CN110352837A - A kind of intelligent irrigation device - Google Patents
A kind of intelligent irrigation device Download PDFInfo
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- CN110352837A CN110352837A CN201910706057.6A CN201910706057A CN110352837A CN 110352837 A CN110352837 A CN 110352837A CN 201910706057 A CN201910706057 A CN 201910706057A CN 110352837 A CN110352837 A CN 110352837A
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- logic controller
- intelligent irrigation
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- 238000003973 irrigation Methods 0.000 title claims abstract description 155
- 230000002262 irrigation Effects 0.000 title claims abstract description 155
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 149
- 239000002689 soil Substances 0.000 claims abstract description 15
- 230000003020 moisturizing effect Effects 0.000 claims description 18
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000013589 supplement Substances 0.000 abstract description 2
- 241000196324 Embryophyta Species 0.000 description 42
- 238000010586 diagram Methods 0.000 description 6
- 235000015097 nutrients Nutrition 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
- A01G25/092—Watering arrangements making use of movable installations on wheels or the like movable around a pivot centre
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- 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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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Greenhouses (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention proposes a kind of intelligent irrigation device, including intelligent irrigation robot, intelligent irrigation robot traveling track, water supply system；Intelligent irrigation robot includes car body, the irrigation system on car body, the programmable logic controller (PLC) on car body, the electromagnetic sensor for being located at car body front-end and back-end；Intelligent irrigation robot traveling track is equipped with the electromagnetic guide line of capable of emitting electromagnetic signal；Water supply system includes to water spot, feed pump and feedwater piping.The present invention by intelligent irrigation robot, intelligent irrigation robot traveling track and water supply system, can automatic irrigation and automatic water supplement, and Different Irrigation can be carried out according to plant different growing stages law of needing the water；By several humidity sensors being located in plant surrounding soil, selectivity pours water shortage arid trees；The present invention realizes the intelligent control irrigated, and has reached and has conserved water and labor-saving purpose, so that plant engineering irrigation is easy, laborsaving with efficient, raising irrigation quality.
Description
Technical field
The present invention relates to treegarden irrigation technical fields, concretely relate to a kind of intelligent irrigation device.
Background technique
In ornamental plant production process, water is the Source of life of plant, therefore needs often to irrigate plant, common
Irrigation form point furrow irrigation, border irrigation, sprinkling irrigation, trickle irrigation, manual watering etc., people are to different plant varieties using different pouring sides
Formula, such as the crops of large area using water inlet surface irrigation, for trees using water lift single pouring, water pipe is generally used on lawn
Sprinkling is poured, and the irrigation in gardens is typically all to use pipeline water, is introduced the water into gardens and is poured with sebific duct.The irrigation of the prior art
It has the following disadvantages, first is that larger to artificial degree of dependence during irrigating, the degree of automation is low, intelligence degree
It is low, second is that causing very big waste to water resource, it is unfavorable for saving water, third is that water flow directly impacts crop, soil, be easy to cause
The root of seedling more seriously can sometimes be gone out soil and caused by crop damage, soil losses, the non-uniform situation of irrigation
Death of seedling causes irrigation effect undesirable.
Summary of the invention
To solve the above problems, the present invention proposes a kind of intelligent irrigation device, water can be needed according to plant different growing stages
Rule carries out Different Irrigation, and moisture is supplied directly to plant at regular time and quantity, intelligent control is realized, provides for plant engineering irrigation
Easy, laborsaving and efficient guarantee.
