Automatic sprinkling irrigation vehicle based on soil humidity detection and moisture evaporation evaluation

Abstract

The utility model discloses an automatic sprinkling irrigation vehicle based on soil humidity detection and moisture evaporation evaluation. The automatic sprinkling irrigation vehicle comprises a moving chassis, a controller, an industrial personal computer, an automatic driving assembly, at least one group of electric control sprinkling irrigation assemblies, a soil humidity detection assembly and a moisture evaporation evaluation assembly. Wherein the soil humidity detection assembly is mounted at the lower part of the rear side of the moving chassis and comprises a soil humidity sensor, a soil humidity sensor mounting frame and a first driving motor which are connected in sequence; the moisture evaporation evaluation assembly is installed in an isolation box which is waterproof and communicated with air, and comprises a temperature sensor and an air humidity sensor. According to the automatic sprinkling irrigation vehicle, the sprinkling irrigation requirement can be evaluated more accurately, and farmland cost saving and efficiency increasing are achieved; and automatic movement can be achieved, the water spraying direction is automatically adjusted, and full automation of tank spraying is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic sprinkler irrigation equipment, and in particular relates to an automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation evaluation. Background Art

[0002] In today's rapidly developing society, the technology of using automated equipment to help us solve single repetitive labor has become very mature, and the application of automated equipment in agricultural production has become more and more extensive. At present, it is very common to use automatic sprinkler equipment to irrigate farmland, but in most cases, human intervention is required in the direction, time and location of the water spray, which consumes a lot of manpower and is very inefficient. Compared with laying irrigation pipes, mobile automatic sprinkler equipment has better flexibility. Therefore, a sprinkler truck that can dynamically adjust the sprinkler operation according to the water demand of the agricultural planting area, and can move and operate autonomously, is of great significance to improving the automation of agricultural irrigation.

[0003] Sprinkler irrigation is an irrigation method that uses a water pump and a pipe system or a drop in the height of a natural water source to spray water with a certain pressure into the air, which is dispersed into small water droplets or forms mist and falls on plants and the ground. The water demand includes the evaporation of the soil and the surface and the transpiration consumed by the plants themselves, also known as plant evaporation. The factors affecting the water demand include meteorological conditions (temperature, humidity, radiation and wind speed, etc.), soil properties and their water content, plant species and growth stages, etc. Patent CN210432548U discloses an automatic water spraying device based on lawn soil humidity, which can automatically control the water spraying amount according to the humidity of lawn soil, which is conducive to improving the survival rate of crops in the soil and ensuring the yield. There is no need to prepare a variety of different specifications of water spraying devices for soils with different humidity, thereby reducing the investment cost and meeting the use needs in all directions. However, the device does not take into account the meteorological conditions (especially air humidity and temperature) that have a greater impact on the water demand for sprinkler irrigation. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides an automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment. The automatic sprinkler irrigation vehicle is provided with a soil moisture detection component and a water evaporation assessment component, and takes into account the influence of meteorological conditions on the sprinkler irrigation water demand. It can more accurately assess the irrigation demand and control the water spraying amount, thereby achieving cost saving and efficiency improvement in farmland. In addition, an automatic driving component and an electric-controlled sprinkler irrigation component are provided, which can achieve autonomous movement and automatic adjustment of the water spraying direction, thereby realizing full automation of the spray tank.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment is characterized in that it includes: a moving chassis, a controller, an industrial computer, an automatic driving component, at least one group of electric-controlled sprinkler irrigation components, a soil moisture detection component, and a water evaporation assessment component; wherein the soil moisture detection component is installed on the lower rear side of the moving chassis, and includes a soil moisture sensor, a soil moisture sensor mounting frame, and a first drive motor connected in sequence, and the first drive motor is used to control the rise and fall movement of the soil moisture sensor; the water evaporation assessment component is installed in an isolation box that is water-proof and connected to the air, and includes a temperature sensor and an air humidity sensor; the moving chassis, the electric-controlled sprinkler irrigation component, and the first drive motor are respectively connected to the controller, the automatic driving component, the water evaporation assessment component, and the soil moisture sensor are respectively connected to the industrial computer, and the controller is connected to the industrial computer.

[0007] Preferably, the autonomous driving component includes a binocular camera, six groups of ultrasonic sensors, and a GPS module; the binocular camera is installed on the front side of the motion chassis; the ultrasonic sensors are evenly installed on the left, right, left front, right front, left rear, and right rear sides of the motion chassis.

