CN110692498A - Intelligent irrigation robot system - Google Patents
Intelligent irrigation robot system Download PDFInfo
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- CN110692498A CN110692498A CN201910927622.1A CN201910927622A CN110692498A CN 110692498 A CN110692498 A CN 110692498A CN 201910927622 A CN201910927622 A CN 201910927622A CN 110692498 A CN110692498 A CN 110692498A
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- 238000003973 irrigation Methods 0.000 title claims abstract description 62
- 230000002262 irrigation Effects 0.000 title claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000011161 development Methods 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 229920000642 polymer Polymers 0.000 claims description 3
- 230000010365 information processing Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000012271 agricultural production Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Water Supply & Treatment (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention provides an intelligent irrigation robot system which comprises a main body, wherein the main body comprises an execution mechanism, a driving mechanism and a remote monitoring mechanism; the remote monitoring mechanism is used for modeling an area to be irrigated, establishing a three-dimensional model, and monitoring the actuating mechanism and the driving mechanism; the driving mechanism comprises a sensor module, a control module and a processing system, wherein the sensor module is used for acquiring information, and the processing system receives the information, processes the information and sends data information to the remote monitoring mechanism; the control module is in communication connection with the remote monitoring mechanism and is used for controlling the actuating mechanism; the sensor module comprises a gray sensor and a temperature and humidity sensor, the gray sensor is used for recording the position of the actuating mechanism in the irrigation area, the information is processed by the processing system and then transmitted to the remote monitoring mechanism, and a virtual model is established in the three-dimensional model; the actuating mechanism comprises a moving mechanism and an irrigation mechanism. The invention has high intelligent degree.
Description
Technical Field
The invention relates to the field of agricultural irrigation system equipment, in particular to an intelligent irrigation robot system.
Background
Since the 21 st century, the development of electronic technology and automatic control technology has been rapidly advanced, and the agricultural field has outstanding influence, the appearance of agricultural robots solves some complicated and fussy agriculture, and the agricultural robots gradually enter the agricultural production field, so that the agricultural production scale of China is further enlarged, and the agricultural production is developed towards intellectualization and mechanization. The research of agricultural robots is also continuously progressing and relates to various fields, such as vegetable picking, pesticide fertilization, automatic sprinkling irrigation and the like. The application of the agricultural robot improves the agricultural production situation of China, reduces the labor intensity of workers and improves the agricultural efficiency.
Agricultural irrigation methods can be generally divided into traditional ground irrigation, general sprinkler irrigation and micro irrigation. Traditional ground irrigation comprises ridge irrigation, furrow irrigation, flood irrigation and flood irrigation, but the irrigation methods usually consume a large amount of water and have low water utilization capacity, so that the traditional ground irrigation is an unreasonable agricultural irrigation method. In addition, the common spray irrigation technology is a relatively common irrigation mode in Chinese agricultural production. But the water utilization efficiency of the common sprinkling irrigation technology is not high. The modern agricultural micro irrigation technology comprises micro-sprinkling irrigation, drip irrigation, infiltration irrigation and the like. The irrigation technologies generally have good water-saving performance and higher water utilization rate than the traditional irrigation mode. However, the above irrigation methods all have a problem of low intelligent degree.
Disclosure of Invention
In view of this, the invention provides an intelligent irrigation robot system to solve the technical problem that the existing agricultural irrigation has low intelligent degree.
The technical scheme of the invention is realized as follows:
an intelligent irrigation robot system comprises a main body, wherein the main body comprises an execution mechanism, a driving mechanism and a remote monitoring mechanism;
the remote monitoring mechanism is used for modeling an area to be irrigated, establishing a three-dimensional model, and monitoring the actuating mechanism and the driving mechanism;
the driving mechanism comprises a sensor module, a control module and a processing system, wherein the sensor module is used for collecting information, and the processing system receives the information, processes the information and sends data information to the remote monitoring mechanism; the control module is in communication connection with the remote monitoring mechanism and is used for controlling the executing mechanism;
the sensor module comprises a gray sensor and a temperature and humidity sensor, the gray sensor is used for recording the position of the actuating mechanism in an irrigation area, the actuating mechanism is transmitted to the remote monitoring mechanism after information processing is carried out through the processing system, and a virtual model is established in the three-dimensional model;
the actuating mechanism comprises a moving mechanism and an irrigation mechanism.
Preferably, the moving mechanism comprises 2 rollers and a driving motor for driving the rollers to move, and the number of the driving motors is 2, and the driving motors are respectively used for driving the 2 rollers.
Preferably, the driving mechanism further comprises a battery for supplying power to the sensor module, the control module, the processing system, the moving mechanism and the irrigation mechanism; the battery adopts a high-rate lithium polymer lithium battery with the capacity of 10000 MAH.