Technical solution: the present invention proposes a kind of intelligent irrigation device, including intelligent irrigation robot, intelligent irrigation robot
Traveling track, to the water supply system of intelligent irrigation robot water supply；
The intelligent irrigation robot includes car body, the irrigation system on car body, the programmable logic control on car body
Device processed, the electromagnetic sensor for being located at car body front-end and back-end；
Car body front end two sides are provided with the near front wheel and off-front wheel, and the near front wheel motor and the drive of driving the near front wheel rotation
The front-right-wheel motor of dynamic off-front wheel rotation；
The irrigation system includes water tank, irrigation pump, irrigation conduit, turntable, the turntable motor of driving turntable rotation, ranging
Sensor, irrigation position sensor；The water inlet pipe of the irrigation pump is connected to water tank, the outlet pipe and irrigation conduit of irrigation pump
Connection；The irrigation conduit is fixed on turntable；
The quantity of the distance measuring sensor is two, is respectively placed in the two sides of the turntable, detects plant away from intelligent irrigation machine
The distance of people, and range data is sent to programmable logic controller (PLC)；Programmable logic controller (PLC) receive range data and with
Default value is compared in programmable logic controller (PLC), if the distance measuring sensor of side detects range data in default value
In range, then the side, which has, can irrigate plant；Programmable logic controller (PLC) sends enabling signal to turntable motor, and sends stopping
Signal is to the near front wheel motor and front-right-wheel motor；
The quantity of the irrigation position sensor is two, is respectively placed in the two sides of the turntable；One where it can irrigate plant
The irrigation position sensor of side, which detects that turntable turns to, can irrigate plant side, and irrigation position sensor is sent a signal to
Programmable logic controller (PLC), programmable logic controller (PLC) transmission stops operating signal to turntable motor, while programmable logic
Controller sends enabling signal and is irrigated to irrigation pump；
The electromagnetic sensor is for acquiring the electromagnetic signal on intelligent irrigation robot traveling track and being sent to programmable patrol
Volume controller, programmable logic controller (PLC) receives electromagnetic signal and to send control signal electronic to the near front wheel motor and off-front wheel
Machine controls the start and stop of the near front wheel motor and front-right-wheel motor；
The intelligent irrigation robot traveling track is equipped with the electromagnetic guide line of capable of emitting electromagnetic signal；
The water supply system includes to water spot, feed pump and feedwater piping；The water inlet pipe of the feed pump is connected with to water spot, gives
The outlet pipe of water pump is connected with one end of feedwater piping；The other end of the feedwater piping is placed in the water inlet of the water tank
Top；The feedwater piping is equipped with moisturizing position sensor, and moisturizing position sensor detects the position of intelligent irrigation robot
Information, and the location information of intelligent irrigation robot is sent to programmable logic controller (PLC), programmable logic controller (PLC) receives
To the location information of intelligent irrigation robot, determine that intelligent irrigation robot arrived water supply position, and send enabling signal to
Feed pump carries out water tank moisturizing.
Further, the intelligent irrigation device further includes the code oscillator on plant and is located at around plant
Several humidity sensors in soil；When the soil moisture that humidity sensor detects is lower than preset value, volume is sent a signal to
Code signal generator, code oscillator, which receives the signal of humidity sensor and sends encoded signal, gives programmable logic control
Device processed, programmable logic controller (PLC) received encoded signal and control intelligent irrigation robot reach code oscillator where
Plant is irrigated.
Further, high water level sensor is equipped in the water tank；High water level sensor detects high water level letter in water tank
Programmable logic controller (PLC) is ceased and is sent to, programmable logic controller (PLC) receives high water level information, issues Stop message and gives
Water pump.
Further, low water level sensor is equipped in the water tank；Low water level sensor detects low water level letter in water tank
Programmable logic controller (PLC) is ceased and is sent to, programmable logic controller (PLC) receives low water level information, starts the near front wheel motor
So that intelligent irrigation robot is reached water supply position with front-right-wheel motor and carries out moisturizing.
Further, the top of the water tank be equipped with water inlet, the water inlet be equipped with can automatic shutter water tank
Lid；When intelligent irrigation robot reaches water supply position, programmable logic controller (PLC), which sends control signal, opens water storage case lid, into
Row water tank moisturizing；When programmable logic controller (PLC) receives high water level information, sending control signal closes water storage case lid.
