A water and fertilizer integrated sprinkler irrigation machine and its irrigation method

Abstract

This invention relates to the field of sprinkler irrigation technology and discloses an integrated water and fertilizer sprinkler irrigation machine, including a mobile chassis, a water and fertilizer tank, and a water pump unit. It also includes a transverse spray pipe assembly, which consists of multiple interconnected horizontal pipes forming a main pipe. Multiple longitudinal drainage pipes are installed on the wall of the main pipe. These longitudinal drainage pipes are composed of two sections of pipe combining rigid and flexible components, allowing irrigation water to be directed to the ground using flexible hoses, reducing the impact on crops and thus protecting them. A lifting frame is installed on the mobile chassis, and two sets of the transverse spray pipe assembly are symmetrically mounted on the lifting frame. This integrated water and fertilizer sprinkler irrigation machine and its irrigation method solve the problems of high energy consumption, easy clogging, single function, separate irrigation and drainage, and poor adaptability of existing sprinkler irrigation systems. System optimization is achieved through short-distance water intake, large-diameter nozzles, integrated water channels, and a detachable chassis.

Description

Technical Field

[0001] This invention relates to the field of sprinkler irrigation technology, specifically to an integrated water and fertilizer sprinkler irrigation machine and its irrigation method. Background Technology

[0002] In existing integrated water and fertilizer sprinkler irrigation technologies, sprinkler machines are typically separated from the water source, requiring the transport of the water-fertilizer mixture through pipelines tens or even hundreds of meters long. This results in high flow resistance and energy consumption, and fertilizer easily accumulates in the pipelines, leading to a sprinkler head clogging failure rate of over 30%. Cleaning and maintenance costs remain high. Furthermore, commercially available drip irrigation and micro-sprinkler systems generally use small-diameter sprinklers with orifice diameters less than 1 mm, which are highly sensitive to water quality and easily clogged by sediment, algae, or undissolved fertilizer crystals, causing the sprinkler and drip irrigation systems to fail. Moreover, new irrigation systems need to be laid annually. The existing irrigation network is inadequate, and the existing mobile sprinkler irrigation equipment is functionally limited, remaining idle for extended periods during the non-irrigation season, resulting in limited annual effective operating time and extremely low asset utilization. Farmers need to purchase additional transport vehicles and sprayers, leading to significant overall investment. Irrigation and drainage systems are constructed separately, relying on electrically controlled gates or pumping stations for flood drainage during the flood season. These systems are unreliable in the event of power outages or equipment malfunctions. Furthermore, the fixed nozzle height and spraying parameters make it difficult to adapt to the varying heights and agronomical requirements of crops at different growth stages, such as seedling, jointing, and maturity, potentially causing impact damage to seedlings or mechanical scratching during maturity. Therefore, there is an urgent need for a water and fertilizer integrated sprinkler irrigation system and method that can achieve short-path water intake, prevent clogging, integrate irrigation and drainage, offer multi-functional reuse, adapt to the entire growth cycle, and is energy-efficient and highly effective. Summary of the Invention

[0003] Technical problems to be solved

[0004] To address the shortcomings of existing technologies, this invention provides an integrated water and fertilizer sprinkler irrigation machine and its irrigation method, which solves the problems of easy clogging, limited functionality, separation of irrigation and drainage, and poor adaptability of existing sprinkler irrigation equipment.

[0005] Technical solution

[0006] To achieve the above objectives, the present invention provides the following technical solution: an integrated water and fertilizer sprinkler irrigation machine, comprising a mobile chassis, a water and fertilizer tank, and a water pump unit, and further comprising:

[0007] The horizontal nozzle assembly consists of multiple horizontal pipes connected together to form a main pipe. Multiple longitudinal drainage pipes are installed on the pipe wall of the main pipe. The longitudinal drainage pipes are composed of two-section pipes with a combination of rigid and flexible pipes. They can guide irrigation water to the ground using flexible hoses and reduce the force of impact on crops, thereby protecting the crops.

[0008] The mobile chassis is equipped with a lifting frame, and the transverse nozzle assembly is symmetrically installed on the lifting frame in two sets.

[0009] A drainage nozzle, which is installed at the end of a flexible hose in a longitudinal drainage pipe via an external threaded connector, is used to drain water evenly onto the ground, and the discharged water flow will not impact crops.

[0010] A water mixer is installed between the water intake pipe of the water pump unit and the water outlet pipe of the sap and fertilizer tank. The water pump unit can use the water mixer to simultaneously draw irrigation water and sap and fertilizer for mixing, so that the sap and fertilizer can be fully dissolved in the irrigation water in a short time.

[0011] The track assembly is laid at equal intervals in the field to support the stability of the mobile chassis, and can also be used to provide irrigation water and drain waterlogged areas.

[0012] As a further description of the above technical solution, the main pipe is provided with multiple conduits on its wall. The lower end of the conduits is connected to the upper end of the rigid pipe of the longitudinal drainage pipe through an internal threaded joint. The lower end of the rigid pipe of the longitudinal drainage pipe is fixedly connected to a flexible hose. The upper end of the drainage nozzle is connected to the lower end of the flexible hose through an external threaded joint. A flow velocity sensor for monitoring the water flow velocity in the pipe is installed on the conduit wall.

[0013] The main pipeline has multiple horizontal pipes connected by threads, and multiple inclined steel wires are installed on the pipe walls. The lifting frame is equipped with support rods, and one end of each inclined steel wire is fixed to the wall of the support rod. The main pipeline, the inclined steel wires, and the support rods form a triangular structure to improve the stability of the main pipeline and the longitudinal drainage pipe.

[0014] As a further description of the above technical solution, the lifting frame includes a base and two rectangular tubes. The base is fixed to the back plate of the mobile chassis. The water pump unit, water-fertilizer tank, and water mixer are all fixed to the upper end of the base. The lower ends of the two rectangular tubes are fixed to the upper end of the base, and a horizontal tie rod is fixedly connected between the two rectangular tubes. A rectangular rod is provided above the horizontal tie rod. The upper center of the rectangular rod is fixedly connected to the lower end of the support rod. Telescopic rods are fixedly connected to both ends of the rectangular rod. The two telescopic rods are respectively sleeved inside the two rectangular tubes. Locking bolts are threaded onto the tube walls of the rectangular tubes. An adjustment component is provided at the upper end of the telescopic rod, which allows for the movable adjustment of the main pipe.

[0015] As a further description of the above technical solution, the adjusting assembly includes a support plate and a disc. The support plate is fixed to the upper end of the telescopic rod. A support shaft is fixedly connected to the center of the upper end of the support plate. The shaft wall of the support shaft is rotatably connected to the center of the disc through a ball bearing. Two arc-shaped holes are opened on the side wall of the disc. Locking bolts are fitted into both arc-shaped holes. The side wall of the support plate is connected to the locking bolts through threaded holes. A bushing is fixedly connected to the upper end of the disc. A sleeve is fixedly connected to one end of the bushing. One end of the sleeve is threadedly connected to one end of the main pipe. An inlet bend connecting to the outlet of the water pump unit is fixedly connected to the sleeve wall.

