CN111713379A - How to use a boat sprinkler - Google Patents

Abstract

The invention discloses a method for using a boat-type sprinkler, which includes the steps of preparation for sprinkling, adjustment of hull draft, adjustment of sprinkling direction and angle, starting sprinkling operation, stopping sprinkling operation and the like. When in use, the supporting roller set is erected on the inclined embankment surface of the irrigation canal from the left and right directions of the hull through the supporting legs, and the propeller is submerged under the irrigation water surface. The irrigation water in the irrigation canal enters the self-priming pump through the suction pipe, and is increased by the self-priming pump. After being pressed, it is sprayed out by the nozzle gun, and the propeller rotates to push the hull to move to realize the irrigation of crops. The auxiliary support mechanism for sprinkler irrigation can not only balance the recoil of the nozzle gun and prevent the hull from tipping over, but also provide the movement guidance of the hull to ensure that the hull is always along the irrigation canal. It can completely avoid the rolling of farmland crops while realizing the sprinkler irrigation operation, and is especially suitable for the sprinkler irrigation operation of crops on large farms with irrigation canals.

Description

How to use a boat sprinkler

technical field

The invention relates to a method for using a sprinkler, in particular to a method for using a boat-type sprinkler suitable for large-scale farms with irrigation canals and for performing sprinkling operations on farmland, belonging to the technical field of sprinkler equipment.

Background technique

Sprinkler irrigation is an irrigation method that uses special equipment such as sprinklers to spray pressurized water into the air to form water droplets that fall on the sprinkler surface and the surface of crops.

Large farms usually set up irrigation canals between fields in order to facilitate access to water for irrigation and sprinkler irrigation. Because the reel sprinkler can irrigate a large area of farmland, and the amount of water spray can be controlled according to the nozzle to meet the different requirements of users for the amount of sprinkler irrigation, large farms usually use the reel sprinkler for crop irrigation operations. When large-scale farms with irrigation canals carry out sprinkling operations, the reel sprinkler is usually stagnant in the field near the irrigation canal, and then pressurized water is supplied through a pump, and the sprinkler truck connected to the PE pipe is pulled out by traction equipment such as tractors or winches. Go to the preset sprinkler irrigation location, and then turn on the water pump. The sprinkler pressure water enters the PE water delivery pipe and is sprayed out from the sprinkler head of the sprinkler truck to carry out the sprinkler irrigation operation. At the same time, the winch is driven to rotate to realize the automatic recovery of the PE pipe.

This traditional reel pivot irrigation method for large farms with irrigation channels has the following disadvantages:

1. Since the reel type sprinkler is usually pulled to the farmland that needs to be sprinkled through traction equipment such as tractors, and usually the farmland is often limited in space because the planting area is as large as possible, so the reel type sprinkler turns to turn around. It is more difficult, and when the sprinkler irrigation operation is completed, it will often cause the crops in the field to be excessively crushed;

2. The traditional reel type sprinkler irrigation machine has a large width due to the setting of the reel. In order to ensure the straight line of the sprinkler truck, the width of the sprinkler truck is usually matched with the width of the reel. Therefore, sprinkler irrigation is carried out for low crops. In order to prevent the crops from being crushed during the operation, the wheel spacing of the sprinkler truck is usually matched with the ridge spacing of the farmland, and the PE pipe will also cause extrusion damage to the crops during the ground dragging process; and for corn, sorghum and other high heights If the crops are sprinkled, it is usually necessary to reserve a channel for the sprinkler vehicles to walk in the farmland when planting, thereby reducing the planting area;

3. Since the coverage area of the sprinkler irrigation operation is usually fan-shaped with the sprinkler as the symmetrical center, a long water delivery pipeline is usually required for the farmland set parallel to the direction of the irrigation canal.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention provides a method of using a boat-type sprinkler irrigation machine, which can completely avoid the rolling of farmland crops while realizing the sprinkler irrigation operation, and is especially suitable for the sprinkling operation of crops in large farms with irrigation canals.

In order to achieve the above purpose, the boat-type sprinkler includes a hull, a driving power source, a traveling propulsion device, a sprinkler irrigation device and an electric control device; the driving power source, the sprinkler irrigation device and the electric control device are arranged on the hull;

The hull is provided with a sprinkler irrigation auxiliary support mechanism, which includes a support leg and a support roller group; the support legs are arranged symmetrically along the hull, the support legs are telescopic structures, and the support legs include a body section, a telescopic section and a support leg telescopic The control part, the top of the body section is installed on the hull, the telescopic section is connected with the body section in a sliding fit, the telescopic control part of the support leg is arranged along the length direction of the support leg, one end of the telescopic control part of the support leg is connected with the body section, and the other end is connected with the telescopic section There is also a telescopic lift control part between the support leg and the hull, and the two ends of the telescopic lift control part are hingedly connected with the hull and the body section of the support leg; the support roller set is set to match the number of support legs and is installed on the telescopic lift of the support leg. At the bottom end of the hull, the supporting roller group includes supporting rollers, and the supporting rollers are arranged to roll in the front and rear directions; the front and rear ends of the hull are provided with hull position feedback sensors;

