CN105794600B - A kind of greenhouse homing guidance formula irrigation sprinkler and method of spraying - Google Patents
A kind of greenhouse homing guidance formula irrigation sprinkler and method of spraying Download PDFInfo
- Publication number
- CN105794600B CN105794600B CN201610302443.5A CN201610302443A CN105794600B CN 105794600 B CN105794600 B CN 105794600B CN 201610302443 A CN201610302443 A CN 201610302443A CN 105794600 B CN105794600 B CN 105794600B
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- China
- Prior art keywords
- irrigation sprinkler
- water
- guide wire
- motor driver
- master controller
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Classifications
-
- 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
-
- 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
Landscapes
- 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
A kind of greenhouse homing guidance formula irrigation sprinkler and method of spraying, irrigation sprinkler includes differential steering chassis, micro-controller system, water system and battery；Differential steering chassis includes vehicle frame, left and right drive system, universal wheel, gives left and right driving system power supply, driving irrigation sprinkler walking by battery.It using differential steering chassis, under the control action of micro-controller system, follows guide wire automatically walk, turn to, without artificial resettlement or dedicated track transfer, when walking, water pump pumps the water in water tank and sprayed by spray head, realizes and sprays.The departure that irrigation sprinkler deviates guide wire in the process of moving is calculated by master controller, control command is issued and controls left and right motor speed, makes irrigation sprinkler always and follows guide wire walking.Labor intensity is not only reduced, and reduces greenhouse construction and irrigation sprinkler investment price；Infinitely extremely, control spray irrigation in greenhouse area is big for separate unit irrigation sprinkler distance travelled；Its structure is simple, and high degree of automation is practical.
Description
Technical field
The present invention relates to farmland water-saving energy conservations to irrigate field, and especially a kind of greenhouse suitable for ground running in greenhouse is certainly
Dynamic guiding type irrigation sprinkler and sprinkling irrigation method.
Background technique
As large-scale modern attached-greenhouse is built on a large scale, the development of spray irrigation in greenhouse machinery is increasingly taken seriously, mesh
The preceding greenhouse suspension type irrigation sprinkler used passes through the suspended rail in greenhouse upper end installation host mobility, transfer, the drive of host
Driving wheel is undertaken on moving track, is walked by motor driven host, drives spray boom to move ahead while host is walked, and drag extension
It moves ahead carrying supratrochlear cable, delivery hose along sliding rail, while external pump supplies water, pressure water is finally through spray boom, spray head
Sprinkling, when the work road complete spray after, by the transfer suspended rail and shunting device in greenhouse be transferred to next operation to after
Continuous sprinkling irrigation.But in actual application, since it is desired that the dedicated suspended rail of installation irrigation sprinkler movement, this is allowed for greenhouse
Greenhouse structure intensity requirement is high, causes greenhouse supporting steel frame, truss structural design complicated, capital expenditure is excessively high.Irrigation sprinkler simultaneously
From greenhouse and between transfer need dedicated shunting device, transfer orbit, the complex structural designs, while irrigation sprinkler to shift
Inconvenience, so that irrigation sprinkler working efficiency is low, poor reliability, the degree of automation are low, it is difficult to be suitable for modern greenhouse on a large scale and spray.
Summary of the invention
The purpose of the present invention is aiming at the problems existing in the prior art, providing, a kind of structure is simple, work efficiency is high, can
Strong, high degree of automation, time saving and energy saving greenhouse homing guidance formula irrigation sprinkler by property.
To achieve the goals above, technical solution of the present invention:
A kind of greenhouse homing guidance formula irrigation sprinkler, including differential steering chassis, the micro-control system being located on differential steering chassis
System, water system and battery；
The differential steering chassis includes vehicle frame, and the front of vehicle frame is symmetrically arranged with universal wheel, and rear portion is symmetrically arranged with driving
Wheel, left and right sidesing driving wheel are connected separately with drive system, and left driving wheel connects left drive system, right driving wheel connection right side driving
System, left drive system, right drive system include motor, the retarder being connected to the motor, the output shaft warp of retarder
Shaft coupling is connected with driving wheel；
The micro-controller system includes master controller, left motor driver, right motor driver, navigation sensor, terrestrial reference
Sensor, guide wire and terrestrial reference；The master controller by signal wire respectively with left motor driver, right motor driver phase
Even；Left motor driver, right motor driver are connected with the left and right motor of drive system respectively by signal wire, master controller,
Left motor driver, right motor driver are located in electric cabinet, and electric cabinet is located at vehicle frame front；Navigation sensor and terrestrial reference sense
Device passes through signal wire respectively and is connected with master controller；
The water system includes water tank, water pump, spray head, and the water tank is located on vehicle frame, and water pump is located in water tank,
Spray head is connected by water-supply-pipe with pump outlet, and spray head is mounted on vehicle frame；
The battery is located in electric cabinet, for irrigation sprinkler work power supply.
