A carousel type multi-liquid automatic proportioning intelligent irrigation robot

Abstract

This invention discloses a rotary multi-liquid automatic proportioning intelligent irrigation robot. The robot includes: a mobile trolley body; an electric telescopic rod with an irrigation nozzle mounted on top on the left side; a rotary liquid storage layer, a control layer, and a mixing layer arranged from top to bottom in the middle section; and a detachable waste liquid storage tank on the right side. A vision camera is installed above the tank. The rotary liquid storage layer is divided into six independent storage tanks, driven by a stepper motor to rotate and switch liquids. The control layer is equipped with a main microcontroller that communicates with a controller built into the electric telescopic rod via Bluetooth. The mixing layer contains a liquid level sensor and a stirring component for liquid proportioning and mixing. The device identifies plant species and growth status using the vision camera, transmits the data to the main microcontroller to obtain the required nutrient solution ratio, and performs precise quantitative mixing before irrigation. After irrigation, the device automatically cleans the mixing layer and discharges the waste liquid into the storage tank, repeating the process to achieve continuous irrigation for different plants. This invention has a compact structure, high flexibility, and is suitable for irrigation scenarios in small areas with multiple plant types.

Description

Technical Field

[0001] This invention relates to the field of agricultural irrigation technology, specifically to a rotary multi-liquid automatic proportioning intelligent irrigation robot. Background Technology

[0002] Existing irrigation equipment requires manual shutdown to clean the mixing structure and replace the irrigation liquid after irrigating a single plant species. It cannot achieve continuous irrigation for multiple plant species.

[0003] Meanwhile, existing agricultural irrigation robots can generally only perform irrigation tasks with plain water or at most two different nutrient solutions, failing to meet the diverse nutrient solution requirements of different plant species. Although large-scale professional integrated water and fertilizer machines can achieve automatic mixing of multiple liquids, they mostly use a structure where one set of solenoid valves corresponds to one liquid. This results in high hardware costs, complex piping layouts, and a high susceptibility to malfunctions. Furthermore, their large size limits their mobility, making them suitable only for large-scale continuous irrigation areas. Summary of the Invention

[0004] The purpose of this invention is to provide a rotary multi-liquid automatic proportioning intelligent irrigation robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A rotary multi-liquid automatic proportioning intelligent irrigation robot includes: a mobile trolley body, the left side of which is an electric telescopic rod with an irrigation nozzle mounted on top, the middle part consisting of a rotary liquid storage layer, a control layer and a mixing layer from top to bottom, and the right side is a waste liquid storage chamber with a vision camera mounted above it; the irrigation structure on the left side is connected to the mixing layer through a first water pump and a telescopic pipe, and the waste liquid storage chamber on the right side is connected to the mixing layer through a second solenoid valve, a second water pump and a pipe.

[0007] The rotary liquid storage layer includes an outer stator and an inner circular rotor liquid storage assembly. The rotor liquid storage assembly is divided into multiple independent liquid storage chambers. A rotating shaft is provided at the center of the rotary liquid storage layer. Each liquid storage chamber has a liquid outlet hole at the bottom. A through hole with the same diameter as the liquid outlet hole is provided at the bottom of the stator.

[0008] Preferably, the inner rotor liquid storage assembly is divided into 6 independent liquid storage chambers along the circumferential direction, and each liquid storage chamber is equipped with a sealing and fastening cover.

[0009] Preferably, the top of the liquid storage tank is provided with an annular groove, and the sealing and fastening cover is provided with an annular elastic lip corresponding to the liquid storage tank. When fastened, the lip is pressed into the groove to form a seal.

[0010] Preferably, the waste liquid storage tank includes an outer shell and a detachable inner chamber, which is movably assembled inside the outer shell and can be extracted separately for waste liquid treatment.

[0011] Preferably, the mobile trolley body can move according to a preset irrigation path, which is stored in the main microcontroller. The main microcontroller controls the mobile trolley body to arrive at each irrigation point in sequence.

