Intelligent sprinkling irrigation robot

Abstract

The invention relates to an intelligent sprinkling irrigation robot which comprises a sprinkling irrigation robot moving base, a power generator, a main body frame, a steering assembly and a wireless control module, the sprinkling irrigation robot moving base is provided with a sprinkling irrigation assembly and a pipe winding and unwinding assembly through a support and a bearing, and the sprinkling irrigation robot moving base further comprises the power generator and the main body frame; the power generator and the steering assembly are installed above and below the front portion of the U-shaped body frame respectively, the driving rear beam is fixedly installed at an opening in the rear portion of the U-shaped body frame, and the vertical height of the two end faces of the driving rear beam and the outer side face of the body frame ranges from four hundred centimeters to seven hundred centimeters. Driving wheel brackets of the driving wheel assembly are fixedly mounted at two ends of the driving rear beam respectively; the device can automatically irrigate a set area without being watched by a specially-assigned person, is not limited by the peripheral shape of a field, can carry out global sprinkling irrigation under the condition that the field is irregular, can automatically avoid set obstacles, and can effectively improve the sprinkling irrigation efficiency and reduce the labor intensity of workers.

Description

Technical Field

[0001] The present invention relates to agricultural machinery, in particular to an intelligent sprinkler irrigation robot. Background Art

[0002] The current sprinkler irrigation equipment has a low degree of automation, mainly including fixed-spray units and row-spray units. Among these two types of sprinkler irrigation equipment, the fixed-spray unit cannot move and can only spray a circular area, while the row-spray unit requires manual operation throughout the process and can only be used on large plains and farmland, with greater restrictions on use.

[0003] Currently, patent publication number CN109566358A discloses a sprinkler irrigation system comprising a hose reel, wheels, a main frame, a drive system, a water spraying device, a guide device, and a suspension wire device. The hose reel is positioned above and in the middle of the two wheels. The main frames are provided in two sets, one on each side of the hose reel. The guide device is positioned in front of the wheels in the forward direction of each operation. The water spraying device comprises multiple nozzles suspended below the main frame. The drive system is positioned at the center of each wheel. A low beam and a vertical beam are positioned above the wheels. The wheels are equipped with a steering wheel, a speed control handle, and two accelerators to control their speed and direction. The present invention has a simple structure, is easy to manufacture, can be operated in multiple locations, has a large water output during operation, has low operating costs, and is fast.

[0004] From the above-disclosed technical content, it can be seen that as an existing technology, the invention with announcement number CN109566358A controls the equipment to run in a straight line through an intelligent control system. If the direction needs to be changed, the hydraulic mechanism is started to lift the two wheels and turn them 90 degrees, and then the sprinkler is started to drive in the required direction to reach the next unirrigated section. The entire operation process requires full manual participation, and it is impossible to continuously water and fertilize the same plot of land. The overall operation is relatively cumbersome. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides an intelligent sprinkler robot that can irrigate a set area by itself without the need for special supervision, and is not restricted by the outer shape of the field. That is, even if the field is irregular, it can carry out full-area sprinkler irrigation, and can avoid set obstacles by itself, which can effectively improve sprinkler efficiency and reduce the labor intensity of workers.

[0006] In order to achieve the above-mentioned objectives, the present invention provides an intelligent sprinkler robot, comprising a sprinkler robot action base, a generator, a main frame, a steering assembly and a wireless control module. The sprinkler robot action base is respectively installed with a sprinkler assembly and a retractable pipe assembly through a bracket and a bearing. The sprinkler robot action base also includes a generator and a main frame. The generator and the steering assembly are respectively installed on the upper and lower front parts of the U-shaped main frame. A driving rear beam is fixedly installed at the rear opening of the U-shaped main frame. The vertical height between the end faces of the driving rear beam and the outer side surface of the main frame is four hundred to seven hundred centimeters; driving wheel brackets of the driving wheel assembly are respectively fixedly installed at both ends of the driving rear beam, and the driving wheel is fixedly installed at the lower end of the driving wheel bracket through the bracket. The control machine is fixedly installed on the side of the main frame; a satellite positioning module and a wireless control module are installed at the rear of the main frame.

