CN106804389B - Gardens intelligence sprinkling irrigation control system - Google Patents
Gardens intelligence sprinkling irrigation control system Download PDFInfo
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- CN106804389B CN106804389B CN201710112519.2A CN201710112519A CN106804389B CN 106804389 B CN106804389 B CN 106804389B CN 201710112519 A CN201710112519 A CN 201710112519A CN 106804389 B CN106804389 B CN 106804389B
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- sprinkling irrigation
- pipe
- front wheel
- sprinkling
- irrigation
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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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- 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
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
Abstract
The invention discloses an intelligent garden sprinkling irrigation control system which comprises a pressure water supply device, an angle rotation positioning device, a self-moving small-sized sprinkling irrigation machine, a soil humidity monitoring device and an electric control device. This gardens intelligence sprinkling irrigation control system adopts central control computer centralized control, carry out the soil moisture data of comparison judgement back according to the gardens coordinate information that the procedure preset and soil moisture sensor's coordinate information control angle rotation positioning device's rotary platform translation is rotatory and the location makes from the small-size sprinkling irrigation machine of formula that moves just to needing the sprinkling irrigation position, then carry out the self-moving sprinkling irrigation, conveniently spray irrigation to gardens vegetation, and it is high to use the flexibility, be convenient for maintain, need not at the regional pre-buried raceway network of gardens sprinkling irrigation, need not consider shower nozzle combination interval scheduling problem, realize reducing gardens construction engineering volume, the horizontal evenly distributed in the sprinkling irrigation soil is realized to the sprinkling irrigation mode of self-moving under the prerequisite of water economy resource, and is particularly suitable for gardens sprinkling irrigation.
Description
Technical Field
The invention relates to an intelligent sprinkling irrigation control system, in particular to an intelligent sprinkling irrigation control system for a garden, and belongs to the technical field of intelligent sprinkling irrigation for the garden.
Background
The garden is an artistic garden which is created by modifying the terrain (or further building a mountain, stacking stones and managing water), planting trees and flowers, building a building, arranging garden paths and the like by applying engineering technology and artistic means in a certain region, and is an aesthetic natural environment and rest period region, wherein the garden usually comprises a garden, a residential garden, a small garden, a park, a botanical garden and the like, and the garden not only serves as rest, but also has the functions of protecting and improving the environment, and plays a positive role in promoting urban greening and environmental protection.
The spray irrigation is an irrigation method that uses special equipment such as spray head to spray pressurized water into the air to form water drops on the ground and the surface of crops.
Present gardens are sprayed and are adopted the shower nozzle watering more, be about to the shower nozzle through connecting pipe fixed mounting pre-buried arrange on subaerial conduit network settlement position, spray irrigation water carries out the fixed point through the shower nozzle blowout through booster pump station and conduit network and spray irrigation, this kind of traditional mode of spraying still has following defect:
1. because the water delivery pipe network needs to be pre-buried during garden construction, the engineering quantity is huge, the water delivery pipe network pre-buried below the ground is not easy to maintain, and troubleshooting is difficult when a fault or water leakage condition occurs;
2. factors such as the shape of a garden plot, the ground gradient and the vegetation planting direction all affect the arrangement of the water conveying pipe network, so that the increase of the engineering quantity is caused invisibly;
3. because a fixed-point sprinkling irrigation mode is adopted, the coverage area of the single spray head is limited, and therefore, a proper spray head combination interval needs to be set to avoid sprinkling irrigation dead angles;
4. generally, a booster pump station is required to be positioned at the central position of a section so as to reduce the consumption of pipelines and the head loss of a water pipeline and further reduce the investment cost and the operating cost, but the booster pump station which is far away from a water source is required to be additionally pre-embedded with a booster pump station water pipeline, and is difficult to maintain;
5. because the water of spouting from the shower nozzle is influenced by self gravity factor, consequently can cause the horizontal distribution in the sprinkling irrigation in-process soil to use the shower nozzle to outwards reduce gradually as the center, the cross-section is the toper structure, though the dead angle of sprinkling irrigation can be avoided to suitable shower nozzle combination interval, still can cause the waste of the inhomogeneous phenomenon of irrigating and water resource.
Disclosure of Invention
Aiming at the problems, the invention provides the intelligent garden sprinkling irrigation control system which can save water resources, reduce the engineering quantity, realize uniform sprinkling irrigation and is particularly suitable for garden sprinkling irrigation.