Preferably, the control module comprises an S3C2440A chip development board adopting ARM9 as a core, and 2 SDRAM chips connected to the development board.
Preferably, the irrigation mechanism comprises a sprinkling irrigation mechanism and a control valve, and the control valve is connected with the control module.
Preferably, the gray sensor is an analog sensor DFR 0022.
Has the advantages that:
according to the intelligent sprinkling irrigation system, the actuating mechanism, the driving mechanism and the remote monitoring mechanism are arranged, the driving mechanism comprises the sensor module, the control module and the processing system, the sensor module is matched with the remote monitoring mechanism to establish a three-dimensional model, the position of the actuating mechanism is monitored remotely, the temperature and the humidity of an area to be irrigated are monitored and sensed, the intelligent sprinkling irrigation is realized, and the intelligent degree is high.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent irrigation robot system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, 1 is a remote monitoring mechanism, 2 is a gray sensor, 3 is a humidity sensor, 4 is a temperature and humidity sensor, 5 is a battery, 6 is a driving motor, and 7 is a roller.
The embodiment of the invention provides an intelligent irrigation robot system, which comprises a main body, a remote control system and a control system, wherein the main body comprises an execution mechanism, a driving mechanism and a remote monitoring mechanism;
the remote monitoring mechanism is used for modeling an area to be irrigated, establishing a three-dimensional model, and monitoring the actuating mechanism and the driving mechanism;
the driving mechanism comprises a sensor module, a control module and a processing system, wherein the sensor module is used for acquiring information, and the processing system receives the information, processes the information and sends data information to the remote monitoring mechanism; the control module is in communication connection with the remote monitoring mechanism and is used for controlling the actuating mechanism; the control module comprises an S3C2440A chip development board taking ARM9 as a core, and 2 SDRAM chips connected to the development board.
The sensor module comprises a gray level sensor and a temperature and humidity sensor, the sensor module comprises the temperature and humidity sensor and a gray level sensor, and the sensor module adopts an HF3223 temperature and humidity sensor with a linear frequency output model, and has the characteristics of high response speed, ultralow power consumption, direct connection with ARM9 and extremely high stability in performance during work; the model of the gray sensor is DFR0022, the gray sensor is an analog sensor and can be used for judging the gray level of greenhouses and field ground in the operation process of a robot, and the working principle of the gray sensor is that the gray sensor internally comprises a light emitting diode and a photoresistor and is arranged on the same surface. The color depth detection is carried out by utilizing the principle that the light reflection degrees of the detection surfaces with different colors are different and the light resistance values of the photoresistors in the light returned by the different detection surfaces are different, so that the normal operation of the robot is ensured.
The gray sensor is used for recording the position of the actuating mechanism in the irrigation area, transmitting the information to the remote monitoring mechanism after the information is processed by the processing system, and establishing a virtual model in the three-dimensional model;
the actuating mechanism comprises a moving mechanism and an irrigation mechanism.
The moving mechanism comprises 2 rollers and 2 driving motors for driving the rollers to move, and the number of the driving motors is 2, and the driving motors are respectively used for driving the 2 rollers; the power motor driving module occupies a key position in the mechanical structure of the robot, and the layout of the power motor driving module not only influences the volume of the robot, but also has great influence on the efficiency and flexibility of the normal operation of the robot. The motor driving module comprises a stepping motor and a motor driver. A stepping motor is used as a power source, the stepping motor adopts two CQ2HB34MB model two-phase stepping motors, the left driving wheel and the right driving wheel are respectively controlled, and the working voltage of the stepping motor is 12V. The method is characterized by being free from the influence of interference factors such as voltage, current, temperature, humidity and the like, and has high accuracy and reliability. The control robot has obvious control force when sprinkling irrigation crops, functions such as steering and sprinkling irrigation are in a set control time range, the rotating speed and the direction can be realized through program control when the robot works, the rotating speed can be changed along with the change of the frequency, the frequency is increased, the rotating speed is increased, the frequency is reduced, and the pulse is reduced. The motor driver includes two L298N chips for controlling two stepper motors. L298N is an integrated monolithic circuit, which is a high voltage, large current dual bridge driver, the module power supply part of the driver can be connected to 3.5V, and the driving peak current can reach 4A.
The driving mechanism also comprises a battery which is used for supplying power to the sensor module, the control module, the processing system, the moving mechanism and the irrigation mechanism; the battery adopts a 10000MAH high-rate lithium polymer lithium battery, can be charged and discharged quickly, and has large output power and long service life. The output working voltage is about 12V, and the normal operation of the control system is ensured. Because the input voltage required by the S3C2440A development board is 7-12V wide voltage, and the input voltage required by the motor in normal operation is 12V, the normal operation of the controller module and the system can be ensured by connecting two 4000MAH power supplies in series. The motor drivers on both sides are connected with the battery box interface in parallel and fixed on both sides of the vehicle body.