[0007] In addition, the intelligent sprinkler robot proposed in the above embodiment of the present invention may also have the following additional technical features:

[0008] As a further improvement of the present invention, the steering assembly includes an electronically controlled steering wheel, a steering bracket, a steering base and a steering control motor. The top of the steering base is fixedly connected to the main frame, and the steering control motor is fixedly installed on the lower part of the steering base through the seat ring and the bracket. The rotating shaft of the steering control motor is fixedly connected to the steering bracket. An electronically controlled steering wheel is provided at the lower end of the steering bracket, and the hub of the electronically controlled steering wheel is equipped with a hub motor.

[0009] As a further improvement of the present invention, the front and both sides of the main frame are equipped with laser radars or cameras.

[0010] As a further improvement of the present invention, the main frame and the driving rear beam are both made by cutting square tubes or I-beams.

[0011] As a further improvement of the present invention, the sprinkler irrigation assembly includes a front sprinkler irrigation truss, a water supply pipe reel, a reel driving motor, a water-fertilizer mixing device, a rear sprinkler irrigation truss base, a foldable rear sprinkler irrigation truss, and a nozzle. The front sprinkler irrigation truss and the rear sprinkler irrigation truss base are respectively installed on the front and rear of the sprinkler irrigation robot's action base through brackets, and the foldable rear sprinkler irrigation truss is respectively installed on both ends of the rear sprinkler irrigation truss base through a rotating shaft and a limit pin. The water supply pipe reel is fixedly installed on the action base of the sprinkler irrigation robot through a bracket, and the reel driving motor drives the water supply pipe reel. The pipeline on the water supply pipe reel is connected to the water-fertilizer mixing device, and the water-fertilizer mixing device is connected to the front sprinkler irrigation truss and the nozzles on the foldable rear sprinkler irrigation truss through a pipeline. The width of the front sprinkler irrigation truss is consistent with the width of the action base of the sprinkler irrigation robot, and the width of the rear sprinkler irrigation truss base and the foldable rear sprinkler irrigation truss is five times or seven times the width of the action base of the sprinkler irrigation robot.

[0012] As a further improvement of the present invention, a drive motor and a disc brake are provided on the hub of the drive wheel.

[0013] As a further improvement of the present invention, the water-fertilizer mixing device is equipped with a water-fertilizer mixing tank, which is provided with a stirring motor and a water pump.

[0014] Through the above scheme, the present invention has at least the following advantages: the control machine forms an electronic fence around the edge of the sprinkler area set by the staff through the wireless control module, and the driving wheel device of the mobile base of the sprinkler robot automatically drives in the sprinkler area along the automatically planned route with the precise positioning provided by the satellite positioning module, wherein the steering control motor controls the direction of movement of the equipment through the electronically controlled steering wheel, and the retractable pipe assembly automatically releases the water supply pipeline when the equipment moves to prevent damage to crops, and the retractable pipe assembly records the released length of the pipeline, and the nozzle of the sprinkler assembly can start the sprinkler operation, and can irrigate the set area by itself without the need for special supervision, and is not restricted by the outer shape of the field, that is, even if the field is irregular, it can be sprinklered in the entire area, and can avoid set obstacles by itself, which can effectively improve the sprinkler efficiency and reduce the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of an intelligent sprinkler robot;

[0016] Figure 2 It is a rear perspective view of the mobile base of an intelligent sprinkler robot;

[0017] Figure 3 It is a front perspective view of the mobile base of an intelligent sprinkler robot;

[0018] Figure 4 It is a stereoscopic diagram of the steering assembly of an intelligent sprinkler robot;

[0019] Figure 5 It is a three-dimensional diagram of the driving wheel assembly of an intelligent sprinkler robot;

[0020] Figure 6 It is a three-dimensional diagram of the sprinkler assembly of an intelligent sprinkler robot;

[0021] Figure 7 It is a three-dimensional diagram of the water supply hose reel of an intelligent sprinkler irrigation robot;

[0022] Figure 1: 1. Sprinkler robot mobile base, 11. Generator, 12. Main frame, 13. Steering assembly, 131. Electric steering wheel, 132. Steering bracket, 133. Steering base, 134. Steering control motor, 14. Control unit, 15. Driving rear beam, 16. Driving wheel assembly, 161. Driving wheel bracket, 162. Driving wheel, 2. Sprinkler assembly, 21. Front sprinkler truss, 22. Water supply pipe reel, 221. Reel drive motor, 23. Water-fertilizer mixing device, 24. Rear sprinkler truss base, 25. Foldable rear sprinkler truss, 26. Sprinkler head, 3. Retractable pipe assembly, 4. Satellite positioning module, 5. Wireless control module. DETAILED DESCRIPTION

[0023] An intelligent sprinkler robot of the present invention will be described below with reference to the accompanying drawings.

