CN111226766A - Control method of garden sprinkling irrigation system - Google Patents
Control method of garden sprinkling irrigation system Download PDFInfo
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- CN111226766A CN111226766A CN202010186412.4A CN202010186412A CN111226766A CN 111226766 A CN111226766 A CN 111226766A CN 202010186412 A CN202010186412 A CN 202010186412A CN 111226766 A CN111226766 A CN 111226766A
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- sprinkling
- sprinkling irrigation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—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
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
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Abstract
The invention discloses a control method of a garden sprinkling irrigation system, which comprises the steps of soil humidity detection and judgment, sprinkling direction control of a sprinkling machine, self-moving control of the sprinkling machine, sprinkling irrigation completion and the like. This gardens sprinkling irrigation system's control method adopts central control computer centralized control, soil moisture data according to soil moisture sensor feedback carry out the comparison and judge back control angle rotation positioner's rotary platform translation is rotatory and fix a position and make from the small-size sprinkling irrigation machine of formula that moves just to needing the sprinkling irrigation position, then carry out the self-moving sprinkling irrigation, conveniently spray irrigation to the gardens vegetation, and use the flexibility high, be convenient for maintain, need not at the regional pre-buried raceway net of gardens sprinkling irrigation, need not consider shower nozzle combination interval scheduling problem, realize reducing gardens construction engineering volume, the horizontal evenly distributed in the sprinkling irrigation soil is realized to the sprinkling irrigation mode of self-moving under the prerequisite of water economy resource, and is particularly suitable for gardens sprinkling irrigation.
Description
Technical Field
The invention relates to a control method of a sprinkling irrigation system, in particular to a control method of a garden sprinkling irrigation system, and belongs to the technical field of intelligent garden sprinkling irrigation.
Background
The garden is an artistic garden which is created by modifying the terrain (or further building a mountain, stacking stones and managing water), planting trees and flowers, building a building, arranging garden paths and the like by applying engineering technology and artistic means in a certain region, and is an aesthetic natural environment and rest period region, wherein the garden usually comprises a garden, a residential garden, a small garden, a park, a botanical garden and the like, and the garden not only serves as rest, but also has the functions of protecting and improving the environment, and plays a positive role in promoting urban greening and environmental protection.
The spray irrigation is an irrigation method that uses special equipment such as spray head to spray pressurized water into the air to form water drops on the ground and the surface of crops.
Present gardens are sprayed and are adopted the shower nozzle watering more, be about to the shower nozzle through connecting pipe fixed mounting pre-buried arrange on subaerial conduit network settlement position, spray irrigation water carries out the fixed point through the shower nozzle blowout through booster pump station and conduit network and spray irrigation, this kind of traditional mode of spraying still has following defect:
1. because the water delivery pipe network needs to be pre-buried during garden construction, the engineering quantity is huge, the water delivery pipe network pre-buried below the ground is not easy to maintain, and troubleshooting is difficult when a fault or water leakage condition occurs;
2. factors such as the shape of a garden plot, the ground gradient and the vegetation planting direction all affect the arrangement of the water delivery pipe network, so that the increase of the engineering quantity is caused invisibly;
3. because a fixed-point sprinkling irrigation mode is adopted, the coverage area of the single spray head is limited, and therefore, a proper spray head combination interval needs to be set to avoid sprinkling irrigation dead angles;
4. generally, a booster pump station is required to be positioned at the central position of a section so as to reduce the consumption of pipelines and the head loss of a water pipeline and further reduce the investment cost and the operating cost, but the booster pump station which is far away from a water source is required to be additionally pre-embedded with a booster pump station water pipeline, and is difficult to maintain;
5. because the water of spouting from the shower nozzle is influenced by self gravity factor, consequently can cause the horizontal distribution in the sprinkling irrigation in-process soil to use the shower nozzle to outwards reduce gradually as the center, the cross-section is the toper structure, though the dead angle of sprinkling irrigation can be avoided to suitable shower nozzle combination interval, still can cause the waste of the inhomogeneous phenomenon of irrigating and water resource.
Disclosure of Invention
Aiming at the problems, the invention provides a control method of a garden sprinkling irrigation system, which can save water resources, reduce the engineering quantity, realize uniform sprinkling irrigation and is particularly suitable for garden sprinkling irrigation.