The traveling propulsion device includes a propeller arranged at the bottom of the hull, and the propeller is connected with a driving power source through a transmission mechanism;

The sprinkler irrigation device includes a self-priming pump, a nozzle frame and a nozzle gun; the self-priming pump is fixedly installed on the hull, the self-priming pump is a variable pump, and the power input end of the self-priming pump is connected with the driving power source through a transmission mechanism, and the self-priming pump is self-priming. The suction port of the pump is connected with the suction pipe submerged below the liquid level of the irrigation canal, and the drain port of the self-priming pump is connected with the nozzle gun through the pipeline; the nozzle frame is fixedly installed on the hull corresponding to the symmetrical center position of the supporting leg, and the nozzle gun is adjusted by the nozzle gun The component is fixedly installed on the nozzle frame, and the nozzle gun adjustment component includes a spray angle adjustment mechanism and a spray direction adjustment mechanism that can realize the rotation and positioning of the spray gun;

The electronic control device includes a shipboard industrial control computer, a controller, a solar collector panel, a controller battery pack, a solar charge control circuit, a support leg lift control circuit, a support leg telescopic control circuit, a hull movement control circuit, and a hull position. Feedback sensor, spray angle control loop of spray head gun, spray direction control loop of spray head gun and sprinkler irrigation control loop. The onboard industrial control computer includes sprinkler data input and output ports, the controller is electrically connected to the driving power source, the controller is electrically connected to the support leg telescopic control part and the telescopic lift control part, and the controller is respectively connected to the sprinkler gun adjustment assembly The spray angle adjustment mechanism is electrically connected with the spray direction adjustment mechanism, and the controller is electrically connected with the hull position feedback sensor;

The usage method specifically includes the following steps:

a. Sprinkler irrigation preparation: The onboard industrial control computer charges the battery pack of the controller through solar charging, and the operator transmits the irrigation canal width and size data, water level data in the irrigation canal, farmland orientation data, and farmland sprinkler irrigation precipitation through the sprinkler irrigation data input and output ports. The data is input into the shipboard industrial control computer, and then the ship-type sprinkler is placed in the irrigation canal, and the ship-type sprinkler is in a state of floating on the water surface;

b. Hull draught adjustment: The onboard industrial control computer calculates the swing angle and extension length of the support legs according to the input data of the width of the irrigation canal and the water level data in the irrigation canal, and then issues commands to start the support leg lift control loop and the support leg extension and retraction according to the calculation results. Control loop, the controller controls the movement of the telescopic lift control part and the support leg telescopic control part, so that the support leg swings along its hinge axis to the calculated swing angle, and extends to the calculated extension length, and the hull is supported by the support roller group. The set draught state of the hull that the rollers rest on the surface of the inclined embankment of the irrigation canal and the propeller is not below the irrigation water surface;

c. Adjustment of sprinkler direction and angle: The shipboard industrial control computer calculates the sprinkler angle and direction of the sprinkler gun according to the input farmland azimuth data, and then sends an instruction to start the sprinkler gun spray angle control loop and the sprinkler gun spray direction control loop according to the calculation results. , the controller controls the action of the spray angle adjustment mechanism and the spray direction adjustment mechanism to position the sprinkler gun at the calculated sprinkler angle and sprinkler direction;

d. Start the sprinkler irrigation operation: the shipboard industrial control computer first calculates the input power of the self-priming pump according to the input data of the farmland sprinkler irrigation precipitation, and then sends an instruction to start the sprinkler irrigation control circuit and the hull movement control circuit, and the controller controls the driving power source output calculation. Rated power, and drive the self-priming pump to work according to the set flow rate through the transmission mechanism. The irrigation water in the irrigation canal enters the self-priming pump through the suction pipe, and after being pressurized by the self-priming pump, the set sprinkler irrigation precipitation is sprayed out by the sprinkler gun to the irrigation canal. The farmland crops on both sides are sprayed; the controller simultaneously controls the driving power source to drive the propeller to rotate according to the set speed through the transmission mechanism to push the hull to move. During the movement of the hull, the supporting roller group follows the hull and rolls on the surface of the inclined embankment of the irrigation canal;

e. Stop the sprinkler operation: When the hull position feedback sensor feedbacks the hull to run to the set sprinkler distance, the onboard industrial control computer sends an instruction to make the controller control the hull movement control circuit and the sprinkler control circuit to stop working to complete the sprinkler operation.