[0024] In Example 1 of the present application, Figures 1 to 5 As shown, an intelligent sprinkler robot (hereinafter referred to as "the present invention") includes a sprinkler robot action base 1, on which a sprinkler assembly 2 and a retractable pipe assembly 3 are respectively installed through brackets and bearings. The sprinkler robot action base 1 also includes a generator 11 and a main frame 12. The generator 11 and the steering assembly 13 are respectively installed on the upper and lower front parts of the U-shaped main frame 12. The generator 11 is used to provide power to the equipment. A driving rear beam 15 is fixedly installed at the rear opening of the U-shaped main frame 12. The vertical height of the end faces of the driving rear beam 15 and the outer side surface of the main frame 12 is four hundred to seven hundred centimeters; driving wheel brackets 161 of the driving wheel assembly 16 are respectively fixedly installed at both ends of the driving rear beam 15, and a driving wheel 162 is fixedly installed at the lower end of the driving wheel bracket 161 through a bracket. The control machine 14 is fixedly installed on the side of the main frame 12; a satellite positioning module 4 and a wireless control module 5 are installed at the rear of the main frame 12. The steering assembly 13 includes an electric steering wheel 131, a steering bracket 132, a steering base 133 and a steering control motor 134. The top of the steering base 133 is fixedly connected to the main frame 12. The steering control motor 134 is fixedly installed at the bottom of the steering base 133 through a seat ring and a bracket. The rotating shaft of the steering control motor 134 is fixedly connected to the steering bracket 132. The electric steering wheel 131 is set at the lower end of the steering bracket 132. The hub of the electric steering wheel 131 is equipped with a hub motor.

[0025] The invention announcement number is CN109566358A, a sprinkler machine (hereinafter referred to as "the patent"), which controls the equipment to run in a straight line through an intelligent control system. If the direction needs to be changed, the hydraulic mechanism is started to lift the two wheels and turn them 90 degrees, and then the sprinkler machine is started to travel in the required direction to the next unwatered section. The entire operation process requires full manual participation, and it is impossible to continuously water and fertilize the same plot of land. The overall operation is relatively cumbersome. The control machine 14 of the present invention forms an electronic fence with the edge of the sprinkler area set by the staff through the wireless control module 5, and the driving wheel 162 of the sprinkler robot action base 1 moves along the self- The route planned by the robot is coordinated with the precise positioning provided by the satellite positioning module 4 to automatically drive in the sprinkler irrigation area, wherein the steering control motor 134 controls the direction of the equipment through the electronically controlled steering wheel 131. When the equipment is moving, the retractable pipe assembly 3 automatically releases the water supply pipeline to prevent damage to crops, and the retractable pipe assembly 3 records the released length of the pipeline. The nozzle of the sprinkler irrigation assembly 2 can start the sprinkler irrigation operation. It can irrigate the set area by itself without the need for special supervision, and is not restricted by the outer shape of the field. That is, even if the field is irregular, full-area sprinkler irrigation can be carried out, and it can avoid set obstacles by itself, which can effectively improve the sprinkler irrigation efficiency and reduce the labor intensity of workers.

[0026] The structure of the second embodiment is basically the same as that of the first embodiment, except that Figure 6 and Figure 7As shown, the sprinkler assembly 2 includes a front sprinkler truss 21, a water supply pipe reel 22, a reel drive motor 221, a water-fertilizer mixing device 23, a rear sprinkler truss base 24, a foldable rear sprinkler truss 25, and a sprinkler head 26. The front and rear sprinkler truss 21 and the rear sprinkler truss base 24 are respectively installed by brackets at the front and rear of the sprinkler robot action base 1. The foldable rear sprinkler truss 25 is installed at both ends of the rear sprinkler truss base 24 by a rotating shaft and a limit pin. The water supply pipe reel 22 is fixedly installed on the sprinkler robot action base 1 through a bracket. The reel drive motor 221 drives the water supply pipe reel 22. Pipes connect to the water-fertilizer mixing device 23, which in turn connects to the nozzles 26 on the front sprinkler truss 21 and the foldable rear sprinkler truss 25. The width of the front sprinkler truss 21 matches the width of the sprinkler robot's mobile base 1, while the width of the rear sprinkler truss base 24 and the foldable rear sprinkler truss 25 is five or seven times that of the sprinkler robot's mobile base 1. The coordinated front and rear sprinkler trusses ensure that all crops along the device's route receive the necessary water and fertilizer. The foldable rear sprinkler truss 25 at the rear of the sprinkler robot's mobile base 1 is foldable to facilitate transport and relocation of the device. External fertilizer and water are connected to the pipe connections on the reel of the sprinkler assembly 2 via pipes. Water and fertilizer enter the reel through the pipes and are then pumped to the nozzles by the sprinkler assembly 2's pressure pump, ensuring that the fertilizer and water are evenly sprayed on the crops. The water pipe on the reel can also be connected to the fertilizer melting tank first, and the melted fertilizer is mixed in the water before being delivered to the sprinkler head via a pressure pump.

