CN111713379B - Using method of ship type sprinkling irrigation machine - Google Patents
Using method of ship type sprinkling irrigation machine Download PDFInfo
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- CN111713379B CN111713379B CN202010549709.2A CN202010549709A CN111713379B CN 111713379 B CN111713379 B CN 111713379B CN 202010549709 A CN202010549709 A CN 202010549709A CN 111713379 B CN111713379 B CN 111713379B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- 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
Abstract
The invention discloses a using method of a boat-type sprinkling irrigation machine, which comprises the steps of sprinkling irrigation preparation, hull draft adjustment, sprinkling irrigation direction and angle adjustment, starting sprinkling irrigation operation, stopping sprinkling irrigation operation and the like. During the use, support the roller train and erect on the sloping embankment surface of irrigating the canal from the left and right sides direction of hull through the supporting leg, and the screw does not under the surface of water of irrigating, irrigate irrigation water in the canal and get into the self priming pump through the suction pipe, by the blowout of shower nozzle rifle after the self priming pump pressure boost, the screw is rotatory to be promoted the hull and removes the sprinkling irrigation that realizes crops simultaneously, the supplementary supporting mechanism of sprinkling irrigation not only can balance the recoil of shower nozzle rifle, prevent that the hull from tumbling, and can provide the removal direction of hull, guarantee that the hull removes along the trend direction of irrigating the canal all the time, can be when realizing the sprinkling irrigation operation complete avoid rolling to farmland crops, specially adapted has the large-scale farm of irrigating the canal to spray irrigation operation to crops.
Description
The application is a divisional application filed on application No. 201810358926.6 with application No. 2018.04.20, and entitled method for using ship type irrigator for irrigation canals on large farms.
Technical Field
The invention relates to a using method of a sprinkler, in particular to a using method of a ship sprinkler which is suitable for a large farm with irrigation canals and used for carrying out sprinkling irrigation operation aiming at farmlands, and belongs to the technical field of sprinkling irrigation equipment.
Background
The spray irrigation is an irrigation method that water is sprayed into the air by using special equipment such as a spray nozzle and the like to form water drops which fall on a ground spray irrigation surface and the surfaces of crops.
To facilitate water intake for irrigation and sprinkling irrigation, large farms typically have irrigation channels between the farmlands. Because the reel sprinkling machine can irrigate the farmland of large tracts of land, also can be according to the size of shower nozzle control water spray volume in order to satisfy the different requirements of user to the sprinkling irrigation water yield, consequently large-scale farm adopts the reel sprinkling machine to carry out crops sprinkling irrigation operation usually. When the large farm with the irrigation canal is used for sprinkling irrigation, the reel sprinkling machine is usually stopped at the field head close to the irrigation canal, then pressure water is supplied through a water suction pump, a sprayer vehicle connected to a PE pipe is dragged out to a preset sprinkling irrigation place by utilizing traction equipment such as a tractor or a winch, then the water suction pump is started, and the sprinkling irrigation pressure water enters a PE water conveying pipe and is sprayed out from the sprayer of the sprayer vehicle to conduct sprinkling irrigation operation and simultaneously drives a winch to rotate to realize automatic recovery of the PE pipe.
The traditional reel sprinkling irrigation machine sprinkling irrigation mode of the large farm with the irrigation canal has the following defects:
1. because the reel type sprinkling machine is usually pulled to a farmland head to be sprinkled by tractors and other traction equipment, and the farmland head is usually limited in space because the planting area as large as possible is ensured, the turning and turning of the whole machine of the reel type sprinkling machine is difficult, and agricultural crops on the farmland head are often excessively ground when the field is transferred after the sprinkling operation is finished;
2. the width dimension of the traditional reel type sprinkler is larger due to the arrangement of the reel, and in order to ensure the straight-line walking of the nozzle car, the width dimension of the nozzle car is usually matched with the width dimension of the reel, so that the wheel spacing of the nozzle car is usually matched with the ridge spacing dimension of a farmland in order to prevent rolling crops when the sprinkler irrigation operation is carried out on low crops, and the PE pipe can also extrude and damage the crops in the ground dragging process; if the spray irrigation operation is carried out on crops with higher height, such as corn, sorghum and the like, a channel for a nozzle car to travel is usually reserved in a farmland during planting, so that the planting area is reduced;
3. because the coverage area of the sprinkling irrigation operation is usually in a sector structure by taking the spray head as a symmetrical center, a longer water conveying pipeline is usually needed for farmlands arranged in parallel to the trend of the irrigation channel.