In order to realize the purpose, the intelligent garden sprinkling irrigation control system comprises a pressure water supply device, an angle rotation positioning device, a self-moving small-sized sprinkling irrigation machine, a soil humidity monitoring device and an electric control device;
the pressure water supply device comprises a pressure water supply bolt, a bolt body of the pressure water supply bolt is fixedly arranged on the ground in the vertical direction, the water outlet end of the pressure water supply bolt is arranged along the radial direction of the bolt body and is connected with the bolt body of the pressure water supply bolt through a plane bearing and an annular seal, and an electromagnetic stop valve is further arranged at the water outlet end of the pressure water supply bolt;
the angle rotation positioning device comprises a rotating platform and a rotating platform drive; the rotating platform is arranged around the pressure water supply device by taking the pressure water supply device as a rotating center; the rotary platform drive comprises an annular gear ring, a rotary drive gearbox and a rotary drive motor, the annular gear ring is coaxially installed and connected with the pressure water supply device, the rotary platform is erected on the annular gear ring, an input shaft of the rotary drive gearbox is fixedly connected with an output shaft of the rotary drive motor, and a rotary transmission gear matched and meshed with a tooth part of the annular gear ring is arranged on an output shaft of the rotary drive gearbox;
the self-moving small sprinkler is arranged on the rotary platform and comprises a rack, a travelling mechanism and a sprinkling mechanism;
the rack is a box-type supporting structure with the top, the bottom and the rear opened, and the top surface of the box-type supporting structure is a structure inclined towards the rear lower part;
the sprinkling irrigation mechanism comprises a sprinkling irrigation reel, a sprinkling irrigation PE pipe, a pipe pressing mechanism and a spray head;
the sprinkling irrigation reel comprises a barrel body and wing plates; the cylinder body is a hollow cylindrical structure; the wing plates are of a disc-shaped structure and are arranged into two pieces, the two wing plates are respectively coaxial with the barrel body and are arranged at two ends of the barrel body, and an outer gear ring is coaxially and fixedly arranged on the outer side surface of one wing plate; the whole sprinkling irrigation reel takes the radial direction of the cylinder as the front and back direction and is erected and installed between two side walls in the left and right directions of the rack through a bearing;
the sprinkling irrigation PE pipe is wound on the cylinder body of the sprinkling irrigation reel, the input end of the sprinkling irrigation PE pipe is wound on the outer layer, the output end of the sprinkling irrigation PE pipe is wound on the inner layer, and the input end of the sprinkling irrigation PE pipe is connected with the electromagnetic stop valve;
the pipe pressing mechanism comprises a pipe pressing frame and a tension spring; the pressure pipe frame is a door-shaped frame structure, the width size of the door-shaped frame structure is matched with the length size of the barrel body of the sprinkling irrigation reel and is clamped between two wing plates of the sprinkling irrigation reel, and the bottom end of the pressure pipe frame is hinged and installed on two side walls in the left and right directions of the machine frame; one end of the tension spring is connected with the door-shaped frame structure of the pressure tube frame, and the other end of the tension spring is connected with the side wall of the rack;
the spray head comprises a spray head support rod and a spray nozzle arranged at the top end of the spray head support rod, and the pressure water input end of the spray nozzle is communicated and connected with the output end of the spray irrigation PE pipe;
the traveling mechanism comprises a front wheel, a front wheel drive and a guide rear wheel; the front wheel is arranged at the front lower part of the frame through a front wheel shaft which is arranged on the frame in a penetrating way; the front wheel is driven and installed on the frame and comprises a front wheel driving power supply, a front wheel driving motor and a front wheel driving gearbox, the front wheel driving power supply is electrically connected with the front wheel driving motor, the output end of the front wheel driving motor is connected with the input end of the front wheel driving gearbox, and the output end of the front wheel driving gearbox is respectively in transmission connection with a front wheel shaft of the front wheel and an outer gear ring of the sprinkling irrigation reel through a transmission mechanism; the rear guide wheel is mounted at the rear end of the rack through a rear wheel mounting frame, the rear guide wheel is positioned in the middle position of the left direction and the right direction of the rack, an arc-shaped groove matched with the spray irrigation PE pipe in size is formed in the wheel surface of the rear guide wheel along the circumferential direction of the rear guide wheel, and the input end of the spray irrigation PE pipe is clamped and arranged in the arc-shaped groove of the rear guide wheel;
the soil humidity monitoring device comprises a plurality of soil humidity sensors which are uniformly distributed in the garden soil along the concentric circumferential direction of the pressure water supply device;
the electric control device comprises a central control computer, a soil humidity feedback loop, a soil humidity judging loop, a sprinkling machine sprinkling direction control loop, a sprinkling machine control loop and a sprinkling control loop, wherein the central control computer is respectively electrically connected with a soil humidity sensor, a rotary platform drive, an electromagnetic stop valve and a front wheel drive.
As a further improvement scheme of the invention, an electromagnetic flow regulating valve is arranged on the pressure water input end of the spray head or the water outlet end of the pressure hydrant; the electric control device also comprises a sprinkling irrigation flow regulating loop, and the central control computer is electrically connected with the electromagnetic flow regulating valve.
As a further improvement scheme of the invention, a nozzle supporting rod of the nozzle is provided with an electric nozzle height adjusting mechanism which is electrically connected with a front wheel driving power supply of the travelling mechanism; the electric control device also comprises a spray head height adjusting loop, and the central control computer is electrically connected with the spray head height electric adjusting mechanism.
As a further improvement scheme of the invention, the guide rear wheel is arranged on the rear wheel mounting frame through the door-shaped support frame, the top end of the door-shaped support frame is connected with the rear wheel mounting frame, and the input end of the spray irrigation PE pipe penetrates out from a gap between the inner side surface of the top end of the door-shaped support frame and the bottom surface of the arc-shaped groove of the guide rear wheel.