[0016] As a further description of the above technical solution, the drainage nozzle includes an upper cover and a bottom shell, both of which are horn-shaped structures. The upper end of the upper cover is connected to an external threaded connector, the upper end of the bottom shell is a sealed structure, and the lower end structure is the same as the upper cover structure. A plurality of inclined guide vanes are fixedly connected to the side wall of the bottom shell, and the upper ends of the plurality of guide vanes are the same as the lower end structure of the upper cover.

[0017] The lower end of the upper cover is fixedly connected to a plurality of evenly distributed guide rods. The side wall of the bottom shell is sleeved with the rod wall of the guide rod through a round hole. A spring is sleeved on the rod wall of the guide rod. One end of the spring contacts the lower end of the bottom shell. The other end of the spring is fixedly connected to a positioning plate. The positioning plate is fixed to the lower end of the guide rod by bolts. The spring presses the bottom shell so that the guide plate can fit against the lower end of the upper cover to form a plurality of inclined drainage channels.

[0018] The multiple guide rods are evenly distributed and blocked by the ends of the guide plates, so as not to affect the water flow discharged from the drainage channel. The bottom shell is provided with a ring-shaped guide protrusion at the edge.

[0019] As a further description of the above technical solution, the mixing device includes a housing, an opening on one side of the housing, and an end cap fixedly connected to the opening by bolts. An inner tube is provided on one side of the end cap. An annular groove that mates with the inner tube is opened on the inner wall of the housing. One end of the water intake pipe extends into the inner tube and is fixedly connected to a conical cover. A base plate is provided on one side of the conical cover. Multiple arc-shaped blades are fixedly connected to one side of the base plate and the edge of the conical cover. Multiple arc-shaped channels are formed between the multiple arc-shaped blades. A guide pipe is fixedly connected to the upper end of the inner tube. The lower end of the guide pipe is fixedly connected to the wall of the water intake pipe. The lower side of one end of the housing is fixedly connected to the wall of the water outlet pipe through a round hole. A combined electrically controlled valve assembly is installed on the wall of the water outlet pipe. An elbow is fixedly connected to the center of one end of the housing and is fixedly connected to the water inlet of the water pump unit.

[0020] As a further description of the above technical solution, a spiral blade is fixedly connected to the side wall of the inner tube. The spiral blade contacts the inner side of the shell to form a spiral channel. The water inlet end of the spiral channel is close to the water outlet pipe, and the water outlet end of the spiral channel is close to the opening of the guide pipe. A flexible corrugated pipe is installed at the bottom of the water intake pipe, and a float ball is installed on the wall of the corrugated pipe.

[0021] As a further description of the above technical solution, the lower end of the mobile chassis is provided with two positioning components. The positioning components include a support arm, one end of which is rotatably connected to a rotating shaft via a ball bearing. The rotating shaft is fixed to the lower end of the back plate of the mobile chassis. The lower end of the support arm is rotatably connected to a positioning roller. A reduction motor is fixedly connected to the side wall of the support arm. A gear is fixedly connected to the output end of the reduction motor. The gear has an arc-shaped rack inside. The arc-shaped rack is coaxially arranged with the rotating shaft and fixed to the lower end of the back plate of the mobile chassis.

[0022] As a further description of the above technical solution, the track assembly includes a U-shaped water channel and wing plates integrally formed on opposite sides of the water channel. The side walls of the two wing plates and the side walls of the water channel are connected to form a water inlet channel. The end of the water channel is higher than the wing plates to form a positioning part for positioning the mobile chassis. A first slot is provided on the inner side of one end of the water channel, and a second slot is provided on the outer side of the other end of the water channel. The side walls of the first slot and the second slot are both provided with filling grooves.

[0023] The present invention provides a water and fertilizer integrated sprinkler irrigation method, comprising the following steps:

[0024] Step 1: Straddle Installation and Height Adjustment. Straddle the self-propelled sprinkler on top of the modular track assembly, ensuring the drive wheels of the moving chassis contact the upper surfaces of the wing plates on both sides of the irrigation ditch. The corrugated pipe at the bottom of the sprinkler should extend 0.2 to 0.4 meters below the water surface in the ditch, without touching the bottom. Adjust the lifting frame according to the crop's growth stage to raise the drainage assembly off the ground, maintaining a safe distance of 30 to 50 centimeters. This ensures the water from the drainage assembly is sprayed evenly.

[0025] Step 2: Water and fertilizer mixing and parameter preset. Water is injected into the canal, with the water depth controlled below the inlet channel. Soluble fertilizer stock solution is loaded into the water and fertilizer tank and mixed and diluted according to the preset ratio to form a water and fertilizer mixture for later use. Next, the amount of fertilizer is determined according to the crop type and growth stage. Based on the degree of drought, the forward speed of the moving chassis is preset to 0.1 to 0.3 m / s, the working pressure of the water pump unit is 0.05 to 0.2 MPa, and the water spray volume is adjustable from 20 to 120 m³ / h.

[0026] Step 3: Self-propelled movement and synchronous water intake. Start the drive motor of the mobile chassis, and drive the wheel set to move forward at a constant speed along the wing plate. At the same time, start the water pump unit module to directly draw irrigation water from the canal through the water intake for irrigation. When fertilization is required, open the drainage component of the water and fertilizer tank to control the flow rate. Use the suction force of the water pump unit to directly and synchronously draw water and fertilizer mixture. The water and fertilizer discharge speed, water flow rate and sprinkler machine forward speed are linked and controlled to maintain a constant sprinkler irrigation volume per unit area.

[0027] Step 4: Short-path delivery and low-pressure spraying. The pumped water-fertilizer mixture is directly delivered to the main pipe of the lifting frame through a short-path pipeline, and then evenly sprayed out by multiple drainage nozzles on the longitudinal drainage pipe of the main pipe. The drainage nozzles spray at a working pressure of 0.05-0.2 MPa, with a spray coverage radius of 35-50 cm.

[0028] Step 5: After the crops reach maturity, disassemble the sprinkler machine, leaving only the mobile chassis above the irrigation canal for use in transporting crops during the subsequent harvest season.

[0029] Beneficial effects

[0030] Compared with the prior art, the present invention provides an integrated water and fertilizer sprinkler irrigation machine, which has the following beneficial effects:

[0031] 1. The irrigation canal of this invention adopts a U-shaped cross-section with two side wing plates. The wing plates are flush with the ground, serving as both the running track for the sprinkler irrigation machine and a passageway for personnel. A diversion inlet is located a few centimeters below ground level on the side wall, automatically diverting accumulated water from the fields into the canal and draining it outside the fields during the flood season. During the non-flood season, the canal can be closed to store water for irrigation. This design integrates irrigation water supply, machine movement, and flood drainage into a single modular facility, eliminating the need for additional drainage ditches or field roads, while simultaneously achieving passive flood control.

