Hardware structure of irrigation vehicle system capable of automatically supplementing liquid

Abstract

The hardware structure of the irrigation vehicle system capable of automatically supplementing the liquid comprises an irrigation vehicle, the irrigation vehicle is provided with a camera, a driving mechanism and a control device, and a liquid level switch is arranged in a vehicle body; a 7-shaped tap water pipe is installed on the ground, a pipe opening of the 7-shaped tap water pipe faces backwards, a first valve is arranged at the pipe opening, and a liquid supplementing pipe extends forwards from a vehicle body of the irrigation vehicle. The first valve seals a tap water pipe orifice at ordinary times to prevent tap water leakage. After a software engineer programs the control device in the hardware structure, when water in the body of the irrigation vehicle is insufficient, the liquid level drops to a low level set by the liquid level switch, the liquid level switch generates an electric signal to the control device, and the control device controls the driving mechanism to drive the body to move from back to front along a liquid supplementing route to be close to a tap water pipe. And water in the tap water pipe enters the body of the irrigation vehicle through the liquid supplementing pipe until the liquid supplementing pipe on the vehicle body is forwards inserted into the tap water pipe orifice to push open the first valve, so that automatic liquid supplementing of the irrigation vehicle is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of irrigation vehicle, concretely relates to the hardware structure of irrigation vehicle system of automatic liquid supplement. BACKGROUND

[0002] Green plant irrigation traditionally relies on manual operation, and the labor cost is high. In order to reduce the labor cost, the automatic irrigation vehicle emerges as the times require, for example, the automatic irrigation vehicle disclosed by the patent document CN220587132U, the inside of the vehicle body is provided with liquid, the vehicle body is provided with navigation device, camera, control device and driving mechanism, the control device is connected with the navigation device, camera and driving mechanism, the control device plans the irrigation route according to the path planning information provided by the navigation device and the image collected by the camera, and drives the driving mechanism to drive the vehicle body to move along the planned irrigation route to automatically irrigate, without manual irrigation, which reduces the labor cost to a certain extent. However, the current automatic irrigation vehicle generally does not have the function of automatic liquid supplement, when the water quantity in the vehicle body is insufficient, the staff needs to manually supplement the liquid, which is difficult to further reduce the labor cost. SUMMARY

[0003] The technical problem to be solved by the utility model is to provide a hardware structure of irrigation vehicle system with automatic liquid supplement for software engineers, so that the software engineers can program the control device in the hardware structure, and the vehicle body does not need to be manually supplemented when the water quantity in the vehicle body is insufficient.

[0004] To solve the above technical problem, the hardware structure of irrigation vehicle system with automatic liquid supplement includes an irrigation vehicle, which is provided with a camera for collecting images around the vehicle body and a driving mechanism for driving the vehicle body to move, and is also provided with a control device connected with the camera and the driving mechanism, and a liquid level switch connected to the control device is arranged in the vehicle body; a "7" type tap water pipe is arranged on the ground, the pipe opening faces backward, a first valve that can be pushed forward to open is arranged at the pipe opening, a liquid supplement pipe extends forward from the vehicle body, and when the liquid supplement pipe is inserted into the pipe opening and pushes the first valve to open, tap water in the tap water pipe flows into the vehicle body through the gap between the pipe body and the first valve to supplement the liquid in the vehicle body.

[0005] Further, the pipe opening of the tap water pipe narrows towards the central axis of the pipe body, and the first valve includes a spherical first pipe plug with a diameter smaller than the inner diameter of the pipe body of the tap water pipe, which blocks the pipe opening and is pushed forward to open, so that the tap water in the tap water pipe flows into the liquid supplement pipe through the gap between the pipe body and the first pipe plug.

[0006] Further, the first valve includes a first reset spring for driving the first pipe plug to reset backward.

[0007] Further, the liquid supplement pipe is narrow in front and wide in back, and the side wall of the liquid supplement pipe is provided with a water inlet for tap water to enter the liquid supplement pipe.

[0008] Further, the water inlet of the liquid supplement pipe is arranged at the front end of the liquid supplement pipe, and the liquid supplement pipe protrudes laterally with a sealing ring behind the water inlet. When the front end of the liquid supplement pipe is inserted into the pipe opening to push the first valve open, the sealing ring is blocked behind the pipe opening to seal the pipe opening.

[0009] Further, the liquid supplement pipe is provided with a second valve which can be pushed backward. When the liquid supplement pipe is inserted into the pipe opening to push the first valve open, the second valve is pushed backward by the water in the water pipe.