As a further improvement scheme of the invention, an auxiliary guide wheel is further arranged inside the frame structure of the door-shaped support frame and above the guide rear wheel, an arc-shaped groove matched with the spray irrigation PE pipe in size is arranged on the wheel surface of the auxiliary guide wheel along the circumferential direction of the auxiliary guide wheel, the distance between the bottom surface of the arc-shaped groove of the auxiliary guide wheel and the bottom surface of the arc-shaped groove of the guide rear wheel is matched with the diameter size of the spray irrigation PE pipe, and the input end of the spray irrigation PE pipe penetrates out from a gap between the bottom surface of the arc-shaped groove of the auxiliary guide wheel and the bottom surface of the arc-shaped groove of the guide rear wheel.
As a further improvement of the invention, the door-shaped support frame is arranged obliquely forwards.
As a further improvement scheme of the invention, the rear wheel mounting rack is an acute-angle isosceles triangle frame structure with backward vertex angles, and the door-shaped support frame is arranged at the vertex angle position of the rear wheel mounting rack of the isosceles triangle frame structure.
As a preferable scheme of the invention, the front wheel driving power supply driven by the front wheel is a lithium battery pack.
As a further improvement scheme of the invention, a charging pile and a sprinkler guide mechanism are arranged on the rotating platform; the rear end of the self-moving small-sized sprinkling irrigation machine is provided with a plug structure matched with the charging pile at a position corresponding to the charging pile, and the plug structure is electrically connected with the front wheel driving power supply.
As a further improvement scheme of the invention, a solar energy collecting plate is also arranged on the rotating platform and is electrically connected with the charging pile.
Compared with the prior art, the intelligent garden sprinkling irrigation control system adopts the central control computer to carry out centralized control, when the soil humidity data fed back by the soil humidity sensor is lower than the soil humidity data set by a program, the central control computer firstly controls the rotating platform of the angle rotating and positioning device to support the self-moving type small-sized sprinkling irrigation machine to rotate in a translation way and position so that the self-moving type small-sized sprinkling irrigation machine is right opposite to the position needing sprinkling irrigation according to the garden coordinate information preset by the program and the coordinate information of the soil humidity sensor, then the central control computer controls the running mechanism of the self-moving small-sized sprinkling machine to move forward and release the PE pipe for sprinkling irrigation, the central control computer controls the electromagnetic stop valve 2 to open after the self-moving small-sized sprinkling machine moves to a position needing sprinkling irrigation, pressure water enters the PE pipe for sprinkling irrigation through the input end of the PE pipe for sprinkling irrigation through the sprinkling irrigation, the middle central control computer controls the running mechanism of the self-moving small-sized sprinkling machine to move backward and recover the PE pipe for sprinkling irrigation after the sprinkling irrigation starts, the guiding rear wheel ensures that the whole self-moving small-sized sprinkling machine moves along the trend of the PE pipe for sprinkling irrigation all the time until the self-moving small-sized sprinkling machine returns to the rotating platform to complete the whole process of sprinkling irrigation, the sprinkling irrigation is convenient for the garden, the use flexibility is high, the sprinkling irrigation maintenance is convenient, the water delivery pipe network does not need to be pre-buried in the garden area, the combination spacing of the sprinkling irrigation nozzles does not need to be considered, and the like, and the self-moving sprinkling irrigation mode can realize the horizontal uniform distribution in the sprinkling irrigation soil on the premise of saving water resources, ensure uniform irrigation, and then realize reducing gardens construction work volume, practice thrift construction cost, the specially adapted gardens sprinkling irrigation.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic top plan view of the present invention;
FIG. 4 is a schematic structural view of the self-propelled small sprinkler of the present invention;
FIG. 5 is a top view of FIG. 4;
fig. 6 is a view from direction a of fig. 4.
In the figure: 1. pressure water supply equipment, 11, a pressure water supply bolt, 12, an electromagnetic stop valve, 2, an angle rotation positioning device, 21, a rotating platform, 22, a rotating platform drive, 3, a self-moving small-sized sprinkler, 31, a frame, 32, a traveling mechanism, 321, a front wheel, 322, a front wheel drive, 323, a guide rear wheel, 324, a rear wheel mounting frame, 325, a door-shaped supporting frame, 326, an auxiliary guide wheel, 33, a sprinkling irrigation mechanism, 331, a sprinkling irrigation reel, 332, a pressure pipe mechanism, 3321, a pressure pipe frame, 3322, a tension spring, 333, a spray head, 4, a soil humidity monitoring device, 5 and an electric control device.
Detailed Description
The present invention will be further explained with reference to the attached drawings (hereinafter, the direction of pulling out the input end of the PE sprinkler pipe of the self-moving small sprinkler is described as the rear).
As shown in fig. 1, fig. 2 and fig. 3, the intelligent sprinkling irrigation control system for gardens comprises a pressure water supply device 1, an angle rotation positioning device 2, a self-moving small-sized sprinkling irrigation machine 3, a soil humidity monitoring device 4 and an electric control device 5.
The pressure water supply device 1 comprises a pressure water supply bolt 11, a bolt body of the pressure water supply bolt 11 is fixedly installed on the ground in the vertical direction, a water outlet end of the pressure water supply bolt 11 is arranged along the radial direction of the bolt body, the water outlet end of the pressure water supply bolt 11 is connected with the bolt body of the pressure water supply bolt 11 through a plane bearing and an annular seal, the water outlet end of the pressure water supply bolt 11 can freely rotate along the axis of the bolt body, and an electromagnetic stop valve 12 is further arranged at the water outlet end of the pressure water supply bolt 11.