[0032] 2. The chassis of this invention is connected to the lifting frame, water pump, and water and fertilizer module by quick-release connection. During non-irrigation seasons or harvest periods, the upper structure can be disassembled, and the chassis can be used alone as a field transport device to transfer straw and fruit. During the plant protection period, a sprayer can be added for spraying operations. This design effectively increases the annual effective operating time of the equipment. Farmers do not need to purchase sprinkler irrigation machines, transport vehicles, and sprayers separately, which reduces the overall purchase cost and completely changes the situation of high idle rate of traditional agricultural machinery.

[0033] 3. The two-layer structure of the drainage nozzle designed in this technical solution is divided into two drainage channels by inclined guide vanes. This gives the drainage nozzle a large-flow drainage channel, ensuring smooth drainage and preventing the formation of strong impact water jets. In addition, since water is supplied through a water channel, debris such as straw, leaves, and foliage sucked into the channel can be smoothly discharged, preventing nozzle blockage. It is also very easy to detect blocked nozzles. The flow velocity sensor installed on the pipe wall monitors the water flow status. When the water flow velocity is significantly lower than that of other longitudinal pipes, it can be determined that the drainage nozzle below that pipe is blocked. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0035] Figure 2 This is a schematic diagram of the mobile chassis, water and fertilizer tank, and water pump unit in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention.

[0036] Figure 3 This is a schematic diagram of the water channel and mobile chassis in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0037] Figure 4 This is a schematic diagram of the bottom structure of the mobile chassis in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0038] Figure 5 This is a schematic diagram of the positioning component in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0039] Figure 6 This is a schematic diagram of the water pump unit and mixing device in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0040] Figure 7 This is a cross-sectional view of a water mixer for an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0041] Figure 8 This is a schematic diagram of the lifting frame of an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0042] Figure 9 This is a schematic diagram of the flexible hose and rigid pipe in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0043] Figure 10 This is a schematic diagram of the drainage nozzle in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0044] Figure 11 This is a schematic diagram of the structure of the drain nozzle cover in the integrated water and fertilizer sprinkler irrigation machine proposed in this invention;

[0045] Figure 12 This is a schematic diagram of the bottom shell and guide vanes of the drainage nozzle in a water and fertilizer integrated sprinkler irrigation machine proposed in this invention;

[0046] Figure 13 This is a schematic diagram of the rectangular tube, telescopic rod, disc, and support disc in an integrated water and fertilizer sprinkler irrigation machine proposed in this invention.

[0047] Figure 14 This is a schematic diagram of the water channel and wing plate in a water and fertilizer integrated sprinkler irrigation machine proposed in this invention;

[0048] Figure 15 This is a diagram illustrating the laying effect of the irrigation canal in a water-fertilizer integrated sprinkler irrigation machine proposed in this invention.

[0049] In the diagram: 1. Mobile chassis; 2. Water channel; 3. Corrugated pipe; 4. Wing plate; 5. Water inlet channel; 6. Positioning roller; 7. Hose; 8. External threaded connector; 9. Top cover; 10. Bottom shell; 11. Rigid pipe; 12. Diagonal steel wire; 13. Main pipe; 14. Water and fertilizer tank; 15. Support rod; 16. Base; 17. Shell; 18. Water pump unit; 19. Rectangular tube; 20. End cap; 21. Water outlet pipe; 22. 23. Telescopic rod; 24. Disc; 25. Support plate; 26. Support arm; 27. Second slot; 28. First slot; 29. ​​Gear motor; 20. Arc rack; 31. Gear; 32. Guide pipe; 33. Conical cover; 34. Arc blade; 35. Spiral blade; 36. Inner tube; 37. Flow sensor; 38. Guide plate; 39. Guide rod; 40. Spring; 41. Guide protrusion; 42. Filling groove. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example:

[0052] See attached document Figure 1-15 A water and fertilizer integrated sprinkler irrigation machine mainly includes four major systems: a mobile chassis 1, a water and fertilizer tank 14, a track assembly, and a water pump unit 18.

[0053] The mobile chassis 1 uses four drive wheels, each driven by a centrally located motor and a planetary reduction gearbox. In addition, a steering motor is installed at the junction of the outrigger and the back plate to achieve four-wheel drive and four-wheel steering. When turning around in the field or working in a narrow area, the synchronous four-wheel steering function can be activated to achieve highly maneuverable actions such as crab walking and turning on the spot, significantly reducing the turning radius and improving the flexibility of field operations. The lithium battery pack mounted on the chassis has a capacity of 15-30 kWh (the specific capacity is determined based on the single operating area and range requirements, with a typical configuration of 20 kWh, and two packs can be configured), which can meet the power needs of the mobile chassis 1 for 6-8 hours of continuous operation. It also supports a quick-change battery pack design, which is convenient for field replacement or overnight charging. Since the mid-mounted motor can amplify the torque through a planetary reduction gearbox, the carrying efficiency can be greatly improved. The system can be set to two-wheel drive and four-wheel drive modes. If four-wheel drive mode is only used when turning, and two-wheel drive mode is used when driving normally in a straight line, the range of the mobile chassis 1 can be further improved. The control system uses existing remote sensing technology for control, which will not be elaborated on here.

[0054] The mobile chassis 1 and the superstructure module (water and fertilizer sprinkler system) are detachably connected. During the non-irrigation season or harvest period, the lifting frame, water pump, and water and fertilizer module can be disassembled, allowing the mobile chassis 1 to be used independently as a field transport device. It can also be used during the plant protection season with a sprayer for spraying operations. This detachable design achieves "one machine, multiple uses," upgrading the traditional single-function sprinkler machine into a multi-functional platform integrating irrigation, transportation, and spraying. This significantly increases the annual utilization rate of the equipment (from less than 200 hours to over 500 hours), reduces farmers' purchase costs by 40%-60%, and avoids long-term outdoor idleness and aging of the core module. This functional switching is also one of the important creative features that distinguishes this system from existing sprinkler irrigation technologies.

[0055] This invention features an integrated sprinkler irrigation controller. This controller uses an industrial-grade embedded microprocessor as its core, integrates a touchscreen human-machine interface, and reserves remote communication interfaces such as 4G / Wi-Fi / Bluetooth, supporting remote monitoring and parameter distribution via mobile APP or cloud platform. The controller collects real-time data from liquid level sensors (water and fertilizer tank 14 and water channel 2), flow velocity sensor 36 (upstream inlet of the drainage nozzle), pressure sensor (main pipeline 13), vehicle speed sensor (chassis motor), combined electronically controlled valve group (electronically controlled valve and flow sensor), and optional soil moisture and meteorological sensors. This enables five closed-loop control functions: automatic adjustment of water and fertilizer flow rate, linkage control of spray volume and forward speed (ensuring constant irrigation intensity per unit area), segmented variable irrigation (VRI) based on field prescription maps, fault alarms and automatic protection (such as automatic shutdown in case of idling, low pressure, or water shortage), and operation data recording (start and end time, mileage, water volume, fertilizer volume, uniformity coefficient, etc.). The controller has a built-in library of water and fertilizer requirement models covering major crops such as wheat, corn, rice, and vegetables. Users only need to select the crop type and growth stage to automatically generate the optimal irrigation strategy, achieving "one-click start" automated operation. The whole machine is powered by a chassis lithium battery pack (DC 12V / 24V, power consumption ≤50W), with a protection level of IP65, which can adapt to harsh environments such as dampness and dust in the field. Existing technology can be used, so we will not go into too much detail here.