The irrigation mechanism comprises a sprinkling irrigation mechanism and a control valve which are arranged in an irrigation system, and the control valve is connected with the control module.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only for the purpose of illustrating the technical solutions of the present invention, and not for the purpose of limiting the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (6)
1. An intelligent irrigation robot system comprises a main body, and is characterized in that the main body comprises an execution mechanism, a driving mechanism and a remote monitoring mechanism;
the remote monitoring mechanism is used for modeling an area to be irrigated, establishing a three-dimensional model, and monitoring the actuating mechanism and the driving mechanism;
the driving mechanism comprises a sensor module, a control module and a processing system, wherein the sensor module is used for collecting information, and the processing system receives the information, processes the information and sends data information to the remote monitoring mechanism; the control module is in communication connection with the remote monitoring mechanism and is used for controlling the executing mechanism;
the sensor module comprises a gray sensor and a temperature and humidity sensor, the gray sensor is used for recording the position of the actuating mechanism in an irrigation area, the actuating mechanism is transmitted to the remote monitoring mechanism after information processing is carried out through the processing system, and a virtual model is established in the three-dimensional model;
the actuating mechanism comprises a moving mechanism and an irrigation mechanism.
2. The intelligent irrigation robot system of claim 1, wherein the moving mechanism comprises 2 rollers and 2 driving motors for driving the rollers, and the driving motors are respectively used for driving the 2 rollers.
3. The intelligent irrigation robot system of claim 2, wherein the drive mechanism further comprises a battery for powering the sensor module, the control module, the processing system, the movement mechanism, and the irrigation mechanism; the battery adopts a high-rate lithium polymer lithium battery with the capacity of 10000 MAH.
4. The intelligent irrigation robot system of claim 3, wherein the control module comprises an S3C2440A chip development board with ARM9 as a core, and 2 SDRAM chips connected to the development board.
5. The intelligent irrigation robot system of claim 4, wherein the irrigation mechanism comprises a sprinkler irrigation mechanism disposed in the irrigation system and a control valve coupled to the control module.
6. The intelligent irrigation robot system of claim 5, wherein the grayscale sensor employs an analog sensor DFR 0022.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910927622.1A CN110692498A (en) | 2019-09-27 | 2019-09-27 | Intelligent irrigation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910927622.1A CN110692498A (en) | 2019-09-27 | 2019-09-27 | Intelligent irrigation robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110692498A true CN110692498A (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910927622.1A Pending CN110692498A (en) | 2019-09-27 | 2019-09-27 | Intelligent irrigation robot system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201504461U (en) * | 2009-08-20 | 2010-06-16 | 杭州师范大学 | Intelligent trolley for watering flowers |
| US9392754B1 (en) * | 2013-12-18 | 2016-07-19 | Valmont Industries, Inc. | Drive unit |
| CN205794355U (en) * | 2016-07-06 | 2016-12-14 | 广东建设职业技术学院 | The long-range watering device of controlled shower nozzle |
| CN207519337U (en) * | 2017-08-02 | 2018-06-22 | 深圳普思英察科技有限公司 | A kind of agricultural irrigation robot of remote control |
| CN108782183A (en) * | 2018-08-24 | 2018-11-13 | 王涅桐 | A kind of removable Agriculture Field monitoring irrigation rig and monitoring irrigation method |
| CN109548635A (en) * | 2019-01-15 | 2019-04-02 | 莱芜职业技术学院 | A kind of remote supervisory and control(ling) equipment that liquid manure integral type is irrigated |
-
2019
- 2019-09-27 CN CN201910927622.1A patent/CN110692498A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201504461U (en) * | 2009-08-20 | 2010-06-16 | 杭州师范大学 | Intelligent trolley for watering flowers |
| US9392754B1 (en) * | 2013-12-18 | 2016-07-19 | Valmont Industries, Inc. | Drive unit |
| CN205794355U (en) * | 2016-07-06 | 2016-12-14 | 广东建设职业技术学院 | The long-range watering device of controlled shower nozzle |
| CN207519337U (en) * | 2017-08-02 | 2018-06-22 | 深圳普思英察科技有限公司 | A kind of agricultural irrigation robot of remote control |
| CN108782183A (en) * | 2018-08-24 | 2018-11-13 | 王涅桐 | A kind of removable Agriculture Field monitoring irrigation rig and monitoring irrigation method |
| CN109548635A (en) * | 2019-01-15 | 2019-04-02 | 莱芜职业技术学院 | A kind of remote supervisory and control(ling) equipment that liquid manure integral type is irrigated |
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Application publication date: 20200117 |