CN106359012A - Circular and translation function integrated sprinkler and sprinkling method thereof - Google Patents
Circular and translation function integrated sprinkler and sprinkling method thereof Download PDFInfo
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- CN106359012A CN106359012A CN201510431832.3A CN201510431832A CN106359012A CN 106359012 A CN106359012 A CN 106359012A CN 201510431832 A CN201510431832 A CN 201510431832A CN 106359012 A CN106359012 A CN 106359012A
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- truss
- circular
- big dipper
- sprinkling irrigation
- center car
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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
- A01G25/092—Watering arrangements making use of movable installations on wheels or the like movable around a pivot centre
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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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a circular and translation function integrated sprinkler and a sprinkling method thereof. The circular and translation function integrated sprinkler comprises a central vehicle component, a truss spraying device, a Beidou positioning component and a control box component, wherein the Beidou positioning component is used for feeding back real-time position information of the central vehicle component and the truss spraying device through a Beidou satellite; the control box component comprises a navigation direction and walking mode confirmation module and an adjusting module; the adjusting module comprises a navigation module for navigating tracks of the central vehicle component and the truss spraying device in a standard navigation direction according to the real-time position information, and a walking mode adjusting module for controlling the central vehicle component and the truss spraying device to be in a circular walking mode or a translation walking mode according to the real-time position information. As a Beidou satellite system is adopted to perform position positioning, track navigation and walking mode switching on the circular and translation function integrated sprinkler, the circular and translation function integrated sprinkler is good in landform adaptability, and beneficial to wide application in the field of agricultural irrigation.
Description
Technical field
The present invention relates to a kind of agricultural irrigation controls sprinkling irrigation equipment and method with large-scale intelligent, specifically, it is
It is related in a kind of agricultural irrigation, position is carried out using Beidou satellite navigation system and navigates with track, it is possible to achieve
Circular walking and the large-scale intelligent translating control irrigation sprinkler and its sprinkling irrigation method.
Background technology
The irrigation sprinkler of prior art, general only circular function or translation functions, wherein center pivot sprinkling machine are no
Guider, translation irrigation sprinkler typically adopts electromagnetic navigation, ditch dug with a plow navigation, channel, rope navigation.For example:
The United States Patent (USP) of Publication No. us4358055a discloses a kind of ditch dug with a plow formula translation machine guider.Abroad
The small-sized circle of minority and the navigation one of translation functions integrated sprinkling irrigation machine (hereinafter referred to as: the flat irrigation sprinkler of circle)
As be also adopted by above-mentioned guider.For example: United States Patent (USP) us 006068197a discloses a kind of flat spray of circle
Filling machine, its navigation system is also adopted by conventional translational machine guider.Irrigation sprinkler based on satellite navigation system leads to
It is often based on gps system, the function of realization is only and translates irrigation sprinkler navigation or circular machine sprinkling irrigation machine operation
Location positioning, for example: the United States Patent (USP) of Publication No. us20070001035a discloses one kind and is based on gps
Translation machine guider.United States Patent (USP) us006254018b1 discloses a kind of based on gps positioning
Center pivot sprinkling machine.
Because China's farmland field is with a varied topography, center pivot sprinkling machine and the translation single walking mode of irrigation sprinkler can not
Well adapt to China's farmland practical situation, limit the application of large-scale sprinkling irrigation equipment.The simple circle controlling
It is unfavorable for realizing irrigation sprinkler remotely control and irrigation sprinkler cluster operation with translation functions integrated sprinkling irrigation machine
It is uniformly controlled and dispatch.
Content of the invention
Present invention aim to address the difference to irrigation sprinkler service requirement for the different croplands shape, provide a kind of circle
Shape and translation functions integrated sprinkling irrigation machine (hereinafter referred to as: the flat irrigation sprinkler of circle), based on dipper system navigate into
The conversion of row operational mode and control, it is possible to achieve the walking in the shape farmland such as circle, rectangle, t type, l type
With irrigation, improve the irrigation sprinkler landform suitability.
Separately, need in irrigation sprinkler running to ensure that irrigation sprinkler runs according to both fixed tracks (course), this is just
Require to control irrigation sprinkler whole machine movement locus to control；Simultaneously because connecting between irrigation sprinkler center car and truss
Belong to and be hinged, center car also can turn to itself, therefore, due to hypsography, machinery in running
With reasons such as the hysteresis effects of electrical control instruction, extremely easily cause in irrigation sprinkler running, whole machine is sent out
The problem of raw skew prearranged heading, and irrigation sprinkler is easy to across body relatively across a relativeness and center car
Change, in order to ensure overall operation stability, the flat irrigation sprinkler of circle of the present invention there is a need for being able to walking posture
And running orbit is adjusted controlling.
