for receiving the position signal of the Beidou unit, combining the boundary coordinates of the current area, generating a sprinkling path for full coverage of the working area, driving the traveling components to move according to the sprinkling path and real-time position data, and simultaneously controlling the nozzles 3 to spray water.

[0053] In this embodiment, by integrating the Beidou unit and the main control module, the autonomous navigation and intelligent control of the sprinkler irrigation machine are realized. This system can automatically generate a full-coverage sprinkling path according to the actual terrain and boundary coordinates, and automatically execute the irrigation operation without manual intervention, greatly improving the intelligent and automated level of the irrigation operation. In addition, according to the real-time position data provided by the Beidou unit, the main control module can accurately control the moving speed and direction of the sprinkler, as well as the opening and closing of the nozzles 3, so as to achieve precise irrigation. This avoids the problems of repeated or omitted irrigation and improves the utilization efficiency of water resources.

[0054] It should be noted that since the system can automatically generate the optimal sprinkling path and accurately control the movement and water spraying of the sprinkler, it can greatly reduce unnecessary energy consumption and waste. Compared with traditional sprinkler irrigation machines, this system not only improves the irrigation efficiency but also realizes energy conservation and consumption reduction.

[0055] In specific implementation, the operator needs to input information such as the boundary coordinates and irrigation requirements of the current area into the main control module. The main control module automatically generates a full-coverage spraying path based on this information. After the operator starts the system, the Beidou unit begins to obtain the current position data in real time and sends it to the main control module. The main control module generates control instructions based on the received position data and the preset spraying path. The main control module drives the walking component to move according to the control instructions, so that the sprinkler performs irrigation operations along the preset spraying path. At the same time, the main control module monitors the position data in real time to ensure that the sprinkler always stays on the correct path. During the movement, the main control module controls the opening and closing of the nozzle 3 according to the real-time position data and the preset water spraying strategy.

[0056] In this embodiment, the water spraying strategy is preferably: when the sprinkler reaches the preset water spraying position, the corresponding nozzle 3 opens and starts spraying water; when moving to the next position, the previous nozzle 3 closes and the next nozzle 3 opens, and so on, to achieve precise water spraying.

[0057] It should be further noted that during the entire irrigation process, the operator can monitor the running status and irrigation progress of the sprinkler in real time through the console 6 or external devices. If necessary, the irrigation parameters can be adjusted or the irrigation operation can be stopped at any time. In this embodiment, the main control module is communicatively connected to the external device through the 4G module, and the external device is used for remotely inputting the ground connection coordinates, inputting the spraying path, and querying the real-time positioning.

[0058] It should be understood that the user can remotely input the boundary coordinates of the current area through an external device (such as a smartphone, tablet computer or computer, etc.). These coordinate information will be transmitted to the main control module in real time for generating a spraying path covering the entire working area.

[0059] It should be added that the method for the main control module to generate a full-coverage spraying path is to train and learn the relationship between the farmland terrain, crop distribution, irrigation requirements, etc. and the spraying path through a neural network. When given new farmland information, the machine learning algorithm can automatically generate a spraying path that meets the requirements.

[0060] As Figure 5 shown, the above-mentioned Beidou unit includes a signal receiving module and an inertial navigation module; the signal receiving module is used to receive the signals of Beidou satellites and update the real-time positioning of the sprinkler in real time; the inertial navigation module is used for short-term path calculation when the signal is lost.

[0061] In this embodiment, the high-precision positioning signal of the Beidou satellite can be received in real time through the signal receiving module, ensuring the accuracy of the position information of the sprinkler during operation. In addition, the addition of the inertial navigation module enables short-term path calculation relying on inertial data when the Beidou signal is lost, maintaining continuous tracking of the position of the sprinkler. This greatly enhances the stability and reliability of the system, ensuring that the irrigation operation is not interfered by the external environment.

[0062] As Figure 2 and Figure 3 shown, among them, the above-mentioned traveling assembly includes a fixing plate 401 fixedly connected to the frame 1, a steering motor 402 fixedly arranged on the fixing plate 401, a second gear 404 fixedly arranged at the output end of the steering motor 402, a first gear 403 meshing with the second gear 404, a steering plate 408 fixedly connected to the bottom end of the first gear 403, inclined plates 406 symmetrically and fixedly arranged on the bottom surface of the steering plate 408, traveling wheels 407 rotatably arranged between the fixing plates 401, and a driving motor 405 fixedly arranged on the fixing plate 401. The end of the driving motor 405 is fixedly connected to the traveling wheel 407, and the top end of the first gear 403 is rotatably connected to the fixing plate 401; the driving motor 405 and the steering motor 402 are electrically connected to the main control module.