Further, the car body is equipped with battery, and battery is to the near front wheel motor, front-right-wheel motor and turntable motor
Power supply.
Further, the car body is equipped with warm and humid sensor, the temperature of warm and humid sensor detection intelligent irrigation robot and
Humidity, and temperature and humidity information is sent to programmable logic controller (PLC), programmable logic controller (PLC) receives temperature and humidity
Information is simultaneously compared with default value in programmable logic controller (PLC), if temperature or humidity exceeds default value range, can be compiled
Journey logic controller sends signal control battery and stops power supply.
Further, the car body is equipped with A/D conversion module, the temperature and humidity analog signal hair of the warm and humid sensor acquisition
It send to A/D conversion module, temperature and humidity analog signal is converted into temperature and humidity digital signal and is sent to programmable patrol by A/D conversion module
Collect controller.
Further, the body rear end two sides are provided with left rear wheel and off hind wheel；It is set with outside described the near front wheel and left rear wheel
There is crawler belt；Crawler belt is set with outside the off-front wheel and off hind wheel.
The utility model has the advantages that the present invention is by by intelligent irrigation robot, intelligent irrigation robot traveling track and water supply system
It is designed to a complete intelligent irrigation device, and programmable logic controller (PLC) is applied in the control for irrigating robot,
Can automatic irrigation and automatic water supplement, and can according to plant different growing stages law of needing the water carry out Different Irrigation, moisture
It is supplied directly to plant at regular time and quantity；Pass through several humidity sensors being located in plant surrounding soil, additionally it is possible to selectivity
Pour water shortage arid trees；The present invention realizes the intelligent control irrigated, and has reached and has conserved water and labor-saving purpose, has made to plant
Strain engineering irrigation is easy, it is laborsaving with it is efficient, make irrigation quality obtain improving significantly.
Detailed description of the invention
Fig. 1 is intelligent irrigation robot of the present invention and water supply system structural schematic diagram；
Fig. 2 is the body construction schematic diagram of intelligent irrigation robot of the present invention；
Fig. 3 is turntable structure schematic diagram of the present invention；
Fig. 4 is intelligent irrigation robot traveling track schematic diagram of the present invention；
Fig. 5 is the humidity sensor schematic diagram in code oscillator and plant surrounding soil on plant of the present invention；
Fig. 6 is intelligent irrigation robot control principle schematic diagram of the present invention.
1. car body in figure, 2. programmable logic controller (PLC)s, 3. electromagnetic sensors, 4. the near front wheels, 5. off-front wheels, 6. the near front wheels
Motor, 7. front-right-wheel motors, 8. Left-wing Federation's levers, 9. right interlocking bar, 10. left rear wheels, 11. off hind wheels, 12. crawler belts, 13.
Water tank, 14. irrigation pumps, 15. irrigation conduits, 16. driving turntables, 17. turntable motors, 18. distance measuring sensors, 19. irrigate
Position sensor, 20. low water level sensors, 21. electromagnetic guide lines, 22. give water spot, 23. feed pumps, 24. feedwater pipings, 25.
Moisturizing position sensor, 26. water storage case lids, 27. high water level sensors, 28. batteries, 29. warm and humid sensors, 30. A/D conversion
Module, 31. plant, 32. code oscillators, 33. humidity sensors.
Specific embodiment
The present invention proposes a kind of intelligent irrigation device, as shown in Figures 1 to 6, including intelligent irrigation robot, intelligent irrigation
Robot traveling track, to the water supply system of intelligent irrigation robot water supply.
As shown in Figure 1, intelligent irrigation robot includes car body 1, the irrigation system on car body 1, on car body 1
Programmable logic controller (PLC) (PLC) 2, the electromagnetic sensor 3 for being located at 1 front-end and back-end of car body.It can be used in the present embodiment
Mitsubishi FX2N -32MR-001 type PLC.