Disclosure of Invention
Aiming at the problems, the invention provides a using method of a boat-type sprinkling irrigation machine, which can completely avoid rolling on farmland crops while realizing sprinkling irrigation operation and is particularly suitable for sprinkling irrigation operation on crops on a large farm with an irrigation canal.
In order to achieve the purpose, the boat-type sprinkling irrigation machine comprises a boat body, a driving power source, a traveling propelling device, a sprinkling irrigation device and an electric control device; the driving power source, the sprinkling irrigation device and the electric control device are arranged on the ship body;
the ship body is provided with a sprinkling auxiliary support mechanism, and the sprinkling auxiliary support mechanism comprises support legs and support roller groups; the supporting legs are arranged symmetrically left and right along the ship body, the supporting legs are of telescopic structures and comprise body sections, telescopic sections and supporting leg telescopic control parts, the top ends of the body sections are installed on the ship body, the telescopic sections are connected with the body sections in a sliding fit mode, the supporting leg telescopic control parts are arranged along the length direction of the supporting legs, one ends of the supporting leg telescopic control parts are connected with the body sections, the other ends of the supporting leg telescopic control parts are connected with the telescopic sections, telescopic lifting control parts are further arranged between the supporting legs and the ship body, and two ends of the telescopic lifting control parts are respectively hinged to the ship body and the body sections of the supporting legs; the supporting roller group is arranged at the bottom end of the telescopic section of the supporting leg in a manner of matching with the number of the supporting legs, and comprises supporting rollers which are arranged in a rolling manner in the front-back direction; both the front end and the rear end of the ship body are provided with ship body position feedback sensors;
the advancing propulsion device comprises a propeller arranged at the bottom of the ship body, and the propeller is connected with a driving power source through a transmission mechanism;
the sprinkling irrigation device comprises a self-priming pump, a sprinkler frame and a sprinkler gun; the self-priming pump is fixedly arranged on the ship body, the self-priming pump is a variable pump, the power input end of the self-priming pump is connected with a driving power source through a transmission mechanism, the water suction port of the self-priming pump is connected with a water suction pipe submerged below the liquid level of the irrigation canal, and the water discharge port of the self-priming pump is connected with a spray gun through a pipeline; the spray head frame is fixedly arranged on the ship body corresponding to the symmetrical center position of the supporting leg, the spray head gun is fixedly arranged on the spray head frame through a spray head gun adjusting assembly, and the spray head gun adjusting assembly comprises a spray angle adjusting mechanism and a spray direction adjusting mechanism which can realize the rotation positioning action of the spray head gun;
the electric control device comprises a shipborne industrial control computer, a controller, a solar collecting panel, a controller battery pack, a solar charging control loop, a supporting leg lifting control loop, a supporting leg expansion control loop, a ship body movement control loop, a ship body position feedback sensor, a nozzle gun injection angle control loop, a nozzle gun injection direction control loop and a spray irrigation control loop, wherein the solar collecting panel is respectively and electrically connected with the shipborne industrial control computer and the controller battery pack, the shipborne industrial control computer is electrically connected with the controller through a data line, the shipborne industrial control computer comprises a spray irrigation data input/output port, the controller is electrically connected with a driving power source, the controller is respectively and electrically connected with a supporting leg expansion control part and a expansion lifting control part, and the controller is respectively and electrically connected with an injection angle adjusting mechanism and an injection direction adjusting mechanism of a nozzle gun adjusting assembly, the controller is electrically connected with the ship body position feedback sensor;
the using method specifically comprises the following steps:
a. preparing spray irrigation: the shipborne industrial control computer charges the controller battery pack in a solar charging mode, an operator inputs width size data of an irrigation channel, water level data in the irrigation channel, farmland azimuth data and farmland irrigation precipitation data into the shipborne industrial control computer through the irrigation data input and output port, and then the shipborne sprinkler is placed in the irrigation channel and floats on the water surface;
b. adjusting the draught of the ship body: the shipborne industrial control computer calculates the swing angle and the extension length of the supporting leg according to the input width size data of the irrigation channel and the water level data in the irrigation channel, then sends an instruction to start the supporting leg lifting control loop and the supporting leg extension control loop according to the calculation result, the controller controls the extension lifting control component and the supporting leg extension control component to act so that the supporting leg swings to the calculated swing angle along the articulated shaft and extends to the calculated extension length, and at the moment, the ship body is in a set ship body draft state that the supporting roller of the supporting roller set abuts against the surface of an inclined embankment of the irrigation channel and the propeller is not under the irrigation water surface;