As a further improvement scheme of the present invention, the support roller set of the boat-type sprinkler also includes a support roller drive, and the output end of the support roller drive is coaxially and fixedly connected to the support roller; the electronic control device also includes a support roller drive control circuit, and the controller is connected to the support roller. Support roller drive electrical connection;

In the described step a, the way of placing the boat sprinkler into the irrigation canal adopts the self-propelled water entry method of the boat sprinkler. Before the boat sprinkler enters the water, the onboard industrial control computer first issues an instruction to start the support leg lift control loop and The support leg telescopic control loop, the controller controls the telescopic lift control part and the support leg telescopic control part to make the support leg swing down along its hinge axis to the set angle and extend to the set extension length. At this time, the hull is in support The roller group is supported on the ground and the propeller is suspended from the ground, and then the onboard industrial control computer sends an instruction to start the support roller drive control circuit. The support roller drive drives the support roller to rotate, so that the boat-type sprinkler can move along the water inlet slope of the irrigation canal and enter the irrigation canal by itself. , until the ship-type sprinkler is in a state of floating on the water surface, the ship-borne industrial control computer sends an instruction to stop the support roller drive control circuit;

During the movement of the hull in the step d, the onboard industrial control computer sends an instruction to start the support roller drive control circuit, and the support roller drives the support roller to rotate to provide auxiliary driving force.

As a preferred solution of the present invention, the telescopic lifting control part and the supporting leg telescopic control part of the boat-type sprinkler are both hydraulic cylinder structures, and the supporting rollers of the support roller group are driven by a hydraulic motor structure; The hydraulic control device includes a hydraulic pump station and a hydraulic control valve group. The hydraulic pump station includes a hydraulic pump and a hydraulic oil tank. The hydraulic pump of the hydraulic pump station is connected to the driving power source through a transmission mechanism. It is connected with the hydraulic control valve group. The hydraulic control valve group is respectively connected with the telescopic lifting control part, the supporting leg telescopic control part and the supporting roller of the supporting roller group through the hydraulic pipeline. The hydraulic control valve group is electrically connected with the controller of the electric control device. ; The onboard industrial control computer controls the lifting and stretching of the supporting legs and the rotation of the supporting rollers of the supporting roller group by means of hydraulic transmission.

As a further improvement scheme of the present invention, pressure sensors are provided on the telescopic lifting control part and the supporting leg telescopic control part of the hydraulic cylinder structure of the ship-type sprinkler irrigation machine, the electric control device also includes a hydraulic pressure regulating circuit, and the ship-borne industrial control computer is respectively connected with the The pressure sensor is electrically connected; in the step d, the hydraulic pressure regulating circuit always works during the process of sprinkling the crops on both sides of the irrigation canal. When the sensor feedback hydraulic pressure value is greater than the set value, the onboard industrial control computer sends an instruction to make the controller control the action of the hydraulic control valve group to pressurize the telescopic lift control part and the support leg telescopic control part on the side to the set value and maintain the pressure To balance the recoil of irrigation.

As a further improvement scheme of the present invention, the on-board industrial control computer of the boat-type sprinkler also includes a wireless transceiver module, and the on-board industrial control computer is wirelessly connected to the central control computer of the large farm through the wireless transceiver module, and the central control computer of the large farm will The width and dimension data of the irrigation canal, the water level data in the irrigation canal, the farmland orientation data, and the farmland sprinkler irrigation precipitation data fed back by the humidity sensor in the farmland soil are input to the shipboard industrial control computer through wireless transmission.

Compared with the prior art, the boat-type sprinkler is provided with a sprinkler auxiliary support mechanism on the hull. The sprinkler auxiliary support mechanism includes support legs symmetrically arranged along the hull and a support roller set installed at the bottom end of the support legs. When the sprinkler is placed in the irrigation canal of a large farm, the support roller group is erected on the surface of the inclined embankment of the irrigation canal from the left and right directions of the hull through the supporting legs, and the propeller is submerged under the irrigation water surface, and the sprinkler control circuit and the hull movement control circuit are started. After the work, the irrigation water in the irrigation canal enters the self-priming pump through the suction pipe, is pressurized by the self-priming pump and then sprayed out by the nozzle gun. At the same time, the propeller rotates and pushes the hull to move to realize the sprinkler irrigation of the crops. The sprinkler irrigation auxiliary support mechanism can not only balance the nozzle gun The recoil can prevent the hull from overturning, and can provide the movement guidance of the hull to ensure that the hull always moves along the direction of the irrigation canal; since the top of the supporting legs are hingedly installed on the hull, and there are telescopic lifting control components between the supporting legs and the hull, And the support leg of the telescopic structure includes the support leg telescopic control part, so the swing angle and length of the support leg can be adjusted by controlling the telescopic lift control part and the telescopic control part of the support leg to adjust the swing angle and length of the support leg, so as to adapt to different irrigation canal widths; The roller group also includes a support roller drive, so the rotation of the support roller can be realized, and the passive rotation can be converted into active rotation, so as to realize the auxiliary driving force of the support roller during the hull traveling. Under the premise of matching the lifting operation of the telescopic lifting control part The boat-type sprinkler can walk on the ground, and by setting a suitable slope on the irrigation canal, the boat-type sprinkler can be launched and landed on its own, which can completely avoid the rolling of farmland crops while realizing the sprinkler operation. It is suitable for sprinkling crops on large farms with irrigation channels.

Description of drawings

Fig. 1 is the structural representation of the boat sprinkler;

Fig. 2 is the left side view of Fig. 1;

FIG. 3 is a plan view of FIG. 1 .