[0008] Preferably, the electric-controlled sprinkler irrigation assembly is installed on the upper side of the chassis, including a water tank, a soft water pipe, a rotating motor, a rotating motor bracket, a swing motor, a swing motor bracket, and a swing arm; the rotating motor bracket is fixed on the moving chassis, the rotating motor is fixed on the rotating motor bracket, the swing motor bracket is fixed on the rotating motor output shaft, the swing motor is fixed on the swing motor bracket, and the lower end of the swing arm is fixed on the swing motor output shaft; the rotating motor is perpendicular to the rotation direction of the swing motor; the water tank is fixed on the moving chassis; the front end of the soft water pipe is connected to the water tank through an electric-controlled valve, and the rear end thereof is connected to the sprinkler fixed at the upper end of the swing arm.

[0009] Preferably, the moving chassis is a tracked chassis.

[0010] Preferably, the isolation box is installed on the upper front side of the moving chassis, and the controller, industrial computer, and water evaporation assessment component are all installed in the isolation box.

[0011] Preferably, an automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment further includes a power supply, a power switch, and an emergency stop switch, wherein the power switch is connected to the industrial computer, and the emergency stop switch is connected to the controller.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The utility model is provided with a soil moisture detection component and a water evaporation evaluation component. The air humidity sensor and the temperature sensor are used to detect the meteorological conditions during the sprinkler irrigation operation in real time to evaluate the water evaporation situation. Combined with the soil moisture sensor, it can more accurately judge whether the farmland needs sprinkler irrigation and the water demand, thereby realizing cost saving and efficiency improvement of the farmland. Moreover, the utility model has a simple structure and reliable performance.

[0014] 2. The automatic driving component of the utility model uses binocular cameras, ultrasonic sensors and GPS modules to identify and feedback environmental information, so as to realize autonomous movement of the automatic sprinkler truck, with reliable performance and low manufacturing cost.

[0015] 3. The electric-controlled sprinkler irrigation assembly of the utility model adopts two sets of motors (rotating motor and swing motor) with vertical motion axes, combined with the motion of the motion chassis, to achieve automatic 360° sprinkler irrigation with a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The three-dimensional structure of the automatic sprinkler vehicle of the utility model is shown in FIG. Figure 1 ;

[0017] Figure 2 The three-dimensional structure of the automatic sprinkler vehicle of the utility model is shown in FIG. Figure 2 ;

[0018] Figure 3 The three-dimensional structure of the automatic sprinkler vehicle of the utility model is shown in FIG. Figure 3 ;

[0019] Figure 4 This is a left view of the automatic sprinkler truck according to an embodiment of the utility model;

[0020] Figure 5 The three-dimensional structure of the automatic sprinkler vehicle of the utility model is shown in FIG. Figure 4 ;

[0021] Figure 6 This is a schematic diagram of the structure of an electric-controlled sprinkler irrigation assembly (part) of an embodiment of the utility model;

[0022] Figure 7 This is a rear view of the automatic sprinkler truck according to an embodiment of the utility model.

[0023] In the figure: 1. motion chassis, 2. controller, 3. industrial computer, 41. binocular camera, 42. ultrasonic sensor, 43. GPS module, 51. water tank, 52. soft water pipe, 53. rotating motor, 54. rotating motor bracket, 55. swing motor, 56. swing motor bracket, 57. swing arm, 58. nozzle, 61. soil moisture sensor, 62. soil moisture sensor mounting bracket, 63. first drive motor, 71. temperature sensor, 72. air humidity sensor, 8. power switch, 9. emergency stop switch, 10. isolation box. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is specifically described in the following embodiments in conjunction with the accompanying drawings. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation on the present invention.

[0025] It should be noted that, in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. When two elements are "fixedly connected" or "rotatably connected", the two elements can be directly connected or there can be a central element. On the contrary, when an element is referred to as "directly on" another element, there is no intermediate element. The fixed connection or fixed connection mode can be screw connection, welding, riveting, plug connection or connection through a third component. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] like Figure 1 , 2 As shown in Figure 3, an automatic sprinkler vehicle based on soil moisture detection and water evaporation assessment is characterized in that it includes: a motion chassis 1, a controller 2, an industrial computer 3, an automatic driving component, at least one group of electric-controlled sprinkler components (two groups are shown in the figure in this embodiment), a soil moisture detection component, and a water evaporation assessment component.

