CN105794600A - Automatic guide type spray irrigating machine and spray irrigating method for greenhouse - Google Patents
Automatic guide type spray irrigating machine and spray irrigating method for greenhouse Download PDFInfo
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- CN105794600A CN105794600A CN201610302443.5A CN201610302443A CN105794600A CN 105794600 A CN105794600 A CN 105794600A CN 201610302443 A CN201610302443 A CN 201610302443A CN 105794600 A CN105794600 A CN 105794600A
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- irrigation sprinkler
- water
- greenhouse
- master controller
- motor driver
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
- Greenhouses (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic guide type spray irrigating machine and a spray irrigating method for a greenhouse. The spray irrigating machine comprises a differential steering chassis, a micro control system, a water supply system and a storage battery, wherein the differential steering chassis includes a vehicle frame, a left driving system, a right driving system and omnidirectional wheels, power is supplied to the left driving system and the right driving system through the storage battery to drive the spray irrigating machine to travel. As the differential steering chassis is employed, the spray irrigating machine can travel and steer automatically along with a guide line under the control of the micro control system, without needing manual removal or special rail-based transfer; and during the travelling, water in a water tank is pumped by a water pump and is sprayed through a nozzle to realize spray irrigation; a master controller is configured to calculate amount of deviation of the spray irrigating machine from the guide line during the travelling process and give a control command to control revolving speeds of a left electric motor and a right electric motor, so as to enable the spray irrigating machine to travel along the guide line all the time. The spray irrigating machine disclosed by the invention has the advantages that the labor intensity is reduced, the cost for greenhouse construction and spray irrigating machine investment is lowered, the running distance of a single spray irrigating machine is not limited, the spray irrigating area for the greenhouse is large, the structure is simple, the automation degree is high and the practicality is strong.
Description
Technical field
The present invention relates to the energy-conservation irrigation field of farmland water-saving, especially a kind of suitable in the greenhouse homing guidance formula irrigation sprinkler of ground running in greenhouse and sprinkling irrigation method.
Background technology
Along with large-scale modern attached-greenhouse is built on a large scale, the development of spray irrigation in greenhouse machinery increasingly comes into one's own, currently used greenhouse suspension irrigation sprinkler by installing host mobility in upper end, greenhouse, the suspended rail of transfer, the driving wheel of main frame is undertaken on moving track, walked by motor driving host, spray boom is driven to move ahead while main frame walking, and dragging hangs over the supratrochlear cable of carrying, delivery hose moves ahead along slide rail, external water water supplying pump simultaneously, press water is finally through spray boom, sprinkler, after this work road completes sprinkling irrigation, next operation is transferred to continuing sprinkling irrigation by the transfer suspended rail in greenhouse and shunting device.But in actual application, since it is desired that install the special suspended rail that irrigation sprinkler moves, this allows for structure of greenhouse requirement of strength high, causes that greenhouse supporting steel frame, truss structural design are complicated, and capital expenditure is too high.Simultaneously irrigation sprinkler from greenhouse and between transfer need special shunting device, transfer orbit, this complex structural designs, the inconvenience of irrigation sprinkler transfer simultaneously so that irrigation sprinkler inefficiency, poor reliability, automaticity are low, it is difficult to extensive suitable in modern greenhouse sprinkling irrigation.
Summary of the invention
It is an object of the invention to for problems of the prior art, it is provided that the greenhouse homing guidance formula irrigation sprinkler that a kind of simple in construction, work efficiency are high, highly reliable, automaticity is high, time saving and energy saving.
To achieve these goals, technical scheme:
A kind of greenhouse homing guidance formula irrigation sprinkler, including differential steering chassis, the micro-controller system being located on differential steering chassis, water system and accumulator；
Described differential steering chassis includes vehicle frame, the front portion of vehicle frame is arranged with universal wheel, rear portion is arranged with driving wheel, left and right sidesing driving wheel is connected to drive system, left driving wheel connects left drive system, right driving wheel connects right drive system, left drive system, right drive system all include motor, the decelerator being connected with motor, and the output shaft of decelerator is connected with driving wheel through shaft coupling；
Described micro-controller system includes master controller, left motor driver, right motor driver, navigation sensor, landmark sensor, guide wire and terrestrial reference；Described master controller is connected with left motor driver, right motor driver respectively by holding wire；Left motor driver, right motor driver are connected with the left and right motor of drive system respectively by holding wire, and master controller, left motor driver, right motor driver are located in electric cabinet, and electric cabinet is located at vehicle frame front portion；Navigation sensor is connected with master controller respectively through holding wire with landmark sensor；
Described water system includes water tank, water pump, shower nozzle, and described water tank is located on vehicle frame, and water pump is located in water tank, and shower nozzle is connected with pump outlet by water-supply-pipe, and shower nozzle is arranged on vehicle frame；
Described accumulator is located in electric cabinet, for irrigation sprinkler work power supply.