[0010] Further, the liquid supplement pipe is provided with a second valve which can be pushed backward. When the liquid supplement pipe is inserted into the pipe opening to push the first valve open, the second valve is pushed backward by the water in the water pipe.

[0011] Further, the second valve includes a second valve plug which is spherical and has a diameter smaller than the inner diameter of the liquid supplement pipe, and the second valve plug is blocked behind the narrowed portion of the liquid supplement pipe and can be pushed backward. When the second valve plug is pushed backward, the water flows from the gap between the liquid supplement pipe and the second valve plug to the inside of the vehicle body.

[0012] Further, the second valve includes a second valve plug which is spherical and has a diameter smaller than the inner diameter of the liquid supplement pipe, and the second valve plug is blocked behind the narrowed portion of the liquid supplement pipe and can be pushed backward. When the second valve plug is pushed backward, the water flows from the gap between the liquid supplement pipe and the second valve plug to the inside of the vehicle body.

[0013] Further, the second valve includes a second valve plug which is spherical and has a diameter smaller than the inner diameter of the liquid supplement pipe, and the second valve plug is blocked behind the narrowed portion of the liquid supplement pipe and can be pushed backward. When the second valve plug is pushed backward, the water flows from the gap between the liquid supplement pipe and the second valve plug to the inside of the vehicle body.

[0014] The first valve seals the pipe opening of the water pipe to prevent water leakage. After the software engineer programs the control device in the hardware structure: the control device plans the irrigation route according to the image collected by the camera, controls the driving mechanism to drive the vehicle body to automatically move along the planned irrigation route for automatic irrigation; when the water in the vehicle body is insufficient, the liquid level drops to the low position set by the liquid level switch, the liquid level switch generates an electrical signal to the control device, the control device plans the liquid supplement route according to the position of the water pipe in the image collected by the camera, controls the driving mechanism to drive the vehicle body to move from back to front along the liquid supplement route to approach the water pipe, until the liquid supplement pipe on the vehicle body is inserted into the pipe opening of the water pipe to push the first valve open, then the water in the water pipe enters the vehicle body through the liquid supplement pipe to realize the automatic liquid supplement of the irrigation vehicle. When the liquid level rises to the high position set by the liquid level switch during the liquid supplement process, the liquid level switch sends a signal to the control device again, the control device controls the driving mechanism to drive the vehicle body to move from front to back to move away from the water pipe, and in this process, the liquid supplement pipe is withdrawn outside the pipe opening, and the first valve is automatically reset under the action of water pressure to seal the pipe opening of the water pipe again. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic view of the irrigation vehicle system, in which the liquid supplement pipe is in the folded storage state.

[0016] Figure 2 is a sectional view of the irrigation vehicle system, in which the liquid supplement pipe is in the unfolded state.

[0017] Figure 3 is a partial enlarged view of Figure 2 , in which part A of Figure 2 is enlarged.

[0018] Figure 4 is a sectional view of the irrigation vehicle system, in which the liquid supplement pipe has been inserted into the tap pipe opening.

[0019] Figure 5 is a partial enlarged view of Figure 4 , in which part B of Figure 4 is enlarged. DETAILED DESCRIPTION

[0020] The present application will be further described in detail below in conjunction with the specific embodiments.

[0021] The irrigation vehicle system is shown in Figure 1 and Figure 2 , which comprises an irrigation vehicle 1, a water tank 100 is arranged inside the vehicle body 11 of the irrigation vehicle 1, a water pump 101 is arranged at the bottom of the vehicle body 11, the water pump 101 is connected with an inlet pipe 102 and an outlet pipe 103, the inlet pipe 102 is connected with the water tank 100, the outlet pipe 103 extends to the top of the irrigation vehicle 1 and is provided with a spray head 104. The bottom of the vehicle body 11 is provided with wheels 105 and a driving mechanism 12 for driving the wheels 105, the inside of the vehicle body 11 is provided with a GPS navigation device 107 and a control device 108, the top of the vehicle body 11 is provided with a camera 6, and the control device 108 is connected with the water pump 101, the driving mechanism 12, the GPS navigation device 107 and the camera 6. The bottom of the vehicle body 11 is provided with a battery 109, and the battery 109 supplies power to the control device 108, the water pump 101, the driving mechanism 12, the GPS navigation device 107 and the camera 6.