[0027] To further optimize the performance of this application and enhance the device's obstacle avoidance capabilities, the main frame 12 is equipped with laser radars or cameras on the front and both sides. To reduce production costs, the main frame 12 and drive rear beam 15 are both cut from square tubes or I-beams. To ensure effective braking, the hub of the drive wheel 162 is equipped with a drive motor and disc brake. To enable direct mixing of water and fertilizer, the water-fertilizer mixing device is equipped with a water-fertilizer mixing tank equipped with a stirring motor and water pump.

[0028] When in use, an intelligent sprinkler robot is installed, the corresponding pipelines are connected, and base stations are deployed around the construction site, and the equipment can be put into use.

[0029] When the present invention is used, the specific operation is as follows:

[0030] During use, the water hose on the reel of the sprinkler assembly 2 is first released through the retractable pipe assembly 3. It is then connected to a water supply line or water and fertilizer supply equipment. The fuel tank of the generator 11 is filled with oil. The operation area and its obstacles are then set using a handheld terminal device combined with a high-precision map. After receiving the operation area plan, the device's wireless control module 5 transmits the data to the control unit 14. The control unit 14 generates an electronic fence and a movement route based on base station information and Beidou positioning data. Next, the hub motors equipped on the drive wheels 162 of the sprinkler robot's mobile base 1 begin to operate, providing driving force for the device to move forward. The steering control motor 134 controls the device's direction of travel via the electronically controlled steering wheel 131, ensuring that the device follows the movement route. Simultaneously, the turntable of the sprinkler assembly 2 begins to rotate the square pipe. As the pipe passes the roller of the retractable pipe assembly 3, a photoelectric sensor installed in the roller determines the pipe release distance. The drive device of the retractable pipe assembly 3 controls the pipe release distance based on the device's forward distance. The release of the pipe from the sprinkler assembly 2 must be coordinated with the speed of the retractable pipe assembly 3. Water and fertilizer are transported through pipelines to the rotating water supply pipe reel 22 of the sprinkler assembly 2. After passing through the water supply pipe reel 22, they enter the pressurized water pump of the water-fertilizer mixing device 23 and are ultimately sprayed onto the crops through the nozzles 26 on the front sprinkler truss 21 and the foldable rear sprinkler truss 25. When not in use, the foldable rear sprinkler truss 25 is folded forward with the rotation axis of the rear sprinkler truss base 24 as the center, making it easier to transport the equipment. The rear sprinkler truss base 24 and the foldable rear sprinkler truss 25 are provided with corresponding latch holes and latches, or the foldable rear sprinkler truss 25 can be folded or unfolded by a hydraulic rod. The relatively low nozzles 26 can spray fertilizer near the roots of the plants, reducing waste.

[0031] The equipment sprays along a set route in the specified operating area. After reaching the top of a path, the equipment reverses while retracting the pipeline. After completing spraying in all operating areas, the equipment starts to reverse along the previous route. At this time, the turntable and retractable pipe assembly 3 of the sprinkler assembly 2 start to run in reverse, and the released pipeline is retracted back into the turntable of the sprinkler assembly 2. Since the equipment moves forward strictly according to the route planned by the satellite positioning module 4 and the control machine 14, the pipeline is also on the route. The turntable and retractable pipe assembly 3 of the sprinkler assembly 2 can directly retract the pipeline and prevent damage to crops.