In order to achieve the purpose, the garden sprinkling irrigation system used by the control method of the garden sprinkling irrigation system comprises a pressure water supply device, an angle rotation positioning device, a self-moving small-sized sprinkling irrigation machine, a soil humidity monitoring device and an electric control device;
the pressure water supply device comprises a pressure water supply bolt, a bolt body of the pressure water supply bolt is fixedly arranged on the ground in the vertical direction, the water outlet end of the pressure water supply bolt is arranged along the radial direction of the bolt body and is connected with the bolt body of the pressure water supply bolt through a plane bearing and an annular seal, and an electromagnetic stop valve is further arranged at the water outlet end of the pressure water supply bolt;
the angle rotation positioning device comprises a rotating platform and a rotating platform drive; the rotating platform is arranged around the pressure water supply device by taking the pressure water supply device as a rotating center; the rotary platform drive comprises an annular gear ring, a rotary drive gearbox and a rotary drive motor, the annular gear ring is coaxially installed and connected with the pressure water supply device, the rotary platform is erected on the annular gear ring, an input shaft of the rotary drive gearbox is fixedly connected with an output shaft of the rotary drive motor, and a rotary transmission gear matched and meshed with a tooth part of the annular gear ring is arranged on an output shaft of the rotary drive gearbox;
the self-moving small sprinkler is arranged on the rotary platform and comprises a rack, a travelling mechanism and a sprinkling mechanism;
the rack is a box-shaped supporting structure with the top, the bottom and the rear opened, and the top surface of the box-shaped supporting structure is a structure inclined towards the rear lower part;
the sprinkling irrigation mechanism comprises a sprinkling irrigation reel, a sprinkling irrigation PE pipe, a pipe pressing mechanism and a spray head;
the sprinkling irrigation reel comprises a barrel body and wing plates; the cylinder body is a hollow cylindrical structure; the wing plates are of a disc-shaped structure and are arranged into two pieces, the two wing plates are respectively coaxial with the barrel body and are arranged at two ends of the barrel body, and an outer gear ring is coaxially and fixedly arranged on the outer side surface of one wing plate; the sprinkling irrigation reel integrally takes the radial direction of the cylinder body as the front-back direction and is erected and installed between two side walls in the left-right direction of the rack through a bearing;
the sprinkling irrigation PE pipe is wound on the cylinder body of the sprinkling irrigation reel, the input end of the sprinkling irrigation PE pipe is wound on the outer layer, the output end of the sprinkling irrigation PE pipe is wound on the inner layer, and the input end of the sprinkling irrigation PE pipe is connected with the electromagnetic stop valve;
the pipe pressing mechanism comprises a pipe pressing frame and a tension spring; the pressure pipe frame is a door-shaped frame structure, the width size of the door-shaped frame structure is matched with the length size of the barrel body of the sprinkling irrigation reel and is clamped between two wing plates of the sprinkling irrigation reel, and the bottom end of the pressure pipe frame is hinged and installed on two side walls in the left and right directions of the machine frame; one end of the tension spring is connected with the door-shaped frame structure of the pressure tube frame, and the other end of the tension spring is connected with the side wall of the rack;
the spray head comprises a spray head support rod and a spray nozzle arranged at the top end of the spray head support rod, wherein the spray head support rod is provided with an electric spray head height adjusting mechanism, a pressure water input end of the spray nozzle is communicated and connected with an output end of the spray irrigation PE pipe, and an electromagnetic flow adjusting valve is arranged on the pressure water input end of the spray nozzle or a water outlet end of the pressure water supply plug;
the traveling mechanism comprises a front wheel, a front wheel drive and a guide rear wheel; the front wheel is arranged at the front lower part of the frame through a front wheel shaft which is arranged on the frame in a penetrating way; the front wheel is arranged on the frame in a driving way and comprises a front wheel driving power supply, a front wheel driving motor and a front wheel driving gearbox, the front wheel driving power supply is respectively and electrically connected with the front wheel driving motor and the sprayer height electric adjusting mechanism, the output end of the front wheel driving motor is connected with the input end of the front wheel driving gearbox, and the output end of the front wheel driving gearbox is respectively in transmission connection with a front wheel shaft of the front wheel and an outer gear ring of the sprinkling irrigation reel through a transmission mechanism; the rear guide wheel is mounted at the rear end of the rack through a rear wheel mounting frame, the rear guide wheel is positioned in the middle position of the left direction and the right direction of the rack, an arc-shaped groove matched with the spray irrigation PE pipe in size is formed in the wheel surface of the rear guide wheel along the circumferential direction of the rear guide wheel, and the input end of the spray irrigation PE pipe is clamped and arranged in the arc-shaped groove of the rear guide wheel;
the soil humidity monitoring device comprises a plurality of soil humidity sensors which are uniformly distributed in the garden soil along the concentric circumferential direction of the pressure water supply device;
the electric control device comprises a central control computer, a soil humidity feedback loop, a soil humidity judging loop, a sprinkling direction control loop, a sprinkling machine control loop, a sprinkling flow adjusting loop and a nozzle height adjusting loop, wherein the central control computer is respectively and electrically connected with a soil humidity sensor, a rotary platform drive, an electromagnetic stop valve, an electromagnetic flow adjusting valve, a nozzle height electric adjusting mechanism and a front wheel drive;
the control method comprises the following steps:
a. and (3) detecting and judging soil humidity: in the initial state, the self-walking sprinkling machine is arranged along the radial direction of the pressure water supply device, the front part of the self-walking sprinkling machine is stopped on the rotating platform towards the outside for standby, and at the moment, the sprinkling PE pipe is completely wound on the cylinder of the sprinkling reel and is in a completely contained state; a soil humidity feedback loop and a soil humidity judgment loop of the electric control device work all the time, and a soil humidity sensor periodically feeds soil humidity data back to the central control computer;
b. controlling the sprinkling direction of the sprinkling machine: when the soil humidity data fed back by a soil humidity sensor of a soil humidity monitoring device of certain garden soil is lower than the soil humidity data set by a program, a sprinkling irrigation direction control loop of the sprinkling irrigation machine starts to work, and a central control computer sends an instruction according to garden coordinate information preset by the program and coordinate information of the soil humidity sensor so that a rotary platform is driven by a rotary platform to rotate to a set angle by taking a pressure water supply device as a rotation center, and the front part of the self-moving type small sprinkling irrigation machine is opposite to a position needing sprinkling irrigation;
c. self-moving control of the sprinkler: the control loop of the sprinkler starts to work, the central control computer sends out an instruction to enable the front wheel to drive to act, the front wheel drive motor rotates forward to drive the front wheel drive gearbox to drive the front wheel and the outer gear ring of the sprinkling irrigation reel to rotate, the self-moving small sprinkler moves forward while facing a position needing sprinkling irrigation, and releases the sprinkling irrigation PE pipe, and the pressure pipe frame presses against the sequentially wound sprinkling irrigation PE pipes under the action of the tension spring to prevent the sprinkling irrigation PE pipes from dropping off the sprinkling irrigation reel;
d. controlling the sprinkling of the sprinkling machine: when the self-moving small-sized sprinkler moves forward to a set distance and reaches a position needing sprinkling irrigation, a sprinkling irrigation control loop starts to work, a central control computer sends an instruction to open an electromagnetic stop valve, pressure water enters a sprinkling irrigation PE pipe through an input end of the sprinkling irrigation PE pipe and is sprayed out through a spray nozzle to realize sprinkling irrigation, the central control computer selects proper sprinkling irrigation flow through adjusting a flow adjusting valve according to the requirement of sprinkling irrigation area, the central control computer selects proper height of the spray nozzle from the ground through adjusting a spray nozzle height adjusting mechanism according to the requirement of the sprinkling irrigation area, after the sprinkling irrigation starts, the central control computer sends an instruction to drive a front wheel to act, a front wheel driving motor drives a front wheel driving gearbox to drive a front wheel and an outer gear ring of a sprinkling irrigation reel to rotate, the self-moving small-sized sprinkler moves backwards while recycling of the sprinkling irrigation PE pipe is gradually close to a pressure water supply, the guide rear wheel ensures that the whole self-moving small-sized sprinkling machine moves along the trend of the sprinkling PE pipe all the time;
e. and (3) completing sprinkling irrigation: when the self-moving small-sized sprinkling machine is used for sprinkling and traveling to the rotating platform, the whole sprinkling process is completed, and the central control computer sends out an instruction to stop the driving of the front wheel and close the electromagnetic stop valve.