[0012] The control layer integrates a power supply battery, a main microcontroller, a stepper motor, and a first solenoid valve. The stepper motor is fixedly connected to the rotating shaft at the center of the turntable liquid storage layer and is used to drive the rotation of the rotor liquid storage group to realize the switching of liquid types. The upper end of the solenoid valve is connected to the through hole at the bottom of the stator, and the lower end is connected to the mixing layer through a pipe. The vision camera, liquid level sensor, stepper motor, each solenoid valve, and each water pump are all electrically connected to the main microcontroller.

[0013] Preferably, the control layer has a charging interface on its exterior, which is electrically connected to the power supply battery for charging the power supply battery.

[0014] Preferably, the main microcontroller sends a height adjustment command to the built-in microcontroller of the electric telescopic pole via Bluetooth to control the raising and lowering of the electric telescopic pole, thereby achieving different irrigation height adjustments.

[0015] Preferably, the visual camera identifies the plant species and growth status, and transmits the information to the main microcontroller to obtain the required nutrient solution ratio.

[0016] The mixing layer is equipped with a liquid level sensor and a stirring assembly. The stirring assembly consists of a stirring rotor and a drive motor. The drive motor is fixed to the outside of the mixing layer, and the drive motor shaft extends into the mixing layer and is connected to the stirring rotor. The liquid level sensor and the drive motor are electrically connected to the main microcontroller.

[0017] Preferably, the drive motor is a brushless DC motor.

[0018] Preferably, the bottom end of the drive motor is provided with a fixing bolt, the drive motor is fixedly connected to the mixing layer through the fixing bolt, and the stirring rotor is rotatably connected to the drive motor through a rotating shaft.

[0019] Preferably, the liquid level sensor monitors the volume of liquid injected into the mixing layer and feeds the signal back to the main microcontroller. The main microcontroller controls the opening and closing of the first solenoid valve according to the real-time injection volume and the target injection volume, so as to accurately control the injection volume of each liquid.

[0020] Preferably, at least one of the liquid storage chambers in the rotary liquid storage layer is set as a clean water storage chamber. After the main microcontroller determines that irrigation is completed, it injects clean water into the mixing layer and stirs it to realize the self-cleaning function of the mixing layer.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. This invention has a self-cleaning function. After the irrigation of a single type of plant is completed, the main microcontroller controls the injection of clean water into the mixing layer and stirs it. The waste liquid is stored in the waste liquid storage tank by the second water pump and the second solenoid valve. The next type of plant can be irrigated without manual shutdown and cleaning, realizing continuous automatic irrigation of different types of plants and improving work efficiency.

[0023] 2. This invention adopts a rotary liquid storage layer structure, which realizes the switching of multiple different liquids by using a single set of solenoid valves in conjunction with the rotation of the rotor liquid storage component. This replaces the complex pipeline structure of traditional large-scale water and fertilizer integrated machines, where one set of solenoid valves corresponds to one liquid, thus reducing equipment costs and maintenance difficulty.

[0024] 3. The present invention has a compact structure, small size and can autonomously reach each irrigation point according to a preset trajectory, making it suitable for small areas and irrigation scenarios with a variety of plants, and with greater operational flexibility. Attached Figure Description

[0025] Figure 1 A three-dimensional structural diagram of the intelligent irrigation robot provided in this application;

[0026] Figure 2 A three-dimensional structural diagram of the rotary liquid storage layer provided in this application;

[0027] Figure 3 A three-dimensional structural diagram of the control layer provided in this application;

[0028] Figure 4 A three-dimensional structural diagram of the hybrid layer provided in this application;

[0029] Figure 5 A three-dimensional structural diagram of the waste liquid storage tank provided in this application. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0031] See appendix Figure 1The rotary multi-liquid automatic proportioning intelligent irrigation robot of the present invention includes a mobile trolley body 8. The left side of the mobile trolley body 8 is an electric telescopic rod 101, and the top of the electric telescopic rod 101 is fixedly connected to an irrigation nozzle 102. The middle part of the mobile trolley body 8 consists of a rotary liquid storage layer 3, a control layer 4, and a mixing layer 5 from top to bottom. The rightmost part of the mobile trolley body 8 is a waste liquid storage tank 7. A vision camera 703 is installed above the waste liquid storage tank 7. The irrigation structure on the left side is connected to the mixing layer 5 through a first water pump 201 and a telescopic pipe 202. The waste liquid storage tank 7 on the right side is connected to the mixing layer 5 through a second solenoid valve 601, a second water pump 602, and a pipe 603.