In the picture: 1. hull, 11, support legs, 12, support roller set, 13, telescopic lift control part, 2, sprinkler irrigation device, 21, self-priming pump, 22, sprinkler frame, 23, sprinkler gun, 3, electric control device.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings (in the following, the direction of the bow of the hull 1 of the boat-type sprinkler irrigation machine is taken as the front direction).

As shown in Figures 1 to 3, the boat-type sprinkler includes a hull 1, a driving power source, a traveling propulsion device, a sprinkler device 2 and an electronic control device 3; the driving power source, the sprinkler device 2 and the electronic control device 3 are arranged on the hull 1 superior.

The hull 1 is provided with a sprinkling auxiliary support mechanism, which can provide auxiliary support and balance the recoil of the sprinkler gun 23 during the sprinkling process. The sprinkling auxiliary support mechanism includes a support leg 11 and a support roller group 12; the support leg 11 The supporting leg 11 is a telescopic structure. The supporting leg 11 includes a body section, a telescopic section and a supporting leg telescopic control part. The top of the body section is installed on the hull 1. The telescopic section is connected with the body section in a sliding fit to support The leg telescopic control part is arranged along the length direction of the support leg 11, one end of the support leg telescopic control part is connected with the body section, and the other end is connected with the telescopic section. Both ends of the control part 13 are hingedly connected with the body section of the hull 1 and the support leg 11 respectively; the support roller group 12 is arranged and installed at the bottom end of the telescopic section of the support leg 11 according to the number of the support legs 11, and the support roller group 12 includes a support roller , and the supporting rollers are arranged to roll in the front and rear directions; the front and rear ends of the hull 1 are provided with hull position feedback sensors. The swing angle and length of the support leg 11 can be adjusted by controlling the telescopic lift control part 13 and the telescopic control part of the support leg to adjust the swing angle and length, thereby adapting to different widths of irrigation canals.

The described driving power source is an engine system, or a power supply system, or other power systems fixedly installed on the hull 1; taking the engine system as an example, the engine system includes an engine and a gearbox, and the power output shaft of the engine is connected to the gearbox. The power input shaft is connected; taking the power supply system as an example, the power supply system includes a power battery pack, a propulsion power motor and a sprinkler power motor, and the power battery pack is electrically connected to the propulsion power motor and the sprinkler power motor respectively.

The traveling propulsion device includes a propeller arranged at the bottom of the hull 1, and the propeller is connected with the gearbox power output shaft of the engine system through the transmission mechanism, or is connected with the propulsion power motor of the power supply system, and the traveling propulsion device provides the moving propulsion of the hull 1. power.

The sprinkler irrigation device 2 includes a self-priming pump 21, a sprinkler frame 22 and a sprinkler gun 23; the self-priming pump 21 is fixedly installed on the hull 1, and the power input end of the self-priming pump 21 is output through the transmission mechanism and the gearbox of the engine system. The shaft is connected or connected with the sprinkler power motor of the power supply system, the suction port of the self-priming pump 21 is connected with the suction pipe submerged below the liquid level of the irrigation canal, and the drain port of the self-priming pump 21 is connected with the nozzle gun 23 through the pipeline; 22 is fixedly installed on the hull 1 corresponding to the symmetrical center position of the support leg 11, and the nozzle gun 23 is fixedly installed on the nozzle frame 22 through the nozzle gun adjustment component. Mechanism and injection direction adjustment mechanism, injection angle adjustment mechanism and injection direction adjustment mechanism can be realized by the way that the rotary motor drives the ring gear to rotate through the gear, or the rotary hydraulic motor drives the ring gear to rotate through the gear to realize the rotation, Or other rotary drive methods are adopted, the spray angle adjustment mechanism can adjust and locate the angle between the spray axis of the spray gun 23 and the horizontal plane, and the spray direction adjustment mechanism can adjust and position the spray gun 23 around the vertical axis of rotation. angle of rotation.

The electronic control device 3 includes a ship-borne industrial control computer, a controller, a controller battery pack, a support leg lift control circuit, a support leg telescopic control circuit, a hull movement control circuit, a hull position feedback sensor, and a nozzle gun spray angle control circuit. , spray head gun spray direction control circuit and sprinkler irrigation control circuit, the shipboard industrial control computer is electrically connected with the controller through the data line, the shipboard industrial control computer includes the sprinkler irrigation data input and output ports, the controller is electrically connected with the engine of the engine system, or separately It is electrically connected to the propulsion power motor and the sprinkler power motor of the power supply system, the controller is electrically connected to the support leg telescopic control part and the telescopic lift control part 13 respectively, and the controller is respectively connected to the spray angle adjustment mechanism and spray direction adjustment mechanism of the spray head gun adjustment assembly The mechanism is electrically connected, and the controller is electrically connected with the hull position feedback sensor;

