CN108033425A - Waterwheel automatic watering apparatus based on wireless telecommunications control - Google Patents
Waterwheel automatic watering apparatus based on wireless telecommunications control Download PDFInfo
- Publication number
- CN108033425A CN108033425A CN201711038496.1A CN201711038496A CN108033425A CN 108033425 A CN108033425 A CN 108033425A CN 201711038496 A CN201711038496 A CN 201711038496A CN 108033425 A CN108033425 A CN 108033425A
- Authority
- CN
- China
- Prior art keywords
- water
- waterwheel
- automatic watering
- watering apparatus
- fire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/02—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring liquids other than fuel or lubricants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
Abstract
Based on the waterwheel automatic watering apparatus of wireless telecommunications control, be related to robot technology and wireless communication technique, and in particular to a kind of fire-fighting water crane automatic watering apparatus, in order to solve existing fire-fighting water crane water outlet position fix cause plus water during seepy question.The present invention carries out system control by digital signal processor DSP, waterwheel filler positional information is gathered by visual sensor, rotated by mechanical joint of the servomotor driving with hose, controller reception plus water sign on simultaneously calculate joint rotation angle, make water crane water outlet and the centering of waterwheel filler, electromagnetic valve is controlled to control the break-make of water pipe by wireless control module, water filling car driver need not get off, and the sequence of operations for adding water can have both been completed by the wireless controller on car.So that waterwheel adds the zero leakage of water process and has the characteristics that simple, fast and easy, easy to operate.
Description
Technical field
The present invention relates to robot technology and wireless communication technique, and in particular to a kind of water stake automatic watering apparatus.
Background technology
Since the existing water stake water outlet position in city is fixed, sprinkling truck, afforestation car and fire fighting truck before the addition of the water,
Usually waterwheel filler and water stake water outlet centering are realized by driver's experience, and then carry out adding water, since driver's experience is different, water
Car filler and water stake water outlet often result in waterwheel and occur seepy question during Jia Shui there are certain position deviation；Together
When, it is necessary to have professional carry out priming valve gate system so that waterwheel adds manpower needed for water process more.
The content of the invention
The present invention is to add to solve existing waterwheel during water since waterwheel filler and water stake water outlet position be not right
In caused seepy question, the present invention provides a kind of water stake automatic watering apparatus.
Water stake automatic watering apparatus, it includes controller, servomotor, motor servo driver, visual sensor, water
Pipe, two degrees of freedom mechanical arm, radio transmitting device and solenoid valve etc.；The radio transmitting device includes waterwheel and water stake two
Point, wherein water stake radio transmitting device adds water to finish instruction for receiving to add water sign on and return, and described is wirelessly transferred
Device is connected with water stake controller；The visual sensor is used to determine waterwheel filler position, the waterwheel filler
Position signal output terminal is connected with water stake controller signals input terminal, and the water stake controller output end drives with servomotor
Device input terminal connects, and the motor servo driver is connected with servomotor electric interfaces, and the servomotor is used to drive
Dynamic two degrees of freedom mechanical arm joint, described two degrees of freedom mechanical arm one end are connected with water stake, and one end is free；The mechanical arm
It is connected with water pipe, the water pipe is connected with electromagnetic valve outlet, and the electromagnetic valve entrance is connected with water stake water source.Institute
The electromagnetic valve control signal stated is connected with control signal output.
Water stake automatic watering apparatus of the present invention determines waterwheel filler position by visual sensor, passes through control
Device calculating machine swivel of hand corner is true by visual sensor to realize waterwheel filler and water stake water outlet position automatic centering
Determining waterwheel adds water to finish information, and controller control water solenoid valve is closed, and mechanical arm automatically resets, and hair in tank truck driver's cabin
Corresponding information is sent, to avoid the seepy question during water is added.
The beneficial effect that the present invention is brought is that water stake automatic watering apparatus of the present invention realizes water stake water outlet position
It is adjustable, can automatic searching waterwheel filler position, and realize automatic centering and plus water and add water after automatically reset, from
And realize purpose that is water-saving and reducing labour, make waterwheel add water process more convenient and rapid.