The angle rotation positioning device 2 comprises a rotating platform 21 and a rotating platform drive 22; the rotary platform 21 is arranged around the pressure water supply device 1 by taking the pressure water supply device 1 as a rotary center; the rotary platform drive 22 comprises an annular gear ring, a rotary drive gearbox and a rotary drive motor, the annular gear ring is coaxially installed and connected with the pressure water supply device 1, the rotary platform 21 is erected on the annular gear ring, an input shaft of the rotary drive gearbox is fixedly connected with an output shaft of the rotary drive motor, a rotary drive gear matched and meshed with a tooth part of the annular gear ring is arranged on an output shaft of the rotary drive gearbox, and the rotary platform drive 22 can enable the rotary platform 21 to rotate around the axis of the pressure water supply device 1 at any angle and be positioned through the rotary drive gear.
The self-moving small-sized sprinkling machine 3 is arranged on the rotary platform 21 and comprises a frame 31, a walking mechanism 32 and a sprinkling mechanism 33;
the frame 31 is a box-type support structure open at the top, bottom, and rear, and the top surface of the box-type support structure is a structure inclined downward rearward.
As shown in fig. 4 and 5, the sprinkling irrigation mechanism 33 comprises a sprinkling irrigation reel 331, a sprinkling PE pipe, a pipe pressing mechanism 332 and a nozzle 333;
the sprinkling irrigation reel 331 includes a cylinder and a wing plate; the cylinder body is a hollow cylindrical structure; the wing plates are of a disc-shaped structure and are arranged into two pieces, the two wing plates are respectively coaxial with the barrel body and are arranged at two ends of the barrel body, and an outer gear ring is coaxially and fixedly arranged on the outer side surface of one wing plate; the sprinkling irrigation reel 331 is integrally installed between the two side walls of the frame 31 in the left-right direction by taking the radial direction of the cylinder as the front-back direction and by a bearing frame;
the spray irrigation PE pipe is wound on the cylinder body of the spray irrigation reel 331, the input end of the spray irrigation PE pipe is wound on the outer layer, the output end of the spray irrigation PE pipe is wound on the inner layer, and the input end of the spray irrigation PE pipe is connected with the electromagnetic stop valve 12;
the pipe pressing mechanism 332 comprises a pipe pressing frame 3321 and a tension spring 3322; the pressure pipe frame 3321 is a door-shaped frame structure, the width of the door-shaped frame structure is matched with the length of the barrel body of the sprinkling irrigation reel 331 and is clamped between two wing plates of the sprinkling irrigation reel 331, and the bottom end of the pressure pipe frame 3321 is hinged and installed on two side walls in the left and right directions of the rack 31; one end of the tension spring 3322 is connected with the door-shaped frame structure of the pressure pipe frame 3321, the other end is connected with the side wall of the frame 31, and the tension spring 3322 can enable the pressure pipe frame 3321 to be pressed on the cylinder body of the sprinkling irrigation reel 331 all the time;
the spray head 333 comprises a spray head support rod and a spray nozzle arranged at the top end of the spray head support rod, and the pressure water input end of the spray nozzle is communicated and connected with the output end of the spray irrigation PE pipe;
the traveling mechanism 32 comprises front wheels 321, front wheel drives 322 and guide rear wheels 323; the front wheel 321 is mounted at the front lower part of the frame 31 through a front wheel shaft mounted on the frame 31 in a penetrating way; the front wheel drive 322 is arranged on the frame 31 and comprises a front wheel drive power supply, a front wheel drive motor and a front wheel drive gearbox, the front wheel drive power supply is electrically connected with the front wheel drive motor, the output end of the front wheel drive motor is connected with the input end of the front wheel drive gearbox, the output end of the front wheel drive gearbox is respectively in transmission connection with the front wheel shaft of the front wheel 321 and the outer gear ring of the sprinkling irrigation reel 331 through a transmission mechanism, and the front wheel drive gearbox can drive the front wheel 321 and the outer gear ring of the sprinkling irrigation reel 331 to rotate by controlling the rotation of the front wheel drive motor so as to move and receive and release the PE pipe; the rear guide wheel 323 is arranged at the rear end of the rack 31 through a rear wheel mounting frame 324, the rear guide wheel 323 is positioned in the middle position of the left direction and the right direction of the rack 31, an arc-shaped groove matched with the spray irrigation PE pipe in size is formed in the wheel surface of the rear guide wheel 323 along the circumferential direction of the arc-shaped groove, and the input end of the spray irrigation PE pipe is clamped and arranged in the arc-shaped groove of the rear guide wheel 323.
Soil moisture monitoring devices 4 include a plurality of soil moisture sensors, a plurality of soil moisture sensors along the concentric circumferencial direction equipartition of pressure water supply installation 1 imbed in gardens soil.
The electric control device 5 comprises a central control computer, a soil humidity feedback loop, a soil humidity judging loop, a sprinkling direction control loop, a sprinkling control loop and a sprinkling control loop, wherein the central control computer is respectively electrically connected with a soil humidity sensor, a rotary platform drive 22, an electromagnetic stop valve 12 and a front wheel drive 322.