When large-scale farm irrigation canals are used with boat-type sprinkler irrigation, the operator inputs the irrigation canal width and size data, the water level data in the irrigation canal, and the farmland orientation data into the ship-borne industrial control computer through the sprinkler data input and output ports, and then puts the boat-type sprinkler into the irrigation canal. The ship-type sprinkler is in a state of floating on the water surface; the ship-borne industrial control computer calculates the swing angle and extension length of the support leg 11 according to the inputted irrigation canal width and size data and the water level data in the irrigation canal, and then sends out instructions to start the support leg lifting and lowering according to the calculation results. The control loop and the support leg telescopic control loop, the controller controls the telescopic lift control part 13 and the support leg telescopic control part to move so that the support leg 11 swings along its hinge axis to the calculated swing angle and extends to the calculated extension length. When the hull 1 is in the set hull draft state in which the supporting rollers of the supporting roller group 12 are against the inclined embankment surface of the irrigation canal and the propeller is not below the irrigation water surface; Then, according to the calculation result, a command is sent to start the spray angle control circuit of the nozzle gun and the spray direction control circuit of the nozzle gun. The controller controls the spray angle adjustment mechanism and the spray direction adjustment mechanism to position the nozzle gun 23 in the calculated position. In the angle and direction of sprinkler irrigation; the onboard industrial control computer issues commands to start the sprinkler irrigation control circuit and the hull movement control circuit, and the controller controls the driving power source to drive the self-priming pump 21 through the transmission mechanism to work according to the set flow rate, and the irrigation water in the irrigation canal passes through. The water suction pipe enters the self-priming pump 21, is pressurized by the self-priming pump 21 and is sprayed out by the nozzle gun 23 to spray the crops on both sides of the irrigation canal; the controller simultaneously controls the driving power source to drive the propeller to rotate according to the set speed through the transmission mechanism. When the hull 1 moves, the supporting roller group 12 follows the hull 1 and rolls on the sloping embankment surface of the irrigation canal. Provide the movement guidance of the hull 1 to ensure that the hull 1 always moves along the direction of the irrigation canal; when the hull position feedback sensor feedbacks that the hull 1 runs to the set sprinkling distance, the onboard industrial control computer sends an instruction to the controller to control the hull movement control loop and The sprinkler irrigation control circuit stops working and the sprinkler irrigation operation is completed.

In order to facilitate the realization of intelligent sprinkler irrigation according to specific precipitation sprinkler irrigation requirements, as a further improvement scheme of the present invention, the self-priming pump 21 of the boat-type sprinkler irrigation machine is a variable pump; the operator also inputs the farmland sprinkler irrigation precipitation data through the sprinkler irrigation data input and output ports Shipborne industrial control computer; the shipborne industrial control computer first calculates the input power of the self-priming pump 21 according to the input data of farmland sprinkler irrigation precipitation, and then the shipborne industrial control computer sends an instruction to start the sprinkler irrigation control loop, and the controller controls the output of the driving power source The calculated rated power drives the self-priming pump 21 to work through the transmission mechanism, so that the sprinkler gun 23 sprays the set amount of sprinkler precipitation.

In order to realize the centralized intelligent management of large farms, as a further improvement scheme of the present invention, the shipborne industrial control computer of the ship-type sprinkler also includes a wireless transceiver module, and the shipborne industrial control computer communicates with the central control computer radio of the large farm through the wireless transceiver module. Connected, the central control computer of the large farm inputs the irrigation canal width and size data, the water level data in the irrigation canal, the farmland orientation data, and the farmland sprinkler irrigation precipitation data fed back by the humidity sensor in the farmland soil into the shipborne industrial control computer through wireless transmission.

The telescopic lift control part 13 and the support leg telescopic control part can be driven by electric screw rod or hydraulically driven by hydraulic cylinder structure. Because the electric drive mode not only needs to consider the problem of insulation with water, but also When the load is large, the motor is easy to burn out, and the hydraulic transmission method can not only achieve stable support, but also avoid the above problems, so the latter is preferred, that is, as the preferred solution of the present invention, the telescopic lifting control part 13 and The telescopic control part of the support leg is a hydraulic cylinder, and the boat-type sprinkler also includes a hydraulic control device arranged on the hull 1. The hydraulic control device includes a hydraulic pump station and a hydraulic control valve group, and the hydraulic pump station includes a hydraulic pump and a hydraulic oil tank. The power supply system also includes the power motor of the hydraulic pump station. The hydraulic pump of the hydraulic pump station is connected with the transmission power output shaft of the engine system through the transmission mechanism, or is connected with the power motor of the hydraulic pump station of the power supply system. The pipeline is connected with the hydraulic control valve group, the hydraulic control valve group is respectively connected with the hydraulic cylinder through the hydraulic pipeline, and the hydraulic control valve group is electrically connected with the controller of the electric control device 3, that is, the hydraulic cylinder is connected with the hydraulic control valve group through the hydraulic control valve group. The controller of the electronic control device 3 is electrically connected.

