CN108541565B - Agricultural irrigation device capable of avoiding repeated irrigation - Google Patents
Agricultural irrigation device capable of avoiding repeated irrigation Download PDFInfo
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- CN108541565B CN108541565B CN201810440032.1A CN201810440032A CN108541565B CN 108541565 B CN108541565 B CN 108541565B CN 201810440032 A CN201810440032 A CN 201810440032A CN 108541565 B CN108541565 B CN 108541565B
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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
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip 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
- A01G25/16—Control of watering
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Abstract
The invention provides an agricultural irrigation device capable of avoiding repeated irrigation, which comprises a water supply pipe and an irrigation cavity, wherein a positioning unit and an orientation sensor are arranged on the irrigation cavity, a spray head is arranged on one side of the irrigation cavity, the spray head is connected with the water supply pipe through a pipeline arranged in the irrigation cavity, a flowmeter is arranged on the pipeline, and a controller determines the position and the opposite orientation of an operator according to the positioning information detected by the positioning unit and the orientation information detected by the orientation sensor when the positioning information detected by the positioning unit does not change, so that the position and the opposite orientation of the spray head are determined, whether a fruit tree in front of the spray head is an irrigated fruit tree is judged, and if not, a valve of the spray head is controlled to be opened; and when the flow detected by the flowmeter is equal to the preset flow, the controller controls the valve of the spray head to be closed, and then marks the fruit tree in front of the spray head as a watered fruit tree. The invention can avoid the influence of repeated irrigation on the growth of fruit trees and can improve the utilization rate of the irrigation liquid.
Description
Technical Field
The invention belongs to the field of agriculture, and particularly relates to an agricultural irrigation device capable of avoiding repeated irrigation.
Background
In agricultural watering, the traditional watering mode is to sequentially water by using a single water pipe, but when fruit trees are watered in an orchard, because the fruit trees are numerous, operators can easily forget which fruit tree has been watered and which fruit tree is not watered. Aiming at the fruit trees which are already irrigated, if the fruit trees are irrigated again, not only can the growth of the fruit trees be adversely affected, but also the utilization rate of irrigation liquid is low.
Disclosure of Invention
The invention provides an agricultural irrigation device capable of avoiding repeated irrigation, and aims to solve the problems that the existing irrigation mode possibly causes repeated irrigation, so that the growth of fruit trees is influenced, and the utilization rate of irrigation liquid is low.
According to a first aspect of the embodiment of the invention, an agricultural irrigation device capable of avoiding repeated irrigation is provided, the agricultural irrigation device comprises a water supply pipe and an irrigation cavity, a positioning unit and an orientation sensor are arranged on the irrigation cavity, a spray head is arranged on one side of the irrigation cavity, the spray head is connected with the water supply pipe through a pipeline arranged in the irrigation cavity, a flow meter is arranged on the pipeline, and the positioning unit, the orientation sensor, a valve of the spray head and the flow meter are respectively connected with a controller;
when the positioning information detected by the positioning unit does not change, the controller determines the position and the opposite direction of an operator according to the positioning information detected by the positioning unit and the direction information detected by the direction sensor, so as to determine the position and the opposite direction of the sprayer and judge whether a fruit tree in front of the sprayer is a watered fruit tree, and if not, the controller controls the valve of the sprayer to be opened; and when the flow detected by the flow meter is equal to the preset flow, the controller controls the valve of the spray head to be closed, and then the fruit tree in front of the spray head is marked as a watered fruit tree.
In an optional implementation mode, still be provided with alarm device on the watering cavity, the controller is judging when the fruit tree in shower nozzle the place ahead is for watering the fruit tree, control alarm device reports to the police to no longer control the valve of shower nozzle is opened.
In another optional implementation mode, be provided with first infrared distance measurement sensor on the watering cavity, first infrared distance measurement sensor is used for detecting first distance between shower nozzle and the place ahead fruit tree thereof, still be provided with the electronic force pump of being connected with the controller on the pipeline, the controller is according to first distance that first infrared distance measurement sensor detected, it is right the pressure of electronic force pump is adjusted to guarantee that the irrigation liquid sprays on the fruit tree in shower nozzle the place ahead.