The navigation sensor is located at vehicle frame center.
The landmark sensor is located at central frame beam side.
The guide wire be arranged in greenhouse in work road, ground indicates multiple, is arranged in guide wire side.
A kind of greenhouse homing guidance formula sprinkling irrigation method using the upper irrigation sprinkler, includes the following steps:
A. guide wire is arranged in the indoor work road of temperature, multiple terrestrial references are evenly spaced to be arranged in the one of guide wire
Irrigation sprinkler is first placed in the starting point of guide wire by side, makes the center face guide wire of navigation sensor；
B. starting irrigation sprinkler, two group pulses instruction is issued by master controller, set of pulses instruction passes through left motor driver,
Another group pulse instruction drives left and right motor while operating, irrigation sprinkler is driven to follow guide wire row by right motor driver
It walks；
C. irrigation sprinkler follow guide wire start walking when, starting water pump pump the water in water tank, pass through water-supply-pipe to spray
Head spraying operation；
When irrigation sprinkler is travelled to landmark locations, the signal that landmark sensor will test terrestrial reference is transmitted to master controller, main
Controller stops generating pulse command, and control irrigation sprinkler stops working, and feed-tank adds water at this time, and when water tank adds water, water pump stops
Work；
After water tank topped up with water, master controller generates pulse command again, and starting irrigation sprinkler works on；Irrigation sprinkler continues
It moves ahead, water pump, which is again started up, to work on；
D. when irrigation sprinkler runs to guide wire terminal, master controller stops generating pulse command, and irrigation sprinkler stops moving ahead,
Master controller generates opposite direction pulse command, drives left and right motor antiport, i.e. irrigation sprinkler backward going, continues by step
A, b, c work, until completing the entire indoor sprinkling irrigation of temperature.
In irrigation sprinkler walking process, when navigation sensor, which measures, has deviation between irrigation sprinkler central axis and guide wire,
Master controller is sent by deviation signal, the departure between irrigation sprinkler central axis and guide wire is calculated by master controller,
Master controller changes the frequency of two group pulses instruction according to departure, generates left motor driver and right motor driver and turns
Speed difference, and by making the rotational speed difference of left motor driver and right motor driver that irrigation sprinkler be made actively to reduce departure, in time
The operation posture for adjusting itself, making irrigation sprinkler always follows guide wire straight trip or turns to work.
The spacing distance of terrestrial reference is set according to the period of water tank moisture storage capacity and sprinkling irrigation water yield, to guarantee water in water tank
It can timely moisturizing when being finished.
The utility model has the advantages that by adopting the above-described technical solution, the present invention is suitable for the sprinkling irrigation of crops in greenhouse, using difference
Speed turns to chassis, under the control action of micro-controller system, follows guide wire automatically walk, turns to, is not necessarily to artificial resettlement or dedicated
Orbit Transformation reduces labor intensity, reduces the requirement to greenhouse structure intensity, substantially reduces greenhouse construction and sprinkling irrigation speculative investment
Price；Infinitely extremely, control spray irrigation in greenhouse area is big for separate unit irrigation sprinkler distance travelled simultaneously；The irrigation sprinkler carries cistern water supply,
It is simple and practical in structure, it is compared with traditional complicated end, middle part water system, greatly reduces investment；It is sprayed with traditional suspension type
Filling machine is compared, simple and compact for structure, high reliablity, high degree of automation, has wide applicability.
Detailed description of the invention
Fig. 1 is overlooking structure diagram of the invention；
Fig. 2 is differential steering chassis structure schematic diagram of the invention；
Fig. 3 is greenhouse self-propelled irrigation sprinkler operation schematic diagram.