Brief description of the drawings
Fig. 1 is the mechanical structure front view of water stake automatic watering apparatus of the present invention.
Fig. 2 adds water operation chart for water stake automatic watering apparatus of the present invention.
Embodiment
It is specific below by what is shown in attached drawing to make the object, technical solutions and advantages of the present invention of greater clarity
Structure describes the present invention.
However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the scope of the present invention.In addition, with
In lower explanation, the description to known features and technology is eliminated, to avoid idea of the invention is unnecessarily obscured.
The mechanical structure of the present invention is referring to Fig. 1 and Fig. 2.Waterwheel automatic water adding control system described in present embodiment, it
Including vision control system, onboard wireless transmitting device and water stake radio transmitting device, DSP Signal sampling and processings controller,
By the doublejointed mechanical arm of Serve Motor Control.
The present invention has onboard wireless information carrying means and water stake wireless information carrying device.With this come realize water filling car and
The information transmission of water level signal and filler switch between water stake, driver, which need not get off, can complete to add water operation.
The present invention adopts the technical scheme that waterwheel into after adding aqua region, and driver sends order, car in Vehicle Controller
Outer automatic watering apparatus carries out Image Acquisition, and image is passed to vision processing system, calculates the specific location coordinate of filler,
Positional information is converted into control signal and is transmitted to two servomotors by DSP, servomotor drive horn by the water outlet of water crane with
The automatic centering of waterwheel filler.
After sprinkling truck can be allowed to enter specified region, without artificial intervention, the automatic watering
Device automatic watering, is automatically stopped after water is full plus water, water filling car sail out of specified region.Vision processing system is first by position signal
Servomotor (4) is transmitted to, servomotor (4) drives rocking arm (3) to rotate, until rocking arm (3) enters precalculated position.Then by position
Signal is transmitted to servomotor (2), and servomotor (2) drives rocking arm (1) to turn to precalculated position.Filler reaches designated position
Afterwards, DSP sends signal instruction and starts to add water, fills it up with liquid level sensor in rear water pot and sends feedback information, and filler stops plus water,
Rocking arm 1 and rocking arm 3 reset.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not considered as being limited by the foregoing description, merely illustrating the principles of the invention described in description above,
Without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements are all
Fall into scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (3)
1. a kind of fire-fighting water crane automatic watering apparatus based on wireless control, it is characterised in that it includes controller DSP, vision
Sensor, wireless communication apparatus, servomotor, the mechanical joint with hose, solenoid valve, liquid level sensor etc..
2. the fire-fighting water crane automatic watering apparatus according to claim 1 based on wireless control, it is characterised in that described
Visual sensor collects the position of waterwheel filler, and calculates position coordinates, final output control signal to voltage servo
Valve, passes through electrohydraulic servo valve control machinery arm（1）And mechanical arm（3）Angle, and then the water outlet of water crane and waterwheel
The purpose of water inlet centering.