To achieve these goals, the flat irrigation sprinkler of the circle of the present invention, including the center car assembly being connected and purlin
Frame flusher, also includes:
Big Dipper positioning component, returns described center car assembly and described truss flusher by big-dipper satellite
Real-time position information；And
Control box assembly, be connected with the communication of described Big Dipper positioning component, comprising:
Course and walking mode determining module, for according to farmland shape information determine Normal Course and
The walking mode of each setting position, described walking mode includes truss flusher and with center car assembly is
The circular walking mode of center rotating and truss flusher and center car assembly are as integral translation
Translate pattern；And
Adjusting module, including for according to described real-time position information to described center car assembly and described
Truss flusher carries out the navigation module of track navigation according to described Normal Course, and according to described reality
When positional information control described center car assembly and described truss flusher to be in circular walking mode
Or translate the walking mode adjusting module of pattern.
The flat irrigation sprinkler of above-mentioned circle, described Big Dipper positioning component includes:
Big Dipper base station, with Beidou satellite communication；
First Big Dipper movement station, with big-dipper satellite, described Big Dipper base station, described navigation module and described row
Walking modes adjusting module communicates, and is connected on the car assembly of described center and returns the position of described center car assembly
Information；And
Second Big Dipper movement station, with big-dipper satellite, described Big Dipper base station, described navigation module and described row
Walking modes adjusting module communicates, and is connected on described truss flusher and returns described truss flusher
Positional information.
The flat irrigation sprinkler of above-mentioned circle, described Big Dipper positioning component also includes the first extension rod, described first Big Dipper
Movement station is connected on the car assembly of described center by the first extension rod.
The flat irrigation sprinkler of above-mentioned circle, the length of described first extension rod is 2m to 3m.
The flat irrigation sprinkler of above-mentioned circle, described truss flusher includes component truss and spray assembly, described spray
Spill assembly, described center car assembly and described second Big Dipper movement station to be connected on described component truss.
The flat irrigation sprinkler of above-mentioned circle, described component truss is multigroup and is sequentially connected in strip, described second north
Bucket movement station is connected on that group component truss being connected with described center car assembly.
The flat irrigation sprinkler of above-mentioned circle, described Big Dipper positioning component also includes the second extension rod, described second Big Dipper
Movement station is connected on described component truss by the second extension rod.
The flat irrigation sprinkler of above-mentioned circle, the length of described second extension rod is 3m to 5m.
The flat irrigation sprinkler of above-mentioned circle, described adjusting module also includes making spray assembly open corresponding to circular walking
The circular spray modes of pattern or the spray modes adjustment of the translation spray modes corresponding to the pattern that translates
Module.
The flat irrigation sprinkler of above-mentioned circle, described spray assembly includes connecting tube, electromagnetic valve and shower nozzle, described company
Adapter is connected on described component truss, and described shower nozzle is connected in described connecting tube, and described electromagnetic valve connects
On described shower nozzle, described electromagnetic valve is electrically connected with described spray modes adjusting module.
The flat irrigation sprinkler of above-mentioned circle, described adjusting module also includes adjusting described center car assembly and described truss
The walking posture adjusting module of the relative position shape of assembly.
The flat irrigation sprinkler of above-mentioned circle, described center car assembly include support, center car motor and described in
Center car road wheel, described center car motor and described center car road wheel that heart car motor drives
It is respectively mounted on the bracket, described center car motor and described navigation module, described walking mode
Adjusting module and the electrical connection of described walking posture adjusting module.
The flat irrigation sprinkler of above-mentioned circle, described center car road wheel be four, two one group be divided into front wheels and after
Wheel group, described motor is two, drives front wheels and rear wheels respectively.
The flat irrigation sprinkler of above-mentioned circle, described component truss include water-supply-pipe, span tower carriage, truss motor and
The truss road wheel being driven by described truss motor, described water-supply-pipe, described truss motor and institute
State truss road wheel to be separately mounted on described span tower carriage, described truss motor and described navigation module and
Described walking mode adjusting module electrical connection.
The sprinkling irrigation method of the flat irrigation sprinkler of circle of the present invention, is sprayed using the above-mentioned flat irrigation sprinkler of circle, including
Following steps:
S100, the terrain information of input field, determine Normal Course when this field is walked for the irrigation sprinkler, and
Terrain information according to field sets the walking mode in each setting position for the irrigation sprinkler；
S200, the center car assembly being returned in real time by Big Dipper positioning component and the real-time position of truss flusher
Confidence ceases, and real-time position information and Normal Course is compared to carry out track navigation, simultaneously by real-time position
Confidence breath is compared with setting position, enters predetermined circle or translates pattern to adjust irrigation sprinkler.