In another optional implementation manner, a first infrared distance measuring sensor is arranged on the irrigation cavity and used for detecting a first distance between the spray head and a fruit tree in front of the spray head and transmitting the first distance information to the controller, and a second infrared distance measuring sensor is further arranged at the bottom of the irrigation cavity and used for detecting a second distance between the irrigation cavity and the ground and transmitting the second distance information to the controller;
the controller is used for adjusting the pressure of the electric pressure pump according to the first distance information and the second distance information so as to spray irrigation liquid to the root of the fruit tree in front of the spray head.
In another alternative implementation mode, an angle sensor connected with the controller is arranged on the irrigation cavity and used for detecting the horizontal inclination of the irrigation cavity and transmitting the horizontal inclination information to the controller; and when the horizontal inclination is smaller than the preset inclination, the controller controls the valve of the spray head to be opened.
In another optional implementation manner, a start button connected to a controller is further disposed on the irrigation cavity, and the controller controls the start of the positioning unit and the orientation sensor after receiving a start signal from the start button.
The invention has the beneficial effects that:
1. the positioning unit and the direction sensor are arranged to determine the position and the opposite direction of the spray head, whether the fruit trees are irrigated is distinguished and marked based on the position and the direction, and the irrigated fruit trees are controlled not to be irrigated repeatedly, so that the influence of the repeated irrigation on the growth of the fruit trees can be avoided, and the utilization rate of irrigation liquid can be improved;
2. according to the invention, the alarm device is arranged to alarm the current situation that the fruit tree is the irrigated fruit tree, so that the problem that the operating personnel fails after trying to irrigate the irrigated fruit tree for many times and confuse the mind can be avoided, and the man-machine interaction effect can be improved;
3. according to the invention, the first infrared distance measuring sensor is arranged to measure the first distance between the spray head and the fruit tree, the pressure of the electric pressure pump on the pipeline is adjusted according to the first distance, and the spray stroke of the spray head can be adjusted, so that an operator can be prevented from adjusting the distance between the spray head and the fruit tree, and the situation that the operator wets clothes due to the fact that the irrigation liquid bounces back on the basis of ensuring that the irrigation liquid is sprayed to the fruit tree can be avoided;
4. according to the invention, the second infrared distance measuring sensor is arranged to detect the second distance between the irrigation cavity and the ground, so that the spraying arc line of the spray head can be corrected according to the second distance, the irrigation liquid is guaranteed to be sprayed to the root of the target fruit tree, and the utilization rate of the irrigation liquid can be further improved;
5. according to the invention, by arranging the angle sensor, when the horizontal inclination of the irrigation cavity detected by the angle sensor is smaller than the preset inclination, the valve of the spray head is controlled to be opened, so that the accurate control of irrigation can be realized, and meanwhile, an operator only needs to put down the irrigation cavity and the spray head when not operating, so that a space for temporarily stopping operation is provided for the operator, and the good experience of a user is improved;
6. according to the invention, the positioning unit and the orientation sensor can be started only by pressing the starting button through setting the starting button, so that the accuracy of irrigation control can be ensured, and the energy consumption is reduced.
Drawings
FIG. 1 is a front view of an agricultural irrigation device of the present invention for preventing repeated irrigation;
FIG. 2 is a perspective view taken in the direction A-A of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a front view of another embodiment of an agricultural irrigation device of the present invention that avoids repetitive irrigation;
FIG. 5 is a schematic cross-sectional view of the connection end of the irrigation chamber to the water supply pipe of FIG. 4;
FIG. 6 is a perspective view taken in the direction B-B of FIG. 4;
FIG. 7 is a top view of FIG. 4;
fig. 8 is a schematic diagram of ranging.
Detailed Description
In order to make the technical solutions in the embodiments of the present invention better understood and make the above objects, features and advantages of the embodiments of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the term "connected" is to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, or a communication between two elements, or may be a direct connection or an indirect connection through an intermediate medium, and a specific meaning of the term may be understood by those skilled in the art according to specific situations.