As depicted in figs. 1 and 2,1 front end two sides of car body are provided with the near front wheel 4 and off-front wheel 5, and 4 turns of the near front wheel of driving
The front-right-wheel motor 7 that dynamic the near front wheel motor 6 and driving off-front wheel 5 rotates.The near front wheel motor 6 and front-right-wheel motor
7, which can be used the rotation of 250W direct current, becomes brushless servo motor, by Left-wing Federation's lever 8, power is transmitted to from the near front wheel motor 6 left front
Wheel 4, by right interlocking bar 9, is transmitted to off-front wheel 5 from front-right-wheel motor 7 for power.1 rear end sides of car body are provided with left back
Wheel 10 and off hind wheel 11.When car body 1 moves forward and backward, the near front wheel motor 6 and front-right-wheel motor 7 start simultaneously, with altogether
Same speed forward turns afterwards；When car body 1 is turned, the near front wheel motor 6 and the one of stopping of front-right-wheel motor 7,
Another keeps rotation, and car body 1 can complete turning action.Preferably, crawler belt is set with outside the near front wheel 4 and left rear wheel 10
12；It is set with crawler belt 12 outside off-front wheel 5 and off hind wheel 11, to adapt to uneven road.
As shown in figures 1 and 3, irrigation system includes water tank 13, irrigation pump 14, irrigation conduit 15, turntable 16, driving turn
The turntable motor 17 of the rotation of platform 16, distance measuring sensor 18, irrigation position sensor 19.The water inlet pipe and water tank of irrigation pump 14
13 connections, the outlet pipe of irrigation pump 14 are connected to irrigation conduit 15；The irrigation conduit 15 is fixed on turntable 16；The ranging
The quantity of sensor 18 is two, is respectively placed in the two sides of the turntable 16, detects distance of the plant away from intelligent irrigation robot,
And range data is sent to programmable logic controller (PLC) 2, distance measuring sensor 18 uses the ranging of AJ-SR04M Integral ultrasonic
The measurement distance of module, the module can be configured according to the practical spacing of plant；Programmable logic controller (PLC) 2 is received apart from number
According to and in programmable logic controller (PLC) 2 default value be compared, if the distance measuring sensor 18 of side detects range data
Within the scope of default value, then the side, which has, can irrigate plant；Programmable logic controller (PLC) 2 sends enabling signal to turntable motor
17, and stop signal is sent to the near front wheel motor 6 and front-right-wheel motor 7；The quantity of the irrigation position sensor 19 is
Two, it is respectively placed in the two sides of the turntable 16；Turn when the irrigation position sensor 19 that can irrigate plant side detects
Platform 16, which turns to, can irrigate plant side, and irrigation position sensor 19 sends a signal to programmable logic controller (PLC) 2, can compile
The transmission of journey logic controller 2 stops operating signal to turntable motor 17, while programmable logic controller (PLC) 2 sends enabling signal
It is irrigated to irrigation pump 14.The water of irrigation is controlled according to the time that irrigation conduit 15 is sprayed water, when water spraying time reaches
Programmable logic device 2 will control irrigation pump 14 and stop operating after when setting, while control intelligent irrigation robot after continuing
Into.Low water level sensor 20 is equipped in water tank 14；Low water level sensor 20 detects low water level information in water tank 14 and sends
To programmable logic controller (PLC) 2, programmable logic controller (PLC) 2 receives low water level information, before starting the near front wheel motor 6 and the right side
Wheel motor 7 makes intelligent irrigation robot reach the progress moisturizing of water supply position.
Electromagnetic sensor 3 is for acquiring the electromagnetic signal on intelligent irrigation robot traveling track and being sent to programmable patrol
Controller 2 is collected, programmable logic controller (PLC) 2 receives electromagnetic signal and simultaneously sends control signal to the near front wheel motor 6 and off-front wheel
The start and stop of motor 7 control the near front wheel motor 6 and front-right-wheel motor 7.