This gardens intelligence sprinkling irrigation control system when using 5's soil moisture feedback loop and soil moisture judge that the loop is worked all the time, the soil moisture sensor periodically gives central control computer feedback soil moisture, during initial condition, as shown in figure 1, figure 2, arrange along the radial direction of pressure water supply installation 1 from walking sprinkling irrigation machine 1, the anterior outside is to the outside stagnation and is waited on rotary platform 21, the PE pipe of sprinkling irrigation twines completely at this moment and is in the state of accomodating completely on the barrel of sprinkling irrigation reel 331.
When the soil humidity data fed back by the soil humidity sensor of the soil humidity monitoring device 4 of a certain garden soil is lower than the soil humidity data set by a program, the sprinkling irrigation direction control loop of the sprinkling irrigation machine starts to work, and the central control computer sends an instruction according to the garden coordinate information preset by the program and the coordinate information of the soil humidity sensor so that the rotating platform drive 22 acts to drive the rotating platform 21 to rotate to a set angle by taking the pressure water supply device 1 as a rotating center, so that the front part of the self-moving type small-sized sprinkling irrigation machine 3 is opposite to the position needing sprinkling irrigation; then the control loop of the sprinkler starts to work, the central control computer sends out an instruction to enable the front wheel drive 322 to act, the front wheel drive motor rotates forward to drive the front wheel drive gearbox to drive the front wheel 321 and the outer gear ring of the sprinkling irrigation reel 331 to rotate, the self-moving small sprinkler 3 moves forward while facing the position needing sprinkling irrigation and releases the sprinkling irrigation PE pipe, the pressure pipe frame 3321 is pressed against the sprinkling irrigation PE pipes wound in sequence under the action of the tension spring 3322, and the sprinkling irrigation PE pipes can be prevented from falling off the sprinkling irrigation reel 331; when the self-moving small-sized sprinkling machine 3 moves forward to a set distance and reaches a position needing sprinkling, a sprinkling control loop starts to work, the central control computer sends an instruction to open the electromagnetic stop valve 12, pressure water enters the sprinkling PE pipe through the input end of the sprinkling PE pipe and is sprayed out through the spray nozzle 333 to realize sprinkling, after the sprinkling starts, the central control computer sends an instruction to make the front wheel drive 322 act, the front wheel drive motor rotates reversely to drive the front wheel drive gearbox to drive the front wheel 321 and the outer gear ring of the sprinkling reel 331 to rotate, the self-moving small-sized sprinkling machine 3 moves backwards while recycling the sprinkling PE pipe to gradually approach the pressure water supply plug 11, the guide rear wheel 323 clamped and supported on the sprinkling PE pipe ensures that the whole self-moving small-sized sprinkling machine 3 moves along the trend of the PE pipe all the time, when the self-moving small-sized sprinkling machine 3 sprinkles to the rotary platform 21, the whole process is completed, and the central control computer sends an instruction to close the electromagnetic stop valve 12.
In order to control the sprinkling irrigation quantity according to the feedback of different numerical values fed back by the soil humidity sensor, as a further improvement scheme of the invention, an electromagnetic flow regulating valve is arranged on the pressure water input end of the spray head 333 or the water outlet end of the pressure hydrant 11; the electric control device 5 also comprises a spray irrigation flow regulating loop, and the central control computer is electrically connected with the electromagnetic flow regulating valve; the central control computer can change the flow of the spraying water sprayed in the spray head 333 by adjusting the electromagnetic flow adjusting valve according to different values fed back by the soil humidity sensor, so as to adjust the spraying amount.
In order to realize that the sprayer 333 sprays water with different coverage areas according to different garden vegetation and realize better universality, as a further improvement scheme of the invention, a sprayer height electric adjusting mechanism is arranged on a sprayer supporting rod of the sprayer 333 and is electrically connected with a front wheel driving power supply of the travelling mechanism 32; the electric control device 5 also comprises a spray head height adjusting loop, and the central control computer is electrically connected with the spray head height electric adjusting mechanism; the central control computer can change the height of the spray head 333 from the ground by adjusting the spray head height electric adjusting mechanism according to the set vegetation height data, and further change the coverage area of the water sprayed by the spray head 333.
In order to prevent the sprinkling irrigation PE pipe from being separated from the arc-shaped groove of the guiding rear wheel 323 in the self-moving sprinkling irrigation process of the intelligent sprinkling irrigation control system for the garden, and further prevent the complete machine from being correctly moved along the trend of the sprinkling irrigation PE pipe, as shown in fig. 6, the guiding rear wheel 323 is arranged on a rear wheel mounting frame 324 through a portal support frame 325, the top end of the portal support frame 325 is connected with the rear wheel mounting frame 324, and the input end of the sprinkling irrigation PE pipe penetrates out from a gap between the inner side surface of the top end of the portal support frame 325 and the bottom surface of the arc-shaped groove of the guiding rear wheel 323; the arrangement of the portal support frame 325 can effectively prevent the spray irrigation PE pipe from falling off from the arc-shaped groove of the guide rear wheel 323.
In order to further prevent the sprinkling irrigation PE pipe from falling off the arc groove of the rear guide wheel 323, as shown in fig. 6, an auxiliary guide wheel 326 is further provided inside the frame structure of the portal support frame 325 and above the rear guide wheel 323, an arc groove matched with the sprinkling irrigation PE pipe in size is provided on the wheel surface of the auxiliary guide wheel 326 along the circumferential direction thereof, the distance between the arc groove bottom surface of the auxiliary guide wheel 326 and the arc groove bottom surface of the rear guide wheel 323 is matched with the diameter size of the sprinkling irrigation PE pipe, and the input end of the sprinkling irrigation PE pipe penetrates through the gap between the arc groove bottom surface of the auxiliary guide wheel 326 and the arc groove bottom surface of the rear guide wheel 323.