As an embodiment of the present invention, the arrangement of the guiding rear wheel in step d is to clamp the guiding rear wheel above the spray irrigation PE pipe through an arc groove on the guiding rear wheel in a straddling state, and the guiding rear wheel rides on the arc upper surface of the spray irrigation PE pipe to roll along the trend of the spray irrigation PE pipe during the recovery process of the spray irrigation PE pipe.
As another embodiment of the invention, a guide rear wheel of the self-moving small sprinkler is arranged on a rear wheel mounting frame through a door-shaped support frame, the top end of the door-shaped support frame is connected with the rear wheel mounting frame, and the input end of the sprinkling PE pipe penetrates out from a gap between the inner side surface of the top end of the door-shaped support frame and the bottom surface of an arc groove of the guide rear wheel; and d, arranging the guide rear wheels in a mode that the guide rear wheels are clamped and lifted below the spray irrigation PE pipe through arc-shaped grooves in the guide rear wheels, and the guide rear wheels are clamped and lifted on the arc-shaped lower surface of the spray irrigation PE pipe in the recovery process of the spray irrigation PE pipe and roll along the trend of the spray irrigation PE pipe.
As a further improvement scheme of the invention, an auxiliary guide wheel is further arranged inside a frame structure of a portal support frame of the used self-moving type small sprinkler and above the guide rear wheel, an arc-shaped groove matched with the sprinkling PE pipe in size is arranged on the wheel surface of the auxiliary guide wheel along the circumferential direction of the auxiliary guide wheel, the distance between the bottom surface of the arc-shaped groove of the auxiliary guide wheel and the bottom surface of the arc-shaped groove of the guide rear wheel is matched with the diameter size of the sprinkling PE pipe, and the input end of the sprinkling PE pipe penetrates out from a gap between the bottom surface of the arc-shaped groove of the auxiliary guide wheel and the bottom surface of the arc-shaped groove of the guide rear wheel.
As a further improvement of the invention, the door-shaped support frame of the self-moving small sprinkler is arranged obliquely forwards.
As a further improvement of the invention, the door-shaped support frame is arranged obliquely forwards.
As a further improvement scheme of the invention, a front wheel driving power source driven by a front wheel of the self-moving type small sprinkler is a lithium battery pack, a charging pile and a sprinkler guiding mechanism are arranged on the rotating platform, a plug structure matched with the charging pile is arranged at the position, corresponding to the charging pile, of the rear end of the self-moving type small sprinkler, and the plug structure is electrically connected with the front wheel driving power source; the electric control device also comprises a self-charging control loop of the sprinkler, and the central control computer is electrically connected with the charging pile; the control method of the garden sprinkling irrigation system further comprises the step of realizing butt joint of the plug structure of the self-moving type small sprinkler and the charging pile through electrical feedback of the charging pile.
Compared with the prior art, the control method of the garden sprinkling irrigation system adopts the central control computer for centralized control, when the soil humidity data fed back by the soil humidity sensor is lower than the soil humidity data set by a program, the central control computer firstly controls the rotating platform of the angle rotating and positioning device to support the self-moving type small-sized sprinkling irrigation machine to rotate in a translation way and position according to the garden coordinate information preset by the program and the coordinate information of the soil humidity sensor so that the self-moving type small-sized sprinkling irrigation machine is right opposite to the position to be sprinkled, then the central control computer controls the traveling mechanism of the self-moving type small-sized sprinkling irrigation machine to act so that the self-moving type small-sized sprinkling irrigation machine moves forwards and releases a PE pipe at the same time, the central control computer controls the electromagnetic stop valve 2 to be opened after the self-moving type small-sized sprinkling irrigation machine travels to the position to be sprinkled, pressure water enters the PE pipe through the input, the central control computer controls the running mechanism of the self-moving small-sized sprinkling machine to move backward and recover the PE pipe during the movement of the self-moving small-sized sprinkling machine after the sprinkling irrigation starts, the guide rear wheel ensures that the self-moving small-sized sprinkling machine integrally moves along the trend of the PE pipe during the sprinkling irrigation all the time, the whole sprinkling process is completed on a rotating platform until the self-moving small-sized sprinkling machine returns, the sprinkling irrigation is convenient for garden vegetation, the flexibility is high, the maintenance is convenient, a water pipe network does not need to be embedded in a garden sprinkling irrigation area, the problem of the distance between sprinkler groups and the like does not need to be considered, and the self-moving sprinkling mode can realize the horizontal uniform distribution in the sprinkling irrigation soil on the premise of saving water resources, the uniform irrigation is ensured, the reduction of the garden construction engineering quantity is realized, the construction cost is saved, and the self-.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic top plan view of the present invention;
FIG. 4 is a schematic structural view of the self-propelled small sprinkler of the present invention;
FIG. 5 is a top view of FIG. 4;
fig. 6 is a view from direction a of fig. 4.
In the figure: 1. pressure water supply equipment, 11, a pressure water supply bolt, 12, an electromagnetic stop valve, 2, an angle rotation positioning device, 21, a rotating platform, 22, a rotating platform drive, 3, a self-moving small-sized sprinkler, 31, a frame, 32, a traveling mechanism, 321, a front wheel, 322, a front wheel drive, 323, a guide rear wheel, 324, a rear wheel mounting frame, 325, a door-shaped supporting frame, 326, an auxiliary guide wheel, 33, a sprinkling irrigation mechanism, 331, a sprinkling irrigation reel, 332, a pressure pipe mechanism, 3321, a pressure pipe frame, 3322, a tension spring, 333, a spray head, 4, a soil humidity monitoring device, 5 and an electric control device.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings (the drawing direction of the input end of the PE sprinkler pipe of the self-moving small sprinkler is described as the rear).