As shown in figure 4, intelligent irrigation robot traveling track is equipped with the electromagnetic guide line 21 of capable of emitting electromagnetic signal.Electricity
Magnetic guide line 21 passes to electric current using galvanomagnetic signal transmitter and issues electromagnetic signal.
As shown in Figure 1, water supply system includes to water spot 22, feed pump 23 and feedwater piping 24.The water inlet pipe of feed pump 23
It is connected with to water spot 22, the outlet pipe of feed pump 23 is connected with one end of feedwater piping 24；The other end of the feedwater piping 24
It is placed in the top of the water inlet of the water tank 13；The feedwater piping 24 is equipped with moisturizing position sensor 25, moisturizing position
Sensor 25 detects the location information of intelligent irrigation robot, and the location information of intelligent irrigation robot is sent to programmable
Logic controller 22, programmable logic controller (PLC) 2 receive the location information of intelligent irrigation robot, determine intelligent irrigation machine
People arrived water supply position, and send enabling signal to feed pump 23, carry out 13 moisturizing of water tank.
The top of water tank 13 be equipped with water inlet, the water inlet be equipped with can automatic shutter water storage case lid 26；Work as intelligence
Robot can be irrigated and reach water supply position, programmable logic controller (PLC) 2, which sends control signal, opens water storage case lid 26, is stored up
13 moisturizing of water tank.High water level sensor 27 is equipped in water tank 13；High water level sensor 27 detects high water level letter in water tank 13
Programmable logic controller (PLC) 2 is ceased and is sent to, programmable logic controller (PLC) 2 receives high water level information, issues Stop message and gives
Feed pump 23, and sending control signal closes water storage case lid 26.
Preferably, it can will be set to the center of intelligent irrigation robot traveling track to water spot 22, be conducive to shorten
Intelligent irrigation robot is to the distance for giving water spot 22.
Car body 1 is equipped with battery 28, and battery 28 is supplied to the near front wheel motor 6, front-right-wheel motor 7 and turntable motor 17
Electricity.
Car body 1 is equipped with warm and humid sensor 29, and warm and humid sensor 29 detects the temperature and humidity of intelligent irrigation robot, and
Temperature and humidity information is sent to programmable logic controller (PLC) 2, programmable logic controller (PLC) 2 receives temperature and humidity information simultaneously
It is compared with default value in programmable logic controller (PLC) 2, if temperature or humidity exceeds default value range, programmable logic
Controller 2 sends signal control battery 28 and stops power supply.
Car body 1 is equipped with A/D conversion module 30, and the temperature and humidity analog signal that the warm and humid sensor 29 acquires is sent to A/
Temperature and humidity analog signal is converted into temperature and humidity digital signal and is sent to programmable logic by D conversion module 30, A/D conversion module 30
Controller 2.Mitsubishi FX2N -4AD type A/D conversion module can be used in the present embodiment.
As shown in figure 5, intelligent irrigation device further includes the code oscillator 32 on the plant 31 and is located at plant
Several humidity sensors 33 in surrounding soil；When the soil moisture that humidity sensor 33 detects is lower than preset value, issue
Signal to code oscillator 32, code oscillator 32 receive the signal of humidity sensor and send encoded signal to
Programmable logic controller (PLC) 2,2 received encoded signal of programmable logic controller (PLC) simultaneously control intelligent irrigation robot arrival coding letter
Plant 31 where number generator 32 is irrigated.