[0056] The sprinkler irrigation machine of this invention is equipped with an independent fertilizer tank module. The tank body is made of corrosion-resistant polyethylene (PE) or polypropylene (PP) material, with a volume design of 300-800 liters (typical value is 500 liters), which can meet the water and fertilizer integration needs of 2-4 acres of farmland in a single continuous operation. The fertilizer tank is equipped with an electric agitator or jet mixing device to ensure that the fertilizer does not separate and is always in a homogeneous state, ensuring the uniformity of fertilization. The water and fertilizer mixing uniformity is not less than 95%. The bottom of the tank is equipped with a filter screen and a drain outlet to prevent undissolved particles from entering the pipeline system. In addition, the water and fertilizer tank is equipped with a liquid level sensor and an electrical conductivity (EC) sensor, which can monitor the liquid level and fertilizer concentration in the tank in real time and feed the data back to the control system to realize closed-loop adjustment of the water and fertilizer ratio. Users can also check the remaining water and fertilizer status in time, and the fertilization accuracy is controlled within ±5%. The tank body is fixed to the chassis with quick-release bolts, which facilitates disassembly, cleaning and maintenance; at the same time, the outside of the tank body is equipped with a transparent liquid level window and a manual feeding port, which makes it convenient for users to observe on site and carry out fertilization operations.

[0057] The water pump unit 18 uses a gasoline internal combustion engine as its power source. Compared to electric water pumps, it offers advantages such as no need for an external power grid, no range anxiety, and ample power reserve. The gasoline engine's rated power is designed to be 15–30 kW (typical configuration 22 kW), driving a high-flow centrifugal pump at rated speed. The water pump flow rate ranges from 20 to 120 m³ / h, and the head meets the requirements for low-pressure spraying (0.1–0.3 MPa). The gasoline engine is equipped with electronic ignition, a pull / electric start integrated device, and features an automatic carburetor enrichment and choke adjustment mechanism to adapt to cold start requirements under different ambient temperatures. The unit integrates a fuel tank (15–25 L, typically 20 L), air filter, muffler, and engine speed controller, allowing stepless adjustment of the water pump output flow rate via a speed control lever or electronic throttle. To reduce vibration and noise, rubber shock-absorbing pads are used between the gasoline engine and the chassis, and a fireproof cover is installed at the exhaust pipe outlet to ensure safe operation in dry field environments. The gasoline engine water pump is fixed on the same load-bearing base as the water and fertilizer tank 14. It is connected to the water and fertilizer module of the sprinkler irrigation machine through a quick-connect pipe and can be quickly disassembled for easy daily maintenance and cross-field transportation.

[0058] This technical solution uses a mobile sprinkler irrigation machine. Therefore, it is necessary to install a load-bearing track assembly in the soft field to solve the problem of slipping and getting stuck. It also makes it easier for users to enter the field to check the crops. At the same time, the track assembly adopts a modular design, which can meet the requirements of factory customization. It can be made of common concrete casting in one piece or plastic material. The main structure includes a U-shaped water channel 2 and wing plates 4 cast in one piece on opposite sides of the water channel 2. The water channel is cast in one piece using concrete. The water channel is 70 cm deep and 50 cm wide. The wing plates 4 are 15-20 cm wide. The side walls of the two wing plates 4 and the side walls of the water channel 2 are connected to form a water inlet channel 5. The track assembly is laid at equal intervals in the field to support the stability of the mobile chassis 1 and can be used to provide irrigation water and drain waterlogged areas.

[0059] When laying the track components, equipment such as a professional trencher or excavator is needed to dig trenches on the ground. During the laying, the bottom of the irrigation ditch 2 should touch the ground, and the sides can be squeezed and filled with broken soil so that the lower end of the wing plate is in contact with the ground. At this time, in order to make full use of the irrigation ditch 2 later, the planting area can be modified to form an arch shape with the middle higher and the sides lower, so that the irrigation ditch 2 is at the lowest point. This allows rainwater to flow quickly from the water inlet channel 5 into the irrigation ditch 2 during the flood season, and then be collected by the irrigation ditch 2 and discharged into the large drainage ditch outside the field. This can fully play the role of infrastructure in farmland, which can fill the water for irrigation during drought and drain floods during the flood season. It can achieve one-time construction investment for many years of use, and subsequent maintenance is simple. Damaged modules can be directly replaced.

[0060] The end of the water channel 2 is higher than the wing plate 4 to form a positioning part for positioning the mobile chassis 1. The mobile chassis 1 can be positioned. A first slot 27 is provided on the inner side of one end of the water channel 2, and a second slot 26 is provided on the outer side of the other end of the water channel 2. The first slot 27 and the second slot 26 adopt a flat-mouth groove design with one inside and one outside. When replacing, the damaged module can be directly crushed and cleaned. Then, the slots can be overlapped according to the overlapping sequence. In addition, the side walls of the first slot 27 and the second slot 26 are provided with filling grooves 41. The filling grooves 41 can be filled with mortar as a sealant. After the mortar dries, a solid block is formed between the first slot 27 and the second slot 26, which can play a permanent fixing role and make the first slot 27 and the second slot 26 less likely to slip.

[0061] This technical solution also includes a prefabricated horizontal spray pipe assembly. The horizontal spray pipe assembly consists of multiple horizontal pipes connected together to form a main pipe 13. Multiple longitudinal drainage pipes are installed on the wall of the main pipe 13. The longitudinal drainage pipes are composed of a two-section pipe combination of rigid and flexible pipes, which can guide irrigation water to the ground using flexible hoses 7, and reduce the impact force on crops, thereby protecting the crops. The specific technical solution is as follows:

[0062] Multiple conduits are installed on the wall of the main pipe 13. The lower end of the conduit is connected to the upper end of the rigid pipe 11 of the longitudinal drainage pipe through an internal threaded joint. A flexible hose 7 is fixedly connected to the lower end of the rigid pipe 11 of the longitudinal drainage pipe. The upper end of the drainage nozzle is connected to the lower end of the flexible hose 7 through an external threaded joint 8. A flow velocity sensor 36 for monitoring the water flow velocity in the pipe is installed on the wall of the conduit.

[0063] The main pipe 13 has multiple horizontal pipes connected by threads, and multiple inclined steel wires 12 are installed on the pipe wall. The lifting frame is equipped with a support rod 15. One end of the inclined steel wire 12 is fixed to the rod wall of the support rod 15. The main pipe 13, the inclined steel wire 12 and the support rod 15 form a triangular structure to improve the stability of the main pipe 13 and the longitudinal drainage pipe.