In order to further balance the recoil force of sprinkling irrigation, as a further improvement scheme of the present invention, pressure sensors are provided on the telescopic lifting control part 13 of the hydraulic cylinder structure of the boat sprinkler and the telescopic control part of the supporting leg, and the electric control device 3 also includes a hydraulic pressure regulating circuit , the onboard industrial control computer is electrically connected to the pressure sensor respectively; the hydraulic pressure regulating circuit always works during the irrigation of the farmland crops on both sides of the irrigation canal. When the hydraulic pressure value fed back by the pressure sensor of the control part is greater than the set value, the onboard industrial control computer sends an instruction to make the controller control the action of the hydraulic control valve group to pressurize the telescopic lift control part 13 and the support leg telescopic control part on the side to the set value. Set the value and maintain the pressure to balance the recoil of the sprinkler.

Due to the viscous force of water, the running speed of the object in the water is low, and under the premise of the same propulsion force, the external wind force and the direction of the water flow in the irrigation canal will affect the traveling speed of the hull 1. In order to achieve a higher moving speed , as a further improvement scheme of the present invention, the support roller group 12 also includes a support roller drive, and the output end of the support roller drive is coaxially fixedly connected to the support roller; the electronic control device 3 also includes a support roller drive control circuit , the controller is electrically connected with the supporting roller drive. By controlling the rotation action driven by the support roller, the rotation of the support roller can be realized, and the passive rotation can be transformed into an active rotation, so as to realize that the support roller provides an auxiliary driving force during the traveling of the hull 1 . Cooperating with the lifting operation of the control support legs 11 of the telescopic lifting control part 13, the state where the support roller group 12 is supported on the ground and the propeller is suspended above the support roller group 12 can be realized. In this state, the boat-type sprinkler can be realized when the support roller is driven to rotate. Walking on the ground, the boat-type sprinkler can be launched and landed by itself by setting a suitable slope on the irrigation canal.

The support roller drive can be driven by an electric motor controlled by a motor or by a hydraulic motor controlled by a hydraulic motor. Because the electric drive not only needs to consider the insulation problem with water, but also the motor is easy to burn under the condition of a large load. , and the hydraulic transmission method can not only achieve stable transmission, but also avoid the above problems, so the latter is preferred, that is, as a preferred solution of the present invention, the support roller drive is a roller hydraulic motor, and the boat sprinkler also includes a set of The hydraulic control device on the hull 1, the hydraulic control device includes a hydraulic pump station and a hydraulic control valve group, the hydraulic pump station includes a hydraulic pump and a hydraulic oil tank, the power supply system also includes a hydraulic pump station power motor, and the hydraulic pump station The hydraulic pump is connected with the transmission power output shaft of the engine system through the transmission mechanism, or with the power motor of the hydraulic pump station of the power supply system. The hydraulic pump station is connected with the hydraulic control valve group through the hydraulic pipeline, and the hydraulic control valve group is connected through the hydraulic pipe The road is connected with the roller hydraulic motor, and the hydraulic control valve group is electrically connected with the controller of the electric control device 3, that is, the roller hydraulic motor is electrically connected with the controller of the electric control device 3 through the hydraulic control valve group.

In order to avoid affecting the control of the controller due to the problem of battery power, as a further improvement scheme of the present invention, the electronic control device 3 further includes a solar collector panel and a solar charge control circuit, and the solar collector panel is connected to the controller and the controller respectively. The battery pack is electrically connected.

Since the boat-type sprinkler irrigation machine is provided with a sprinkler irrigation auxiliary support mechanism on the hull 1, the sprinkler irrigation auxiliary support mechanism includes the support legs 11 symmetrically arranged along the hull 1 and the support roller group 12 installed at the bottom end of the support legs 11. Therefore, the boat-type sprinkler irrigation machine is When used in the irrigation canal of a large farm, the support roller group 12 is erected on the surface of the inclined embankment of the irrigation canal from the left and right directions of the hull 1 through the supporting legs 11, and the propeller is submerged under the irrigation water surface, the sprinkler irrigation control circuit and the hull movement control circuit. After the start of work, the irrigation water in the irrigation canal enters the self-priming pump 21 through the suction pipe, is pressurized by the self-priming pump 21 and is sprayed out by the nozzle gun 23, and at the same time, the propeller rotates and pushes the hull 1 to move to realize the sprinkler irrigation of crops, and the sprinkler irrigation assists the supporting mechanism. It can not only balance the recoil of the spray gun 23 and prevent the hull 1 from tipping over, but also provide a moving guide for the hull 1 to ensure that the hull 1 always moves in the direction of the irrigation canal; There is a telescopic lift control part 13 between the 11 and the hull 1, and the support leg 11 of the telescopic structure includes a support leg telescopic control part, so the support leg 11 can be adjusted by controlling the telescopic lift control part 13 and the support leg telescopic control part. The swing angle and length can be adjusted according to different widths of irrigation canals; since the support roller group 12 also includes a support roller drive, the rotation of the support roller can be realized, and the passive rotation can be transformed into an active rotation, so that the support roller can travel on the hull 1. The auxiliary driving force is provided during the process. Under the premise of cooperating with the lifting operation of the telescopic lifting control part 13, the boat-type sprinkler can walk on the ground. By setting a suitable slope on the irrigation canal, the boat-type sprinkler can be launched by itself. It can completely avoid the rolling of farmland crops while realizing the sprinkler irrigation operation, especially suitable for the sprinkler irrigation operation of crops on large farms with irrigation canals.