[0022] shown in Figure 1 and Figure 2When the automatic irrigation is carried out, the GPS navigation device 107 acquires the position information of the vehicle body 11 of the irrigation vehicle 1 and generates navigation information according to the position information of the to-be-irrigated region which is set in advance, the camera 6 collects the image of the front side of the vehicle body 11 of the irrigation vehicle 1, the control device 108 plans the irrigation route according to the navigation information provided by the GPS navigation device 107 and the image collected by the camera 6, and controls the driving mechanism 12 to drive the vehicle body 11 to automatically move along the planned irrigation route. After the vehicle body 11 moves into the to-be-irrigated region, the control device 108 controls the water pump 101 to pump the water in the water tank 100 to the spray head 104, and the spray head 104 sprays the water to the rear of the irrigation vehicle 1, so as to realize the automatic irrigation. The above is the prior art, which will not be described in detail herein.

[0023] The irrigation vehicle system is an irrigation vehicle system capable of automatically supplementing liquid. When the water in the water tank 100 in the vehicle body 11 of the irrigation vehicle 1 is insufficient, the irrigation vehicle system can automatically supplement liquid, without manual supplementing liquid. Specifically,

[0024] See Figure 1 and Figure 2 The irrigation vehicle system is provided with a plurality of structure-same “7”-shaped tap water pipes 2 on different regions of the ground (only one of which is shown in the figure). See Figure 2 and Figure 3 The pipe opening 20 of each tap water pipe 2 is rearward, and the first valve 21 is arranged at the pipe opening 20. The pipe opening 20 of the tap water pipe 2 is narrowed towards the central axis of the pipe body 25, the first valve 21 comprises a spherical first pipe plug 211, and further comprises a first spring 212. The diameter of the first pipe plug 211 is smaller than the inner diameter of the pipe body 25 of the tap water pipe 2 but larger than the diameter of the pipe opening 20. The front end of the first spring 212 pushes the wall of the tap water pipe 2 forward, and the rear end pushes the first pipe plug 211 rearward. The first pipe plug 211 is always pushed by the first spring 212 and the water pressure to block and seal the pipe opening 20, so as to prevent the leakage of tap water. See Figure 1 and Figure 2 The front side of the vehicle body 11 of the irrigation vehicle 1 is provided with a liquid supplementing pipe 18. The liquid supplementing pipe 18 comprises a flexible section 15 and a rigid section 14 which are connected together. The flexible section 15 is a universal pipe, the rear end of which extends into the water tank 100 in the vehicle body 11, and the front end of which is connected to the rear end of the rigid section 14. See Figure 3 The rigid section 14 is a metal pipe, the front end 145 of which is narrow in front and wide in rear, and the side pipe wall 141 of which is provided with a water inlet 140. The rigid section 14 is laterally protruded with a sealing ring 146 rearward of the water inlet 140. Figure 1 and Figure 2 The vehicle body 11 of the irrigation vehicle 1 is hinged with an electric push rod 15. The rod body 151 of the electric push rod 15 is hinged with the rigid section 14 of the liquid supplementing pipe 18, and the battery 109 supplies power to the electric push rod 15. The electric push rod 15 serves as a pipe collecting mechanism. The rod body 151 of the electric push rod 15 is always retracted in this state. In this state, as Figure 1As shown, the rigid section 14 of the replenishment pipe 18 is folded up and stored by the electric push rod 15. Inside the vehicle body 11 of the watering vehicle 1 is installed a float-type liquid level switch 13, whose float 131 extends into the water tank 100 to detect the liquid level of the water tank 100, and the control device 108 is connected to the liquid level switch 13.

[0025] When the water in the water tank 100 inside the vehicle body 11 of the watering vehicle 1 is insufficient:

[0026] As shown in Figure 1 and Figure 2 , when the liquid level drops to the low level set by the liquid level switch 13, the liquid level switch 13 generates an electrical signal to the control device 108, which controls the GPS navigation device 107 to record the current position information of the vehicle body 11 (hereinafter referred to as the watering interruption position) and find out the closest water pipe 2 from the pre-set position information of the water pipe 2, and then controls the GPS navigation device 107 to change the navigation destination to the position of the water pipe 2, and according to the navigation information provided by the GPS navigation device 107 and the image collected by the camera 6, the replenishment route is planned, and the driving mechanism 12 is controlled to drive the vehicle body 11 to move to the rear side of the water pipe 2 along the replenishment route. The control device 108 controls the electric push rod 15 to extend the rod body 151 to drive the replenishment pipe 18 to unfold until the rigid section 14 of the replenishment pipe 18 is in a flat state extending forward, in which state, as shown in Figure 3 , the rigid section 14 of the replenishment pipe 18 is at the same height as the pipe opening 20 of the water pipe 2. As shown in Figure 2 and Figure 4 , the control device 108 controls the driving mechanism 12 to drive the vehicle body 11 to continue moving forward along the replenishment route to approach the water pipe 2, during which: the control device 108 accurately adjusts the forward direction of the vehicle body 11 according to the image collected by the camera 6 to ensure that the front end 145 of the rigid section 14 of the replenishment pipe 18 is aligned forward with the pipe opening 20 of the water pipe 2; as shown in Figure 4 and Figure 5 , the sealing ring 146 of the rigid section 14 of the replenishment pipe 18 approaches the pipe opening 20 of the water pipe 2 from behind, and the front end 145 of the rigid section 14 is inserted into the pipe opening 20 of the water pipe 2 to push away the first pipe plug 211, and the tap water in the water pipe 2 flows out as shown in Figure 5As shown by the dotted line, water flows from the first gap 29 between the pipe body 25 of the tap water pipe 2 and the first pipe plug 211 to the side of the liquid supplement pipe 18, and then enters the liquid supplement pipe 14 from the water inlet 140 of the liquid supplement pipe 18 and flows into the water tank 100 inside the vehicle body 11 of the watering vehicle 1 to supplement the liquid of the watering vehicle 1. When the control device 108 identifies from the image collected by the camera 6 that the front end 141 of the rigid section 14 has been completely inserted into the pipe opening 20 of the tap water pipe 2, the control device 108 controls the driving mechanism 12 to stop driving the vehicle body 11 to move. In this state, the sealing ring 146 of the rigid section 14 is just plugged behind the pipe opening 20 to seal the pipe opening 20, preventing the tap water from leaking.

[0027] See Figure 3 The rigid section 14 of the liquid supplement pipe 18 comprises a front pipe body 147 and a rear pipe body 148 which are installed together. The front pipe body 147 is tapered towards the central axis and has a guide sleeve 144 extending rearward. The guide sleeve 144 extends into the inside of the rear pipe body 148 and has an outer diameter smaller than the inner diameter of the rear pipe body 148. The guide sleeve 144 and the inner wall of the rear pipe body 148 leave a second gap 149 therebetween. The rear wall of the guide sleeve 144 is provided with a water outlet 143 which communicates with the second gap 149. The second valve 16 is arranged on the rear pipe body 148. The second valve 16 comprises a second pipe plug 161 and a second spring 162. The second pipe plug 161 is installed in the guide sleeve 144 and has a diameter equal to the inner diameter of the guide sleeve 144. The second spring 162 pushes the rear wall of the rear pipe body 148 rearward with its rear end and pushes the second pipe plug 161 forward with its front end. Therefore, the second pipe plug 161 is usually pushed by the second spring 162 to block the front end of the guide sleeve 144. The water inlet 140 is arranged on the front pipe body 147. When the front end 145 of the rigid section 14 of the liquid supplement pipe 18 is inserted into the pipe opening 20 of the tap water pipe 2 to push away the first pipe plug 211, the tap water in the tap water pipe 2 flows into the front pipe body 147 from the water inlet 140, pushes away the second pipe plug 161 and pushes the second pipe plug 161 to the rear part of the guide sleeve 144. In this state, the tap water in the guide sleeve 144 flows into the second gap 149 from the water outlet 143 and then flows into the rear pipe body 148 and the water tank 100 inside the vehicle body 11 of the watering vehicle 1. Figure 5

[0028] See Figure 2 and Figure 3 ​, the liquid level rises to the high level set by the liquid level switch 13 during the liquid supplement process. At this time, the liquid level switch 13 sends a signal to the control device 108 again, and the control device 108 controls the driving mechanism 12 to drive the vehicle body 11 to move forward away from the tap water pipe 2. During this process: the liquid supplement pipe 18 exits the pipe opening 20, the first spring 212, as the first return spring, exerts a backward thrust on the first pipe plug 211, and the first pipe plug 211 is automatically reset backward to block and seal the pipe opening 20 of the tap water pipe 2 under the thrust of the first spring 212 and the water pressure; the second spring 162, as the second return spring, exerts a forward thrust on the second pipe plug 161, and the second pipe plug 161 is automatically moved forward along the guide sleeve 144 to be reset to block the front end of the guide sleeve 144 under the thrust of the second spring 162. In this state, the water in the rear pipe body 148 is blocked by the second pipe plug 161 and cannot flow from the guide sleeve 144 to the front pipe body 147, and thus cannot flow from the front pipe body 147 to the ground to wet the ground. The control device 108 identifies from the image collected by the camera 6 that the front end 145 of the liquid supplement pipe 18 has completely exited the pipe opening 20, and then controls the electric push rod 15 to retract the rod body 151 to fold the hard section 14 of the liquid supplement pipe 18 upward as shown in FIG. 9 for storage. The control device 108 controls the driving mechanism 12 to drive the vehicle body 11 to move to the irrigation interruption position and then continue to move along the original irrigation route to perform automatic irrigation. Figure 1