c. adjusting the sprinkling irrigation direction and angle: the shipborne industrial control computer calculates the sprinkling irrigation angle and the sprinkling irrigation direction of the spray gun according to the input farmland azimuth data, then sends an instruction to start a spray angle control loop and a spray direction control loop of the spray gun according to the calculation result, and the controller controls the spray angle adjusting mechanism and the spray direction adjusting mechanism to act to position the spray gun in the calculated sprinkling irrigation angle and sprinkling irrigation direction;
d. starting sprinkling irrigation operation: the shipborne industrial control computer calculates the input power of the self-priming pump according to the input farmland sprinkling irrigation precipitation data, sends out an instruction to start the sprinkling irrigation control loop and the ship body movement control loop, the controller controls the driving power source to output the calculated rated power and drives the self-priming pump to work according to the set flow through the transmission mechanism, and the irrigation water in the irrigation channel enters the self-priming pump through the water suction pipe, is pressurized by the self-priming pump and then is sprayed out through the spray gun to sprinkle farmland crops on the two sides of the irrigation channel by the set sprinkling irrigation precipitation; the controller simultaneously controls the driving power source to drive the propeller to rotate according to a set rotating speed through the transmission mechanism to push the ship body to move, and the supporting roller group rolls and moves on the surface of the inclined embankment of the irrigation ditch along with the ship body in the moving process of the ship body;
e. stopping the sprinkling irrigation operation: when the ship body position feedback sensor feeds back the ship body to run to the set sprinkling irrigation distance, the ship-borne industrial control computer sends out an instruction to enable the controller to control the ship body movement control loop and the sprinkling irrigation control loop to stop working, and the sprinkling irrigation operation is completed.
As a further improvement scheme of the invention, the supporting roller group of the boat-type sprinkler also comprises a supporting roller drive, and the output end of the supporting roller drive is coaxially and fixedly connected with the supporting roller; the electric control device also comprises a supporting roller driving control loop, and the controller is electrically connected with the supporting roller in a driving way;
the mode of placing the boat-type sprinkler into the irrigation canal in the step a adopts a self-walking water-entering mode of the boat-type sprinkler, before the boat-type sprinkler enters water, a shipborne industrial control computer firstly sends an instruction to start a supporting leg lifting control loop and a supporting leg telescopic control loop, a controller controls a telescopic lifting control part and a supporting leg telescopic control part to act so that a supporting leg swings downwards along a hinged shaft of the supporting leg to a set angle and extends to a set extending length, at the moment, the boat body is in a state that a supporting roller set is supported on the ground, and a propeller is suspended off the ground, then the shipborne industrial control computer sends an instruction to start the supporting roller driving control loop, the supporting roller drives the supporting roller to rotate so that the ship-type sprinkling machine moves along the water inlet slope surface of the irrigation channel and automatically enters the irrigation channel, and the shipborne industrial control computer sends an instruction to stop the supporting roller driving control loop until the ship-type sprinkling machine floats on the water surface;
and d, in the moving process of the ship body in the step d, the shipborne industrial control computer sends an instruction to start the supporting roller driving control loop, and the supporting roller drives the supporting roller to rotate so as to provide an auxiliary driving force.
As the preferred scheme of the invention, the telescopic lifting control part and the supporting leg telescopic control part of the boat-type sprinkling machine are both hydraulic cylinder structures, and the supporting roller of the supporting roller group is driven by a hydraulic motor structure; the ship type sprinkling machine also comprises a hydraulic control device arranged on the ship body, the hydraulic control device comprises a hydraulic pump station and a hydraulic control valve group, the hydraulic pump station comprises a hydraulic pump and a hydraulic oil tank, the hydraulic pump of the hydraulic pump station is connected with a driving power source through a transmission mechanism, the hydraulic pump station is connected with the hydraulic control valve group through a hydraulic pipeline, the hydraulic control valve group is respectively in driving connection with the telescopic lifting control part, the supporting leg telescopic control part and the supporting rollers of the supporting roller group through the hydraulic pipeline, and the hydraulic control valve group is electrically connected with a controller of the electric control device; the shipborne industrial control computer controls the lifting and the stretching of the supporting legs and the rotation of the supporting rollers of the supporting roller group in a hydraulic transmission mode.