As shown in fig. 1, fig. 2 and fig. 3, the garden sprinkling irrigation system used in the control method of the garden sprinkling irrigation system comprises a pressure water supply device 1, an angle rotation positioning device 2, a self-moving small sprinkler 3, a soil humidity monitoring device 4 and an electric control device 5.
The pressure water supply device 1 comprises a pressure water supply bolt 11, a bolt body of the pressure water supply bolt 11 is fixedly arranged on the ground in the vertical direction, a water outlet end of the pressure water supply bolt 11 is arranged along the radial direction of the bolt body, the water outlet end of the pressure water supply bolt 11 is connected with the bolt body of the pressure water supply bolt 11 through a plane bearing and an annular seal, the water outlet end of the pressure water supply bolt 11 can freely rotate along the axis of the bolt body, and an electromagnetic stop valve 12 is further arranged at the water outlet end of the pressure water supply bolt 11.
The angle rotation positioning device 2 comprises a rotating platform 21 and a rotating platform drive 22; the rotary platform 21 is arranged around the pressure water supply device 1 by taking the pressure water supply device 1 as a rotary center; the rotary platform drive 22 comprises an annular gear ring, a rotary drive gearbox and a rotary drive motor, the annular gear ring is coaxially installed and connected with the pressure water supply device 1, the rotary platform 21 is erected on the annular gear ring, an input shaft of the rotary drive gearbox is fixedly connected with an output shaft of the rotary drive motor, a rotary drive gear matched and meshed with a tooth part of the annular gear ring is arranged on an output shaft of the rotary drive gearbox, and the rotary platform drive 22 can enable the rotary platform 21 to rotate around the axis of the pressure water supply device 1 at any angle and be positioned through the rotary drive gear.
The self-moving small sprinkler 3 is arranged on the rotary platform 21 and comprises a frame 31, a travelling mechanism 32 and a sprinkling mechanism 33;
the frame 31 is a box-type support structure open at the top, bottom, and rear, and the top surface of the box-type support structure is a structure inclined downward rearward.
As shown in fig. 4 and 5, the sprinkling irrigation mechanism 33 comprises a sprinkling irrigation reel 331, a sprinkling PE pipe, a pipe pressing mechanism 332 and a nozzle 333;
the sprinkling irrigation reel 331 includes a cylinder and a wing plate; the cylinder body is a hollow cylindrical structure; the wing plates are of a disc-shaped structure and are arranged into two pieces, the two wing plates are respectively coaxial with the barrel body and are arranged at two ends of the barrel body, and an outer gear ring is coaxially and fixedly arranged on the outer side surface of one wing plate; the sprinkling irrigation reel 331 is integrally installed between the two side walls of the frame 31 in the left-right direction by taking the radial direction of the cylinder as the front-back direction and by a bearing frame;
the sprinkling irrigation PE pipe is wound on the cylinder body of the sprinkling irrigation reel 331, the input end of the sprinkling irrigation PE pipe is wound on the outer layer, the output end of the sprinkling irrigation PE pipe is wound on the inner layer, and the input end of the sprinkling irrigation PE pipe is connected with the electromagnetic stop valve 12;
the pipe pressing mechanism 332 comprises a pipe pressing frame 3321 and a tension spring 3322; the pressure pipe frame 3321 is a door-shaped frame structure, the width of the door-shaped frame structure is matched with the length of the barrel body of the sprinkling irrigation reel 331 and is clamped between two wing plates of the sprinkling irrigation reel 331, and the bottom end of the pressure pipe frame 3321 is hinged and installed on two side walls in the left and right directions of the rack 31; one end of the tension spring 3322 is connected with the door-shaped frame structure of the pressure pipe frame 3321, the other end is connected with the side wall of the frame 31, and the tension spring 3322 can enable the pressure pipe frame 3321 to be pressed on the cylinder body of the sprinkling irrigation reel 331 all the time;
the spray head 333 comprises a spray head support rod and a spray nozzle arranged at the top end of the spray head support rod, and the pressure water input end of the spray nozzle is communicated and connected with the output end of the spray irrigation PE pipe;
the traveling mechanism 32 includes front wheels 321, front wheel drives 322, and a guide rear wheel 323; the front wheel 321 is mounted at the front lower part of the frame 31 through a front wheel shaft mounted on the frame 31 in a penetrating way; the front wheel drive 322 is arranged on the frame 31 and comprises a front wheel drive power supply, a front wheel drive motor and a front wheel drive gearbox, the front wheel drive power supply is electrically connected with the front wheel drive motor, the output end of the front wheel drive motor is connected with the input end of the front wheel drive gearbox, the output end of the front wheel drive gearbox is respectively in transmission connection with the front wheel shaft of the front wheel 321 and the outer gear ring of the sprinkling irrigation reel 331 through a transmission mechanism, and the front wheel drive gearbox can drive the front wheel 321 and the outer gear ring of the sprinkling irrigation reel 331 to rotate by controlling the rotation of the front wheel drive motor so as to move and receive and; the rear guide wheel 323 is arranged at the rear end of the rack 31 through the rear wheel mounting frame 324, the rear guide wheel 323 is positioned in the middle position of the left direction and the right direction of the rack 31, an arc-shaped groove matched with the spray irrigation PE pipe in size is arranged on the wheel surface of the rear guide wheel 323 along the circumferential direction of the arc-shaped groove, and the input end of the spray irrigation PE pipe is clamped and arranged in the arc-shaped groove of the rear guide wheel 323.
Soil moisture monitoring devices 4 include a plurality of soil moisture sensors, a plurality of soil moisture sensors along the concentric circumferencial direction equipartition of pressure water supply installation 1 imbed in gardens soil.