Referring to fig. 1, there is shown a front view of an agricultural irrigation device of the present invention for preventing repeated irrigation. Referring to fig. 2 and 3, the agricultural irrigation device for preventing repeated irrigation may include a water supply pipe 110 and an irrigation cavity 120, wherein a positioning unit 130 and an orientation sensor 140 are disposed on the irrigation cavity 120, a nozzle 150 is disposed on one side of the irrigation cavity 120, the nozzle 150 is connected to the water supply pipe 110 through a pipe 160 disposed in the irrigation cavity 120, a flow meter 170 is disposed on the pipe 160, and the positioning unit 130, the orientation sensor 140, a valve of the nozzle 150, and the flow meter 170 are respectively connected to a controller; when the positioning information detected by the positioning unit 130 does not change, the controller determines the position and the facing direction of an operator according to the positioning information detected by the positioning unit 130 and the direction information detected by the direction sensor 140, so as to determine the position and the facing direction of the spray head 150, determine whether a fruit tree in front of the spray head 150 is a watered fruit tree, and if not, control the valve of the spray head 150 to open; when the flow detected by the flow meter 170 is equal to a preset flow, the controller controls the valve of the spray head 150 to close, and then marks the fruit tree in front of the spray head 150 as a watered fruit tree.
In this embodiment, the nozzle 150 may be directly fixed to the irrigation cavity 120 and located on the side of the irrigation cavity 120 opposite to the water pipe 110. The controller is used for storing position information of each fruit tree in advance locally and allocating an identifier for indicating whether each fruit tree is watered or not to each fruit tree, when the controller receives that the positioning information detected by the positioning unit does not change, the controller indicates that an operator can carry out operation, the position and the opposite direction of the spray head are determined according to the positioning information detected by the positioning unit and the direction information detected by the direction sensor, the position of the spray head is taken as a fixed point, the opposite direction of the spray head is taken as a direction, the fruit tree closest to the spray head in the direction is searched, whether the searched identifier of the fruit tree indicates that watering is carried out or not is judged, if yes, the controller does not control the valve of the spray head to be opened, and if not, the valve of the spray head is controlled to be opened. When the flow detected by the flowmeter is equal to the preset flow, the valve of the spray head is controlled to be closed, and the identifier of the fruit tree in front of the spray head is marked as irrigated.
According to the embodiment, the positioning unit and the direction sensor are arranged to determine the position and the opposite direction of the spray head, whether the fruit tree is irrigated is distinguished and marked based on the position and the direction, and the irrigated fruit tree is controlled not to be irrigated repeatedly, so that the influence of the repeated irrigation on the growth of the fruit tree can be avoided, and the utilization rate of the irrigation liquid can be improved.
Although the invention can avoid repeated watering for the irrigated fruit tree, the operator cannot know whether the fruit tree cannot be watered due to the failure of the device or the fruit tree is irrigated in the watering process. Therefore, the watering cavity is further provided with an alarm device 180, and when the controller judges that the fruit tree in front of the spray head 150 is a watered fruit tree, the controller controls the alarm device 180 to give an alarm and does not control the valve of the spray head 150 to be opened. According to the invention, the alarm device is arranged to alarm the current situation that the fruit tree is the watered fruit tree, so that the problem that the operating personnel fails after trying to irrigate the watered fruit tree for a plurality of times and confuse the mind can be avoided, and the man-machine interaction effect can be improved.
Usually, the operator needs to adjust the distance between the spray head and the fruit tree during irrigation, if the distance is too close, the irrigation liquid sprayed on the fruit tree may rebound to wet the operator clothes, and if the distance is too far, the irrigation liquid cannot be sprayed on the fruit tree. Therefore, the irrigation cavity is provided with a first infrared distance measuring sensor 190, the first infrared distance measuring sensor 190 is used for detecting a first distance between the spray head and a fruit tree in front of the spray head and transmitting the first distance information to a controller, the pipeline 160 is further provided with an electric pressure pump 200 connected with the controller, and the controller adjusts the pressure of the electric pressure pump 200 according to the first distance detected by the first infrared distance measuring sensor 190 so as to ensure that irrigation liquid is sprayed to the fruit tree in front of the spray head 150. According to the invention, the first infrared distance measuring sensor is arranged to measure the first distance between the spray head and the fruit tree, the pressure of the electric pressure pump on the pipeline is adjusted according to the first distance, and the spray stroke of the spray head can be adjusted, so that the distance between the spray head and the fruit tree can be prevented from being adjusted by an operator, and the phenomenon that the operator wets clothes due to the fact that the irrigation liquid bounces back on the basis of ensuring that the irrigation liquid is sprayed to the fruit tree can be avoided.