[0032] See appendix Figure 2 The rotary liquid storage layer 3 includes an outer stator 301 and an inner circular rotor liquid storage assembly 302. The rotor liquid storage assembly is divided into 6 independent liquid storage chambers along the circumference. Each liquid storage chamber is equipped with a sealing and fastening cover 304. The top of the liquid storage chamber is provided with an annular groove. The sealing and fastening cover is provided with an annular elastic lip corresponding to the liquid storage chamber. When fastened, the lip is pressed into the groove to form a seal. The rotary liquid storage layer 3 is provided with a rotating shaft 303 at the center. Each independent liquid storage chamber is provided with a liquid outlet hole 305 at the bottom. The bottom of the stator 301 is provided with a through hole with the same diameter as the liquid outlet hole 305.

[0033] See appendix Figure 3 The control layer 4 integrates a power supply battery 404, a main microcontroller 403, a stepper motor 401, and a first solenoid valve 402. The control layer 4 is externally equipped with a charging interface 405, which is electrically connected to the power supply battery 404 for charging. The main microcontroller 403 and the power supply battery 404 are externally sealed with a sealing cover 406 for dust and water protection. The output end of the stepper motor 401 is fixedly connected to the rotating shaft 303 in the middle of the turntable liquid storage layer 3, driving the rotor liquid storage assembly to rotate and realize the switching of different types of liquids. The upper end of the first solenoid valve 402 is connected to the through hole at the bottom of the stator 301, and the lower end is connected to the mixing layer 5. The electric telescopic rod 101 has a built-in microcontroller that establishes a communication connection with the main microcontroller 403 via Bluetooth to realize the adjustment of different irrigation heights.

[0034] See appendix Figure 4 The mixing layer 5 is equipped with a liquid level sensor 503 and a stirring assembly. The stirring assembly consists of a drive motor 501 and a stirring rotor 502. The drive motor 501 is fixedly installed on the outside of the mixing layer 5 and is used to drive the stirring rotor 502 to rotate, so as to achieve uniform mixing of different types of liquids.

[0035] See appendix Figure 5The waste liquid storage chamber 7 includes an outer shell 701 and a detachable inner chamber 702. The detachable inner chamber 702 can be pulled out from the outer shell 701 for waste liquid treatment. A visual camera 703 is installed above the waste liquid storage chamber 7 to identify plant species and growth status.

[0036] The working principle of this invention is as follows: During operation, the main microcontroller 403 retrieves the irrigation path and controls the main body 8 of the mobile trolley to move to the irrigation point. After reaching the point, the visual camera 703 identifies the plant species and growth status, transmits the information to the main microcontroller 403, obtains the type and corresponding volume of nutrient solution required by the plant, and the main microcontroller 403 controls the stepper motor 401 to drive the outlet 305 of the storage tank containing the first type of nutrient solution to align with the through hole of the external stator 301. After alignment, the first solenoid valve 402 opens, and the nutrient solution begins to be injected into the mixing layer 5 by gravity. The liquid level sensor 503 monitors the volume of the injected liquid in real time and feeds the signal back to the main microcontroller 403. After the target injection volume is reached, the first solenoid valve 402 is disconnected, and the main microcontroller 403 controls the stepper motor 401 to drive the outlet of the storage tank containing the next type of nutrient solution to align with the through hole. The above process is repeated until all nutrient solutions are injected. After the required nutrient solution is injected, the main microcontroller 403 controls the drive motor 501 to start, driving the stirring rotor 502 to rotate and complete the mixing operation of different types of liquids. After mixing, the first water pump 201 starts, the second solenoid valve 601 closes, and the main microcontroller 403 sends a height adjustment command to the built-in microcontroller of the electric telescopic rod 101 via Bluetooth. After the electric telescopic rod 101 is adjusted to a suitable irrigation height, the irrigation nozzle 102 is aimed at the plants for irrigation. After irrigation, the main microcontroller 403 controls the stepper motor 401 to drive the outlet of the clear water storage tank to align with the through hole, the first solenoid valve 402 opens, injects clear water into the mixing layer 5 and performs stirring and cleaning operations. After cleaning, the second solenoid valve 601 opens, the second water pump 602 starts, and the waste liquid is discharged into the detachable inner chamber 702 of the waste liquid storage tank 7 through the pipe 603. After the first type of plant irrigation and self-cleaning is completed, the main body 8 of the mobile trolley moves to the next irrigation point and repeats the above process until the irrigation operation of all plants is completed.