Claims (5)

1. A method of using a boat-type sprinkler, characterized in that the boat-type sprinkler comprises a hull (1), a driving power source, a traveling propulsion device, a sprinkler (2) and an electric control device (3); a driving power source , the sprinkler device (2) and the electric control device (3) are arranged on the hull (1); The hull (1) is provided with an auxiliary supporting mechanism for sprinkler irrigation, and the auxiliary supporting mechanism for sprinkler irrigation includes a supporting leg (11) and a supporting roller group (12); 11) is a telescopic structure, the support leg (11) includes a body section, a telescopic section and a support leg telescopic control part, the top of the body section is installed on the hull (1), the telescopic section is connected with the body section in a sliding fit, and the support leg telescopic control part It is arranged along the length direction of the supporting leg (11), one end of the telescopic control part of the supporting leg is connected with the body section, and the other end is connected with the telescopic section, and a telescopic lifting control part (13) is also arranged between the supporting leg (11) and the hull (1). ), the two ends of the telescopic lift control part (13) are hingedly connected with the body section of the hull (1) and the support leg (11) respectively; the support roller group (12) is arranged in accordance with the number of the support legs (11) and installed on the support leg (11). At the bottom end of the telescopic section of 11), the support roller group (12) includes a support roller, and the support roller is arranged to roll in the front and rear directions; the front and rear ends of the hull (1) are provided with hull position feedback sensors; The traveling propulsion device comprises a propeller arranged at the bottom of the hull (1), and the propeller is connected with a driving power source through a transmission mechanism; The sprinkler irrigation device (2) includes a self-priming pump (21), a sprinkler frame (22) and a sprinkler gun (23); the self-priming pump (21) is fixedly installed on the hull (1), and the self-priming pump (21) is a Variable displacement pump, the power input end of the self-priming pump (21) is connected with the driving power source through the transmission mechanism, the water suction port of the self-priming pump (21) is connected with the suction pipe submerged below the liquid level of the irrigation canal, the drainage of the self-priming pump (21) The port is connected to the nozzle gun (23) through a pipeline; the nozzle frame (22) is fixedly installed on the hull (1) at the symmetrical center position corresponding to the support leg (11), and the nozzle gun (23) is fixedly installed on the nozzle through the nozzle gun adjustment assembly On the frame (22), the spray head gun adjustment assembly includes a spray angle adjustment mechanism and a spray direction adjustment mechanism that can realize the rotary positioning action of the spray head gun (23); The electronic control device (3) includes a shipboard industrial control computer, a controller, a solar collector panel, a controller battery pack, a solar charge control circuit, a support leg lift control circuit, a support leg extension control circuit, and a hull movement control circuit. , hull position feedback sensor, spray angle control circuit of nozzle gun, spray direction control circuit of nozzle gun and irrigation control circuit. The wire is electrically connected with the controller, the onboard industrial control computer includes sprinkler data input and output ports, the controller is electrically connected with the driving power source, and the controller is respectively electrically connected with the support leg telescopic control part and the telescopic lift control part (13), the controller It is respectively electrically connected with the spray angle adjustment mechanism and the spray direction adjustment mechanism of the spray head gun adjustment assembly, and the controller is electrically connected with the hull position feedback sensor; The usage method specifically includes the following steps: a. Sprinkler irrigation preparation: The onboard industrial control computer charges the battery pack of the controller through solar charging, and the operator transmits the irrigation canal width and size data, water level data in the irrigation canal, farmland orientation data, and farmland sprinkler irrigation precipitation through the sprinkler irrigation data input and output ports. The data is input into the shipboard industrial control computer, and then the ship-type sprinkler is placed in the irrigation canal, and the ship-type sprinkler is in a state of floating on the water surface; b. Hull draft adjustment: The shipboard industrial control computer calculates the swing angle and extension length of the support leg (11) according to the inputted irrigation canal width dimension data and the water level data in the irrigation canal, and then sends out commands to start the support leg lift control loop and The support leg telescopic control circuit, the controller controls the action of the telescopic lift control part (13) and the support leg telescopic control part, so that the support leg (11) swings along its hinge axis to the calculated swing angle, and extends to the calculated extension length, At this time, the hull (1) is in the set hull draft state in which the supporting rollers of the supporting roller group (12) are against the inclined embankment surface of the irrigation canal, and the propeller is not below the irrigation water surface; c. Adjustment of irrigation direction and angle: The shipboard industrial control computer calculates the irrigation angle and direction of the sprinkler gun (23) according to the inputted farmland azimuth data, and then issues an instruction to start the spray angle control loop of the sprinkler gun and the sprinkler gun according to the calculation result. A direction control loop, the controller controls the action of the spray angle adjustment mechanism and the spray direction adjustment mechanism to position the sprinkler gun (23) on the calculated sprinkler angle and sprinkler direction; d. Start the sprinkler irrigation operation: the onboard industrial control computer first calculates the input power of the self-priming pump (21) according to the input data of the farmland sprinkler irrigation precipitation, and then issues an instruction to start the sprinkler irrigation control circuit and the hull movement control