Three humidity sensors 33 are placed in the present embodiment in plant surrounding soil, plant encoded signal occurs in order to prevent
Device 32 receives 33 signal of humidity sensor in neighbouring other plant soil, and three humidity sensors 33 and encoded signal are sent out
Wired connection is used between raw device 32.When code oscillator 32 receives at least two 33 signals of humidity sensor, say
Bright 31 soil drought of plant, needs to pour, and code oscillator 32 just issues the wireless encoding signal of the plant 31 to can
Programmed logic controller 2,2 received encoded signal of programmable logic controller (PLC) simultaneously control intelligent irrigation robot arrival encoded signal
Plant where generator 32 is irrigated；If code oscillator 32 receives only a humidity sensor 33 and issues letter
Number, it may be possible to humidity sensor 33 is made mistakes.If there is many places plant 31 to issue encoded signal simultaneously, according to plant 31 apart from giving
22 far and near distance of water spot come arrange irrigate priority level.
There are three types of operating modes for intelligent irrigation robot, the first is the generally irrigation under normal mode, according to intelligent filling
Robot traveling track is irrigate to advance and irrigate one by one.Second is the specific irrigation for having target, according to the volume being arranged on plant 31
The position that the signal that code signal generator 32 issues reaches where needing the plant irrigated 31 is irrigated.The third is to plant
31 spray and spray nutrient, when intelligent irrigation robot to 22 moisturizing of water spot make water tank 13 reach high water level after, work
Personnel stir pesticide and nutrient into water tank 13 according to the actual needs of plant 31, and in Programmable logical controller
The time that the spray of irrigation conduit 15 is set in device 2, it is then turned on intelligent irrigation robot, intelligent irrigation robot starts in turn
Plant sprays drug or nutrient.When low water level sensor 20 issues signal in intelligent irrigation robot water tank 13,
Intelligent irrigation robot, which is retracted into, carries out moisturizing to water spot 22, when high water level sensor 27 issues signal, programmable logic control
Device 2 processed controls intelligent irrigation robot and stops operating, and sends a signal to staff, and pesticide and nutrient is waited to match
It gives.
Claims (9)
1. a kind of intelligent irrigation device, it is characterised in that: including intelligent irrigation robot, intelligent irrigation robot traveling track,
To the water supply system of intelligent irrigation robot water supply；
The intelligent irrigation robot includes car body, the irrigation system on car body, the programmable logic control on car body
Device processed, the electromagnetic sensor for being located at car body front-end and back-end；
Car body front end two sides are provided with the near front wheel and off-front wheel, and the near front wheel motor and the drive of driving the near front wheel rotation
The front-right-wheel motor of dynamic off-front wheel rotation；
The irrigation system includes water tank, irrigation pump, irrigation conduit, turntable, the turntable motor of driving turntable rotation, ranging
Sensor, irrigation position sensor；The water inlet pipe of the irrigation pump is connected to water tank, the outlet pipe and irrigation conduit of irrigation pump
Connection；The irrigation conduit is fixed on turntable；
The quantity of the distance measuring sensor is two, is respectively placed in the two sides of the turntable, detects plant away from intelligent irrigation machine
The distance of people, and range data is sent to programmable logic controller (PLC)；Programmable logic controller (PLC) receive range data and with
Default value is compared in programmable logic controller (PLC), if the distance measuring sensor of side detects range data in default value
In range, then the side, which has, can irrigate plant；Programmable logic controller (PLC) sends enabling signal to turntable motor, and sends stopping
Signal is to the near front wheel motor and front-right-wheel motor；
The quantity of the irrigation position sensor is two, is respectively placed in the two sides of the turntable；One where it can irrigate plant
The irrigation position sensor of side, which detects that turntable turns to, can irrigate plant side, and irrigation position sensor is sent a signal to
Programmable logic controller (PLC), programmable logic controller (PLC) transmission stops operating signal to turntable motor, while programmable logic
Controller sends enabling signal and is irrigated to irrigation pump；
The electromagnetic sensor is for acquiring the electromagnetic signal on intelligent irrigation robot traveling track and being sent to programmable patrol
Volume controller, programmable logic controller (PLC) receives electromagnetic signal and to send control signal electronic to the near front wheel motor and off-front wheel
Machine controls the start and stop of the near front wheel motor and front-right-wheel motor；
The intelligent irrigation robot traveling track is equipped with the electromagnetic guide line of capable of emitting electromagnetic signal；
The water supply system includes to water spot, feed pump and feedwater piping；The water inlet pipe of the feed pump is connected with to water spot, gives
The outlet pipe of water pump is connected with one end of feedwater piping；The other end of the feedwater piping is placed in the water inlet of the water tank
Top；The feedwater piping is equipped with moisturizing position sensor, and moisturizing position sensor detects the position of intelligent irrigation robot
Information, and the location information of intelligent irrigation robot is sent to programmable logic controller (PLC), programmable logic controller (PLC) receives
To the location information of intelligent irrigation robot, determine that intelligent irrigation robot arrived water supply position, and send enabling signal to
Feed pump carries out water tank moisturizing.