Above-mentioned sprinkling irrigation method, described step s200 also includes: is sprayed according to center car assembly and truss
The real-time position information of device and change, real-time adjustment center car assembly and the truss of the distance of Normal Course
The movement velocity of flusher, so that irrigation sprinkler is walked according to Normal Course.
Above-mentioned sprinkling irrigation method, described step s200 also includes spray modes set-up procedure s210: in sprinkling irrigation
Machine enters circular or translates the circular spray modes being separately turned on during pattern corresponding to circular walking mode
Or the translation spray modes corresponding to the pattern that translates.
Above-mentioned sprinkling irrigation method, described step s200 also includes walking posture set-up procedure s220: adjustment institute
State the relative position shape of center car assembly and described component truss.
Above-mentioned sprinkling irrigation method, described step s220 also includes: the center being returned according to Big Dipper positioning component
Car assembly and the real-time position information of truss flusher, calculate real time position and the truss of center car assembly
The line of the real time position of flusher and the angle α of Normal Course, when angle α is more than predetermined value, adjust
The speed of travel of whole center car assembly makes angle α in predetermined value.
Above-mentioned sprinkling irrigation method, described step s200 also comprises the steps: Big Dipper positioning component using dynamic
State rtk calculates positional parameter with restoring to normal position information.
The beneficial functional of the present invention is, the flat irrigation sprinkler of circle that the present invention is navigated based on dipper system is functionally
Compensate for the deficiency of single walking mode function, be conducive to the agricultural section in China's different geographical, different terrain
Water process；Also it is beneficial to realize long-distance intelligent control and the cluster operation United Dispatching of irrigation sprinkler, propulsion simultaneously
Agricultural irrigation mechanization process.
The present invention carries out location positioning and track navigation using big-dipper satellite positioning component to the flat irrigation sprinkler of circle, leads to
Cross control box assembly irrigation sprinkler walking mode to be switched over and to walking posture adjustment it is achieved that being based on the Big Dipper
Circle flat machine Based Intelligent Control.
Due to such sprinkling irrigation equipment high degree of automation, good to landform adaptability, be conducive to being widely used in agriculture
Industry irrigates field, particularly corporation farm or Large-Sized Irrigation Districts.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as to the present invention's
Limit.
Brief description
Fig. 1 is the schematic diagram of the flat irrigation sprinkler of circle of the present invention；
Fig. 2 is the structure diagram with component truss for the center car of the flat irrigation sprinkler of circle of the present invention；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the structure diagram of the spray assembly of the flat irrigation sprinkler of circle of the present invention；
Fig. 5 is the connection block diagram controlling box assembly and Big Dipper positioning component of the flat irrigation sprinkler of circle of the present invention；
Fig. 6 is the track of the flat irrigation sprinkler of circle and the pose discrimination sketch of the present invention；
Fig. 7 is the run trace of the flat irrigation sprinkler of circle and the location diagram of the present invention；
Fig. 8 is the method and step figure of the sprinkling irrigation method of the present invention.
Wherein, reference
10 Big Dipper positioning components
11 big-dipper satellites
12 Big Dipper base stations
13 Big Dipper movement station a
14 Big Dipper movement station b
15 first extension rods
16 second extension rods
20 center car assemblies
21 road wheels
22 motors
23 supports
30 component trusses
31 water-supply-pipes
32 span tower carriages
34 motors
35 road wheels
40 control box assemblies
50 spray assemblies
51 connecting tubes
52 electromagnetic valves
53 shower nozzles
Specific embodiment
With specific embodiment, technical solution of the present invention is described in detail below in conjunction with the accompanying drawings, more to enter one
Step understands the purpose of the present invention, scheme and effect, but is not intended as scope of the appended claims of the present invention
Restriction.
The present invention carries out position and track using Beidou satellite navigation system and navigates, it is possible to achieve circular walking with
The large-scale intelligent translating controls the flat irrigation sprinkler of circle.As shown in Figure 1 to Figure 3, the circle of the present invention puts down sprinkling irrigation
Machine, including Big Dipper positioning component 10, center car assembly 20, component truss 30, controls box assembly 40 and
Spray assembly 50, component truss 30 and spray assembly 50 constitute truss flusher.Wherein, sprinkling group
Part 50 is connected on component truss 30, and component truss 30 is connected with center car assembly 20, controls box assembly
It is connected on 40 centrally disposed car assemblies 20 and with Big Dipper positioning component 10 communication.Big Dipper positioning component 10
By the real-time position information of big-dipper satellite feedback center car assembly 20 and component truss 30 to control chamber group
Part 40.Box assembly 40 is then controlled to pass through internal control system to currently round flat irrigation sprinkler attitude and walking
Pattern with preset course bearing and deviate precision compare, thus send corresponding actions instruction, this
A little control instructions complete to the flat irrigation sprinkler walking mode of circle, spray modes, running orbit and walking posture
Adjustment and control.Hereinafter will be described in more detail.