As a further improvement scheme of the invention, pressure sensors are arranged on a telescopic lifting control part and a supporting leg telescopic control part of a hydraulic cylinder structure of the ship-type sprinkler, the electric control device also comprises a hydraulic pressure regulating loop, and a ship-borne industrial control computer is respectively electrically connected with the pressure sensors; step d in to the irrigation canal both sides the in-process hydraulic pressure regulation return circuit of sprinkling irrigation all the time work of crops, when the flexible lift control part of the opposite direction one side of sprinkler gun sprinkling irrigation and the supporting leg flexible control part's pressure sensor feedback hydraulic pressure numerical value is greater than setting for numerical value, on-board industrial control computer sends the instruction and makes controller control hydraulic control valves action to the flexible lift control part of this side and the flexible control part of supporting leg pressure boost to setting for numerical value and pressurize in order to balance the recoil of sprinkling irrigation.
As a further improvement scheme of the invention, the shipborne industrial control computer of the ship type sprinkling machine also comprises a wireless transceiver module, the shipborne industrial control computer is in wireless connection with a central control computer of the large farm through the wireless transceiver module, and the central control computer of the large farm inputs irrigation canal width size data, irrigation canal water level data, farmland orientation data and farmland sprinkling irrigation precipitation data fed back by a humidity sensor in farmland soil into the shipborne industrial control computer in a wireless transmission mode.
Compared with the prior art, the boat-type sprinkler is provided with the sprinkling auxiliary supporting mechanism on the boat body, the sprinkling auxiliary supporting mechanism comprises supporting legs which are symmetrically arranged along the left and the right of the boat body and supporting roller groups which are arranged at the bottom ends of the supporting legs, therefore, when the boat-type sprinkling machine is placed in an irrigation canal of a large farm for use, the supporting roller groups are erected on the surface of an inclined embankment of the irrigation canal from the left and right directions of the boat body through the supporting legs, and the propellers are not positioned under the irrigation water surface, after the sprinkling control loop and the boat body movement control loop start to work, the irrigation water in the irrigation canal enters the self-priming pump through the water suction pipe, is pressurized by the self-priming pump and then is sprayed out through the spray gun, meanwhile, the propeller rotates to push the boat body to move so as to realize the sprinkling irrigation on crops, the sprinkling irrigation auxiliary supporting mechanism not only can balance the recoil of the nozzle gun and prevent the boat body from tipping, but also can provide the moving guide of the ship body and ensure that the ship body always moves along the trend direction of the irrigation channel; because the top ends of the supporting legs are hinged on the ship body, the telescopic lifting control parts are arranged between the supporting legs and the ship body, and the supporting legs of the telescopic structure comprise the supporting leg telescopic control parts, the swinging angles and the lengths of the supporting legs can be adjusted by controlling the telescopic lifting control parts and the telescopic control parts of the supporting legs, and the purposes of adapting to different irrigation canal width sizes are achieved; because the supporting roller group still includes the supporting roller drive, consequently, can realize the rotation of supporting roller, change into the initiative rotation by passive rotation, and then realize that the supporting roller advances the in-process at the hull and provide auxiliary motive force, can realize ship formula sprinkling irrigation machine walking subaerial under the prerequisite of the flexible lifting control part's of cooperation lift operation, through set up suitable domatic on irrigating the canal and then can realize the proper motion of ship formula sprinkling irrigation machine and descend water and go to the bank, can be when realizing the sprinkling irrigation operation completely avoid rolling agricultural crop, the large-scale farm that specially adapted has the irrigation canal carries out the sprinkling irrigation operation to crops.
Drawings
FIG. 1 is a schematic view of a boat sprinkler configuration;
FIG. 2 is a left side view of FIG. 1;
fig. 3 is a top view of fig. 1.
In the figure: 1. hull, 11, supporting leg, 12, support roller train, 13, flexible lifting control part, 2, sprinkling irrigation equipment, 21, self priming pump, 22, nozzle holder, 23, shower nozzle rifle, 3, electrically controlled device.
Detailed Description
The invention will be further described with reference to the accompanying drawings (hereinafter the description will be made with the direction of the bow of the hull 1 of the boat sprinkler as the front).
As shown in fig. 1 to 3, the boat-type sprinkler includes a hull 1, a driving power source, a traveling propulsion device, a sprinkler 2, and an electric control device 3; the driving power source, the sprinkling irrigation device 2 and the electric control device 3 are arranged on the ship body 1.