Described navigation sensor is located at vehicle frame center.
Described landmark sensor is located at central frame beam side.
Described guide wire is arranged in greenhouse and obtains in work road, and ground indicates multiple, is arranged in guide wire side.
A kind of greenhouse homing guidance formula sprinkling irrigation method using described irrigation sprinkler, comprises the steps:
A. guide wire is arranged in the work road in greenhouse, the evenly spaced side being arranged in guide wire of multiple terrestrial references, first irrigation sprinkler is placed in the starting point of guide wire, make the center of navigation sensor just to guide wire；
B. starting irrigation sprinkler, master controller send two group pulse instructions, left motor driver is passed through in set of pulses instruction, and right motor driver is passed through in another group pulse instruction, drives left and right motor to operate simultaneously, drives irrigation sprinkler to follow guide wire walking；
C. irrigation sprinkler follow guide wire start to walk time, start the water in water pump pumping water tank, by water-supply-pipe to sprinkler operation；
When irrigation sprinkler travels to landmark locations, signal terrestrial reference being detected is passed to master controller by landmark sensor, and master controller stops producing pulse command, controls irrigation sprinkler and quits work, and now feed-tank adds water, and when water tank adds water, water pump quits work；
After water tank topped up with water, master controller produces pulse command again, starts irrigation sprinkler and works on；Irrigation sprinkler continues to move ahead, and water pump is again started up working on；
D. when irrigation sprinkler runs to guide wire terminal, master controller stops producing pulse command, irrigation sprinkler stops moving ahead, master controller produces opposite direction pulse command, drive left and right motor antiport, i.e. irrigation sprinkler backward going, continues by step a, b, c work, until the sprinkling irrigation completed in whole greenhouse.
In irrigation sprinkler walking process, when navigation sensor is measured and is had deviation between irrigation sprinkler central axis and guide wire, deviation signal is sent to master controller, the departure between irrigation sprinkler central axis and guide wire is calculated by master controller, master controller changes the frequency of two group pulse instructions according to departure, left motor driver and right motor driver is made to produce speed discrepancy, and by making the speed discrepancy of left motor driver and right motor driver make irrigation sprinkler actively reduce departure, adjust the operation attitude of self in time, make irrigation sprinkler always follow guide wire keep straight on or turn to work.
The spacing distance of terrestrial reference set according to the time period of storing water in water tank amount and sprinkling irrigation water yield, can moisturizing in time during to ensure that in water tank, water is finished.
Beneficial effect: owing to have employed technique scheme, the present invention is suitable in the sprinkling irrigation of crops in greenhouse, adopt differential steering chassis, under the control action of micro-controller system, follow guide wire automatically to walk, turn to, it is not necessary to artificial resettlement or dedicated track transfer, reduce labor intensity, reduce the requirement to greenhouse structure intensity, be substantially reduced greenhouse construction and irrigation sprinkler investment price；Separate unit irrigation sprinkler distance travelled is unlimited extremely simultaneously, controls spray irrigation in greenhouse area big；This irrigation sprinkler carries cistern water supply, and it is simple and practical, and end, the middle part water system complicated with tradition are compared, and greatly reduce investment；Comparing with tradition suspension irrigation sprinkler, it is simple and compact for structure, and reliability is high, and automaticity is high, has wide applicability.
Accompanying drawing explanation
Fig. 1 is the plan structure schematic diagram of the present invention；
Fig. 2 is the differential steering chassis structure schematic diagram of the present invention；
Fig. 3 is greenhouse self-propelled irrigation sprinkler operating diagram.
In figure: 1-differential steering chassis, 1-1 vehicle frame, 1-2 left drive system, 1-3 right drive system, 1-4 universal wheel；2 micro-controller system, 2-1 master controller, the left motor driver of 2-2, the right motor driver of 2-3,2-4 navigation sensor, 2-5 landmark sensor, 2-6 guide wire, 2-7 terrestrial reference；3 water systems, 3-1 water tank, 3-2 water pump, 3-3 shower nozzle；4 accumulator；5 electric cabinets.
Detailed description of the invention
Below in conjunction with accompanying drawing, one embodiment of the present of invention is further described:
The greenhouse homing guidance formula irrigation sprinkler of the present invention, mainly by differential steering chassis 1, be located at the One On The Chassis micro-controller system 2 of differential steering, water system 3 and accumulator 4 and form.Described accumulator 4 is located in electric cabinet 5, for irrigation sprinkler work power supply.