circuit, and the controller controls the driving power source The calculated rated power is output, and the self-priming pump (21) is driven by the transmission mechanism to work according to the set flow rate. The sprinkler gun (23) sprays the set amount of sprinkler irrigation precipitation to sprinkle the crops on both sides of the irrigation canal; the controller simultaneously controls the driving power source to drive the propeller to rotate according to the set rotational speed through the transmission mechanism to push the hull (1) to move, and the hull (1) ) During the moving process, the supporting roller group (12) rolls and moves along the hull (1) on the inclined embankment surface of the irrigation canal; e. Stop the sprinkler irrigation operation: when the hull position feedback sensor feedbacks that the hull (1) runs to the set sprinkler irrigation distance, the onboard industrial control computer sends an instruction to make the controller control the hull movement control circuit and the sprinkler irrigation control circuit to stop working to complete the sprinkler operation. 2. The using method of the boat-type sprinkler according to claim 1 is characterized in that, the support roller group (12) of the boat-type sprinkler also comprises a support roller drive, and the output end of the support roller drive is coaxially fixed with the support roller connection; the electronic control device (3) also includes a support roller drive control circuit, and the controller is electrically connected with the support roller drive; In the described step a, the way of placing the boat sprinkler into the irrigation canal adopts the self-propelled water entry method of the boat sprinkler. Before the boat sprinkler enters the water, the onboard industrial control computer first issues an instruction to start the support leg lift control loop and The support leg telescopic control circuit, the controller controls the action of the telescopic lift control part (13) and the support leg telescopic control part, so that the support leg (11) swings down along its hinge axis to a set angle and extends to a set extension length, At this time, the hull (1) is in a state where the support roller group (12) is supported on the ground and the propeller is suspended from the ground, and then the onboard industrial control computer sends an instruction to start the support roller drive control circuit, and the support roller drive drives the support roller to rotate to make the ship type The sprinkler moves along the water inlet slope of the irrigation canal and enters the irrigation canal by itself, until the boat-type sprinkler is in a state of floating on the water surface, and the onboard industrial control computer sends an instruction to stop the support roller drive control circuit; During the movement of the hull (1) in the step d, the onboard industrial control computer sends an instruction to start the support roller drive control circuit, and the support roller drives the support roller to rotate to provide auxiliary driving force. 3. The using method of boat type sprinkler irrigation machine according to claim 2 is characterized in that, the telescopic lift control part (13) of the boat type sprinkler irrigation machine and the support leg telescopic control part are all hydraulic cylinder structures, and the support roller group (12) ) supporting roller drive is a hydraulic motor structure; the boat sprinkler also includes a hydraulic control device arranged on the hull (1), the hydraulic control device includes a hydraulic pump station and a hydraulic control valve group, and the hydraulic pump station includes a hydraulic pump and a hydraulic oil tank , The hydraulic pump of the hydraulic pump station is connected with the driving power source through the transmission mechanism, the hydraulic pump station is connected with the hydraulic control valve group through the hydraulic pipeline, and the hydraulic control valve group is respectively connected with the telescopic lifting control part (13), the support leg through the hydraulic pipeline. The telescopic control part is drivingly connected with the support rollers of the support roller group (12), the hydraulic control valve group is electrically connected with the controller of the electric control device (3); the onboard industrial control computer controls the movement of the support legs (11) by means of hydraulic transmission Lifting and telescoping, and rotation of the support rollers of the support roller group (12). 4. The using method of the boat type sprinkler irrigation machine according to claim 3 is characterized in that, the telescopic lift control part (13) of the hydraulic cylinder structure of the boat type sprinkler irrigation machine and the support leg telescopic control part are all provided with a pressure sensor, and the electric The control device (3) also includes a hydraulic pressure regulating circuit, and the onboard industrial control computer is electrically connected to the pressure sensor respectively; in the step d, the hydraulic pressure regulating circuit always works during the process of sprinkling the crops on both sides of the irrigation canal. When the pressure sensor of the telescopic lift control part (13) on the opposite side of the gun (23) and the telescopic control part of the support leg feedback hydraulic pressure value is greater than the set value, the onboard industrial control computer sends an instruction to make the controller control the hydraulic control valve The group action pressurizes the telescopic lift control part (13) and the support leg telescopic control part on the side to a set value and maintains the pressure to balance the recoil force of sprinkler irrigation. 5. The using method of the boat-type sprinkler irrigation machine according to claim 1 is characterized in that, the ship-borne industrial control computer of the boat-type sprinkler irrigation machine also comprises a wireless transceiver module, and the ship-borne industrial control computer communicates with the large-scale farm through the wireless transceiver module. The central control computer is wirelessly connected, and the central control computer of the large farm inputs the irrigation canal width and size data, the water level data in the irrigation canal, the farmland orientation data, and the farmland sprinkler irrigation precipitation data fed back by the humidity sensor in the farmland soil into the shipborne industrial control computer through wireless transmission. .

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