The sprinkling irrigation auxiliary support mechanism is arranged on the ship body 1, can provide auxiliary support and balance the recoil of the sprinkler gun 23 in the sprinkling irrigation process and comprises support legs 11 and support roller groups 12; the supporting legs 11 are arranged symmetrically left and right along the ship body 1, the supporting legs 11 are of telescopic structures, the supporting legs 11 comprise a body section, telescopic sections and supporting leg telescopic control parts, the top end of the body section is installed on the ship body 1, the telescopic sections are connected with the body section in a sliding fit mode, the supporting leg telescopic control parts are arranged along the length direction of the supporting legs 11, one ends of the supporting leg telescopic control parts are connected with the body section, the other ends of the supporting leg telescopic control parts are connected with the telescopic sections, telescopic lifting control parts 13 are further arranged between the supporting legs 11 and the ship body 1, and two ends of the telescopic lifting control parts 13 are respectively hinged with the ship body 1 and the body section of the supporting legs 11; the supporting roller group 12 is arranged at the bottom end of the telescopic section of the supporting leg 11 in a manner of matching with the number of the supporting legs 11, the supporting roller group 12 comprises supporting rollers, and the supporting rollers are arranged in a rolling manner in the front-back direction; both ends are equipped with hull position feedback sensor around the hull 1. The swing angle and the length of the supporting leg 11 can be adjusted by controlling the telescopic lifting control part 13 and the telescopic control part of the supporting leg, so that the width size of the irrigation canal can be adapted to different sizes.
The driving power source is an engine system, or a power supply system or other power systems which are fixedly arranged on the ship body 1; taking an engine system as an example, the engine system comprises an engine and a gearbox, wherein a power output shaft of the engine is connected with a power input shaft of the gearbox; taking a power supply system as an example, the power supply system comprises a power battery pack, a propulsion power motor and a sprinkling irrigation power motor, wherein the power battery pack is electrically connected with the propulsion power motor and the sprinkling irrigation power motor respectively.
The advancing propulsion device comprises a propeller arranged at the bottom of the ship body 1, the propeller is connected with a power output shaft of a gearbox of an engine system or a propulsion power motor of a power supply system through a transmission mechanism, and the advancing propulsion device provides moving propulsion power for the ship body 1.
The sprinkling irrigation device 2 comprises a self-priming pump 21, a sprinkler head frame 22 and a sprinkler gun 23; the self-priming pump 21 is fixedly arranged on the ship body 1, the power input end of the self-priming pump 21 is connected with the power output shaft of a gearbox of an engine system through a transmission mechanism or is connected with a sprinkling irrigation power motor of a power supply system, the water suction port of the self-priming pump 21 is connected with a water suction pipe submerged below the liquid level of an irrigation channel, and the water discharge port of the self-priming pump 21 is connected with the spray gun 23 through a pipeline; the spray head frame 22 is fixedly arranged on the ship body 1 corresponding to the symmetrical center position of the supporting leg 11, the spray head gun 23 is fixedly arranged on the spray head frame 22 through a spray head gun adjusting component, including spray angle adjustment mechanism and the injection direction adjustment mechanism that can realize shower nozzle rifle 23 rotation location action through shower nozzle rifle adjusting part, spray angle adjustment mechanism and injection direction adjustment mechanism all can adopt if the rotary motor passes through the rotatory mode realization gyration of gear drive ring gear, or adopt if the mode realization gyration of gyration hydraulic motor through gear drive ring gear rotation, or adopt other rotation driving mode, spray angle adjustment mechanism can adjust and fix a position the contained angle between the rotatory axis that shower nozzle rifle 23's injection axis and horizontal plane, spray direction adjustment mechanism can adjust and fix a position shower nozzle rifle 23 around the rotatory angle of the rotatory axis that vertical direction set up.