The electric control device 5 comprises a central control computer, a soil humidity feedback loop, a soil humidity judging loop, a sprinkling direction control loop, a sprinkling control loop and a sprinkling control loop, wherein the central control computer is respectively electrically connected with a soil humidity sensor, a rotary platform drive 22, an electromagnetic stop valve 12 and a front wheel drive 322.
This gardens sprinkling irrigation system is when using 5's soil moisture feedback loop and soil moisture judge that the loop is worked all the time, and central control computer feedback soil moisture is given periodically to soil moisture sensor, and during initial condition, as shown in figure 1, figure 2, arrange along the radial direction of pressure water supply installation 1 from walking sprinkling irrigation machine 1, the anterior outside is to the standing on rotary platform 21 and is waited, and the PE pipe of sprinkling irrigation twines completely at this moment and is in the state of accomodating completely on the barrel of sprinkling irrigation reel 331.
When the soil humidity data fed back by the soil humidity sensor of the soil humidity monitoring device 4 of a certain garden soil is lower than the soil humidity data set by a program, the sprinkling irrigation direction control loop of the sprinkling irrigation machine starts to work, and the central control computer sends an instruction according to the garden coordinate information preset by the program and the coordinate information of the soil humidity sensor so that the rotating platform drive 22 acts to drive the rotating platform 21 to rotate to a set angle by taking the pressure water supply device 1 as a rotating center, so that the front part of the self-moving type small-sized sprinkling irrigation machine 3 is opposite to the position needing sprinkling irrigation; then the control loop of the sprinkler starts to work, the central control computer sends out an instruction to enable the front wheel drive 322 to act, the front wheel drive motor rotates forward to drive the front wheel drive gearbox to drive the front wheel 321 and the outer gear ring of the sprinkling irrigation reel 331 to rotate, the self-moving small sprinkler 3 moves forward while facing the position needing sprinkling irrigation and releases the sprinkling irrigation PE pipe, the pressure pipe frame 3321 is pressed against the sprinkling irrigation PE pipes wound in sequence under the action of the tension spring 3322, and the sprinkling irrigation PE pipes can be prevented from falling off the sprinkling irrigation reel 331; when the self-moving small-sized sprinkling machine 3 moves forward to a set distance and reaches a position needing sprinkling irrigation, a sprinkling irrigation control loop starts to work, the central control computer sends a command to open the electromagnetic stop valve 12, pressure water enters the sprinkling irrigation PE pipe through the input end of the sprinkling irrigation PE pipe and is sprayed out through the spray nozzle 333 to realize sprinkling irrigation, the central control computer sends a command to make the front wheel drive 322 act after the sprinkling irrigation starts, the front wheel drive motor rotates reversely to drive the front wheel drive gearbox to drive the front wheel 321 and the outer gear ring of the sprinkling irrigation reel 331 to rotate, the self-moving small-sized sprinkling machine 3 moves backwards while recovering the sprinkling irrigation PE pipe to gradually approach the pressure water-supply plug 11, the guiding rear wheel 323 clamped and lifted or arranged on the sprinkling irrigation PE pipe ensures that the whole self-moving small-sized sprinkling machine 3 moves along the trend of the PE pipe all the time, when the self-moving small-sized sprinkling machine 3 sprinkles to the rotary platform 21, the central control computer issues a command to stop the operation of the front wheel drive 322 and close the electromagnetic cut-off valve 12.
In order to control the sprinkling irrigation quantity according to the feedback of different numerical values fed back by the soil humidity sensor, as a further improvement scheme of the invention, an electromagnetic flow regulating valve is arranged on the pressure water input end of the spray head 333 or the water outlet end of the pressure hydrant 11; the electric control device 5 also comprises a spray irrigation flow regulating loop, and the central control computer is electrically connected with the electromagnetic flow regulating valve; the central control computer can change the flow of the spraying water sprayed in the spray head 333 by adjusting the electromagnetic flow adjusting valve according to different values fed back by the soil humidity sensor, so as to adjust the spraying amount.
In order to realize that the sprayer 333 sprays water with different coverage areas and realize better universality according to different garden vegetation, as a further improvement scheme of the invention, a sprayer height electric adjusting mechanism is arranged on a sprayer supporting rod of the sprayer 333 and is electrically connected with a front wheel driving power supply of the travelling mechanism 32; the electric control device 5 also comprises a spray head height adjusting loop, and the central control computer is electrically connected with the spray head height electric adjusting mechanism; the central control computer can change the height of the spray head 333 from the ground by adjusting the spray head height electric adjusting mechanism according to the set vegetation height data, and further change the coverage area of the water sprayed by the spray head 333.
In order to prevent the sprinkling irrigation PE pipe from being separated from the arc-shaped groove of the guiding rear wheel 323 in the self-moving sprinkling irrigation process of the garden sprinkling irrigation system, and further prevent the complete machine from being correctly moved along the trend of the sprinkling irrigation PE pipe, as a further improvement scheme of the invention, as shown in fig. 6, the guiding rear wheel 323 is arranged on a rear wheel mounting frame 324 through a portal support frame 325, the top end of the portal support frame 325 is connected with the rear wheel mounting frame 324, and the input end of the sprinkling irrigation PE pipe penetrates out from a gap between the inner side surface of the top end of the portal support frame 325 and the bottom surface of the arc-shaped groove of the guiding rear wheel 323; the arrangement of the portal support frame 325 can effectively prevent the spray irrigation PE pipe from falling off from the arc-shaped groove of the guide rear wheel 323.
In order to further prevent the sprinkling irrigation PE pipe from falling off the arc groove of the rear guide wheel 323, as shown in fig. 6, as a further improvement of the present invention, an auxiliary guide wheel 326 is further disposed inside the frame structure of the portal support frame 325 and above the rear guide wheel 323, an arc groove matched with the sprinkling irrigation PE pipe in size is disposed on the wheel surface of the auxiliary guide wheel 326 along the circumferential direction thereof, the distance between the arc groove bottom surface of the auxiliary guide wheel 326 and the arc groove bottom surface of the rear guide wheel 323 is matched with the diameter size of the sprinkling irrigation PE pipe, and the input end of the sprinkling irrigation PE pipe penetrates through the gap between the arc groove bottom surface of the auxiliary guide wheel 326 and the arc groove bottom surface of the rear guide wheel 323.