[0027] In this embodiment, the moving chassis 1 is designed as a crawler chassis with strong obstacle-crossing capability and more suitable for moving on soil ground. The automatic sprinkler truck is also equipped with a mobile power supply to provide power for it; Figure 5 As shown, the automatic sprinkler truck is also provided with a power switch 8 and an emergency stop switch 9 which are exposed to the outside and easy to operate. The power switch 8 is connected to the industrial computer 3, and the emergency stop switch 9 is connected to the controller 2.

[0028] like Figure 3 , 4 As shown, the soil moisture detection component is installed on the lower rear side (water tank side) of the moving chassis 1 far away from the sprinkler, and includes a soil moisture sensor 61, a soil moisture sensor mounting bracket 62, and a first drive motor 63 connected in sequence; the first drive motor 63 is used to drive the soil moisture sensor mounting bracket 62 to swing around the rotation axis, thereby controlling the rise and fall movement of the soil moisture sensor 61.

[0029] like Figure 2 , 4 As shown, the water evaporation assessment component is installed in an isolation box 10 that is water-proof and connected to the air, and includes a temperature sensor 71 and an air humidity sensor 72 to detect the air humidity and temperature and prevent the water sprayed by the electric-controlled sprinkler assembly and other external environments from affecting the detection data of the two sensors.

[0030] The soil moisture detection component and the water evaporation assessment component use air humidity sensors and temperature sensors to detect the meteorological conditions of sprinkler irrigation operations in real time to assess water evaporation. Combined with the soil moisture sensor, it can more accurately determine whether the farmland needs sprinkler irrigation and the amount of water required.

[0031] The isolation box 10 can be designed as an I-shaped structure as shown in the figure, covered with a dust cover plate (not shown in the figure of this embodiment), or can be designed as other hollow or partially hollow boxes that can achieve water isolation and communicate with air. In this embodiment, the isolation box 10 is installed on the upper front side of the motion chassis 1. In order to save space and facilitate wiring, and to meet the water isolation and dustproof requirements of the controller 2 and the industrial computer 3, the water evaporation evaluation components of the controller 2 and the industrial computer 3 are all installed in the isolation box 10.

[0032] like Figure 1 , 3 As shown, the automatic driving component includes a binocular camera 41, six sets of ultrasonic sensors 42, and a GPS module 43; the binocular camera 41 is installed on the front side of the motion chassis 1; and the ultrasonic sensors 42 are evenly installed on the left, right, left front, right front, left rear, and right rear sides of the motion chassis 1. The automatic driving component uses binocular cameras, ultrasonic sensors, and GPS modules to identify and feedback environmental information to the industrial computer 3, and then controls the motion chassis 1 to move autonomously through the controller, with reliable performance and low manufacturing cost.

[0033] like Figure 5 , 6 As shown, the electric-controlled sprinkler assembly is installed on the upper side of the chassis for realizing water spraying, including a water tank 51, a soft water pipe 52, a rotating motor 53, a rotating motor bracket 54, a swing motor 55, a swing motor bracket 56, and a swing arm 57; the rotating motor bracket 54 is fixed to the moving chassis 1 by a threaded fastener (such as a copper column shown in the figure), and the rotating motor 53 is fixed to the rotating motor bracket 54; the swing motor bracket 56 is fixed to the output shaft of the rotating motor 53, and the swing motor 55 is fixed to the swing motor bracket 56; the swing arm 57 is I-shaped, and its lower end is fixed to the output shaft of the swing motor 55; the water tank 51 is fixed to the moving chassis 1, and the front end of the soft water pipe 52 is connected to the water tank through an electric-controlled valve, and the rear end is connected to the nozzle 58 fixed to the upper end of the swing arm 57. The electric-controlled sprinkler irrigation assembly uses two sets of motors (rotating motor and swinging motor) that each realize one degree of rotational freedom and have perpendicular motion axes to achieve multi-angle water spraying action (the nozzle swings left and right, up and down). Combined with the movement of the motion chassis (front and back movement), it realizes 360° sprinkler irrigation automation with a simple structure and high cost performance.

[0034] The power parts (motors) in the motion chassis 1, the automatic driving component, the electric control sprinkler component, the soil moisture detection component, and the water evaporation assessment component are respectively connected to the controller 2, and the sensors in each component are respectively connected to the industrial computer 3, and the controller 2 is connected to the industrial computer 3. That is: the motors on the motion chassis 1, the rotating motor 53 and the swing motor 55 in the electric control sprinkler component, and the first drive motor 63 in the soil moisture detection component are respectively connected to the controller 2; the binocular camera 41, the ultrasonic sensor 42, and the GPS module 43 in the automatic driving component, the temperature sensor 71, the air humidity sensor 72, and the soil humidity sensor 61 in the water evaporation assessment component are respectively connected to the industrial computer 3; the controller 2 is connected to the industrial computer 3.