Although the present invention may ensure that irrigation liquid is sprayed onto the fruit tree, it is possible that during the spraying process, the irrigation liquid is sprayed onto the trunk of the fruit tree, rather than into the soil at the roots thereof. The irrigation liquid sprayed on the trunk is exposed in the air and is easy to evaporate, so that the utilization rate of the irrigation liquid is low. Therefore, the bottom of the irrigation cavity is provided with a second infrared distance measuring sensor 210, and the second infrared distance measuring sensor 210 is used for detecting a second distance between the irrigation cavity 120 and the ground and transmitting the second distance information to the controller; the controller is used for adjusting the pressure of the electric pressure pump 200 according to the first distance information and the second distance information so as to spray irrigation liquid to the root of the fruit tree in front of the spray head. In the present invention, after the pressure adjustment of the electric pressure pump 200 is completed, the valve of the nozzle 150 is controlled to be opened. According to the invention, the second infrared distance measuring sensor is arranged to detect the second distance between the irrigation cavity and the ground, so that the spraying arc line of the spray head can be corrected according to the second distance, the irrigation liquid is guaranteed to be sprayed to the root of the target fruit tree, and the utilization rate of the irrigation liquid can be further improved.
The operating personnel may need to pause the operation and have a short rest during the operation, or meet the situation that the rotating direction in situ is communicated with people, at the moment, the operating personnel usually does not lift the irrigation cavity horizontally, but put down the irrigation cavity and the spray head, when the irrigation cavity is put down, the spray head faces the ground, correspondingly, the first infrared distance measuring sensor detects the distance between the spray head and the ground, the bottom of the irrigation cavity may be opposite to a fruit tree, and correspondingly, the second infrared distance measuring sensor detects the distance between the irrigation cavity and the fruit tree. Because the first infrared distance measuring sensor and the second infrared distance measuring sensor can detect the distance information, the invention can still adjust the pressure of the electric pressure pump according to the distance information detected by the first infrared distance measuring sensor and the second infrared distance measuring sensor, and then directly open the nozzle valve for irrigation. In order to avoid that when an operator puts down the irrigation cavity and the spray head in operation, the spray head valve is still opened for irrigation, an angle sensor connected with a controller is arranged on the irrigation cavity, and the angle sensor is used for detecting the horizontal inclination of the irrigation cavity and transmitting the horizontal inclination information to the controller; and when the horizontal inclination is smaller than the preset inclination, the controller controls the valve of the spray head to be opened. According to the invention, by arranging the angle sensor, when the horizontal inclination of the irrigation cavity detected by the angle sensor is smaller than the preset inclination, the valve of the spray head is controlled to be opened, so that the accurate control of irrigation can be realized, and meanwhile, an operator only needs to put down the irrigation cavity and the spray head when not operating, so that a space for temporarily stopping operation is provided for the operator, and the good experience of a user is improved.
In addition, the watering cavity is also provided with a starting button connected with the controller, and the controller controls the positioning unit and the orientation sensor to start after receiving a starting signal of the starting button. According to the invention, the positioning unit and the orientation sensor can be started only by pressing the starting button through setting the starting button, so that the accuracy of irrigation control can be ensured, and the energy consumption is reduced.
Referring to fig. 4, there is shown a front view of another embodiment of the agricultural irrigation device of the present invention for avoiding repetitive irrigation. The agricultural irrigation device of fig. 4 and fig. 3 for avoiding repeated irrigation is different in that the number of the nozzles 150 is three, and includes a left side, a right side and a front side which are respectively located on the central axis of the water pipe 110, as shown in fig. 5, the cross section of the connection end of the irrigation cavity 120 and the water pipe 110 is divided into three regions, each region is connected with the inlet of the corresponding pipe, the three pipes are all arranged in the irrigation cavity 120 in a bent manner, as shown in fig. 6, the three pipes are all provided with an electric pressure pump 200, the outlet of the electric pressure pump is connected with the corresponding nozzle 150 located outside the irrigation cavity 120, for each nozzle 150, the electric pressure pump is connected with the corresponding motor 220 located outside the irrigation cavity 120, the motor 220 can drive the corresponding nozzle 150 to move in the left-right direction, for each nozzle 150, a row of first infrared distance measuring sensors 190 is further arranged outside the irrigation cavity 120, the electric pressure pump 200, the motor 210 and the first infrared distance measuring sensors 190 in each row are respectively connected with the controller; for each row of the first infrared distance measuring sensors 190, detecting a first distance between a fruit tree in front of the corresponding spray head 150 and the spray head 150, and transmitting the first distance information to the controller; the controller determines a target fruit tree closest to the spray head 150 according to the first distance information, determines an included angle between the direction of the spray head 150 and the target fruit tree, controls the motor 220 to drive the spray head 150 to rotate according to the included angle, so that the spray head 150 faces the target fruit tree, and then adjusts the pressure of the electric pressure pump 200 according to the first distance information to spray irrigation liquid onto the target fruit tree.