Refering to Fig. 1, Big Dipper positioning component 10 includes big-dipper satellite 11, Big Dipper base station 12, Big Dipper movement station
A (the first Big Dipper movement station) 13 and Big Dipper movement station b (the second Big Dipper movement station) 14.Big Dipper base station
12 are typically mounted on the position specified by user, and communicate with big-dipper satellite 11.Big Dipper movement station a13
Be connected on center car assembly 20, and with big-dipper satellite 11, Big Dipper base station 12 and control box assembly 40
Communication, Big Dipper movement station a13 returns the positional information of center car assembly 20.Big Dipper movement station b14 connects
On component truss 30, and communicate with big-dipper satellite 11, Big Dipper base station 12 and control box assembly 40,
Big Dipper movement station b14 returns the positional information of component truss 30.
Big Dipper positioning component 10 adopts rtk kinetic measurement principle so that Big Dipper movement station a13 and the Big Dipper
The positional accuracy measurement of movement station b14 is in Centimeter Level.The rtk kinetic measurement principle of Beidou navigation is: north
Bucket movement station a13, Big Dipper movement station b14 and Big Dipper base station 12 all accept signal, restoring to normal position coordinate,
The coordinate figure of Big Dipper base station 12 is sent to Big Dipper movement station a13 by radio or wireless network, the Big Dipper moves
Dynamic station b14, on the basis of the coordinate figure of Big Dipper base station 12, by differential principle correction Big Dipper movement station a13,
The coordinate figure of Big Dipper movement station b14, Big Dipper movement station a13, the Big Dipper movement station b14 so returning sits
Scale value precision comparison is high, and precision is Centimeter Level.
Refering to Fig. 1 to Fig. 3, center car assembly 20 includes 21, two motors 22 of four road wheels
And support 23, road wheel 21 and motor 22 are installed on support 23.The top of support 23
End is connected with component truss 30.21 two one group of four road wheels are divided into front wheels and rear wheels, drive
Motor 22 is two, drives front wheels and rear wheels respectively, forms 4 wheel driven form.Motor 22 and control
Box assembly 40 processed is electrically connected, control box assembly 40 by the control realization of motor 22 to center
The control of car assembly 20 walking.
Wherein, Big Dipper positioning component 10 also includes the first extension rod 15, and the first extension rod 15 is arranged on and props up
On frame 23, Big Dipper movement station a13 is arranged on the top of the first extension rod 15.The length of the first extension rod 15
Spend for 2m to 3m, this length can adjust according to the flat irrigation sprinkler size of circle, to ensure Big Dipper movement station
A13 home position precision of information meets the walking posture of reflection center car assembly 20 and predetermined walking precision
It is defined.
Refering to Fig. 1 to Fig. 3, component truss 30 is multigroup, respectively component truss 30,30 ', 30 ",
Each group of component truss is one across each group component truss is sequentially connected in strip.Irrigated according to the flat irrigation sprinkler of circle
Area scale, the quantity of the adjustable component truss length to reach needs.Wherein, as illustrated, center
Car assembly 20 is connected with first group of component truss 30.Each group component truss structure is identical, below with truss
Illustrate as a example assembly 30.Component truss 30 includes water-supply-pipe 31, span tower carriage 32, motor 34
And road wheel 35.Span tower carriage 32 upper end is connected with water-supply-pipe 31, span tower carriage 32 lower end and road wheel 35
Connect.Motor 34 is arranged on span tower carriage and drives road wheel 35 to walk.Spray assembly 50 is connected to
On described water-supply-pipe 31.Motor 34 is electrically connected with controlling box assembly 40, controls box assembly 40
By the control that the control realization of motor 34 is walked to component truss 30.
Big Dipper positioning component 10 also includes the second extension rod 16, the second extension rod 16 be typically mounted at in
Heart car assembly 20 is joined directly together on the first group of component truss 30 connecing.Big Dipper movement station b14 is arranged on
The top of two extension rods 16., in 3m-5m, this length can be flat according to circle for the length of the second extension rod 16
Irrigation sprinkler size, to adjust, is put down with ensureing that Big Dipper movement station b14 home position precision of information meets reflection circle
Irrigation sprinkler car load position is defined with attitude and predetermined walking precision.