Described differential steering chassis 1 includes vehicle frame 1-1, the front portion of vehicle frame 1-1 is arranged with universal wheel 1-4, rear portion is arranged with driving wheel, left and right sidesing driving wheel is connected to drive system, left driving wheel connects left drive system 1-2, right driving wheel connects right drive system 1-3, left drive system 1-2, right drive system 1-3 all include motor, the decelerator being connected with motor, and the output shaft of decelerator is connected with driving wheel through shaft coupling；
Described micro-controller system 2 includes master controller 2-1, left motor driver 2-2, right motor driver 2-3, navigation sensor 2-4, landmark sensor 2-5, guide wire 2-6 and terrestrial reference 2-7；Described master controller 2-1 is connected with left motor driver 2-2, right motor driver 2-3 respectively by holding wire；Left motor driver 2-2, right motor driver 2-3 are connected with the left and right motor of drive system respectively by holding wire, and master controller 2-1, left motor driver 2-2, right motor driver 2-3 are located in electric cabinet 5, and it is anterior that electric cabinet 5 is located at vehicle frame 1-1；Navigation sensor 2-5 is connected with master controller 2-1 respectively through holding wire with landmark sensor 2-5；Described navigation sensor 2-4 is located at vehicle frame 1-1 center.Described landmark sensor 2-5 is located at side in the middle of vehicle frame 1-1.Described guide wire 2-6 is arranged in greenhouse and obtains in work road, and terrestrial reference 2-7 has multiple, is arranged in guide wire side.The time period that the number of terrestrial reference 2-7 takes according to water tank 3-1 moisture storage capacity and sprinkling irrigation water yield sets.
Described water system 3 includes water tank 3-1, water pump 3-2, shower nozzle 3-3, and described water tank 3-1 is located on vehicle frame 1-1, and water pump 3-2 is located in water tank 3-1, and shower nozzle 3-3 is connected with water pump 3-2 outlet by water-supply-pipe, and shower nozzle 3-3 is arranged on vehicle frame 1-1；
The greenhouse homing guidance formula sprinkling irrigation method of the present invention, power to left and right side drive system by accumulator 4, driving irrigation sprinkler is walked, micro-controller system passes through sensor acquisition signal, master controller calculates irrigation sprinkler and deviates the departure of guide wire in the process of moving, send control command and control left drive system 1-2 respectively, the motor speed in right drive system 1-3, make irrigation sprinkler follow guide wire walking all the time；Specifically comprise the following steps that
A. guide wire 2-6 is arranged in the work road in greenhouse, the evenly spaced side being arranged in guide wire 2-6 of multiple terrestrial reference 2-7, the spacing distance of terrestrial reference 2-7 set according to the time period of water tank 3-1 moisture storage capacity and sprinkling irrigation water yield, can moisturizing in time during to ensure that in water tank 3-1, water is finished；First irrigation sprinkler is placed in the starting point of guide wire 2-6, makes the center of navigation sensor 2-4 just to guide wire 2-6；
B. starting irrigation sprinkler, master controller 2-1 send two group pulse instructions, left motor driver 2-2 is passed through in set of pulses instruction, and right motor driver 2-3 is passed through in another group pulse instruction, drives left and right motor to operate simultaneously, drives irrigation sprinkler to follow guide wire 2-6 walking；
C. irrigation sprinkler follow guide wire 2-6 start to walk time, start the water in water pump 3-2 pumping water tank 3-1, by water-supply-pipe to shower nozzle 3-3 spraying operation；
When irrigation sprinkler travels to terrestrial reference 2-7 position, signal terrestrial reference 2-7 being detected is passed to master controller 2-1, master controller 2-1 and is stopped producing pulse command by landmark sensor 2-5, control irrigation sprinkler to quit work, now feed-tank 3-1 adds water, and when water tank 3-1 adds water, water pump 3-2 quits work；
After water tank 3-1 topped up with water, master controller 2-1 produces pulse command again, starts irrigation sprinkler and works on；Irrigation sprinkler continues to move ahead, and water pump 3-2 is again started up working on；
D. when irrigation sprinkler runs to guide wire 2-6 terminal, master controller 2-1 stops producing pulse command, irrigation sprinkler stops moving ahead, master controller 2-1 produces opposite direction pulse command, drive left and right motor antiport, i.e. irrigation sprinkler backward going, continues by step a, b, c work, until the sprinkling irrigation completed in whole greenhouse.