In order to realize that the spray irrigation PE pipe is closer to the ground in the spray irrigation process and further realize that the guide rear wheel 323 is more stably guided, as a further improvement of the invention, the door-shaped support frame 325 is arranged in a forward inclined manner.
As a further improvement of the present invention, as shown in fig. 5, the rear wheel mounting bracket 324 is an acute angle isosceles triangle frame structure with an apex angle set backwards, and the gate-shaped support bracket 325 is mounted at the apex angle position of the rear wheel mounting bracket 324 of the isosceles triangle frame structure; the longer distance between the portal support frame 325 and the sprinkling irrigation reel 331 can relatively prolong the pull-out length of the pulled-out sprinkling irrigation PE pipe, so that the pulled-out sprinkling irrigation PE pipe is more gentle in bending angle and prevented from being bent excessively in an offset manner.
The front wheel driving power supply of the front wheel driving 322 can adopt an active power supply, and can also adopt a lithium battery pack power supply with higher electric energy conversion efficiency and smaller volume at present, because the former needs to additionally arrange an accommodating and rewinding device of an electric wire and has complex mechanism arrangement, and the latter is relatively simple, the latter is preferred, namely, as a preferred scheme of the invention, the front wheel driving power supply of the front wheel driving 322 is the lithium battery pack.
In order to facilitate automatic charging of the lithium battery pack, as a further improvement scheme of the invention, a charging pile and a sprinkler guiding mechanism are arranged on the rotating platform 21; a plug structure matched with the charging pile is arranged at the rear end of the self-moving type small sprinkler 3 corresponding to the position of the charging pile, and the plug structure is electrically connected with a front wheel driving power supply; when the self-moving small-sized sprinkler 3 retreats backwards to the rotary platform 21, the sprinkler continues to retreat to a set position under the guiding action of the sprinkler guiding mechanism, and the plug structure of the self-moving small-sized sprinkler 3 can be in butt joint with the charging pile, so that automatic charging is realized.
In order to further save energy, as a further improvement of the invention, a solar collecting plate is further arranged on the rotating platform 21, and the solar collecting plate is electrically connected with the charging pile, so that the self-moving small-sized sprinkler 3 can be charged by solar energy.
The intelligent garden sprinkling irrigation control system adopts a central control computer for centralized control, when the soil humidity data fed back by a soil humidity sensor is lower than the soil humidity data set by a program, the central control computer firstly controls a rotating platform 21 of an angle rotating and positioning device 2 to support a self-moving type small-sized sprinkling irrigation machine 3 to rotate in a translation way and position according to the garden coordinate information preset by the program and the coordinate information of the soil humidity sensor so that the self-moving type small-sized sprinkling irrigation machine 3 is right opposite to the position needing sprinkling irrigation, then the central control computer controls the running mechanism 32 of the self-moving type small-sized sprinkling machine 3 to act to make the self-moving type small-sized sprinkling machine 3 move forward and release the sprinkling PE pipe, the central control computer controls the electromagnetic stop valve 12 to open after the self-moving type small-sized sprinkling machine 3 moves to a position needing sprinkling, pressure water enters the sprinkling PE pipe through the input end of the sprinkling PE pipe and is sprayed out through the spray nozzle 333 to realize sprinkling, the central control computer controls the running mechanism 32 of the self-moving type small-sized sprinkling machine 3 to act to make the self-moving type small-sized sprinkling machine 3 move backward and recover the sprinkling PE pipe after the beginning of sprinkling, the guiding rear wheel 323 ensures that the whole self-moving type small-sized sprinkling machine 3 moves along the trend of the sprinkling PE pipe all the time until the self-moving type small-sized sprinkling machine 3 returns to the rotating platform 21 to complete the whole sprinkling process, the sprinkling irrigation is convenient for sprinkling vegetation, the irrigation, the flexibility is high, the maintenance is convenient, the problems of not only the pre-buried network in the garden area and the distance between the sprinkler heads need not to consider, and the self-moving sprinkling irrigation mode can realize the horizontal uniform distribution in the sprinkling irrigation soil and ensure the uniform irrigation on the premise of saving water resources, and then realize reducing gardens construction work volume, practice thrift construction cost, the specially adapted gardens sprinkling irrigation.