In order to realize that the spray irrigation PE pipe is closer to the ground in the spray irrigation process and further realize that the guide rear wheel 323 is more stably guided, as a further improvement of the invention, the door-shaped support frame 325 is arranged in a forward inclined manner.
As a further improvement of the present invention, as shown in fig. 5, the rear wheel mounting bracket 324 is an acute angle isosceles triangle frame structure with an apex angle set backwards, and the door-shaped support frame 325 is mounted at the apex angle position of the rear wheel mounting bracket 324 of the isosceles triangle frame structure; the longer distance between the door-shaped support frame 325 and the sprinkling irrigation reel 331 can relatively prolong the pull-out length of the pulled-out sprinkling irrigation PE pipe, so that the pulled-out sprinkling irrigation PE pipe is bent at a more gentle bending angle, and excessive deviation bending is prevented.
The front wheel driving power supply of the front wheel driving 322 can adopt an active power supply, and can also adopt a lithium battery pack power supply with higher electric energy conversion efficiency and smaller volume at present, because the former needs to additionally arrange an accommodating and rewinding device of an electric wire and has complex mechanism arrangement, and the latter is relatively simple, the latter is preferred, namely, as a preferred scheme of the invention, the front wheel driving power supply of the front wheel driving 322 is the lithium battery pack.
In order to facilitate automatic charging of the lithium battery pack, as a further improvement scheme of the invention, a charging pile and a sprinkler guiding mechanism are arranged on the rotating platform 21; a plug structure matched with the charging pile is arranged at the rear end of the self-moving type small sprinkler 3 corresponding to the position of the charging pile, and the plug structure is electrically connected with a front wheel driving power supply; when the self-moving small-sized sprinkler 3 retreats backwards to the rotary platform 21, the sprinkler continues to retreat to a set position under the guiding action of the sprinkler guiding mechanism, and the plug structure of the self-moving small-sized sprinkler 3 can be in butt joint with the charging pile, so that automatic charging is realized.
In order to further save energy, as a further improvement of the invention, a solar collecting plate is further arranged on the rotating platform 21, and the solar collecting plate is electrically connected with the charging pile, so that the self-moving small-sized sprinkler 3 can be charged by solar energy.
The control method of the garden sprinkling irrigation system adopts a central control computer for centralized control, when the soil humidity data fed back by a soil humidity sensor is lower than the soil humidity data set by a program, the central control computer firstly controls a rotating platform 21 of an angle rotating and positioning device 2 to support a self-moving type small-sized sprinkling machine 3 to rotate in a translation way and position according to the garden coordinate information preset by the program and the coordinate information of the soil humidity sensor so that the self-moving type small-sized sprinkling machine 3 is right opposite to the position to be sprinkled, then the central control computer controls a traveling mechanism 32 of the self-moving type small-sized sprinkling machine 3 to act so that the self-moving type small-sized sprinkling machine 3 moves forwards and releases a sprinkling irrigation PE pipe, the central control computer controls an electromagnetic stop valve 12 to be opened after the self-moving type small-sized sprinkling machine 3 travels to the position to be sprinkled, pressure water enters the sprinkling PE pipe through the input end of the sprinkling irrigation PE pipe, the central control computer controls the running mechanism 32 of the self-moving small-sized sprinkling machine 3 to move backward and recover the PE pipe during the sprinkling after the sprinkling starts, the guide rear wheel 323 ensures that the self-moving small-sized sprinkling machine 3 integrally moves along the trend of the PE pipe all the time, the whole sprinkling process is completed on the rotating platform 21 until the self-moving small-sized sprinkling machine 3 returns back, the sprinkling is convenient for the garden vegetation, the flexibility is high, the maintenance is convenient, the water pipe network is not required to be embedded in the garden sprinkling area, the problems of the combination distance of the sprinklers and the like are not required to be considered, and the self-moving sprinkling mode can realize the horizontal uniform distribution in the sprinkling soil on the premise of saving water resources, the uniform irrigation is ensured, and then the reduction of the garden construction engineering quantity is realized, the construction cost is saved, and the method is particularly suitable for garden sprinkling.