In irrigation sprinkler walking process, when navigation sensor 2-4 measures and has deviation between irrigation sprinkler central axis and guide wire 2-6, deviation signal is sent to master controller 2-1, the departure between irrigation sprinkler central axis and guide wire 2-6 is calculated by master controller 2-1, master controller 2-1 changes the frequency of two group pulse instructions according to departure, left motor driver 2-2 and right motor driver 2-3 is made to produce speed discrepancy, and make irrigation sprinkler actively reduce departure by the speed discrepancy of left motor driver 2-2 and right motor driver 2-3, adjust the operation attitude of self in time, make irrigation sprinkler always follow guide wire 2-6 keep straight on or turn to work.
In irrigation sprinkler walking process, when landmark sensor 2-5 detects terrestrial reference 2-7, master controller 2-1 stops producing pulse command, irrigation sprinkler quits work, now feed-tank 3-1 topped up with water, then master controller 2-1 produces pulse command again, starts irrigation sprinkler and works on, the spacing distance of terrestrial reference 2-7 set according to the time period of water tank 3-1 moisture storage capacity and sprinkling irrigation water yield, can moisturizing in time during to ensure that in water tank 3-1, water is finished.
Claims (7)
1. a greenhouse homing guidance formula irrigation sprinkler, it is characterised in that: micro-controller system (2), water system (3) and the accumulator (4) that it includes differential steering chassis (1), is located on differential steering chassis (1)；
Described differential steering chassis (1) includes vehicle frame (1-1), the front portion of vehicle frame (1-1) is arranged with universal wheel (1-4), rear portion is arranged with driving wheel, left and right sidesing driving wheel is connected to drive system, left driving wheel connects left drive system (1-2), right driving wheel connects right drive system (1-3), left drive system (1-2), right drive system (1-3) all include motor, the decelerator being connected with motor, and the output shaft of decelerator is connected with driving wheel through shaft coupling；
Described micro-controller system (2) includes master controller (2-1), left motor driver (2-2), right motor driver (2-3), navigation sensor (2-4), landmark sensor (2-5), guide wire (2-6) and terrestrial reference (2-7)；Described master controller (2-1) is connected with left motor driver (2-2), right motor driver (2-3) respectively by holding wire；Left motor driver (2-2), right motor driver (2-3) are connected with the left and right motor of drive system respectively by holding wire, master controller (2-1), left motor driver (2-2), right motor driver (2-3) are located in electric cabinet (5), and it is anterior that electric cabinet (5) is located at vehicle frame (1-1)；Navigation sensor (2-5) is connected with master controller (2-1) respectively through holding wire with landmark sensor (2-5)；
Described water system (3) includes water tank (3-1), water pump (3-2), shower nozzle (3-3), described water tank (3-1) is located on vehicle frame (1-1), water pump (3-2) is located in water tank (3-1), shower nozzle (3-3) is connected with water pump (3-2) outlet by water-supply-pipe, and shower nozzle (3-3) is arranged on vehicle frame (1-1)；
Described accumulator (4) is located in electric cabinet (5), for irrigation sprinkler work power supply.
2. a kind of greenhouse homing guidance formula irrigation sprinkler according to claim 1, it is characterised in that: described navigation sensor (2-4) is located at vehicle frame (1-1) center.
3. a kind of greenhouse homing guidance formula irrigation sprinkler according to claim 1, it is characterised in that: described landmark sensor (2-5) is located at side in the middle of vehicle frame (1-1).
4. a kind of greenhouse homing guidance formula irrigation sprinkler according to claim 1, it is characterised in that: described guide wire (2-6) is arranged in greenhouse and obtains in work road, and terrestrial reference (2-7) has multiple, is arranged in guide wire side.
5. the greenhouse homing guidance formula sprinkling irrigation method using irrigation sprinkler described in claim 1,2,3 or 4, it is characterised in that comprise the steps:
A. guide wire (2-6) is arranged in the work road in greenhouse, the evenly spaced side being arranged in guide wire (2-6) of multiple terrestrial references (2-7), first irrigation sprinkler is placed in the starting point of guide wire (2-6), makes the center of navigation sensor (2-4) just to guide wire (2-6)；
B. irrigation sprinkler is started, two group pulse instructions are sent by master controller (2-1), left motor driver (2-2) is passed through in set of pulses instruction, right motor driver (2-3) is passed through in another group pulse instruction, drive left and right motor to operate simultaneously, drive irrigation sprinkler to follow guide wire (2-6) walking；
C. irrigation sprinkler follow guide wire (2-6) start to walk time, start the water in water pump (3-2) pumping water tank (3-1), by water-supply-pipe to shower nozzle (3-3) spraying operation；
When irrigation sprinkler travels to terrestrial reference (2-7) position, signal terrestrial reference (2-7) being detected is passed to master controller (2-1) by landmark sensor (2-5), master controller (2-1) stops producing pulse command, control irrigation sprinkler to quit work, now feed-tank (3-1) adds water, when water tank (3-1) adds water, water pump (3-2) quits work；
After water tank (3-1) topped up with water, master controller (2-1) produces pulse command again, starts irrigation sprinkler and works on；Irrigation sprinkler continues to move ahead, and water pump (3-2) is again started up working on；
D. when irrigation sprinkler runs to guide wire (2-6) terminal, master controller (2-1) stops producing pulse command, irrigation sprinkler stops moving ahead, master controller (2-1) produces opposite direction pulse command, drive left and right motor antiport, i.e. irrigation sprinkler backward going, continues by step a, b, c work, until the sprinkling irrigation completed in whole greenhouse.