Refering to Fig. 4, spray assembly 50 includes connecting tube 51, electromagnetic valve 52 and shower nozzle 53.Connecting tube
On 51 water-supply-pipes 31 being connected to described component truss 30, shower nozzle 53 is connected in connecting tube 51, electricity
Magnet valve 52 is connected on shower nozzle 53, and electromagnetic valve 52 electrically connects with controlling box assembly 40, electromagnetic valve 52
Open and close according to control chamber group 40 to instruction controlling.
Spray assembly 50 arranges two sets of sprinkling systems, that is, comprise to be suitable for circular and translation different spray modes
When the flat irrigation sprinkler of circle is in different circular walking modes and translates pattern, by switching solenoid valve
52 and the different shower nozzles 53 of configuration, realize the conversion of different spray modes, thus meet irrigation spraying uniformly
The demand of property.
Control the connection block diagram of box assembly 40 and Big Dipper positioning component 10 as shown in figure 5, controlling box assembly
40 include course and walking mode determining module 41 and adjusting module 42.Adjusting module 42 includes navigating
Module 421, walking mode adjusting module 422, spray modes adjusting module 423 and walking posture adjustment
Module 424.
First, the course of box assembly 40 and walking mode determining module 41 is controlled to receive the terrain information of field,
Determine circle Normal Course (track) when this field is walked for the flat irrigation sprinkler, and set the flat irrigation sprinkler of circle each
The walking mode of setting position.
Then, the adjusting module 42 controlling box assembly 40 receives Big Dipper movement station a13, Big Dipper movement station
Center car assembly 20 and the real-time position information of component truss 30 that b14 is returned, then pass through navigation
Module 421, walking mode adjusting module 422, spray modes adjusting module 423 and walking posture adjustment
Module 424 is entered to running orbit, walking mode, spray modes and the walking posture of currently justifying flat irrigation sprinkler
Row controls adjustment.
The flat irrigation sprinkler walking mode of circle typically sets according to farmland features of shape.Run in the flat irrigation sprinkler of circle
Before, in advance farmland shape information (farmland shape facility coordinate) is input to the flat irrigation sprinkler controller assemblies of circle
In 40, course and walking mode determining module 41 determine the flat irrigation sprinkler of circle according to the farmland shape information of input
Normal Course when this field is walked, and the flat irrigation sprinkler of circle is set in each setting position according to farmland shape
Walking mode.When the flat irrigation sprinkler of circle runs, according to Normal Course, setting position and Big Dipper positioning component
The real time execution position that 10 are returned is compared, and to realize track navigation, walking posture adjustment and phase
Answer the operational mode of position and the conversion of spray modes.Specific as follows:
(1) running orbit adjustment:
As shown in fig. 6, controlling the navigation module 421 of box assembly 40 to move Big Dipper movement station a13, the Big Dipper
Center car assembly 20 and the real-time position information of component truss 30 and setting that dynamic station b14 is returned
Normal Course a-b compares, and calculates center car assembly 20 in real time with Normal Course a-b apart from h2,
And component truss 30 with Normal Course a-b apart from h1.If h1 and h2 be more than set away from
From value, judge that the flat irrigation sprinkler of circle deviate from Normal Course a-b, according to the size of h1 and h2 value, really
Surely justify the side-play amount that flat irrigation sprinkler deviates Normal Course a-b.If side-play amount is more than sets walking precision,
So pass through the motor 22,34 on control centre's car assembly 20 and component truss 30, to realize
The flat irrigation sprinkler integrated regulation of circle is so that the flat irrigation sprinkler of circle returns written standards course a-b.Meanwhile, by sentencing
Determine the variation tendency of both h1, h2 it is possible to determine that the flat irrigation sprinkler of overall circle deviates Normal Course a-b
Offset direction.The adjustment of offset direction is also by control centre's car assembly 20 and component truss 30
On motor 22,34 realizing.
(2) walking mode adjustment:
The walking mode adjusting module 422 controlling box assembly 40 is by Big Dipper movement station a13, Big Dipper movement station
Center car assembly 20 that b14 is returned and the real-time position information of component truss 30 are compared with setting position
Relatively, i.e. when the flat irrigation sprinkler of circle reaches a certain setting position, walking mode adjusting module 422 starts this setting
The walking mode of position.For example, the course of control box assembly 40 and walking mode determining module 41 are according to agriculture
Field shape is set in the first setting position and sets the circular walking mode of circle flat irrigation sprinkler entrance, sets position second
Install determine the flat irrigation sprinkler of circle enter translate pattern.When the real-time position being returned according to Big Dipper positioning component 10
When confidence breath is corresponding with the first setting position, walking mode adjusting module 422 starts the flat irrigation sprinkler of circle and enters
Circular operational mode, that is, controlled the flat irrigation sprinkler of circle to be in component truss 30 and turned centered on center car assembly 20
Dynamic circular-mode moves；When the real-time position information being returned according to Big Dipper positioning component 10 and the second setting
When position is corresponding, walking mode adjusting module 422 starts the flat irrigation sprinkler of circle and enters translation operation pattern, that is,
Control the flat irrigation sprinkler of circle to be in component truss 30 to move as the translational mode of integral translation with center car assembly 20
Dynamic.