In this embodiment, the base of each motor 150 may be fixed to the outside of the irrigation chamber 120 and each row of first infrared ranging sensors 160 may be disposed at the top of the irrigation chamber 120. For each row of first infrared distance measuring sensors, the controller locally pre-stores the vertical distance S between each first infrared distance measuring sensor in the row of first infrared distance measuring sensors and the corresponding sprayer, and the controller locally pre-stores the corresponding relation between the distance between the sprayer and the target fruit tree and the pressure of the electric pressure pump.
For each row of first infrared distance measuring sensors, after receiving first distance information detected by each first infrared distance measuring sensor in the row of first infrared distance measuring sensors, the controller firstly compares the first distances detected by each first infrared distance measuring sensor in the row of first infrared distance measuring sensors, identifies the first infrared distance measuring sensor with the smallest first distance as an undetermined first infrared distance measuring sensor, judges whether the undetermined first infrared distance measuring sensor is arranged on at least one side, and the first distance detected by the corresponding first infrared distance measuring sensor is gradually increased along the direction away from the undetermined first infrared distance measuring sensor, if so, takes the undetermined first infrared distance measuring sensor as a target first infrared distance measuring sensor, otherwise, removes the undetermined first infrared distance measuring sensor, and returns to compare the first distances detected by each remaining first infrared distance measuring sensor in the row of first infrared distance measuring sensors, and analogizing until a first infrared distance measuring sensor of the target is determined, and measuring the distance of the target fruit tree closest to the sprayer by the first infrared distance measuring sensor of the target at the moment. Because there are many fruit trees in the orchard, the first distance detected by each first infrared distance measuring sensor in each row of first infrared distance measuring sensors may not be specific to the same fruit tree, so the target fruit tree closest to the corresponding sprayer can be quickly found out by firstly finding out the first infrared distance measuring sensor with the minimum detected first distance. In addition, as the orchard usually has not only fruit trees but also other obstacles, and the fruit trees are in the shape of circular arcs, the first infrared distance measuring sensor with the minimum determined first distance is only used as the undetermined first infrared distance measuring sensor, and only when the first distance detected by the first infrared distance measuring sensors on the two sides of the first infrared distance measuring sensor meets the corresponding characteristic of the fruit trees, the undetermined first infrared distance measuring sensor is used as the target first infrared distance measuring sensor, so that the fruit trees can be accurately positioned.
Referring to fig. 5, after determining the first infrared distance measuring sensor of the target, the controller determines an included angle between the corresponding spraying head and the target fruit tree according to the vertical distance S between the first infrared distance measuring sensor of the target and the corresponding spraying head and the first distance L detected by the first infrared distance measuring sensor of the target
After that, the controller controls the motor to drive the corresponding spray head to rotate by a corresponding angle theta ═ theta + [ delta ] theta so as to enable the corresponding spray head to face a target fruit tree, wherein theta represents the current axial deviation angle of the corresponding spray head. After the controller controls the corresponding spray head to face the target fruit tree, firstly, the distance between the spray head and the target fruit tree is calculated according to the first distance L and the included angle delta theta detected by the first infrared distance measuring sensor of the target
Finding out the pressure of the electric pressure pump corresponding to the distance L 'according to the distance L', and adjusting the electric pressure pump according to the pressure to ensure that the electric pressure pump is to be adjustedAnd (4) spraying irrigation liquid onto the target fruit tree.
After the pressure of the electric pressure pump is adjusted, the controller controls the valves of all the spray heads to be opened to implement irrigation. In order to realize automatic stop of irrigation, as shown in fig. 6, the three pipelines are correspondingly provided with flow meters 170, the flow meters 170 are connected to the controller, and are configured to send detected flow information of each pipeline to the controller, and the controller controls the valves of the corresponding nozzles to be closed according to the corresponding flow information, where the controller compares the corresponding flow with a preset flow, and if the corresponding flow is equal to the preset flow, the valves of the corresponding nozzles are controlled to be closed, so as to avoid manual operation of opening and closing the nozzles, and realize scientific irrigation. Of course, the opening and closing of the nozzle in the present invention can also be performed by a manual operation.