[0032] In summary, an intelligent sprinkler robot according to an embodiment of the present invention forms an electronic fence around the edge of the sprinkler area set by the staff through the wireless control module 5 by the control machine 14. The driving wheel 162 of the mobile base 1 of the sprinkler robot automatically drives in the sprinkler area along the automatically planned route with the help of the precise positioning provided by the satellite positioning module 4. The steering control motor 134 controls the direction of movement of the equipment through the electronically controlled steering wheel 131. When the equipment moves, the retractable pipe assembly 3 automatically releases the water supply pipeline to prevent damage to crops, and the retractable pipe assembly 3 records the released length of the pipeline. The nozzle of the sprinkler assembly 2 can start the sprinkler operation, and can irrigate the set area by itself without the need for special supervision, and is not restricted by the outer shape of the field. That is, even if the field is irregular, full-area sprinkler irrigation can be carried out, and the set obstacles can be avoided by itself, which can effectively improve the sprinkler efficiency and reduce the labor intensity of workers.

[0033] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0034] Those skilled in the art will understand that the discussion of any of the above embodiments is merely illustrative and is not intended to limit the scope of the present invention to these examples. Within the spirit and principles of the present invention, the technical features of the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and many other variations exist for the various aspects of the present invention described above, which are not provided in detail for the sake of clarity. Any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent sprinkler robot, characterized in that: The sprinkler robot action base (1) is respectively mounted with a sprinkler assembly (2) and a retractable pipe assembly (3) via a bracket and a bearing. The sprinkler robot action base (1) further comprises a generator (11) and a main frame (12). The generator (11) and the steering assembly (13) are respectively mounted on the upper and lower front portions of the U-shaped main frame (12). A driving rear beam (15) is fixedly mounted at the rear opening of the U-shaped main frame (12). The vertical height between the end faces of the driving rear beam (15) and the outer side surface of the main frame (12) is 400 to 700 centimeters. The driving wheel brackets (161) of the driving wheel assembly (16) are respectively fixedly mounted at both ends of the driving rear beam (15). The lower end of the driving wheel bracket (161) is fixedly mounted with a driving wheel (162) via a bracket. A control machine (14) is fixedly mounted on the side of the main frame (12). A satellite positioning module (4) and a wireless control module (5) are mounted at the rear portion of the main frame (12).

2. The intelligent sprinkler robot according to claim 1, characterized in that: The steering assembly (13) comprises an electrically controlled steering wheel (131) and a steering control motor (134); the top of the steering base (133) is fixedly connected to the main frame (12); the steering control motor (134) is fixedly installed at the bottom of the steering base (133) through a seat ring and a bracket; the rotating shaft of the steering control motor (134) is fixedly connected to the steering bracket (132); the electrically controlled steering wheel (131) is arranged at the lower end of the steering bracket (132); and the wheel hub of the electrically controlled steering wheel (131) is equipped with a hub motor.

3. The intelligent sprinkler robot according to claim 2, characterized in that: The front and both sides of the main frame (12) are equipped with laser radars or cameras.

4. The intelligent sprinkler robot according to claim 1, characterized in that: The main frame (12) and the driving rear beam (15) are both made by cutting square tubes or I-beams.

5. The intelligent sprinkler robot according to claim 4, characterized in that: The sprinkler assembly (2) includes a front sprinkler truss (21) and a water supply pipe reel (22). The front sprinkler truss (21) and the rear sprinkler truss base (24) are respectively installed on the front and rear of the sprinkler robot action base (1) through brackets. The two ends of the rear sprinkler truss base (24) are respectively installed with a foldable rear sprinkler truss (25) through a rotating shaft and a limit pin. The water supply pipe reel (22) is fixedly installed on the sprinkler robot action base (1) through a bracket. The reel drive motor (221) drives the water supply. A pipe reel (22) is provided, and a pipe on the water supply pipe reel (22) is connected to a water-fertilizer mixing device (23). The water-fertilizer mixing device (23) is connected to a nozzle (26) on a front sprinkler truss (21) and a foldable rear sprinkler truss (25) through a pipe. The width of the front sprinkler truss (21) is consistent with the width of the sprinkler robot action base (1). The width of the rear sprinkler truss base (24) and the foldable rear sprinkler truss (25) is five times or seven times the width of the sprinkler robot action base (1).

6. The intelligent sprinkler robot according to claim 5, characterized in that: A driving motor and a disc brake are arranged on the hub of the driving wheel (162).

7. The intelligent sprinkler robot according to claim 1, characterized in that: The water-fertilizer mixing device (23) is equipped with a water-fertilizer mixing tank, and the tank is provided with a stirring motor and a water pump.

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