[0035] The working principle of an automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment in this embodiment is as follows:

[0036] Before use, pour water into the water tank 51 to complete the preparation work; when in use, turn on the power switch 8, the controller 2 controls the first drive motor 63 to insert the soil moisture sensor 61 into the soil to detect the soil moisture, and transmits the detection data to the industrial computer 3, combined with the water evaporation situation evaluated by the real-time data of the air humidity sensor 72 and the temperature sensor 71, to determine whether water spraying is needed and the amount of water for sprinkler irrigation.

[0037] When it is determined that water spraying is needed, the industrial computer 3 controls the motion chassis 1 to move at a set speed through the controller 2. At the same time, the electronically controlled valve on the electronically controlled sprinkler assembly is opened, and the rotary motor 53 and the swing motor 55 are driven to move at a set frequency to achieve all-round water spraying. During the movement of the automatic sprinkler, the automatic driving assembly senses the environmental information such as its position in the farmland, surrounding obstacles, and movement direction, and feeds it back to the industrial computer for controlling the autonomous movement of the motion chassis 1, thus achieving full automation of sprinkler irrigation.

[0038] The above-mentioned implementation modes are preferred cases of the present utility model and are not used to limit the protection scope of the present utility model. Various deformations or modifications that can be made by ordinary technicians in this field without creative work within the scope of the attached claims are still within the protection scope of this patent.

Claims

1. An automatic sprinkler truck based on soil moisture detection and water evaporation assessment, characterized in that: include: A motion chassis (1), a controller (2), an industrial computer (3), an automatic driving component, at least one set of electronically controlled sprinkler irrigation components, a soil moisture detection component, and a water evaporation assessment component; The soil moisture detection component is installed at the lower rear part of the moving chassis (1), and comprises a soil moisture sensor (61), a soil moisture sensor mounting frame (62), and a first drive motor (63) connected in sequence, and the first drive motor (63) is used to control the rise and fall movement of the soil moisture sensor (61); the water evaporation assessment component is installed in an isolation box (10) that is water-proof and connected to the air, and comprises a temperature sensor (71) and an air humidity sensor (72); The motion chassis (1), the electric-controlled sprinkler assembly, and the first drive motor (63) are respectively connected to the controller (2); the automatic driving assembly, the water evaporation assessment assembly, and the soil moisture sensor (61) are respectively connected to the industrial computer (3); and the controller (2) is connected to the industrial computer (3).

2. The automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment as claimed in claim 1, characterized in that: The autonomous driving component comprises a binocular camera (41), six groups of ultrasonic sensors (42), and a GPS module (43); the binocular camera (41) is installed on the front side of the motion chassis (1); and the ultrasonic sensors (42) are evenly installed on the left, right, left front, right front, left rear, and right rear sides of the motion chassis (1).

3. The automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment as claimed in claim 1, characterized in that: The electric-controlled sprinkler irrigation assembly is installed on the upper side of the chassis, and comprises a water tank (51), a soft water pipe (52), a rotating motor (53), a rotating motor bracket (54), a swing motor (55), a swing motor bracket (56), and a swing arm (57); The rotating motor bracket (54) is fixed on the moving chassis (1), the rotating motor (53) is fixed on the rotating motor bracket (54), the swing motor bracket (56) is fixed on the output shaft of the rotating motor (53), the swing motor (55) is fixed on the swing motor bracket (56), and the lower end of the swing arm (57) is fixed on the output shaft of the swing motor (55); the rotating directions of the rotating motor (53) and the swing motor (55) are perpendicular; The water tank (51) is fixed on the moving chassis (1); the front end of the soft water pipe (52) is connected to the water tank through an electric control valve, and the rear end thereof is connected to a spray head (58) fixed on the upper end of the swing arm (57).

4. The automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment as claimed in claim 1, characterized in that: The moving chassis (1) is a crawler-type chassis.

5. The automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment as claimed in claim 1, characterized in that: The isolation box (10) is installed on the upper front part of the moving chassis (1), and the controller (2), the industrial computer (3), and the water evaporation assessment component are all installed in the isolation box (10).

6. The automatic sprinkler irrigation vehicle based on soil moisture detection and water evaporation assessment as claimed in claim 1, characterized in that: It also comprises a power supply, a power switch (8) and an emergency stop switch (9), wherein the power switch (8) is connected to the industrial computer (3), and the emergency stop switch (9) is connected to the controller (2).

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