In figure: 1- differential steering chassis, 1-1-vehicle frame, 1-2-left drive system, 1-3-right drive system, 1-
4-universal wheels；2-micro-controller systems, the left motor driver of 2-1-master controller, 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-spray head；4-batteries；5-electric cabinets.
Specific embodiment
One embodiment of the present of invention is further described below in conjunction with attached drawing:
Homing guidance formula irrigation sprinkler in greenhouse of the invention, mainly by differential steering chassis 1, be located on differential steering chassis 1
Micro-controller system 2, water system 3 and battery 4 form.The battery 4 is located in electric cabinet 5, is supplied for irrigation sprinkler work
Electricity.
The differential steering chassis 1 includes vehicle frame 1-1, and the front of vehicle frame 1-1 is symmetrically arranged with universal wheel 1-4, rear portion pair
Claim to be equipped with driving wheel, left and right sidesing driving wheel is connected separately with drive system, and left driving wheel connects left drive system 1-2, right driving
Wheel connection right drive system 1-3, left drive system 1-2, right drive system 1-3 include motor, are connected to the motor
The output shaft of retarder, retarder is connected through shaft coupling with driving wheel；
The micro-controller system 2 includes master controller 2-1, left motor driver 2-2, right motor driver 2-3, navigation biography
Sensor 2-4, landmark sensor 2-5, guide wire 2-6 and terrestrial reference 2-7；The master controller 2-1 by signal wire respectively with a left side
Motor driver 2-2, right motor driver 2-3 are connected；Left motor driver 2-2, right motor driver 2-3 pass through signal wire point
It is not connected with the left and right motor of drive system, master controller 2-1, left motor driver 2-2, right motor driver 2-3 are located at electricity
It controls in case 5, electric cabinet 5 is located at the front vehicle frame 1-1；Navigation sensor 2-5 and landmark sensor 2-5 pass through signal wire and master respectively
Controller 2-1 is connected；The navigation sensor 2-4 is located at the center vehicle frame 1-1.The landmark sensor 2-5 is located at vehicle frame
Side among 1-1.The guide wire 2-6 be arranged in greenhouse in work road, terrestrial reference 2-7 has multiple, is arranged in guide wire
Side.The number of terrestrial reference 2-7 takes according to the period of water tank 3-1 moisture storage capacity and sprinkling irrigation water yield and sets.
The water system 3 is located at vehicle frame 1-1 including water tank 3-1, water pump 3-2, spray head 3-3, the water tank 3-1
On, water pump 3-2 is located in water tank 3-1, and spray head 3-3 is connected by water-supply-pipe with water pump 3-2 water outlet, and spray head 3-3 is mounted on vehicle
On frame 1-1；
Greenhouse homing guidance formula sprinkling irrigation method of the invention, gives left and right side drive system to power, driving by battery 4
Irrigation sprinkler walking, micro-controller system acquire signal by sensor, and master controller calculates irrigation sprinkler and deviates guiding in the process of moving
The departure of line issues control command and controls left drive system 1-2 respectively, and the motor speed in right drive system 1-3 makes
Irrigation sprinkler follows guide wire walking always；Specific step is as follows:
A. guide wire 2-6 is arranged in the indoor work road of temperature, multiple terrestrial reference 2-7 are evenly spaced to be arranged in guide wire
The spacing distance of the side of 2-6, terrestrial reference 2-7 is set according to the period of water tank 3-1 moisture storage capacity and sprinkling irrigation water yield, to guarantee
It can timely moisturizing when water is finished in water tank 3-1；Irrigation sprinkler is first placed in the starting point of guide wire 2-6, is made in navigation sensor 2-4
Heart face guide wire 2-6；
B. start irrigation sprinkler, two group pulses instruction is issued by master controller 2-1, set of pulses instruction passes through left motor driven
Device 2-2, another group pulse instruction drive left and right motor while operating, irrigation sprinkler is driven to follow by right motor driver 2-3
Guide wire 2-6 walking；
C. irrigation sprinkler follow guide wire 2-6 start walking when, starting water pump 3-2 pump the water in water tank 3-1, by defeated
Water pipe is to spray head 3-3 spraying operation；
When irrigation sprinkler is travelled to the terrestrial reference position 2-7, the signal that landmark sensor 2-5 will test terrestrial reference 2-7 is transmitted to master
Controller 2-1, master controller 2-1 stop generating pulse command, and control irrigation sprinkler stops working, and feed-tank 3-1 adds water, water at this time
When case 3-1 adds water, water pump 3-2 stops working；
After water tank 3-1 topped up with water, master controller 2-1 generates pulse command again, and starting irrigation sprinkler works on；Sprinkling irrigation
Machine continues to move ahead, and water pump 3-2, which is again started up, to work on；
D. when irrigation sprinkler runs to guide wire 2-6 terminal, master controller 2-1 stops generating pulse command, and irrigation sprinkler stops
Only moving ahead, master controller 2-1 generates opposite direction pulse command, left and right motor antiport, i.e. irrigation sprinkler backward going are driven,
Continue to work by step a, b, c, until completing the entire indoor sprinkling irrigation of temperature.