(3) spray modes adjustment:
When the flat irrigation sprinkler walking mode of circle changes, control the spray modes adjusting module of box assembly 40
423 realize spray modes control by controlling the electromagnetic valve 52 of spray assembly 50.That is, when the flat sprinkling irrigation of circle
When machine enters circular walking mode, spray modes adjusting module 423 controls spray assembly 50 to enter applicable circle
The spray modes of shape walking, when the flat irrigation sprinkler of circle enters and translates pattern, spray modes adjusting module
423 control spray assemblies 50 enter and are suitable for the spray modes translating.
(4) walking posture adjustment:
So-called walking posture is exactly component truss 30 (across body) and the center car assembly 20 of the flat irrigation sprinkler of circle
Deng itself relative position shape.In translational mode, because surface relief and center bassinet structure degree of freedom are big etc.
Reason, it is possible to cause stem to walk not on the same line with afterbody, causes the flat irrigation sprinkler of circle integrally to occur
Deformation, the major accident of the frame that collapses when serious.Therefore to ensure that the flat irrigation sprinkler walking posture of circle meets
Require.
Walking posture adjustment by control circle flat irrigation sprinkler stem and the afterbody speed of travel and center car with across
The position of body is realizing.The speed of travel is by the motor of control centre's car and afterbody across (distance center car
One group of farthest truss of assembly) motor realizing.
As shown in fig. 6, center car assembly 20 is embodied by angle α with the position relationship across body, angle
The real time position p1 of car assembly 20 and the line of real time position p2 of component truss 30 and standard centered on α
The angle of course a-b.When angle α is more than predetermined accuracy value, walking posture adjusting module 424 adjusts
The motor 22 of center car assembly 20, to realize angle α, requires until meeting.Wherein, p2 is root
The real time position of the center car assembly 20 returning according to Big Dipper positioning component 10, p1 is according to Big Dipper positioning group
The real time position of the component truss 30 that part 10 returns.
During the work of this circle flat irrigation sprinkler, multiple run trace can be completed.Below with the flat irrigation sprinkler of this circle with Fig. 7
Shown track and walking mode carry out sprinkling irrigation and describe in detail.
Assume that the flat irrigation sprinkler of circle runs original position in o-oa, can be run to by translating pattern
Ob-oc position；Be converted to circular walking mode, run to ob-od position.Follow-up walking is similar above-mentioned
Process returns to o-oa position, realizes " sports ground " run trace.It is similar to and said process, also can achieve
" l " type or " t " type run trace.It is expert at run duration, by presetting run trace to circle
The walking of flat irrigation sprinkler is guided, by BEI-DOU position system to the flat irrigation sprinkler position of circle, whole machine form and
Operational mode carries out real-time navigation.
Below " sports ground " run trace is simply introduced.
First, in original position by the initial configuration positional information of center car assembly 20 and component truss 30
Inputted by Big Dipper positioning component 10 and control box assembly 40, be simultaneously entered farmland run trace or locations of contours
Information.Box assembly 40 is controlled to pass through motor 22 and the component truss 30 of control centre's car assembly 20
Motor 34 controlling circle flat irrigation sprinkler walking.Assume that the flat irrigation sprinkler initial position of circle is o-oa,
Enter translation functions pattern after operation, control electromagnetic valve 52 to complete to translate the spray under state simultaneously
Spill pattern.Because center car assembly 20 and component truss 30 run simultaneously in this walking process, due to circle
Flat irrigation sprinkler, generally in the length of 100m-400m, will appear from the flat irrigation sprinkler of circle and deviates during translating
Both the situation of fixed track occurred.Refering to Fig. 7, Big Dipper positioning component 10 will be returned by Big Dipper movement station a13
Return center car real time dynamic location information, truss real time dynamic location information is returned by movement station b14.
Positioned by two movement stations, obtain respectively to Big Dipper movement station to Normal Course a-b apart from h1, h2
And angle α, and adjust the distance h1, h2 and angle α analysis it can be determined that travel distance, position,
The key message such as walking posture and relevant path side-play amount.