[0064] like Figure 1 and Figure 9 As shown, this technical solution uses a spliced ​​main pipe 13, the length of which can be selected according to actual needs. The standard length of each horizontal pipe section is 3 meters. A conduit is designed every 1 meter to connect the rigid pipe 11 of the longitudinal drainage pipe. The rigid pipe 11, the flexible hose 7 and the external threaded connector 8 all use the same model. In this way, the main pipe 13 can be configured for multiple sprinkler irrigation modes.

[0065] 1. High-level sprinkler irrigation: The drainage nozzle can be directly fixed to the lower end of the conduit to achieve high-altitude sprinkler irrigation.

[0066] 2. Mid-position sprinkler irrigation: The rigid pipe 11 and the drainage nozzle are combined to spray water at a mid-distance distance from the ground, so that the irrigation water can be evenly sprayed on the ground. When spraying water in the mid-position, the main pipe 13 can be flipped so that the rigid pipe 11 faces upward, and the drainage nozzle can be used to spray water into the air to achieve mid-position sprinkler irrigation.

[0067] 3. Low-level sprinkler irrigation: a combination of rigid pipe 11, flexible hose 7 and drainage nozzle is used to spray water at a low level, so that the water flow can reach the roots of crops directly. At the same time, the flexibility of the flexible hose 7 can avoid scratching the crops.

[0068] A lifting frame is installed on the mobile chassis 1, and two sets of transverse spray pipe assemblies are symmetrically installed on the lifting frame. All of the above irrigation modes can utilize the lifting frame to adjust the height, ensuring the drainage nozzles are at a suitable ground clearance. This also applies to crops at different growth stages. In this embodiment, the lifting frame adopts the following technical solution:

[0069] The lifting frame includes a base 16 and two rectangular tubes 19. The base 16 is fixed to the back plate of the mobile chassis 1. The water pump unit 18, the water and fertilizer tank 14, and the mixer are all fixed to the upper end of the base 16. The lower ends of the two rectangular tubes 19 are fixed to the upper end of the base 16, and a horizontal tie rod is fixedly connected between the two rectangular tubes 19. A rectangular rod is set above the horizontal tie rod. The upper center of the rectangular rod is fixedly connected to the lower end of the support rod 15. Telescopic rods 22 are fixedly connected to both ends of the rectangular rod. The two telescopic rods 22 are respectively sleeved in the two rectangular tubes 19. Locking bolts are threaded on the tube wall of the rectangular tubes 19. An adjustment component is set at the upper end of the telescopic rod 22. The main pipe 13 can be moved and adjusted using the adjustment component.

[0070] Since sprinkler irrigation equipment is an agricultural device used infrequently, in this embodiment, the lifting frame adopts a simple adjustment mode of manual adjustment with locking bolts. In addition, an electric adjustment mechanism can be configured according to the actual irrigation needs of the centrally located crops, such as electric push rods or other linear drive components for adjustment, which will not be elaborated on here.

[0071] In addition, since the idle period after irrigation is relatively long, the main pipe 13 is designed with a foldable structure. After use, the main pipe 13 can be folded and retracted using the adjustment component, which does not occupy a large space and facilitates subsequent field work. The adjustment component includes a support plate 24 and a disc 23. The support plate 24 is fixed to the upper end of the telescopic rod 22. A support shaft is fixedly connected to the center of the upper end of the support plate 24. The shaft wall of the support shaft is rotatably connected to the center of the disc 23 through a ball bearing. Two arc-shaped holes are opened on the side wall of the disc 23. Locking bolts are fitted into the two arc-shaped holes. The side wall of the support plate 24 is connected to the locking bolts through threaded holes. A bushing is fixedly connected to the upper end of the disc 23. A sleeve is fixedly connected to one end of the bushing. One end of the sleeve is threadedly connected to one end of the main pipe 13. An inlet bend connecting to the outlet of the water pump unit 18 is fixedly connected to the sleeve wall.

[0072] In the above technical solution, the main pipe 13 is made of stainless steel, PVC and other materials. Since this technical solution adopts the micro-pressure mode, the wall thickness of the pipe can be appropriately reduced to reduce the weight of the overall device. In addition, the distance after deployment is relatively long, so the overall weight of the horizontal spray pipe assembly and the longitudinal drainage pipe designed symmetrically on both sides does not exceed 30 kg.

[0073] One aspect of this invention is an improvement on traditional drainage nozzles. Traditional nozzles use a medium-high pressure spray method, which places high demands on the configuration of the entire water pump system and results in a large impact force of the sprayed water flow. In particular, seedlings and crops are prone to lodging. Therefore, this technical solution adopts micro-pressure sprinkler irrigation. The drainage nozzle is installed at the end of the hose 7 of the longitudinal drainage pipe through an external threaded connector 8, which is used to drain water evenly to the ground, and the discharged water flow will not impact the crops. The specific technical details are as follows.

[0074] The drainage nozzle includes an upper cover 9 and a bottom shell 10. Both the upper cover 9 and the bottom shell 10 are horn-shaped structures. The upper end of the upper cover 9 is connected to an external threaded connector 8. The upper end of the bottom shell 10 is a sealed structure, and the lower end structure is the same as that of the upper cover 9. Multiple inclined guide vanes 37 are fixedly connected to the side wall of the bottom shell 10. The upper end of the multiple guide vanes 37 is the same as the lower end structure of the upper cover 9.

[0075] like Figures 10-13 As shown, the drainage channel between the two-layer structured drainage nozzles is divided by inclined guide vanes 37. This gives the drainage nozzles a large-flow drainage channel, ensuring smooth drainage and preventing the formation of strong impact water columns. In addition, since water is supplied through the water channel 2, debris such as straw, leaves, and foliage in the water channel can be smoothly discharged after being sucked in, preventing nozzle blockage. It is also very easy to detect blocked nozzles. The flow velocity sensor 36 installed on the pipe wall monitors the water flow status. When the water flow velocity is significantly lower than that of other longitudinal pipes, it can be determined that the drainage nozzle below that pipe is blocked.

[0076] The lower end of the upper cover 9 is fixedly connected with multiple evenly distributed guide rods 38. The side wall of the bottom shell 10 is sleeved with the rod wall of the guide rod 38 through a round hole. A spring 39 is sleeved on the rod wall of the guide rod 38. One end of the spring 39 contacts the lower end of the bottom shell 10. The other end of the spring 39 is fixedly connected with a positioning plate. The positioning plate is fixed to the lower end of the guide rod 38 by bolts. The spring 39 is used to press the bottom shell 10 so that the guide plate 37 can fit against the lower end of the upper cover 9 to form multiple inclined drainage channels.

[0077] Multiple guide rods 38 are evenly distributed and blocked by the ends of the guide plate 37, so as not to affect the water flow discharged from the drainage channel. A ring-shaped guide protrusion 40 is provided at the edge of the bottom shell 10.

[0078] like Figure 11 and Figure 12 As shown, the double-layer nozzle designed in this paper can be extended and retracted using spring 39. When there is a blockage, the water pressure in the upper pipe increases. At this time, the spring 39 contracts under force, which increases the gap between the upper cover 9 and the bottom shell 10. At this time, the blockage can be flushed out by the water flow, thus achieving the effect of automatic cleaning and unblocking. When the blockage is severe, manual intervention can be used to unclog it.