The electric control device 3 comprises a ship-borne industrial control computer, a controller battery pack, a supporting leg lifting control loop, a supporting leg stretching control loop, a ship body movement control loop, a ship body position feedback sensor, a spray nozzle gun spray angle control loop, a spray nozzle gun spray direction control loop and a spray irrigation control loop, the shipborne industrial control computer is electrically connected with the controller through a data line, the shipborne industrial control computer comprises a sprinkling irrigation data input/output port, the controller is electrically connected with an engine of an engine system or respectively electrically connected with a propulsion power motor and a sprinkling irrigation power motor of a power supply system, the controller is respectively electrically connected with a supporting leg telescopic control part and a telescopic lifting control part 13, the controller is respectively electrically connected with a spray angle adjusting mechanism and a spray direction adjusting mechanism of a spray gun adjusting component, and the controller is electrically connected with a ship body position feedback sensor;
when the ship-type sprinkling irrigation machine is used for a large farm irrigation canal, an operator inputs width dimension data of the irrigation canal, water level data in the irrigation canal and farmland orientation data into a ship-mounted industrial control computer through a sprinkling irrigation data input/output port, and then the ship-type sprinkling irrigation machine is placed into the irrigation canal and is in a state of floating on the water surface; the shipborne industrial control computer calculates the swing angle and the extension length of the supporting leg 11 according to the input width size data of the irrigation canal and the water level data in the irrigation canal, then sends an instruction to start the supporting leg lifting control loop and the supporting leg extension control loop according to the calculation result, the controller controls the extension lifting control part 13 and the supporting leg extension control part to act so that the supporting leg 11 swings to the calculated swing angle along the hinge shaft and extends to the calculated extension length, and at the moment, the ship body 1 is in a set ship body draft state that the supporting rollers of the supporting roller group 12 abut against the surface of the inclined embankment of the irrigation canal and the propeller is not under the irrigation water surface; the shipborne industrial control computer calculates the sprinkling irrigation angle and sprinkling irrigation direction of the spray gun 23 according to the input farmland azimuth data, then sends an instruction to start a spray angle control loop and a spray direction control loop of the spray gun according to the calculation result, and the controller controls the spray angle adjusting mechanism and the spray direction adjusting mechanism to act to position the spray gun 23 in the calculated sprinkling irrigation angle and sprinkling irrigation direction; the shipborne industrial control computer sends an instruction to start the sprinkling irrigation control loop and the ship body movement control loop, the controller controls the driving power source to drive the self-sucking pump 21 to work according to the set flow through the transmission mechanism, and the irrigation water in the irrigation channel enters the self-sucking pump 21 through the water suction pipe, is pressurized by the self-sucking pump 21 and then is sprayed out through the spray gun 23 to carry out sprinkling irrigation on farmland crops on both sides of the irrigation channel; the controller controls the driving power source to drive the propeller to rotate according to a set rotating speed through the transmission mechanism to push the ship body 1 to move, the supporting roller group 12 rolls and moves on the surface of an inclined dike of the irrigation channel along with the ship body 1 in the moving process of the ship body 1, and the sprinkling irrigation auxiliary supporting mechanism not only can provide sprinkling irrigation auxiliary support and balance the recoil of the sprinkler gun 23, but also can provide moving guide for the ship body 1 and ensure that the ship body 1 moves along the trend direction of the irrigation channel all the time; when the ship body position feedback sensor feeds back that the ship body 1 runs to the set sprinkling irrigation distance, the ship-borne industrial control computer sends an instruction to enable the controller to control the ship body movement control loop and the sprinkling irrigation control loop to stop working, and the sprinkling irrigation operation is completed.
In order to realize intelligent sprinkling irrigation according to the specific rainfall sprinkling irrigation requirement, as a further improvement scheme of the invention, a self-sucking pump 21 of the boat-type sprinkling irrigation machine is a variable pump; the operator also inputs the data of the farmland sprinkling irrigation precipitation into the shipborne industrial control computer through the sprinkling irrigation data input/output port; the shipborne industrial control computer calculates the input power of the self-priming pump 21 according to the input farmland sprinkling irrigation precipitation data, then the shipborne industrial control computer sends out an instruction again to start the sprinkling irrigation control loop, and the controller controls the driving power source to output the calculated rated power and drives the self-priming pump 21 to work through the transmission mechanism so that the spray gun 23 sprays the set sprinkling irrigation precipitation.
In order to realize the centralized intelligent management of the large farm, as a further improvement scheme of the invention, the shipborne industrial control computer of the ship type sprinkling machine further comprises a wireless transceiver module, the shipborne industrial control computer is in wireless connection with the central control computer of the large farm through the wireless transceiver module, and the central control computer of the large farm inputs the width size data of the irrigation canal, the water level data in the irrigation canal, the farmland azimuth data and the farmland sprinkling irrigation precipitation data fed back by the humidity sensor in the farmland soil into the shipborne industrial control computer in a wireless transmission mode.