[0037] It should be noted that the above embodiments are not intended to limit the scope of protection of the present invention. Equivalent transformations or substitutions made based on the above technical solutions all fall within the scope of protection of the claims of the present invention.

Claims

1. A rotary multi-liquid automatic proportioning intelligent irrigation robot, characterized in that, It includes the main body of the mobile trolley; on the left is an electric telescopic rod with irrigation nozzles on the top; the middle structure consists of a rotating liquid storage layer, a control layer, and a mixing layer from top to bottom; on the right is a waste liquid storage tank, and a vision camera is installed above the waste liquid storage tank; The rotary liquid storage layer includes an outer stator and an inner circular rotor liquid storage assembly. The rotor liquid storage assembly is divided into multiple independent liquid storage chambers. A rotating shaft is provided at the center of the rotary liquid storage layer. Each liquid storage chamber has a liquid outlet hole at the bottom. A through hole with the same diameter as the liquid outlet hole is provided at the bottom of the stator.

2. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 1, characterized in that, The control layer integrates a power supply battery, a main microcontroller, a stepper motor, and a first solenoid valve, and has a charging interface on the outside. The output end of the stepper motor is fixedly connected to the rotating shaft in the middle of the turntable liquid storage layer. The upper end of the first solenoid valve is connected to the stator through hole, and the lower end is connected to the mixing layer through a pipe. The mixing layer is equipped with a liquid level sensor and a stirring assembly. The irrigation structure on the left is connected to the mixing layer through a retractable pipe and a first water pump. The waste liquid storage tank on the right is connected to the mixing layer through a second solenoid valve, a second water pump, and a pipe. The visual camera, liquid level sensor, stepper motor, each solenoid valve, and each water pump are all electrically connected to the main microcontroller.

3. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 1, characterized in that, The waste liquid storage tank includes an outer shell and a detachable inner chamber, which is movably assembled inside the outer shell and can be pumped out separately. The waste liquid is discharged and treated.

4. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 1, characterized in that, The main body of the mobile trolley can move according to a preset irrigation path, which is stored in the main microcontroller. The main microcontroller controls the main body of the mobile trolley to reach each irrigation point in sequence.

5. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 1, characterized in that, The rotor liquid storage assembly is divided into 6 independent liquid storage chambers along the circumference. Each liquid storage chamber is equipped with a sealing and fastening cover. The top of the liquid storage chamber is provided with an annular groove. The sealing and fastening cover is provided with an annular elastic lip corresponding to the liquid storage chamber. When fastened, the lip is pressed into the groove to form a seal.

6. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 2, characterized in that, The stepper motor drives the rotor liquid storage assembly to rotate, so that the liquid outlet holes at the bottom of different liquid storage tanks are aligned with the stator through holes in sequence, thereby realizing automatic switching of liquid types.

7. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 2, characterized in that, The stirring assembly consists of a stirring rotor and a drive motor. The drive motor is installed outside the mixing layer, and the shaft of the drive motor extends into the mixing layer and is connected to the stirring rotor. The drive motor is electrically connected to the main microcontroller.

8. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 2, characterized in that, The main microcontroller sends height adjustment commands to the built-in microcontroller of the electric telescopic pole via Bluetooth, controlling the raising and lowering of the electric telescopic pole to achieve different irrigation height adjustments.

9. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 2, characterized in that, The liquid level sensor monitors the volume of liquid injected into the mixing layer and feeds the signal back to the main microcontroller. The main microcontroller controls the opening and closing of the first solenoid valve based on the real-time injection volume and the target injection volume, so as to precisely control the injection volume of each liquid.

10. The rotary multi-liquid automatic proportioning intelligent irrigation robot according to claim 2, characterized in that, At least one of the liquid storage chambers in the rotating liquid storage layer is set as a clean water storage chamber. After the main microcontroller determines that irrigation is completed, it injects clean water into the mixing layer and stirs it to realize the self-cleaning function of the mixing layer.

Images