[0079] This sprinkler irrigation machine is also equipped with a mixer, which is located between the water intake pipe of the pump unit 18 and the water outlet pipe 21 of the sap and fertilizer tank 14. The pump unit 18 can use the mixer to simultaneously draw irrigation water and sap and fertilizer for mixing, so that the sap and fertilizer can be fully dissolved in the irrigation water in a short time. The delivery of sap and fertilizer does not require an additional water pump. Relying on the suction force of the pump unit 18, and with the control of the outflow rate, water and fertilizer can be quickly drawn out and pumped together. This not only reduces equipment costs but also greatly improves the uniformity of sap and fertilizer mixing. The specific technical solution is as follows:

[0080] The mixing device includes a housing 17, with an opening on one side of the housing 17 and an end cap 20 fixedly connected to the opening by bolts. An inner tube 35 is provided on one side of the end cap 20. An annular groove that mates with the inner tube 35 is opened on the inner wall of the housing 17. One end of the water intake pipe extends into the inner tube 35 and is fixedly connected to a conical cover 32. A base plate is provided on one side of the conical cover 32. Multiple arc-shaped blades 33 are fixedly connected to one side of the base plate and the edge of the conical cover 32. Multiple arc-shaped channels are formed between the multiple arc-shaped blades 33. A guide pipe 31 is fixedly connected to the upper end of the inner tube 35. The lower end of the guide pipe 31 is fixedly connected to the wall of the water intake pipe. The lower side of one end of the housing 17 is fixedly connected to the wall of the water outlet pipe 21 through a round hole. A combined electric control valve group is installed on the wall of the water outlet pipe 21. An elbow is fixedly connected to the center of one end of the housing 17. The elbow is fixedly connected to the water inlet of the water pump unit 18.

[0081] A spiral blade 34 is fixedly connected to the side wall of the inner tube 35. The spiral blade 34 contacts the inner side of the shell 17 to form a spiral channel. The water inlet end of the spiral channel is close to the water outlet pipe 21, and the water outlet end of the spiral channel is close to the pipe opening of the guide pipe 31. A flexible corrugated pipe 3 is installed at the bottom of the water intake pipe, and a float ball is installed on the pipe wall of the corrugated pipe 3.

[0082] The pump provides suction to directly transport water from the intake pipe into the conical shroud 32 and discharge it through the arc-shaped channel between multiple arc-shaped blades 33. At this time, the water flow can form a vortex in the inner pipe 35. In addition, the fertilizer in the water-fertilizer tank 14 enters the spiral channel from the outlet pipe 21. The water and fertilizer can be pre-mixed through the spiral flow, so that the fertilizer can be fully homogenized in the spiral channel. Then, the water and fertilizer enter the conical shroud 32 through the guide pipe 31 and are discharged through the arc-shaped channel together with the irrigation water. In this way, the water and fertilizer can be fully mixed. Finally, the fertilizer and water mixture enters the pump head of the pump unit 18 from the elbow at the other end of the casing 17. At this time, the impeller in the pump head can be used for further mixing and homogenization. Finally, the fully mixed water and fertilizer mixture enters the sprinkler irrigation system and finally reaches the ground, completing the sprinkler irrigation and fertilization operation.

[0083] Two positioning components are provided at the lower end of the mobile chassis 1. The positioning components include a support arm 25. One end of the support arm 25 is rotatably connected to a rotating shaft via a ball bearing. The rotating shaft is fixed to the lower end of the back plate of the mobile chassis 1. A positioning roller 6 is rotatably connected to the lower end of the support arm 25. A reduction motor 28 is fixedly connected to the side wall of the support arm 25. A gear 30 is fixedly connected to the output end of the reduction motor 28. An arc-shaped rack 29 is embedded in the gear 30. The arc-shaped rack 29 is coaxially arranged with the rotating shaft and fixed to the lower end of the back plate of the mobile chassis 1.

[0084] In actual use, the water channel 2 will inevitably settle, causing a large deviation in the flatness of the wing plate 4. Therefore, a positioning component that can correct deviation and position is designed under the mobile chassis 1. That is, the gear 30 is driven by the reduction motor 28 to roll on the surface of the arc rack 29. When rolling, the reduction motor 28 can drive the support arm 25 to swing. After swinging, the distance between the positioning roller 6 and the side wall of the water channel 2 can be adjusted and limited. In this way, the mobile chassis 1 can be positioned, reducing the difficulty of controlling the drive chassis 1.

[0085] The irrigation process of the water and fertilizer integrated sprinkler irrigation machine provided in this technical solution is as follows:

[0086] First, modular irrigation canals 2 are pre-laid along the predetermined direction of the farmland, with the U-shaped channel of the canal 2 buried below ground level. The side wing plates 4 are laid on the ground and flush with it. The upper surface of the wing plates 4 forms the travel track of the sprinkler irrigation machine. The self-propelled sprinkler irrigation machine is straddled above the irrigation canal 2, so that the drive wheel set of the mobile chassis 1 of the sprinkler irrigation machine contacts and presses against the upper surface of the wing plates 4. The friction provided by the wing plates 4 drives the sprinkler irrigation machine to move. At the same time, the water intake at the bottom of the sprinkler irrigation machine is extended downward below the water surface inside the irrigation canal 2. The vertical distance between the water intake and the water surface inside the irrigation canal 2 is controlled within the range of 0.2 to 0.4 meters to form a very short water pumping path. According to the current growth stage and height of the crops, the height of the drainage nozzle at the lower end of the main pipeline 13 of the sprinkler irrigation machine is adjusted to maintain a safe distance of 30 to 50 centimeters between its lower end and the ground, so that the water flow of the drainage components is sprayed evenly and avoids mechanical damage to the crops during the spraying operation.

[0087] Next, water and fertilizer are mixed and parameters are preset. Water is injected into the water channel 2, with the water depth controlled below the water inlet channel 5. Soluble fertilizer stock solution is loaded into the water and fertilizer tank 14 and mixed and diluted according to the preset ratio to form a water and fertilizer mixture for later use. The water and fertilizer ratio is preset according to the crop type, growth stage and soil nutrient status. Next, the amount of fertilizer is determined according to the crop type and growth stage. According to the degree of drought, the forward speed of the moving chassis 1 is preset to 0.1 to 0.3 m / s, the working pressure of the water pump unit 18 is 0.05 to 0.2 MPa, and the water spray volume is adjustable from 20 to 120 m³ / h. In addition, according to the crop's tolerance to the spray intensity and the current wind speed, temperature and other environmental conditions, the forward speed of the sprinkler, the working pressure of the water pump and the flow rate of the nozzle are finely adjusted to simulate the effect of natural rainfall and avoid impacting the seedlings of crops.