In irrigation sprinkler walking process, have partially when navigation sensor 2-4 is measured between irrigation sprinkler central axis and guide wire 2-6
When poor, master controller 2-1 is sent by deviation signal, irrigation sprinkler central axis and guide wire 2-6 are calculated by master controller 2-1
Between departure, master controller 2-1 according to departure change two group pulses instruct frequency, make left motor driver 2-2 and
Right motor driver 2-3 generates rotational speed difference, and is made by the rotational speed difference of left motor driver 2-2 and right motor driver 2-3
Irrigation sprinkler actively reduces departure, adjusts the operation posture of itself in time, and making irrigation sprinkler always follows guide wire 2-6 straight trip or turn
To work.
In irrigation sprinkler walking process, when landmark sensor 2-5 detects terrestrial reference 2-7, master controller 2-1 stops generating
Pulse command, irrigation sprinkler stop working, at this time feed-tank 3-1 topped up with water, and then master controller 2-1 generates pulse command again,
Starting irrigation sprinkler works on, and the spacing distance of terrestrial reference 2-7 is set according to the period of water tank 3-1 moisture storage capacity and sprinkling irrigation water yield
It is fixed, it can timely moisturizing when guaranteeing that water is finished in water tank 3-1.
Claims (4)
1. a kind of greenhouse homing guidance formula irrigation sprinkler, it is characterised in that: it includes differential steering chassis (1), is located at differential steering
Micro-controller system (2), water system (3) and battery (4) on chassis (1)；
The differential steering chassis (1) includes vehicle frame (1-1), and the front of vehicle frame (1-1) is symmetrically arranged with universal wheel (1-4), after
Portion is symmetrically arranged with driving wheel, and left and right sidesing driving wheel is connected separately with drive system, left driving wheel connect left drive system (1-2),
Right driving wheel connect right drive system (1-3), left drive system (1-2), right drive system (1-3) include motor,
The output shaft of the retarder being connected to the motor, retarder is connected through shaft coupling with driving wheel；
The micro-controller system (2) includes master controller (2-1), left motor driver (2-2), right motor driver (2-3), leads
Boat sensor (2-4), landmark sensor (2-5), guide wire (2-6) and terrestrial reference (2-7)；The master controller (2-1) passes through
Signal wire is connected with left motor driver (2-2), right motor driver (2-3) respectively；Left motor driver (2-2), right motor
Driver (2-3) is connected with the left and right motor of drive system respectively by signal wire, master controller (2-1), left motor driver
(2-2), right motor driver (2-3) are located in electric cabinet (5), and electric cabinet (5) is located at the front vehicle frame (1-1)；Navigation sensor
(2-5) is connected by signal wire with master controller (2-1) respectively with landmark sensor (2-5)；The navigation sensor (2-4)
It is located at the center vehicle frame (1-1)；The landmark sensor (2-5) is located at the intermediate side of vehicle frame (1-1)；Guide wire (the 2-
6) it is arranged in the indoor work road of temperature, terrestrial reference (2-7) has multiple, is arranged in guide wire side；The number of terrestrial reference (2-7) according to
The period of water tank moisture storage capacity and sprinkling irrigation water yield sets；
The water system (3) includes water tank (3-1), water pump (3-2), spray head (3-3), and the water tank (3-1) is located at vehicle
On frame (1-1), water pump (3-2) is located in water tank (3-1), and spray head (3-3) is connected by water-supply-pipe with water pump (3-2) water outlet,
Spray head (3-3) is mounted on vehicle frame (1-1)；
The battery (4) is located in electric cabinet (5), for irrigation sprinkler work power supply.