3. the fire-fighting water crane automatic watering apparatus according to claim 1 or 2 based on wireless control, it is characterised in that institute
These operation water filling car drivers having can onboard be operated, and signal transmission is controlled to ground by radio transmitting device
System station, automatically controls so as to fulfill to fire-fighting water crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038496.1A CN108033425A (en) | 2017-10-31 | 2017-10-31 | Waterwheel automatic watering apparatus based on wireless telecommunications control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038496.1A CN108033425A (en) | 2017-10-31 | 2017-10-31 | Waterwheel automatic watering apparatus based on wireless telecommunications control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108033425A true CN108033425A (en) | 2018-05-15 |
Family
ID=62092710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711038496.1A Pending CN108033425A (en) | 2017-10-31 | 2017-10-31 | Waterwheel automatic watering apparatus based on wireless telecommunications control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108033425A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367575A (en) * | 2018-11-15 | 2019-02-22 | 中铁第四勘察设计院集团有限公司 | Train water robot system |
| CN109552358A (en) * | 2018-11-15 | 2019-04-02 | 中铁第四勘察设计院集团有限公司 | A kind of train water robot and upper hose net intelligent management system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100674564B1 (en) * | 2005-09-08 | 2007-01-29 | 삼성광주전자 주식회사 | Mobile robot system having liquid supply station and liquid supply method |
| CN2934202Y (en) * | 2006-07-21 | 2007-08-15 | 哈尔滨天源石化装备制造有限责任公司 | Big crane tube auto-locating device for train tank wagon oil-loading operation |
| CN103626110A (en) * | 2013-12-12 | 2014-03-12 | 中国民航大学 | Intelligent deicing fluid absorbing device |
| CN107298424A (en) * | 2017-07-12 | 2017-10-27 | 深圳市奥图威尔科技有限公司 | A kind of high-risk fluid fillers robot |
-
2017
- 2017-10-31 CN CN201711038496.1A patent/CN108033425A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100674564B1 (en) * | 2005-09-08 | 2007-01-29 | 삼성광주전자 주식회사 | Mobile robot system having liquid supply station and liquid supply method |
| CN2934202Y (en) * | 2006-07-21 | 2007-08-15 | 哈尔滨天源石化装备制造有限责任公司 | Big crane tube auto-locating device for train tank wagon oil-loading operation |
| CN103626110A (en) * | 2013-12-12 | 2014-03-12 | 中国民航大学 | Intelligent deicing fluid absorbing device |
| CN107298424A (en) * | 2017-07-12 | 2017-10-27 | 深圳市奥图威尔科技有限公司 | A kind of high-risk fluid fillers robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367575A (en) * | 2018-11-15 | 2019-02-22 | 中铁第四勘察设计院集团有限公司 | Train water robot system |
| CN109552358A (en) * | 2018-11-15 | 2019-04-02 | 中铁第四勘察设计院集团有限公司 | A kind of train water robot and upper hose net intelligent management system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206421229U (en) | A kind of agricultural machinery automatic Pilot control device based on the Big Dipper | |
| CN104765367B (en) | Realize the service robot of intelligent obstacle detouring | |
| CN104808664B (en) | A kind of method realizing intelligent obstacle detouring | |
| CA2713203C (en) | Device with direct control, in particular proportional and/or rectilinear control, for fluid loading and/or unloading system | |
| US9464913B2 (en) | Assistive vehicular guidance system and method | |
| CN107584501B (en) | Live cleaning robot for substation equipment and control method thereof | |
| CN103707299B (en) | A kind of method realizing the bending of bending robot and follow in real time | |
| CN102535852B (en) | Operating and controlling system and method of mechanical arm, and engineering machinery | |
| CN108033425A (en) | Waterwheel automatic watering apparatus based on wireless telecommunications control | |
| CN207316352U (en) | A kind of pipeline climbing robot for being used to detect dredging | |
| CN102393754B (en) | Arm support action control method and system, arm support tail end linear displacement control method and system, and concrete pump trucks | |
| CN107450556A (en) | A kind of independent navigation intelligent wheel chair based on ROS | |
| CN113031635A (en) | Attitude adjusting method and device, cleaning robot and storage medium | |
| CN206892664U (en) | A kind of mobile robot path planning of view-based access control model identification and scheduling system | |
| CN110597272A (en) | Intelligent unmanned forklift system and method based on visual navigation | |
| WO2015165346A1 (en) | Engineering machine and arm support control system | |
| CN109960250B (en) | Agricultural unmanned air power ship and method for carrying out automatic navigation based on unmanned aerial vehicle vision | |
| CN104018676B (en) | A kind of engineering machinery and arm support control system and method | |
| CN104115611A (en) | Mowing robot | |
| CN106990784B (en) | System and method for monitoring and controlling rescue unmanned vehicle | |
| CN205594450U (en) | Big dipper agricultural machinery automatic navigation drives control system | |
| CN209734936U (en) | Support omnidirectional movement's automatic line machine people that spouts | |
| CN112944287A (en) | Aerial repair system with active light source | |
| CN211267652U (en) | Control device of autonomous operation crawler spreader | |
| CN210605466U (en) | Intelligent control antenna |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180515 |
|
| WD01 | Invention patent application deemed withdrawn after publication |