[0063] During specific implementation, after the driving motor 405 receives the instruction from the main control module, it starts and drives the traveling wheels 407 to rotate, making the sprinkler move forward along the predetermined path. When it is necessary to adjust the traveling direction, the main control module sends a control signal to the steering motor 402. The steering motor 402 drives the second gear 404 to rotate according to the signal, drives the first gear 403 and the steering plate 408 to rotate through the gear transmission system, and then changes the orientation of the traveling wheels 407. This steering adjustment is continuous and stable, ensuring that the sprinkler can accurately travel along the predetermined path.

[0064] Preferably, a speed reducer is provided between the driving motor 405 and the traveling wheels 407. With such a configuration, it is beneficial for the driving motor 405 to drive the traveling wheels 407 to rotate more smoothly.

[0065] As Figure 7 and Figure 8As shown, as another preferred structure of the walking assembly, in this embodiment, the walking assembly includes a driving motor 16, a gear A, a gear B, a fixing frame 19, a walking wheel 20, and a driving motor 21. The output shaft of the driving motor 16 is connected downward to a fixing plate 22 and then coaxially connected to the gear A. The gear A meshes with the gear B. The gear B includes a rotating part 18-1 and a fixing part 18-2. Its fixing part 18-2 is fixedly connected to both the support frame 4 and the fixing plate 22 by bolts. The rotating part 18-1 is rotatably connected to the outer wall of the fixing part 18-2 and the lower part of the rotating part 18-1 is fixedly connected to the fixing frame 19. The fixing frame 19 is in an inverted triangular shape, and the lower corners are rotatably connected to the walking wheels 20. The walking wheels 20 are coaxially connected to the driving motor 21. The support frame 4 is fixedly connected to the frame body 1.

[0066] When the driving motor 16 works, it transmits rotation to the gear A. Under the meshing action of the gears, the gear B rotates. Since the fixing part 18-2 of the gear B is fixedly connected to the support frame 4 and the rotating part 18-1 is fixedly connected to the fixing frame 19, the fixing part 18-2 and the fixing plate 22 remain unchanged, and the rotating part 18-1 drives the fixing frame 19 to rotate, thus driving the direction of the walking wheels 20 to change. When the driving motor 21 works, it drives the walking wheels 20 to rotate, thus driving the overall movement of the agricultural irrigation equipment. During this process, the fixing plate 22 and the fixing part 18-2 cooperate to fix the driving motor 16 and the gear A, and are connected to the fixing part 18-2 by bolts, which is convenient for later maintenance and replacement. Compared with the way of welding the fixing plate 22 to the support frame 4, both installation and disassembly are more convenient.

[0067] As Figure 1 shown, preferably, in order to facilitate the overall stability, a vertical frame 5 is fixedly provided on one side of the truss 2. The walking assembly is installed at the lower end of the vertical frame 5. During specific implementation, it can prevent the sprinkler from tipping over.

[0068] When the irrigation task is completed or shutdown is required, the main control module sends a shutdown command to the walking assembly. The driving motor 405 and the steering motor 402 stop working, and the sprinkler stops running and returns to the initial state. At this time, the user can turn off the external equipment and disconnect the power supply to complete the entire irrigation operation process.

[0069] Based on the above settings, the diameter of the first gear 403 is larger than that of the second gear 404, thus forming a gear reduction mechanism. When the steering motor 402 drives the second gear 404 to rotate, it can reduce the rotational speed and increase the torque through the meshing transmission between the gears. This not only improves the driving force but also helps to improve the accuracy and stability of steering.

[0070] During specific implementation, the walking wheels 407 are one or a combination of rubber wheels and crawler wheels. The best preferred solution is selected according to the actual situation, and no further limitation is made here.

[0071] As a preferred solution of this embodiment, a plurality of lidar sensors 7 electrically connected to the main control module are provided at intervals on the frame 1 and the truss 2. The main control module receives the real-time terrain information scanned by the lidar sensors 7 and dynamically adjusts the forward direction in combination with the spraying path and the real-time position data.

[0072] As Figure 1 shown, by arranging a plurality of lidar sensors 7 at intervals on the frame 1 and the truss 2, the surrounding environment can be scanned omni-directionally and multi-angularly to obtain high-precision real-time terrain information. The perception ability of the sprinkler to the farmland environment is enhanced, enabling it to more accurately identify complex terrain features such as obstacles, ditches, and ridges.

[0073] When the lidar sensor 7 detects an obstacle ahead, the main control module will immediately activate the obstacle avoidance program, calculate and plan the optimal detour path. At the same time, the main control module will send a control signal to the walking assembly to guide the sprinkler to drive along the new path.