Claims (10)
1. An intelligent garden sprinkling irrigation control system is characterized by comprising a pressure water supply device (1), an angle rotation positioning device (2), a self-moving small-sized sprinkling irrigation machine (3), a soil humidity monitoring device (4) and an electric control device (5);
the pressure water supply device (1) comprises a pressure water supply bolt (11), a bolt body of the pressure water supply bolt (11) is fixedly arranged on the ground in the vertical direction, a water outlet end of the pressure water supply bolt (11) is arranged along the radial direction of the bolt body, the water outlet end of the pressure water supply bolt (11) is connected with the bolt body of the pressure water supply bolt (11) through a plane bearing and an annular seal, and an electromagnetic stop valve (12) is further arranged at the water outlet end of the pressure water supply bolt (11);
the angle rotation positioning device (2) comprises a rotating platform (21) and a rotating platform drive (22); the rotary platform (21) is arranged around the pressure water supply device (1) by taking the pressure water supply device (1) as a rotary center; the rotary platform drive (22) comprises an annular gear ring, a rotary drive gearbox and a rotary drive motor, the annular gear ring is coaxially installed and connected with the pressure water supply device (1), the rotary platform (21) is erected on the annular gear ring, an input shaft of the rotary drive gearbox is fixedly connected with an output shaft of the rotary drive motor, and a rotary drive gear which is matched and meshed with a tooth part of the annular gear ring is arranged on the output shaft of the rotary drive gearbox;
the self-moving small sprinkler (3) is arranged on the rotary platform (21) and comprises a rack (31), a traveling mechanism (32) and a sprinkling irrigation mechanism (33);
the rack (31) is a box-shaped supporting structure with the top, the bottom and the rear opened, and the top surface of the box-shaped supporting structure is a structure inclined towards the rear lower part;
the sprinkling irrigation mechanism (33) comprises a sprinkling irrigation reel (331), a sprinkling irrigation PE pipe, a pipe pressing mechanism (332) and a spray head (333);
the sprinkling irrigation reel (331) comprises a barrel body and a wing plate; the cylinder body is a hollow cylindrical structure; the wing plates are of a disc-shaped structure and are arranged into two pieces, the two wing plates are respectively coaxial with the barrel body and are arranged at two ends of the barrel body, and an outer gear ring is coaxially and fixedly arranged on the outer side surface of one wing plate; the sprinkling irrigation reel (331) is integrally installed between two side walls of the rack (31) in the left and right directions by taking the radial direction of the cylinder body as the front and back directions through a bearing;
the spray irrigation PE pipe is wound on the cylinder body of the spray irrigation reel (331), the input end of the spray irrigation PE pipe is wound on the outer layer, the output end of the spray irrigation PE pipe is wound on the inner layer, and the input end of the spray irrigation PE pipe is connected with the electromagnetic stop valve (12);
the pipe pressing mechanism (332) comprises a pipe pressing frame (3321) and a tension spring (3322); the pipe pressing frame (3321) is a door-shaped frame structure, the width of the door-shaped frame structure is matched with the length of the barrel body of the sprinkling irrigation reel (331) and is clamped between two wing plates of the sprinkling irrigation reel (331), and the bottom end of the pipe pressing frame (3321) is hinged and installed on two side walls in the left and right directions of the rack (31); one end of a tension spring (3322) is connected with the door-shaped frame structure of the pressure pipe frame (3321), and the other end of the tension spring is connected with the side wall of the rack (31);
the spray head (333) comprises a spray head support rod and a spray nozzle arranged at the top end of the spray head support rod, and the pressure water input end of the spray nozzle is communicated and connected with the output end of the spray irrigation PE pipe;
the traveling mechanism (32) comprises a front wheel (321), a front wheel drive (322) and a guide rear wheel (323); the front wheel (321) is arranged at the front lower part of the frame (31) through a front wheel shaft which is arranged on the frame (31) in a penetrating way; the front wheel drive (322) is arranged on the rack (31) and comprises a front wheel drive power supply, a front wheel drive motor and a front wheel drive gearbox, the front wheel drive power supply is electrically connected with the front wheel drive motor, the output end of the front wheel drive motor is connected with the input end of the front wheel drive gearbox, and the output end of the front wheel drive gearbox is in transmission connection with a front wheel shaft of the front wheel (321) and an outer gear ring of the sprinkling irrigation reel (331) through a transmission mechanism; the rear guide wheel (323) is arranged at the rear end of the rack (31) through a rear wheel mounting frame (324), the rear guide wheel (323) is positioned in the middle of the rack (31) in the left-right direction, an arc groove matched with the spray irrigation PE pipe in size is arranged on the wheel surface of the rear guide wheel (323) along the circumferential direction, and the input end of the spray irrigation PE pipe is clamped and arranged in the arc groove of the rear guide wheel (323);
the soil humidity monitoring device (4) comprises a plurality of soil humidity sensors which are uniformly distributed in the garden soil along the concentric circumferential direction of the pressure water supply device (1);
the electric control device (5) comprises a central control computer, a soil humidity feedback loop, a soil humidity judging loop, a sprinkling machine sprinkling direction control loop, a sprinkling machine control loop and a sprinkling control loop, wherein the central control computer is respectively and electrically connected with a soil humidity sensor, a rotary platform drive (22), an electromagnetic stop valve (12) and a front wheel drive (322).
2. The intelligent garden sprinkling irrigation control system according to claim 1, wherein an electromagnetic flow regulating valve is arranged on a pressure water input end of the spray head (333) or a water outlet end of the pressure hydrant (11); the electric control device (5) also comprises a sprinkling irrigation flow regulating loop, and the central control computer is electrically connected with the electromagnetic flow regulating valve.
3. The intelligent garden sprinkling irrigation control system according to claim 1, wherein an electric sprinkler height adjusting mechanism is arranged on a sprinkler support rod of the sprinkler (333), and is electrically connected with a front wheel driving power supply of the traveling mechanism (32); the electric control device (5) further comprises a spray head height adjusting loop, and the central control computer is electrically connected with the spray head height electric adjusting mechanism.