null6. homing guidance formula in greenhouse according to claim 5 sprinkling irrigation method，It is characterized in that: in irrigation sprinkler walking process，When navigation sensor (2-4) is measured and is had deviation between irrigation sprinkler central axis and guide wire (2-6)，Deviation signal is sent to master controller (2-1)，The departure between irrigation sprinkler central axis and guide wire (2-6) is calculated by master controller (2-1)，Master controller (2-1) changes the frequency of two group pulse instructions according to departure，Left motor driver (2-2) and right motor driver (2-3) is made to produce speed discrepancy，And by making the speed discrepancy of left motor driver (2-2) and right motor driver (2-3) make irrigation sprinkler actively reduce departure，Adjust the operation attitude of self in time，Make irrigation sprinkler always follow guide wire (2-6) keep straight on or turn to work.
7. homing guidance formula in greenhouse according to claim 5 sprinkling irrigation method, it is characterized in that: the spacing distance of terrestrial reference (2-7) set according to the time period of water tank (3-1) moisture storage capacity and sprinkling irrigation water yield, can moisturizing in time during to ensure that water tank (3-1) interior water is finished.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610302443.5A CN105794600B (en) | 2016-05-09 | 2016-05-09 | A kind of greenhouse homing guidance formula irrigation sprinkler and method of spraying |
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| CN201610302443.5A CN105794600B (en) | 2016-05-09 | 2016-05-09 | A kind of greenhouse homing guidance formula irrigation sprinkler and method of spraying |
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| CN105794600A true CN105794600A (en) | 2016-07-27 |
| CN105794600B CN105794600B (en) | 2019-06-28 |
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Cited By (8)
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| CN106416486A (en) * | 2016-08-30 | 2017-02-22 | 山东胜伟园林科技有限公司 | Flow guide groove for saline-alkali land drainage |
| CN106618230A (en) * | 2016-10-26 | 2017-05-10 | 左招霞 | Water-supply device |
| CN106882193A (en) * | 2017-01-25 | 2017-06-23 | 张彩芬 | A kind of intelligent greenhouse induction system |
| CN107810844A (en) * | 2017-08-12 | 2018-03-20 | 陈俊 | A kind of smart home potted landscape timing irrigation device |
| CN108387262A (en) * | 2018-01-03 | 2018-08-10 | 江苏大学 | A kind of greenhouse information automatic monitoring method based on suspension type sliding rail platform |
| CN108391576A (en) * | 2018-03-27 | 2018-08-14 | 屠伟 | A kind of recovery type waterwheel, the gearbox of waterwheel and its irrigation method of waterwheel |
| CN108522483A (en) * | 2018-07-18 | 2018-09-14 | 荆门市东宝区六合香茶叶种植专业合作社 | A kind of agricultural strawberry chemical spraying device |
| CN115191328A (en) * | 2022-07-26 | 2022-10-18 | 江苏天水灌排设备有限公司 | High stability farmland sprinkling irrigation machine |
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| CN106416486A (en) * | 2016-08-30 | 2017-02-22 | 山东胜伟园林科技有限公司 | Flow guide groove for saline-alkali land drainage |
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| CN108522483B (en) * | 2018-07-18 | 2020-11-03 | 福州永乐食品有限公司 | Agricultural is with strawberry medicine device that spouts |
| CN115191328A (en) * | 2022-07-26 | 2022-10-18 | 江苏天水灌排设备有限公司 | High stability farmland sprinkling irrigation machine |
| CN115191328B (en) * | 2022-07-26 | 2023-12-12 | 江苏天水灌排设备有限公司 | High stability farmland sprinkling machine |
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| CN105794600B (en) | 2019-06-28 |
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