Secondly, the flat irrigation sprinkler of circle with translational mode walk ob-oc position when, touch circular walking mode,
Center car assembly 20 is out of service, and only component truss 30 runs around center car assembly 20, and track is circle
Shape.When the pattern that translates is to circular walking mode, spray assembly 50 by the unlatching of electromagnetic valve 52 or
Close, realize spray modes corresponding conversion.
According to above walking process and walking mode conversion specification, repeat above procedure, the flat spray of circle can be made
Filling machine returns to o-oa position, completes the irrigation work in " sports ground " type farmland.
The sprinkling irrigation method of the circle of the present invention and translation functions integrated sprinkling irrigation machine, as shown in figure 8, include as
Lower step:
S100, the terrain information of input field, determine Normal Course when this field is walked for the irrigation sprinkler, and
Terrain information according to field sets the walking mode in each setting position for the irrigation sprinkler；
S200, the center car assembly 20 being returned in real time by Big Dipper positioning component 10 and component truss 30
Real-time position information, real-time position information and Normal Course are compared to carry out track navigation, will simultaneously
Real-time position information is compared with setting position, to adjust the predetermined circle of irrigation sprinkler entrance or to translate
Pattern.
Step s200 also includes: according to the real-time position information of center car assembly 20 and component truss 30
With the change of the distance of Normal Course, the motion speed of real-time adjustment center car assembly 20 and component truss 30
Degree, so that irrigation sprinkler is walked according to Normal Course.
Step s200 also includes spray modes set-up procedure s210: enters circular in irrigation sprinkler or translates
It is separately turned on during pattern corresponding to the circular spray modes of circular walking mode or corresponding to translating pattern
Translation spray modes.
Step s200 also includes walking posture set-up procedure s220: adjustment center car assembly 20 and truss group
The relative position shape of part 30.Specifically, the center car assembly 20 being returned according to Big Dipper positioning component 10
And the real-time position information of component truss 30, calculate real time position and the component truss of center car assembly 20
The line of 30 real time position and the angle α of Normal Course, when angle α is more than predetermined value, in adjustment
The speed of travel of heart car assembly 20 makes angle α in predetermined value.
Certainly, the present invention also can have other various embodiments, in the feelings spiritual and its substantive without departing substantially from the present invention
Under condition, those of ordinary skill in the art work as and can make various corresponding changes and deformation according to the present invention, but
These change accordingly and deform the protection domain that all should belong to appended claims of the invention.
Claims (20)
1. a kind of circle and translation functions integrated sprinkling irrigation machine, including the center car assembly being connected and truss
Flusher is it is characterised in that also include:
Big Dipper positioning component, returns described center car assembly and described truss flusher by big-dipper satellite
Real-time position information；And
Control box assembly, be connected with the communication of described Big Dipper positioning component, comprising:
Course and walking mode determining module, for according to farmland shape information determine Normal Course and
The walking mode of each setting position, described walking mode includes truss flusher and with center car assembly is
The circular walking mode of center rotating and truss flusher and center car assembly are as integral translation
Translate pattern；And
Adjusting module, including for according to described real-time position information to described center car assembly and described
Truss flusher carries out the navigation module of track navigation according to described Normal Course, and according to described reality
When positional information control described center car assembly and described truss flusher to be in circular walking mode
Or translate the walking mode adjusting module of pattern.
2. according to claim 1 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
Described Big Dipper positioning component includes:
Big Dipper base station, with Beidou satellite communication；
First Big Dipper movement station, with big-dipper satellite, described Big Dipper base station, described navigation module and described row
Walking modes adjusting module communicates, and is connected on the car assembly of described center and returns the position of described center car assembly
Information；And
Second Big Dipper movement station, with big-dipper satellite, described Big Dipper base station, described navigation module and described row
Walking modes adjusting module communicates, and is connected on described truss flusher and returns described truss flusher
Positional information.
3. according to claim 2 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
Described Big Dipper positioning component also includes the first extension rod, and described first Big Dipper movement station passes through the first extension rod even
It is connected on the car assembly of described center.
4. according to claim 3 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
The length of described first extension rod is 2m to 3m.
5. according to claim 2 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
Described truss flusher includes component truss and spray assembly, described spray assembly, described center car assembly
It is connected on described component truss with described second Big Dipper movement station.
6. according to claim 5 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
Described component truss is multigroup and be sequentially connected in strip, described second Big Dipper movement station be connected to described in
On that group component truss that heart car assembly is connected.
7. according to claim 5 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
Described Big Dipper positioning component also includes the second extension rod, and described second Big Dipper movement station passes through the second extension rod even
It is connected on described component truss.