A kind of method 2. greenhouse homing guidance formula using irrigation sprinkler described in claim 1 is sprayed, which is characterized in that including as follows
Step:
A. guide wire (2-6) is arranged in the indoor work road of temperature, multiple terrestrial references (2-7) are evenly spaced to be arranged in guide wire
Irrigation sprinkler is first placed in the starting point of guide wire (2-6) by the side of (2-6), makes the center face guide wire of navigation sensor (2-4)
(2-6)；
B. start irrigation sprinkler, two group pulses instruction is issued by master controller (2-1), set of pulses instruction passes through left motor driver
(2-2), another group pulse instruction drive left and right motor while operating, irrigation sprinkler is driven to follow by right motor driver (2-3)
Guide wire (2-6) walking；
C. irrigation sprinkler follow guide wire (2-6) start walking when, starting water pump (3-2) pump the water in water tank (3-1), pass through
Water-supply-pipe is to spray head (3-3) spraying operation；
When irrigation sprinkler is travelled to the position terrestrial reference (2-7), the signal that landmark sensor (2-5) will test terrestrial reference (2-7) is transmitted to
Master controller (2-1), master controller (2-1) stop generating pulse command, and control irrigation sprinkler stops working, at this time feed-tank (3-
1) when adding water, water tank (3-1) plus water, water pump (3-2) stops working；
After water tank (3-1) topped up with water, master controller (2-1) generates pulse command again, and starting irrigation sprinkler works on；Sprinkling irrigation
Machine continues to move ahead, and water pump (3-2), which is again started up, to work on；
D. when irrigation sprinkler runs to guide wire (2-6) terminal, master controller (2-1) stops generating pulse command, and irrigation sprinkler stops
It only moves ahead, master controller (2-1) generates opposite direction pulse command, drives left and right motor antiport, the i.e. reversed row of irrigation sprinkler
It sails, continues to work by step a, b, c, until completing the entire indoor sprinkling irrigation of temperature.
The method 3. homing guidance formula in greenhouse according to claim 2 is sprayed, it is characterised in that: in irrigation sprinkler walking process,
When navigation sensor (2-4), which is measured, has deviation between irrigation sprinkler central axis and guide wire (2-6), send deviation signal to
Master controller (2-1) calculates the departure between irrigation sprinkler central axis and guide wire (2-6) by master controller (2-1), main
Controller (2-1) changes the frequency of two group pulses instruction according to departure, makes left motor driver (2-2) and right motor driver
(2-3) generates rotational speed difference, and by making left motor driver (2-2) and the rotational speed difference of right motor driver (2-3) to spray
Owner is dynamic to reduce departure, adjusts the operation posture of itself in time, and making irrigation sprinkler always follows guide wire (2-6) straight trip or turn to
Work.
The method 4. homing guidance formula in greenhouse according to claim 2 is sprayed, it is characterised in that: the interval distance of terrestrial reference (2-7)
Set from according to the period of water tank (3-1) moisture storage capacity and sprinkling irrigation water yield, when guaranteeing that water tank (3-1) interior water is finished can and
When moisturizing.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105794600A CN105794600A (en) | 2016-07-27 |
| CN105794600B true CN105794600B (en) | 2019-06-28 |
Family
ID=56455499
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610302443.5A Expired - Fee Related 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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| CN106416486B (en) * | 2016-08-30 | 2018-10-09 | 山东胜伟盐碱地科技有限公司 | A kind of diversion trench for saline alkali land drainage |
| CN106618230B (en) * | 2016-10-26 | 2019-06-21 | 海门黄海创业园服务有限公司 | Water work |
| 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 |
| CN108387262B (en) * | 2018-01-03 | 2020-05-01 | 江苏大学 | Greenhouse information automatic monitoring method based on suspension type sliding rail platform |
| CN108391576B (en) * | 2018-03-27 | 2024-02-23 | 屠伟 | Recovery type waterwheel, gearbox of waterwheel and irrigation mode of waterwheel |
| 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 |
| 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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| Publication number | Publication date |
|---|---|
| CN105794600A (en) | 2016-07-27 |
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