The telescopic lifting control part 13 and the supporting leg telescopic control part can adopt an electric transmission mode of an electric screw rod and a hydraulic transmission mode of a hydraulic oil cylinder structure, the electric transmission mode not only needs to additionally consider the insulation problem with water, but also the motor is easy to burn under the condition of large load, and the hydraulic transmission mode not only can realize stable support and can avoid the problems, so the later is optimized, namely, as the preferred proposal of the invention, the telescopic lifting control part 13 and the supporting leg telescopic control part are hydraulic cylinders, the boat-type sprinkler also comprises a hydraulic control device arranged on the boat body 1, the hydraulic control device comprises a hydraulic pump station and a hydraulic control valve group, the hydraulic pump station comprises a hydraulic pump and a hydraulic oil tank, the power supply system also comprises a hydraulic pump station power motor, the hydraulic pump of the hydraulic pump station is connected with a gearbox power output shaft of an engine system through a transmission mechanism, Or the hydraulic control valve group is electrically connected with the controller of the electric control device 3, namely, the hydraulic cylinder is electrically connected with the controller of the electric control device 3 through the hydraulic control valve group.
In order to further balance the recoil of sprinkling irrigation, as a further improvement scheme of the invention, the telescopic lifting control part 13 and the supporting leg telescopic control part of the hydraulic cylinder structure of the ship-type sprinkling machine are respectively provided with a pressure sensor, the electric control device 3 also comprises a hydraulic pressure regulating loop, and a ship-borne industrial control computer is respectively electrically connected with the pressure sensors; the in-process hydraulic pressure regulation return circuit that sprays to the farmland crops on irrigation canal both sides works all the time, when the flexible lifting control part 13 of the opposite side of spraying of shower nozzle rifle 23 and the pressure sensor feedback hydraulic pressure numerical value of supporting leg flexible control part are greater than setting for numerical value, on-board industrial control computer sends the instruction and makes controller control hydraulic control valves action to the flexible lifting control part 13 and the supporting leg flexible control part pressure boost of this side to setting for numerical value and pressurize in order to balance the recoil of spraying.
Because of the viscous force of water, the running speed of an object in water is low, and the external wind power and the water flow direction in an irrigation canal can influence the advancing speed of the ship body 1 on the premise of the same propelling force, and in order to realize higher moving speed, as a further improvement scheme of the invention, the supporting roller set 12 further comprises a supporting roller drive, and the output end of the supporting roller drive is coaxially and fixedly connected with the supporting roller; the electric control device 3 further comprises a supporting roller driving control loop, and the controller is electrically connected with the supporting roller in a driving mode. The rotation of the supporting rollers can be realized by controlling the rotation action driven by the supporting rollers, and the passive rotation is converted into the active rotation, so that the supporting rollers can provide auxiliary driving force in the advancing process of the ship body 1. The lift operation of the control support leg 11 of the flexible lifting control part 13 of cooperation can realize supporting roller set 12 and supporting in ground, the screw is unsettled in the state of supporting roller set 12 top, can realize that boat sprinkler walks subaerial when this state control support roller drive is rotatory to be moved, can realize boat sprinkler's proper motion water and upper bank through setting up suitable domatic on irrigating the canal.
The support roller drive can adopt an electric drive mode controlled by a motor or a hydraulic drive mode controlled by a hydraulic motor, and the electric drive mode not only needs to additionally consider the insulation problem with water, but also the motor is easy to burn under the condition of large load, while the hydraulic drive mode can realize stable drive and can avoid the problems, so the latter is preferred Or the hydraulic control valve group is electrically connected with the controller of the electric control device 3, namely, 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 the influence on the control of the controller due to the battery power problem, as a further improvement of the present invention, the electric control device 3 further includes a solar panel and a solar charging control circuit, and the solar panel is electrically connected to the controller and the controller battery pack respectively.