8. according to claim 7 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
The length of described second extension rod is 3m to 5m.
9. according to claim 5 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
Described adjusting module also include making spray assembly open corresponding to circular walking mode circular spray modes or
Spray modes adjusting module corresponding to the translation spray modes of the pattern that translates.
10. according to claim 9 circular with translation functions integrated sprinkling irrigation machine it is characterised in that
Described spray assembly includes connecting tube, electromagnetic valve and shower nozzle, and described connecting tube is connected to described component truss
On, described shower nozzle is connected in described connecting tube, and described electromagnetic valve is connected on described shower nozzle, described electromagnetism
Valve is electrically connected with described spray modes adjusting module.
11. according to claim 5 circular with translation functions integrated sprinkling irrigation machines it is characterised in that
Described adjusting module also includes adjusting the relative position shape of described center car assembly and described component truss
Walking posture adjusting module.
12. according to claim 11 circular with translation functions integrated sprinkling irrigation machines it is characterised in that
Described center car assembly includes the center that support, center car motor and described center car motor drive
Car road wheel, described center car motor and described center car road wheel are respectively mounted on the bracket,
Described center car motor and described navigation module, described walking mode adjusting module and described walking posture
Adjusting module electrically connects.
13. according to claim 12 circular with translation functions integrated sprinkling irrigation machines it is characterised in that
Described center car road wheel is four, and two one group is divided into front wheels and rear wheels, and described motor is two,
Drive front wheels and rear wheels respectively.
14. according to claim 5 circular with translation functions integrated sprinkling irrigation machines it is characterised in that
Described component truss includes water-supply-pipe, span tower carriage, truss motor and is driven by described truss motor
Truss road wheel, described water-supply-pipe, described truss motor and described truss road wheel are separately mounted to
On described span tower carriage, described truss motor is electric with described navigation module and described walking mode adjusting module
Connect.
A kind of 15. circular sprinkling irrigation methods with translation functions integrated sprinkling irrigation machine are it is characterised in that adopt power
Profit requires the circle described in 1 to 14 any one to be sprayed with translation functions integrated sprinkling irrigation machine, including such as
Lower step:
S100, the terrain information of input field, determine Normal Course when this field is walked for the irrigation sprinkler, and
Terrain information according to field sets the walking mode in each setting position for the irrigation sprinkler；
S200, the center car assembly being returned in real time by Big Dipper positioning component and the real-time position of truss flusher
Confidence ceases, and real-time position information and Normal Course is compared to carry out track navigation, simultaneously by real-time position
Confidence breath is compared with setting position, enters predetermined circle or translates pattern to adjust irrigation sprinkler.
16. sprinkling irrigation methods according to claim 15 are it is characterised in that described step s200 is also wrapped
Include: the change of the distance of the real-time position information according to center car assembly and truss flusher and Normal Course
Change, the movement velocity of real-time adjustment center car assembly and truss flusher, so that irrigation sprinkler is according to standard
Walk in course.
17. sprinkling irrigation methods according to claim 15 are it is characterised in that described step s200 is also wrapped
Include spray modes set-up procedure s210: it is right to be separately turned in irrigation sprinkler entrance circle or when translating pattern
Should be in the circular spray modes of circular walking mode or the translation spray modes corresponding to the pattern that translates.
18. sprinkling irrigation methods according to claim 15 are it is characterised in that described step s200 is also wrapped
Include walking posture set-up procedure s220: the relative position shape of adjustment center car assembly and truss flusher.
19. sprinkling irrigation methods according to claim 18 are it is characterised in that described step s220 is also wrapped
Include: the center car assembly being returned according to Big Dipper positioning component and the real-time position information of truss flusher,
The real time position of calculating center car assembly and the line of real time position of truss flusher and Normal Course
Angle α, when angle α is more than predetermined value, the speed of travel of adjustment center car assembly makes angle α in predetermined
In value.
20. sprinkling irrigation methods according to claim 15 are it is characterised in that described step s200 is also wrapped
Include following steps: Big Dipper positioning component adopts dynamic rtk to calculate positional parameter with restoring to normal position information.
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| CN201510431832.3A CN106359012B (en) | 2015-07-21 | 2015-07-21 | Sprinkling irrigation method of circular and translation function integrated sprinkling irrigation machine |
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| CN201510431832.3A CN106359012B (en) | 2015-07-21 | 2015-07-21 | Sprinkling irrigation method of circular and translation function integrated sprinkling irrigation machine |
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| WO2022103791A1 (en) * | 2020-11-10 | 2022-05-19 | Lindsay Corporation | Irrigation system with unmanned aerial vehicles |
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