4. The garden intelligent sprinkling irrigation control system according to claim 1, 2 or 3, wherein the guide rear wheel (323) is mounted on the rear wheel mounting frame (324) through a portal support frame (325), the top end of the portal support frame (325) is connected with the rear wheel mounting frame (324), and the input end of the sprinkling irrigation PE pipe penetrates out of a gap between the inner side surface of the top end of the portal support frame (325) and the bottom surface of the arc-shaped groove of the guide rear wheel (323).
5. The intelligent garden sprinkling irrigation control system according to claim 4, wherein an auxiliary guide wheel (326) is further arranged inside the frame structure of the portal support frame (325) and above the guide rear wheel (323), an arc-shaped groove matched with the sprinkling irrigation PE pipe in size is formed in the wheel surface of the auxiliary guide wheel (326) along the circumferential direction, the distance between the bottom surface of the arc-shaped groove of the auxiliary guide wheel (326) and the bottom surface of the arc-shaped groove of the guide rear wheel (323) is matched with the diameter of the sprinkling irrigation PE pipe, and the input end of the sprinkling irrigation PE pipe penetrates through a gap between the bottom surface of the arc-shaped groove of the auxiliary guide wheel (326) and the bottom surface of the arc-shaped groove of the guide rear wheel (323).
6. The intelligent garden sprinkler control system of claim 4, wherein the portal support frame (325) is angled forward.
7. The intelligent garden sprinkler irrigation control system as defined in claim 4, wherein the rear wheel mounts (324) are acute isosceles triangle frame structures with the apex angles set back, and the gate supports (325) are mounted at the apex angles of the rear wheel mounts (324) of the isosceles triangle frame structures.
8. The intelligent garden sprinkler control system according to claim 1, 2 or 3, wherein the front wheel drive power source of the front wheel drive (322) is a lithium battery pack.
9. The intelligent garden sprinkling irrigation control system according to claim 8, wherein the rotating platform (21) is provided with a charging pile and a sprinkler guide mechanism; the rear end of the self-moving small-sized sprinkling irrigation machine (3) is provided with a plug structure matched with the charging pile at a position corresponding to the charging pile, and the plug structure is electrically connected with a front wheel driving power supply.
10. The intelligent garden sprinkling irrigation control system according to claim 9, wherein a solar collector panel is further disposed on the rotary platform (21), and the solar collector panel is electrically connected to the charging pile.
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| CN201710112519.2A CN106804389B (en) | 2017-02-28 | 2017-02-28 | Gardens intelligence sprinkling irrigation control system |
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| CN106804389B true CN106804389B (en) | 2023-03-28 |
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| CN109566065A (en) * | 2017-09-28 | 2019-04-05 | 苏州宝时得电动工具有限公司 | Intelligent lawn care machine device people system and its sprinkling method |
| CN107691195A (en) * | 2017-11-14 | 2018-02-16 | 朱宪民 | A kind of energy-saving electric reel sprinkling irrigation machine |
| EP4087385A4 (en) * | 2020-01-07 | 2024-02-21 | Oto Inc | Lawn or garden maintenance device and related system |
| CN113040028A (en) * | 2021-03-11 | 2021-06-29 | 江苏大学 | Self-driven double-nozzle light and small-sized sprinkling machine |
| CN113711899B (en) * | 2021-08-03 | 2022-06-17 | 广州云硕科技发展有限公司 | Intelligent park resource management method and system based on Internet of things |
| CN114128539A (en) * | 2021-11-16 | 2022-03-04 | 四川水利职业技术学院 | Remote informatization spraying control system of intelligent agricultural machinery equipment |
| CN117378472B (en) * | 2023-12-12 | 2024-02-13 | 江苏沣田农业装备机械有限公司 | Sprinkler with wide coverage |
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| CN104472320B (en) * | 2014-11-26 | 2016-08-24 | 西北农林科技大学 | Driving reel sprinkling irrigation machine combined by a kind of visualization hydroturbine and solar energy motor |
| CN104686294B (en) * | 2015-03-23 | 2015-11-11 | 微山斯贝特金属有限公司 | Self-propelled controlled in wireless rainer |
| CN204837378U (en) * | 2015-07-13 | 2015-12-09 | 宋晓玲 | Agriculture garden equipment of vertical full -automatic field water conservation sprinkling irrigation |
| CN105165560A (en) * | 2015-10-12 | 2015-12-23 | 江苏鑫泰丰农业装备有限公司 | Winch sprinkling irrigation machine capable of realizing intelligent sprinkling irrigation according to soil humidity |
| CN109042253B (en) * | 2016-01-11 | 2020-11-06 | 江苏华源节水股份有限公司 | Reel sprinkling irrigation machine with self-walking nozzle car |
| CN109122236B (en) * | 2016-03-17 | 2020-07-28 | 江苏华源节水股份有限公司 | Water turbine driving device of reel type sprinkler |
| CN106386404A (en) * | 2016-08-26 | 2017-02-15 | 江苏华源节水股份有限公司 | Fully-automatic sprinkling irrigation system and sprinkling irrigation method therefor |
| CN206517920U (en) * | 2017-02-28 | 2017-09-26 | 江苏华源节水股份有限公司 | Gardens Intelligent spray irrigation control system |
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