[0029] The control device 108 includes a computer readable storage medium and a processor connected to each other, and the computer readable storage medium stores a computer program. When the computer program is executed by the processor, the above-mentioned automatic irrigation and automatic liquid supplement method is realized, and the watering vehicle is controlled to automatically irrigate and automatically supplement liquid.

[0030] The above-mentioned embodiments are only the embodiments of the present application, and do not limit the scope of patent protection. Those skilled in the art can make non-essential changes or substitutions on the basis of the present application, and still fall within the scope of patent protection.​

Claims

1. The hardware structure of the irrigation vehicle system capable of automatic liquid supplement, comprising an irrigation vehicle, which is provided with a camera for collecting the image of the side of the vehicle body and a driving mechanism for driving the movement of the vehicle body, and is also provided with a control device connected with the camera and the driving mechanism, characterized in that: The vehicle body is provided with a liquid level switch connected to the control device; a "7" type water pipe is arranged on the ground, the pipe opening faces backward, and a first valve which can be pushed forward is arranged at the pipe opening; a liquid supplement pipe is arranged on the front of the vehicle body, and the liquid supplement pipe is inserted into the pipe opening to push the first valve and then the tap water in the water pipe flows into the vehicle body through the liquid supplement pipe to supplement the liquid in the vehicle body.

2. The hardware configuration of the irrigation cart system of claim 1, wherein: The pipe opening of the water pipe is narrowed towards the central axis of the pipe body, and the first valve comprises a spherical first pipe plug with a diameter smaller than the inner diameter of the pipe body, which blocks the pipe opening and is pushed forward to allow the tap water in the water pipe to flow between the pipe body and the first pipe plug.

3. The hardware configuration of the irrigation cart system of claim 2, wherein: The first valve comprises a first reset spring which drives the first pipe plug to reset backward.

4. The hardware configuration of the irrigation cart system of claim 2, wherein: The liquid supplement pipe is narrow in front and wide in back, and a water inlet is arranged on the side wall of the liquid supplement pipe to allow the tap water to flow into the liquid supplement pipe.

5. The hardware configuration of the irrigation cart system of claim 1, wherein: The water inlet is arranged at the front end of the liquid supplement pipe, and a sealing ring is arranged on the side of the liquid supplement pipe behind the water inlet, so that the sealing ring blocks the pipe opening behind the pipe opening when the liquid supplement pipe is inserted into the pipe opening to push the first valve.

6. The hardware configuration of the irrigation cart system of claim 1, wherein: The liquid supplement pipe is provided with a second valve which can be pushed backward, and the second valve is pushed backward by the tap water in the water pipe when the liquid supplement pipe is inserted into the pipe opening to push the first valve.

7. The hardware configuration of the irrigation cart system of claim 6, wherein: The pipe body of the liquid supplement pipe is narrowed towards the central axis in front of the second valve, and the second valve comprises a spherical second pipe plug with a diameter smaller than the inner diameter of the pipe body, which blocks the narrowed part of the pipe body and can be pushed backward, and the second pipe plug is pushed backward to allow the tap water to flow between the pipe body and the second pipe plug.

8. The hardware configuration of the irrigation cart system of claim 7, wherein: The second valve comprises a second reset spring which drives the second pipe plug to reset forward.

9. The hardware configuration of the irrigation cart system of claim 7, wherein: The narrowed part of the liquid supplement pipe extends backward to form a guide sleeve, the guide sleeve is arranged inside the pipe body, the outer diameter of the guide sleeve is smaller than the inner diameter of the pipe body, the inner diameter of the guide sleeve is equal to the diameter of the second pipe plug, the second pipe plug blocks the front end of the guide sleeve, and the pipe body and the guide sleeve leave a gap, a water outlet is arranged on the side wall of the rear part of the guide sleeve to lead to the gap, and the second pipe plug is pushed to the rear part of the guide sleeve to allow the tap water in the guide sleeve to flow into the gap and then flow into the vehicle body.

10. The hardware configuration of the irrigation cart system according to any one of claims 1 to 9, characterized in that: A pipe collecting mechanism is arranged to fold and store the liquid supplement pipe.

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