According to the embodiment, the invention still adopts a manual irrigation mode, a water pipe does not need to be arranged at the bottom of the ground, the construction cost is lower, and the invention adopts three spray heads to simultaneously irrigate, so that the irrigation efficiency is improved. The traditional manual irrigation mode needs an operator to firstly find a target fruit tree to be irrigated, then operates the water spraying pipes to aim at the target fruit tree, if the three spray heads are directly integrated together, other water spraying pipes can also rotate when the operator aims at one of the water spraying pipes at the target fruit tree after finding the target fruit tree, and therefore the three spray heads cannot simultaneously irrigate different target fruit trees. According to the invention, the row of first infrared distance measuring sensors is arranged for each spray head, and the target fruit tree closest to the spray head can be determined according to the first distance information detected by the row of first infrared distance measuring sensors, so that compared with the traditional manual irrigation mode, the target fruit tree does not need to be manually found, and the spray heads are used for irrigating the fruit tree closest to the spray head during irrigation, so that the energy consumed by pressurizing and spraying the irrigation liquid onto the target fruit tree by the electric pressure pump can be reduced. According to the invention, the motor and the row of first infrared distance measuring sensors are arranged for each sprayer, so that the included angle between the direction of the sprayer and a target fruit tree can be confirmed according to first distance information detected by the row of first infrared distance measuring sensors, then the sprayer is driven by the motor to rotate by a corresponding angle, so that the sprayer is opposite to the target fruit tree, no artificial participation is needed in the whole sprayer adjusting process, and multiple target fruit trees can be irrigated simultaneously. According to the invention, the electric pressure pumps are respectively arranged aiming at the pipelines connected with the corresponding spray heads, so that the pressure of the electric pressure pumps can be adjusted according to the distance between the spray heads and the target fruit tree, and the condition that the fruit tree is not damaged by the irrigation liquid due to too large pressure is ensured on the premise that the irrigation liquid can be sprayed onto the target fruit tree is ensured. In addition, the invention adopts a spray irrigation mode instead of spraying, and the irrigation liquid sprayed out of the spray head is fluid instead of mist, so that the irrigation liquid is not easy to evaporate, and the utilization rate of the irrigation liquid can be improved.
In addition, although the above embodiment can realize that three spray heads simultaneously irrigate three different fruit trees and ensure that the irrigation liquid is sprayed onto the corresponding fruit trees, it is possible that the irrigation liquid is sprayed onto the trunk of the fruit trees instead of the soil at the roots of the fruit trees during the spraying process. The irrigation liquid sprayed on the trunk is exposed in the air and is easy to evaporate, so that the utilization rate of the irrigation liquid is low. Therefore, the bottom of the irrigation cavity is provided with a second infrared distance measuring sensor 210, and the second infrared distance measuring sensor 210 is used for detecting a second distance between the irrigation cavity 120 and the ground and transmitting the second distance information to the controller; the controller is used for adjusting the pressure of the electric pressure pump 200 according to the first distance information and the second distance information so as to spray irrigation liquid to the root of the target fruit tree. According to the invention, the second infrared distance measuring sensor is arranged to detect the second distance between the irrigation cavity and the ground, so that the spraying arc line of the spray head can be corrected according to the second distance, the irrigation liquid is guaranteed to be sprayed to the root of the target fruit tree, and the utilization rate of the irrigation liquid can be further improved.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (4)
1. An agricultural irrigation device capable of avoiding repeated irrigation is characterized by comprising a water supply pipe and an irrigation cavity, wherein a positioning unit and an orientation sensor are arranged on the irrigation cavity, a spray head is arranged on one side of the irrigation cavity and is connected with the water supply pipe through a pipeline arranged in the irrigation cavity, a flow meter is arranged on the pipeline, and the positioning unit, the orientation sensor, a valve of the spray head and the flow meter are respectively connected with a controller;
when the positioning information detected by the positioning unit does not change, the controller determines the position and the opposite direction of an operator according to the positioning information detected by the positioning unit and the direction information detected by the direction sensor, so as to determine the position and the opposite direction of the sprayer and judge whether a fruit tree in front of the sprayer is a watered fruit tree, and if not, the controller controls the valve of the sprayer to be opened; when the flow detected by the flowmeter is equal to a preset flow, the controller controls the valve of the spray head to be closed, and then the fruit tree in front of the spray head is marked as a watered fruit tree;