[0088] During the self-propelled movement and synchronized water intake process, the drive motor of the mobile chassis 1 is activated. The drive motor is a mid-mounted reduction motor with an independent steering mechanism. The drive motor outputs low-speed, high-torque power, driving the drive wheel assembly to rotate at a constant speed on the wing plate 4, allowing the sprinkler to move forward along the extension direction of the irrigation canal 2. Simultaneously, the water pump unit 18 module is activated. The water pump unit 18 module is driven by a gasoline engine, and the water pump inlet directly draws water-fertilizer mixture from the irrigation canal through the water intake. Since the vertical distance between the water intake and the water surface in the irrigation canal 2 is only 0.2 to 0.4 meters, and the water source in the irrigation canal 2 is directly exposed below the water intake, the pump's suction head loss is minimal, and the pumping efficiency is significantly higher than that of existing technologies that draw water from a distant water source through a long-distance pipeline. The pumping flow rate of the water pump module is linked to the forward speed of the sprinkler to ensure that the irrigation water volume per unit area remains constant.

[0089] In the short-path delivery and low-pressure spraying process, the pump unit 18 module pressurizes the pumped water-fertilizer mixture and immediately sends it into the short-path pipeline system. The total length of the short-path pipeline, i.e., the delivery distance from the pump outlet to the main pipeline, is controlled within 3 meters. This ensures that the water-fertilizer mixture has a very short residence time in the pipeline, with virtually no flow resistance loss along the way. Furthermore, undissolved fertilizer particles or impurities cannot settle in the pipeline due to the high flow velocity and short residence time, thus avoiding pipeline blockage problems at the source. The water-fertilizer mixture is then rapidly delivered through the short-path pipeline to multiple large-diameter drainage nozzles installed on the main pipeline 13. The working pressure of each nozzle is 0.05 to 0. 2 MPa; after the water-fertilizer mixture is sprayed from the nozzle, it forms a water curtain with a diffusion angle of 360° under micro-pressure. The spraying radius of a single nozzle reaches 35-50 cm, and the spraying areas of adjacent nozzles overlap with each other, with an overlap width of 20 to 35 cm, ensuring that there are no blind spots on the ground. In addition, the drainage nozzle can tilt to discharge water, which falls to the ground with a certain cutting angle after falling, and is sprinkled on the crop canopy and ground surface in a form close to natural rainfall. This avoids physical damage to crop stems and leaves caused by high-pressure spraying and ensures uniform penetration of the water-fertilizer mixture into the soil surface. According to the rain gauge grid method, the spraying uniformity coefficient is not less than 85%.

[0090] After the crops reach maturity, the sprinkler irrigation machine is disassembled, leaving only the mobile chassis 1 above the irrigation canal 2 for use in transporting crops during the subsequent harvest season. Functional switching operations are performed after sprinkler irrigation or during crop harvest. These operations include: removing the lifting frame, water pump unit 18, and water and fertilizer module from the mobile chassis 1, retaining the mobile chassis 1 as an independent transport device for field harvesting; and when pesticide spraying is needed during the crop's growth period, mounting the sprayer on the chassis and connecting it to the spraying pipe system added to the lifting frame for spraying operations. This maximizes the functionality of the sprinkler irrigation machine.

[0091] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0092] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A water and fertilizer integrated sprinkler irrigation machine, comprising a mobile chassis (1), a water and fertilizer tank (14), and a water pump unit (18), characterized in that, Also includes: The horizontal nozzle assembly consists of multiple horizontal pipes connected together to form a main pipe (13). Multiple longitudinal drainage pipes are installed on the pipe wall of the main pipe (13). The longitudinal drainage pipes are composed of two-section pipes with a combination of hard and soft, which can guide irrigation water to the ground using a flexible hose (7) and reduce the force of collision with crops, thereby protecting the crops. The mobile chassis (1) is provided with a lifting frame, and the transverse nozzle assembly is provided with two sets symmetrically installed on the lifting frame; The drainage nozzle is installed at the end of the hose (7) of the longitudinal drainage pipe via an external threaded connector (8) for uniformly draining water to the ground, and the discharged water flow will not impact crops. The water mixer is located between the water intake pipe of the water pump unit (18) and the water outlet pipe (21) of the water fertilizer tank (14). The water pump unit (18) can use the water mixer to simultaneously draw irrigation water and water fertilizer for mixing, so that the water fertilizer can be fully dissolved in the irrigation water in a short time. The track assembly is laid at equal intervals in the field to support the mobile chassis (1) in a stable form, and can be used to provide irrigation water and drain waterlogged areas.

2. The water and fertilizer integrated sprinkler irrigation machine according to claim 1, characterized in that: The main pipe (13) has multiple conduits on its wall. The lower end of the conduit is connected to the upper end of the rigid pipe (11) of the longitudinal drainage pipe through an internal threaded connector. The lower end of the rigid pipe (11) of the longitudinal drainage pipe is fixedly connected to a flexible hose (7). The upper end of the drain nozzle is connected to the lower end of the flexible hose (7) through an external threaded connector (8). A flow velocity sensor (36) for monitoring the water flow velocity in the pipe is installed on the conduit wall. The main pipe (13) has multiple horizontal pipes connected by threads, and multiple inclined steel wires (12) are installed on the pipe wall. The lifting frame is equipped with a support rod (15). One end of the inclined steel wire (12) is fixed to the wall of the support rod (15). The main pipe (13), the inclined steel wire (12) and the support rod (15) form a triangular structure to improve the stability of the main pipe (13) and the longitudinal drainage pipe.

3. The water and fertilizer integrated sprinkler irrigation machine according to claim 2, characterized in that: The lifting frame includes a base (16) and two rectangular tubes (19). The base (16) is fixed on the back plate of the mobile chassis (1). The water pump unit (18), the water fertilizer tank (14) and the water mixer are all fixed on the upper end of the base (16). The lower ends of the two rectangular tubes (19) are fixed on the upper end of the base (16), and a horizontal tie rod is fixedly connected between the two rectangular tubes (19). A rectangular rod is provided above the horizontal tie rod. The upper center of the rectangular rod is fixedly connected to the lower end of the support rod (15). Telescopic rods (22) are fixedly connected to both ends of the rectangular rod. The two telescopic rods (22) are respectively sleeved in the two rectangular tubes (19). Locking bolts are threaded on the tube wall of the rectangular tubes (19). An adjustment component is provided at the upper end of the telescopic rod (22). The main pipe (13) can be moved and adjusted using the adjustment component.

4. The water and fertilizer integrated sprinkler irrigation machine according to claim 3, characterized in that: The adjustment assembly includes a support plate (24) and a disc (23). The support plate (24) is fixed to the upper end of the telescopic rod (22). A support shaft is fixedly connected to the center of the upper end of the support plate (24). The shaft wall of the support shaft is rotatably connected to the center of the disc (23) through a ball bearing. Two arc-shaped holes are opened on the side wall of the disc (23). Locking bolts are fitted into both arc-shaped holes. The side wall of the support plate (24) is connected to the locking bolts through a threaded hole. A bushing is fixedly connected to the upper end of the disc (23). A sleeve is fixedly connected to one end of the bushing. One end of the sleeve is threadedly connected to one end of the main pipe (13). An inlet bend connecting to the outlet of the water pump unit (18) is fixedly connected to the sleeve wall.