2. intelligent irrigation device according to claim 1, it is characterised in that: further include the encoded signal hair on plant
Raw device and several humidity sensors in plant surrounding soil；The soil moisture that humidity sensor detects is lower than default
When value, code oscillator is sent a signal to, code oscillator receives the signal of humidity sensor and sends coding
Signal simultaneously controls intelligent irrigation robot arrival volume to programmable logic controller (PLC), programmable logic controller (PLC) received encoded signal
Plant where code signal generator is irrigated.
3. intelligent irrigation device according to claim 1, it is characterised in that: be equipped with high water level in the water tank and sense
Device；High water level sensor detects high water level information in water tank and is sent to programmable logic controller (PLC), Programmable logical controller
Device receives high water level information, issues Stop message to feed pump.
4. intelligent irrigation device according to claim 3, it is characterised in that: be equipped with low water level in the water tank and sense
Device；Low water level sensor detects low water level information in water tank and is sent to programmable logic controller (PLC), Programmable logical controller
Device receives low water level information, and starting the near front wheel motor and front-right-wheel motor makes intelligent irrigation robot reach water supply position
Carry out moisturizing.
5. intelligent irrigation device according to claim 4, it is characterised in that: the top of the water tank is equipped with water inlet,
The water inlet be equipped with can automatic shutter water storage case lid；When intelligent irrigation robot reaches water supply position, programmable logic
Controller, which sends control signal, opens water storage case lid, carries out water tank moisturizing；When programmable logic controller (PLC) receives Gao Shui
Position information, sending control signal closes water storage case lid.
6. intelligent irrigation device according to claim 4, it is characterised in that: the car body is equipped with battery, and battery is to a left side
Front wheel motor, front-right-wheel motor and turntable motor power supply.
7. intelligent irrigation device according to claim 6, it is characterised in that: the car body is equipped with warm and humid sensor, temperature
Wet sensor detects the temperature and humidity of intelligent irrigation robot, and temperature and humidity information is sent to Programmable logical controller
Device, programmable logic controller (PLC) receive temperature and humidity information and are compared with default value in programmable logic controller (PLC),
If temperature or humidity exceeds default value range, programmable logic controller (PLC) sends signal control battery and stops power supply.
8. intelligent irrigation device according to claim 7, it is characterised in that: the car body is equipped with A/D conversion module, institute
The temperature and humidity analog signal for stating the acquisition of warm and humid sensor is sent to A/D conversion module, and A/D conversion module is by temperature and humidity analog signal
It is converted into temperature and humidity digital signal and is sent to programmable logic controller (PLC).
9. intelligent irrigation device according to claim 1, it is characterised in that: the body rear end two sides are provided with left rear wheel
And off hind wheel；Crawler belt is set with outside described the near front wheel and left rear wheel；Crawler belt is set with outside the off-front wheel and off hind wheel.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112005863A (en) * | 2020-08-27 | 2020-12-01 | 上海电力大学 | Be applied to intelligent irrigation dolly in mountain region plantation |
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