the three spray heads comprise a left side, a right side and a front side which are respectively positioned on a central shaft of the water supply pipe, the cross section of a connecting end of the irrigation cavity and the water supply pipe is divided into three areas, each area is connected with an inlet of a corresponding pipeline, the three pipelines are all arranged in the irrigation cavity in a bending way, outlets on the three pipelines are connected with corresponding spray heads positioned outside the irrigation cavity, each spray head is connected with a corresponding motor positioned outside the irrigation cavity, the motor can drive the corresponding spray head to move in the left and right directions, and for each spray head, a row of first infrared distance measuring sensors are also arranged outside the irrigation cavity, and the motors and the rows of first infrared distance measuring sensors are respectively connected with a controller; aiming at each row of first infrared distance measuring sensors, the first infrared distance measuring sensors are used for detecting a first distance between a fruit tree in front of a corresponding sprayer and the sprayer and transmitting the first distance information to the controller; the controller determines a target fruit tree closest to the spray head according to the first distance information, then determines an included angle between the direction of the spray head and the target fruit tree, controls the motor to drive the spray head to rotate according to the included angle so that the spray head faces the target fruit tree, and then sprays irrigation liquid to the target fruit tree;
for each row of first infrared distance measuring sensors, after receiving first distance information detected by each first infrared distance measuring sensor in the row of first infrared distance measuring sensors, the controller firstly compares the first distances detected by each first infrared distance measuring sensor in the row of first infrared distance measuring sensors, identifies the first infrared distance measuring sensor with the smallest first distance as an undetermined first infrared distance measuring sensor, judges whether the undetermined first infrared distance measuring sensor is arranged on at least one side, and the first distance detected by the corresponding first infrared distance measuring sensor is gradually increased along the direction away from the undetermined first infrared distance measuring sensor, if so, takes the undetermined first infrared distance measuring sensor as a target first infrared distance measuring sensor, otherwise, removes the undetermined first infrared distance measuring sensor, and returns to compare the first distances detected by each remaining first infrared distance measuring sensor in the row of first infrared distance measuring sensors, analogizing until a target first infrared distance measuring sensor is determined, and measuring the distance of the target fruit tree closest to the sprayer by the target first infrared distance measuring sensor;
after determining the first infrared distance measuring sensor of the target, the controller detects the first infrared distance measuring sensor of the target according to the vertical distance S between the first infrared distance measuring sensor of the target and the corresponding spray head and the first infrared distance measuring sensor of the targetThe measured first distance L determines the included angle between the corresponding spray head and the target fruit tree
(ii) a The controller controls the motor to drive the corresponding nozzle to rotate by a corresponding angle
So that the corresponding spray head faces the target fruit tree, wherein
Indicating the current axial deviation angle of the corresponding spray head.
2. An agricultural irrigation device for avoiding repeated irrigation as claimed in claim 1, wherein an alarm device is further provided on the irrigation cavity, and the controller controls the alarm device to alarm when the fruit tree in front of the nozzle is the irrigated fruit tree, and the valve of the nozzle is not controlled to open.
3. An agricultural irrigation device for avoiding repetitive irrigation as claimed in claim 1, wherein an angle sensor is provided on the irrigation chamber and connected to the controller, the angle sensor being adapted to detect the horizontal inclination of the irrigation chamber and to transmit the information of the horizontal inclination to the controller; and when the horizontal inclination is smaller than the preset inclination, the controller controls the valve of the spray head to be opened.
4. An agricultural irrigation device for preventing repeated irrigation as claimed in claim 1, wherein an activation button is further provided on the irrigation chamber and connected to a controller, and the controller controls the activation of the positioning unit and the orientation sensor upon receiving an activation signal from the activation button.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810440032.1A CN108541565B (en) | 2018-05-01 | 2018-05-01 | Agricultural irrigation device capable of avoiding repeated irrigation |
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| CN201810440032.1A CN108541565B (en) | 2018-05-01 | 2018-05-01 | Agricultural irrigation device capable of avoiding repeated irrigation |
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