Claims (6)
1. A control method of a garden sprinkling irrigation system comprises the steps that the garden sprinkling irrigation system comprises a pressure water supply device (1), an angle rotation positioning device (2), a self-moving small-sized sprinkling irrigation machine (3), a soil humidity monitoring device (4) and an electric control device (5);
the pressure water supply device (1) comprises a pressure water supply bolt (11), a bolt body of the pressure water supply bolt (11) is fixedly arranged on the ground in the vertical direction, a water outlet end of the pressure water supply bolt (11) is arranged along the radial direction of the bolt body, the water outlet end of the pressure water supply bolt (11) is connected with the bolt body of the pressure water supply bolt (11) through a plane bearing and an annular seal, and an electromagnetic stop valve (12) is further arranged at the water outlet end of the pressure water supply bolt (11);
the angle rotation positioning device (2) comprises a rotating platform (21) and a rotating platform drive (22); the rotary platform (21) is arranged around the pressure water supply device (1) by taking the pressure water supply device (1) as a rotary center; the rotary platform drive (22) comprises an annular gear ring, a rotary drive gearbox and a rotary drive motor, the annular gear ring is coaxially installed and connected with the pressure water supply device (1), the rotary platform (21) is erected on the annular gear ring, an input shaft of the rotary drive gearbox is fixedly connected with an output shaft of the rotary drive motor, and a rotary drive gear which is matched and meshed with a tooth part of the annular gear ring is arranged on the output shaft of the rotary drive gearbox;
the self-moving small sprinkler (3) is arranged on the rotary platform (21) and comprises a rack (31), a traveling mechanism (32) and a sprinkling irrigation mechanism (33);
the rack (31) is a box-shaped supporting structure with the top, the bottom and the rear opened, and the top surface of the box-shaped supporting structure is a structure inclined towards the rear lower part;
the sprinkling irrigation mechanism (33) comprises a sprinkling irrigation reel (331), a sprinkling irrigation PE pipe, a pipe pressing mechanism (332) and a spray head (333);
the sprinkling irrigation reel (331) comprises a barrel body and a wing plate; the cylinder body is a hollow cylindrical structure; the wing plates are of a disc-shaped structure and are arranged into two pieces, the two wing plates are respectively coaxial with the barrel body and are arranged at two ends of the barrel body, and an outer gear ring is coaxially and fixedly arranged on the outer side surface of one wing plate; the sprinkling irrigation reel (331) is integrally installed between two side walls of the rack (31) in the left and right directions by taking the radial direction of the cylinder body as the front and back directions through a bearing;
the sprinkling irrigation PE pipe is wound on the cylinder body of the sprinkling irrigation reel (331), the input end of the sprinkling irrigation PE pipe is wound on the outer layer, the output end of the sprinkling irrigation PE pipe is wound on the inner layer, and the input end of the sprinkling irrigation PE pipe is connected with the electromagnetic stop valve (12);
the pipe pressing mechanism (332) comprises a pipe pressing frame (3321) and a tension spring (3322); the pipe pressing frame (3321) is a door-shaped frame structure, the width of the door-shaped frame structure is matched with the length of the barrel body of the sprinkling irrigation reel (331) and is clamped between two wing plates of the sprinkling irrigation reel (331), and the bottom end of the pipe pressing frame (3321) is hinged and installed on two side walls in the left and right directions of the rack (31); one end of a tension spring (3322) is connected with the door-shaped frame structure of the tube pressing frame (3321), and the other end is connected with the side wall of the rack (31);
the spray head (333) comprises a spray head support rod and a spray nozzle arranged at the top end of the spray head support rod, wherein the spray head support rod is provided with an electric spray head height adjusting mechanism, the pressure water input end of the spray nozzle is communicated and connected with the output end of the spray irrigation PE pipe, and the pressure water input end of the spray nozzle or the water outlet end of the pressure water supply bolt (11) is provided with an electromagnetic flow adjusting valve;
the traveling mechanism (32) comprises a front wheel (321), a front wheel drive (322) and a guide rear wheel (323); the front wheel (321) is arranged at the front lower part of the frame (31) through a front wheel shaft which is arranged on the frame (31) in a penetrating way; the front wheel drive (322) is arranged on the frame (31) and comprises a front wheel drive power supply, a front wheel drive motor and a front wheel drive gearbox, the front wheel drive power supply is respectively and electrically connected with the front wheel drive motor and the sprayer height electric adjusting mechanism, the output end of the front wheel drive motor is connected with the input end of the front wheel drive gearbox, and the output end of the front wheel drive gearbox is respectively in transmission connection with a front wheel shaft of the front wheel (321) and an outer gear ring of the sprinkling irrigation reel (331) through a transmission mechanism; the rear guide wheel (323) is arranged at the rear end of the rack (31) through a rear wheel mounting frame (324), the rear guide wheel (323) is positioned in the middle of the left and right directions of the rack (31), an arc-shaped groove matched with the spray irrigation PE pipe in size is arranged on the wheel surface of the rear guide wheel (323) along the circumferential direction of the rear guide wheel, and the input end of the spray irrigation PE pipe is clamped and arranged in the arc-shaped groove of the rear guide wheel (323);
the soil humidity monitoring device (4) comprises a plurality of soil humidity sensors which are uniformly distributed in the garden soil along the concentric circumferential direction of the pressure water supply device (1);
the electric control device (5) comprises a central control computer, a soil humidity feedback loop, a soil humidity judging loop, a sprinkling direction control loop, a sprinkling flow adjusting loop and a nozzle height adjusting loop, wherein the central control computer is respectively and electrically connected with a soil humidity sensor, a rotary platform drive (22), an electromagnetic stop valve (12), an electromagnetic flow adjusting valve, a nozzle height electric adjusting mechanism and a front wheel drive (322);
the control method is characterized by comprising the following steps:
a. and (3) detecting and judging soil humidity: in the initial state, the self-walking sprinkling machine (1) is arranged along the radial direction of the pressure water supply device (1), the front part of the self-walking sprinkling machine is stopped on the rotary platform (21) facing the outside for standby, and the sprinkling PE pipe is completely wound on the cylinder body of the sprinkling reel (331) and is in a completely contained state; a soil humidity feedback loop and a soil humidity judgment loop of the electric control device (5) work all the time, and a soil humidity sensor periodically feeds soil humidity data back to the central control computer;
b. controlling the sprinkling direction of the sprinkling machine: when the soil humidity data fed back by a soil humidity sensor of a soil humidity monitoring device (4) of certain garden soil is lower than the soil humidity data set by a program, a sprinkling irrigation direction control loop of the sprinkling irrigation machine starts to work, and a central control computer sends an instruction according to garden coordinate information preset by the program and coordinate information of the soil humidity sensor so that a rotary platform drive (22) acts to drive a rotary platform (21) to rotate to a set angle by taking a pressure water supply device (1) as a rotation center, so that the front part of a self-moving type small-sized sprinkling irrigation machine (3) is just opposite to a position needing sprinkling irrigation;
c. self-moving control of the sprinkler: the control loop of the sprinkler starts to work, the central control computer sends out an instruction to enable the front wheel drive (322) to act, the front wheel drive motor rotates forward to drive the front wheel drive gearbox to drive the front wheel (321) and the outer gear ring of the sprinkling irrigation reel (331) to rotate, the self-moving small sprinkler (3) moves forward while facing the position needing sprinkling irrigation and releases the sprinkling irrigation PE pipe, and the pipe pressing frame (3321) presses against the sprinkling irrigation PE pipes wound in sequence under the action of the tension spring (3322) to prevent the sprinkling irrigation PE pipes from falling off the sprinkling irrigation reel (331);
d. controlling the sprinkling of the sprinkling machine: when the self-moving small-sized sprinkling machine (3) moves forwards to a set distance and reaches a position needing sprinkling, a sprinkling control loop starts to work, a central control computer sends out an instruction to open an electromagnetic stop valve (12), pressure water enters a sprinkling PE pipe through the input end of the sprinkling PE pipe and is sprayed out through a sprinkler head (333) to realize sprinkling, the central control computer selects a proper sprinkling flow rate through adjusting a flow adjusting valve according to the requirement of a sprinkling area, the central control computer selects a proper height of the sprinkler head (333) from the ground through adjusting a sprinkler head height adjusting mechanism according to the requirement of the sprinkling area, after the sprinkling is started, the central control computer sends out an instruction to make a front wheel drive (322) act, a front wheel drive motor reversely rotates to drive a front wheel drive gearbox to drive a front wheel (321) and an outer gear ring of a sprinkling reel (331) to rotate, the self-moving small-sized sprinkling machine (3) moves backwards while the recovery of the sprinkling PE pipe gradually approaches to the pressure water supply hydrant (, the guide rear wheel (323) ensures that the whole self-moving small sprinkler (3) moves along the trend of the sprinkling PE pipe all the time;
e. and (3) completing sprinkling irrigation: when the self-moving small sprinkler (3) moves to the rotary platform (21) for sprinkling irrigation, the whole sprinkling irrigation process is completed, and the central control computer sends out an instruction to stop the front wheel driving (322) and close the electromagnetic stop valve (12).