[0074] In addition, the main control module is communicatively connected to the cloud storage through the Internet of Things module. The cloud storage is used to upload the operation tasks to the cloud for saving and backup. By establishing a communication connection between the main control module and the cloud storage through the Internet of Things module, the real-time upload and cloud storage backup of the operation tasks are realized. The risk of local data loss is effectively avoided, ensuring the security and integrity of the operation task data.

[0075] It should be added that in this embodiment, the main control module is preferably a PLC main control module, CPU124XP, transistor output type: This type of main control module is used in industrial automation control systems, has powerful data processing capabilities and high reliability, and is suitable for complex control tasks. When the present invention is running, it can be powered by an external power supply or a battery installed in the system. The infrared radar is preferably a SHARP GP2Y0A21YK0F infrared ranging sensor.

[0076] Embodiment 2

[0077] This embodiment proposes a control method, which is applied to a sprinkler irrigation machine system proposed in Embodiment 1, as Figure 6 shown. The method includes the following steps:

[0078] S1. Input the boundary coordinates into the main control module, and the main control module generates a full-coverage spraying path;

[0079] S2. The Beidou unit receives the signals of Beidou satellites, generates the real-time positioning of the sprinkler irrigation machine, and transmits it to the main control module;

[0080] In S3, the main control module controls the operation of the traveling assembly, driving the irrigation machine to move or turn along the spraying route, and simultaneously controls the nozzles to spray water.

[0081] In S4, after the irrigation machine finishes traveling along the spraying path, the traveling assembly and the nozzles are turned off.

[0082] In summary, the operation process of this irrigation machine realizes precise spraying operations in farmland by combining steps such as input of boundary coordinates, real-time positioning by the Beidou unit, control of the traveling assembly and nozzles, and end of operation and equipment shutdown.

[0083] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A sprinkler system, characterized in that: It includes a spray machine and a control system arranged on the spray machine; The spray machine comprises a frame (1), trusses (2) symmetrically fixedly arranged on both sides of the frame (1), a walking assembly symmetrically arranged at the bottom of the frame (1), a control console (6) fixedly arranged on one side of the frame (1), and spray heads (3) arranged at intervals on the trusses (2), each of the spray heads (3) being connected to an external water source via a water pipe, and the control system being arranged in the control console (6); The control system includes a Beidou unit for obtaining the current position in real time; The main control module is used to receive the position signal of the Beidou unit, combine it with the boundary coordinates of the current area, generate a spray path that fully covers the working area, and drive the walking component to move according to the spray path and real-time position data, while controlling the sprinkler (3) to spray water.

2. A sprinkler system according to claim 1, characterized in that: The Beidou unit includes a signal receiving module and an inertial navigation module; The signal receiving module is used to receive signals from Beidou satellites and update the real-time positioning of the sprinkler in real time; The inertial navigation module is used for short-term path estimation when the signal is lost.

3. A sprinkler system according to claim 1, characterized in that: The walking assembly comprises a fixing plate (401) fixedly connected to the frame (1), a steering motor (402) fixedly arranged on the fixing plate (401), a second gear (404) fixedly arranged at the output end of the steering motor (402), a first gear (403) meshing with the second gear (4), a steering plate (408) fixedly connected to the bottom end of the first gear (403), an inclined plate (406) symmetrically fixedly arranged on the bottom surface of the steering plate (408), walking wheels (407) rotatably arranged between the fixing plates (401), and a driving motor (405) fixedly arranged on the fixing plate (401), wherein the end of the driving motor (405) is fixedly connected to the walking wheel (407), and the top end of the first gear (403) is rotatably connected to the fixing plate (401); The driving motor (405) and the steering motor (402) are electrically connected to the main control module.

4. A sprinkler system according to claim 3, characterized in that: The first gear (403) has a larger diameter than the second gear (404).

5. A sprinkler system according to claim 3, characterized in that: The traveling wheel (407) is one or a combination of a rubber wheel and a track wheel.

6. A sprinkler system according to claim 1, characterized in that: The main control module is connected to the external device through a 4G module, and the external device is used to remotely input ground coordinates, input spray paths, and query real-time positioning.

7. The sprinkler system according to claim 1, characterized in that: The main control module is connected to the cloud storage through the Internet of Things module, and the cloud storage is used to upload the operation tasks to the cloud for storage and backup.

8. A control method, characterized in that: The method is applied to a sprinkler system according to any one of claims 1 to 7, and the method comprises the following steps: S1, input the boundary coordinates into the main control module, and the main control module generates a full coverage spray path; S2, the Beidou unit receives the signal from the Beidou satellite, generates the real-time positioning of the sprinkler, and transmits it to the main control module; S3, the main control module controls the running of the walking component, drives the sprinkler to move or turn along the sprinkler route, and controls the sprinkler to spray water; S4, after the sprinkler machine finishes traveling along the sprinkler path, the travel component is closed.

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