5. The water and fertilizer integrated sprinkler irrigation machine according to claim 1, characterized in that: The drainage nozzle includes an upper cover (9) and a bottom shell (10). Both the upper cover (9) and the bottom shell (10) are horn-shaped structures. The upper end of the upper cover (9) is connected to an external threaded connector (8). The upper end of the bottom shell (10) is a sealed structure, and the lower end structure is the same as that of the upper cover (9). Multiple inclined guide vanes (37) are fixedly connected to the side wall of the bottom shell (10). The upper ends of the multiple guide vanes (37) are the same as the lower end structure of the upper cover (9). The lower end of the upper cover (9) is fixedly connected with a plurality of evenly distributed guide rods (38). The side wall of the bottom shell (10) is sleeved with the rod wall of the guide rod (38) through a round hole. A spring (39) is sleeved on the rod wall of the guide rod (38). One end of the spring (39) is in contact with the lower end of the bottom shell (10). The other end of the spring (39) is fixedly connected with a positioning plate. The positioning plate is fixed to the lower end of the guide rod (38) by bolts. The spring (39) presses the bottom shell (10) so that the guide plate (37) can fit against the lower end of the upper cover (9) to form a plurality of inclined drainage channels. Multiple guide rods (38) are evenly distributed and blocked by the ends of the guide plate (37), so as not to affect the water flow discharged from the drainage channel. The bottom shell (10) is provided with a ring-shaped guide protrusion (40) at the edge.

6. The water and fertilizer integrated sprinkler irrigation machine according to claim 1, characterized in that: The mixing device includes a housing (17), an opening on one side of the housing (17), and an end cap (20) fixedly connected to the opening by bolts. An inner tube (35) is provided on one side of the end cap (20). An annular groove that mates with the inner tube (35) is provided on the inner wall of the housing (17). One end of the water intake pipe extends into the inner tube (35) and is fixedly connected to a conical cover (32). A base plate is provided on one side of the conical cover (32), and multiple arc-shaped... The blades (33) form multiple arc-shaped channels together. The upper end of the inner tube (35) is fixedly connected to the guide pipe (31). The lower end of the guide pipe (31) is fixedly connected to the wall of the water intake pipe. The lower side of one end of the housing (17) is fixedly connected to the wall of the water outlet pipe (21) through a round hole. A combined electric control valve group is installed on the wall of the water outlet pipe (21). An elbow is fixedly connected to the center of one end of the housing (17). The elbow is fixedly connected to the water inlet end of the water pump unit (18).

7. The water and fertilizer integrated sprinkler irrigation machine according to claim 1, characterized in that: The inner tube (35) is fixedly connected to a spiral blade (34). The spiral blade (34) contacts the inner side of the shell (17) to form a spiral channel. The water inlet end of the spiral channel is close to the water outlet pipe (21), and the water outlet end of the spiral channel is close to the opening of the guide pipe (31). A flexible corrugated pipe (3) is installed at the bottom of the water intake pipe, and a float is installed on the wall of the corrugated pipe (3).

8. The water and fertilizer integrated sprinkler irrigation machine according to claim 1, characterized in that: The lower end of the mobile chassis (1) is provided with two positioning components. The positioning components include a support arm (25). One end of the support arm (25) is rotatably connected to a rotating shaft through a ball bearing. The rotating shaft is fixed to the lower end of the back plate of the mobile chassis (1). The lower end of the support arm (25) is rotatably connected to a positioning roller (6). The side wall of the support arm (25) is fixedly connected to a reduction motor (28). The output end of the reduction motor (28) is fixedly connected to a gear (30). The gear (30) has an arc-shaped rack (29) inside. The arc-shaped rack (29) is coaxially arranged with the rotating shaft and fixed to the lower end of the back plate of the mobile chassis (1).

9. The water and fertilizer integrated sprinkler irrigation machine according to claim 1, characterized in that: The track assembly includes a U-shaped water channel (2) and wing plates (4) integrally formed on opposite sides of the water channel (2). The side walls of the two wing plates (4) and the side walls of the water channel (2) are connected to form a water inlet channel (5). The end of the water channel (2) is higher than the wing plate (4) to form a positioning part for positioning the mobile chassis (1). A first slot (27) is provided on the inner side of one end of the water channel (2), and a second slot (26) is provided on the outer side of the other end of the water channel (2). The side walls of the first slot (27) and the second slot (26) are both provided with filling grooves (41).

10. A method for integrated water and fertilizer sprinkler irrigation according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Straddle installation and height adjustment. Straddle the self-propelled sprinkler on top of the modular track assembly, so that the drive wheels of the mobile chassis (1) contact the upper surface of the wing plates (4) on both sides of the water channel. The corrugated pipe (3) at the bottom of the sprinkler extends into the water channel (2) 0.2 to 0.4 meters below the water surface, without contacting the bottom of the water channel (2). Then, adjust the lifting frame according to the height of the crop during its growth period to lift the drainage assembly off the ground and maintain a safe distance of 30 to 50 centimeters from the ground, so that the water flow from the drainage assembly is evenly sprayed. Step 2, water and fertilizer mixing and parameter setting: inject water into the water channel (2), and control the water depth below the water inlet channel (5). Put the soluble fertilizer mother liquor into the water and fertilizer tank (14), mix and dilute it according to the preset ratio to form a water and fertilizer mixture for later use. Next, determine the amount of fertilizer according to the crop type and growth stage, and set the forward speed of the moving chassis (1) to 0.1 to 0.3 m / s according to the degree of drought, the working pressure of the water pump unit (18) to 0.05 to 0.2 MPa, and the water spray volume to be adjustable from 20 to 120 m³ / h. Step 3: Self-propelled forward movement and synchronous water intake. Start the drive motor of the mobile chassis (1) and drive the wheel set to move forward at a constant speed along the wing plate (4). At the same time, start the water pump unit (18) module and draw irrigation water directly from the water channel (2) through the water intake for irrigation. When fertilization is required, open the drainage component of the water and fertilizer tank to control the flow rate. Use the suction force of the water pump unit (18) to directly and synchronously draw water and fertilizer mixture. The water and fertilizer discharge speed, water flow rate and sprinkler forward speed are linked and controlled to keep the sprinkler irrigation amount per unit area constant. Step 4: Short-path transport and micro-pressure spraying. The pumped water-fertilizer mixture is directly transported to the main pipe (13) of the lifting frame through the short-path pipeline, and then evenly sprayed by multiple drainage nozzles on the longitudinal drainage pipe on the main pipe (13). The drainage nozzles spray at a working pressure of 0.05-0.2 MPa, and the spraying coverage radius is 35-50cm. Step 5: After the crops reach maturity, disassemble the sprinkler machine, leaving only the mobile chassis (1) above the irrigation canal (2) for use in transporting crops during the subsequent harvest period.

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