2. The control method of the garden sprinkling irrigation system as claimed in claim 1, wherein the arrangement of the guide rear wheel (323) in the step d is such that the guide rear wheel (323) is clamped above the sprinkling PE pipe through an arc groove on the guide rear wheel (323) to form a straddle state, and the guide rear wheel (323) rides on the arc upper surface of the sprinkling PE pipe to roll along the trend of the sprinkling PE pipe during the recovery process of the sprinkling PE pipe.
3. The control method of the garden sprinkling irrigation system as claimed in claim 1, wherein the guiding rear wheel (323) of the self-moving small sprinkler (3) is mounted on the rear wheel mounting rack (324) through a portal support frame (325), the top end of the portal support frame (325) is connected with the rear wheel mounting rack (324), and the input end of the sprinkling irrigation PE pipe penetrates out from the gap between the inner side surface of the top end of the portal support frame (325) and the arc-shaped groove bottom surface of the guiding rear wheel (323); and d, arranging the guide rear wheel (323) in the step d in a manner that the guide rear wheel (323) is clamped below the spray irrigation PE pipe through an arc-shaped groove on the guide rear wheel (323) to be in a lifting state, and clamping and lifting the guide rear wheel (323) on the arc-shaped lower surface of the spray irrigation PE pipe to roll along the trend of the spray irrigation PE pipe in the recovery process of the spray irrigation PE pipe.
4. The control method of garden sprinkling irrigation system according to claim 3, wherein an auxiliary guide wheel (326) is further arranged above the guide rear wheel (323) inside the frame structure of the portal support frame (325) of the self-moving mini sprinkler (3) used, an arc-shaped groove matched with the sprinkling PE pipe in size is arranged on the wheel surface of the auxiliary guide wheel (326) along the circumferential direction, the distance between the bottom surface of the arc-shaped groove of the auxiliary guide wheel (326) and the bottom surface of the arc-shaped groove of the guide rear wheel (323) is matched with the diameter size of the sprinkling PE pipe, and the input end of the sprinkling PE pipe penetrates out of the gap between the bottom surface of the arc-shaped groove of the auxiliary guide wheel (326) and the bottom surface of the arc-shaped groove of the guide rear wheel (323).
5. A control method for garden sprinkler irrigation system according to claim 3, characterized in that the door-shaped support frame (325) of the self-moving small sprinkler (3) used is inclined forward.
6. The control method of the garden sprinkling irrigation system as claimed in any one of claims 1 to 5, wherein a front wheel driving power source of a front wheel driving (322) of the self-moving type small sprinkler (3) is a lithium battery pack, a charging pile and a sprinkler guiding mechanism are arranged on the rotating platform (21), a plug structure matched with the charging pile is arranged at the position, corresponding to the charging pile, of the rear end of the self-moving type small sprinkler (3), and the plug structure is electrically connected with the front wheel driving power source; the electric control device (5) also comprises a self-charging control loop of the sprinkler, and the central control computer is electrically connected with the charging pile; the control method of the garden sprinkling irrigation system further comprises the step of realizing the butt joint of the plug structure of the self-moving type small sprinkler (3) and the charging pile through the electrical feedback of the charging pile.
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| CN202010186412.4A CN111226766B (en) | 2017-02-28 | 2017-02-28 | Control method of garden sprinkling irrigation system |
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| CN202010186412.4A CN111226766B (en) | 2017-02-28 | 2017-02-28 | Control method of garden sprinkling irrigation system |
| CN201710112995.4A CN106954533B (en) | 2017-02-28 | 2017-02-28 | Control method of intelligent garden sprinkling irrigation control system |
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| CN202010186412.4A Active CN111226766B (en) | 2017-02-28 | 2017-02-28 | Control method of garden sprinkling irrigation system |
| CN201710112995.4A Active CN106954533B (en) | 2017-02-28 | 2017-02-28 | Control method of intelligent garden sprinkling irrigation control system |
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| CN111869552A (en) * | 2020-08-31 | 2020-11-03 | 南京林业大学 | Automatic sprinkling irrigation equipment of landscape and sprinkling irrigation system |
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| CN108651238B (en) * | 2018-04-20 | 2020-07-17 | 江苏华源节水股份有限公司 | Using method of ship type sprinkling machine for irrigation canal of large farm |
| CN110199832B (en) * | 2019-05-30 | 2024-06-14 | 广西农业职业技术学院 | Intelligent sprinkling irrigation control system and control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106954533B (en) | 2020-04-28 |
| CN111226765A (en) | 2020-06-05 |
| CN111226766B (en) | 2021-10-15 |
| CN111226765B (en) | 2021-06-22 |
| CN106954533A (en) | 2017-07-18 |
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