The boat-type sprinkler is characterized in that the boat-type sprinkler is provided with a sprinkling auxiliary supporting mechanism which comprises supporting legs 11 arranged along the left-right symmetry of the boat body 1 and supporting roller sets 12 arranged at the bottom ends of the supporting legs 11, when the boat-type sprinkler is placed in an irrigation canal of a large farm for use, the supporting roller sets 12 are erected on the surface of an inclined dike of the irrigation canal from the left and right directions of the boat body 1 through the supporting legs 11, a propeller is not arranged below the surface of the irrigation water, after the sprinkling control loop and the boat body movement control loop start to work, irrigation water in the irrigation canal enters a self-sucking pump 21 through a water sucking pipe and is sprayed out through a nozzle gun 23 after being pressurized by the self-sucking pump 21, meanwhile, the screw rotates to push the boat body 1 to move to realize sprinkling irrigation on crops, the sprinkling auxiliary supporting mechanism can not only balance the recoil of the nozzle gun 23 and prevent the boat body 1 from tipping, but also can provide movement guide of the boat body 1, Ensuring that the ship body 1 always moves along the direction of the irrigation channel; because the top ends of the supporting legs 11 are hinged on the ship body 1, the telescopic lifting control parts 13 are arranged between the supporting legs 11 and the ship body 1, and the supporting legs 11 of the telescopic structure comprise the supporting leg telescopic control parts, the swinging angles and the lengths of the supporting legs 11 can be adjusted by controlling the telescopic lifting control parts 13 and the telescopic supporting leg telescopic control parts to stretch, and further, the device can adapt to different irrigation canal width sizes; because supporting roller set 12 still includes the supporting roller drive, consequently, can realize the rotation of supporting roller, change into the initiative rotation by passive rotation, and then realize that supporting roller provides auxiliary motive force at hull 1 in-process of marcing, can realize ship formula sprinkling irrigation machine walking subaerial under the prerequisite of the flexible lifting control part 13's of cooperation lift operation, through set up suitable domatic on irrigating the canal and then can realize the automatic water drainage and the last bank of ship formula sprinkling irrigation machine, can be when realizing the sprinkling irrigation operation completely avoid rolling to farmland crops, specially adapted has the large farm of irrigating the canal and carries out the sprinkling irrigation operation to crops.
Claims (5)
1. A using method of a boat-type sprinkler is characterized in that the boat-type sprinkler comprises a boat body (1), a driving power source, a traveling propelling device, a sprinkling irrigation device (2) and an electric control device (3); the driving power source, the sprinkling irrigation device (2) and the electric control device (3) are arranged on the ship body (1);
the sprinkling irrigation auxiliary support mechanism is arranged on the ship body (1) and comprises support legs (11) and support roller groups (12); the supporting legs (11) are arranged symmetrically left and right along the ship body (1), the supporting legs (11) are of a telescopic structure, each supporting leg (11) comprises a body section, a telescopic section and a supporting leg telescopic control part, the top end of the body section is installed on the ship body (1), the telescopic sections are connected with the body section in a sliding fit mode, the supporting leg telescopic control parts are arranged along the length direction of the supporting leg (11), one end of each supporting leg telescopic control part is connected with the body section, the other end of each supporting leg telescopic control part is connected with the telescopic sections, a telescopic lifting control part (13) is further arranged between each supporting leg (11) and the ship body (1), and two ends of each telescopic lifting control part (13) are respectively hinged and connected with the ship body (1) and the body section of each supporting leg (11); the supporting roller group (12) is arranged at the bottom end of the telescopic section of the supporting leg (11) in a manner of matching with the number of the supporting legs (11), and the supporting roller group (12) comprises supporting rollers which are arranged in a rolling manner in the front-back direction; both the front end and the rear end of the ship body (1) are provided with ship body position feedback sensors;
the advancing propulsion device comprises a propeller arranged at the bottom of the ship body (1), and the propeller is connected with a driving power source through a transmission mechanism;
the sprinkling irrigation device (2) comprises a self-priming pump (21), a sprinkler head frame (22) and a sprinkler gun (23); the self-priming pump (21) is fixedly arranged on the ship body (1), the self-priming pump (21) is a variable pump, the power input end of the self-priming pump (21) is connected with a driving power source through a transmission mechanism, the water suction port of the self-priming pump (21) is connected with a water suction pipe submerged below the liquid level of an irrigation canal, and the water discharge port of the self-priming pump (21) is connected with a spray gun (23) through a pipeline; the spray head frame (22) is fixedly arranged on the ship body (1) corresponding to the symmetrical center position of the supporting leg (11), the spray head gun (23) is fixedly arranged on the spray head frame (22) through a spray head gun adjusting assembly, and the spray head gun adjusting assembly comprises a spray angle adjusting mechanism and a spray direction adjusting mechanism which can realize the rotary positioning action of the spray head gun (23);
the electric control device (3) comprises a shipborne industrial control computer, a controller, a solar collector panel, a controller battery pack, a solar charging control loop, a support leg lifting control loop, a support leg telescopic control loop, a ship body movement control loop, a ship body position feedback sensor, a spray nozzle gun spray angle control loop, a spray nozzle gun spray direction control loop and a spray irrigation control loop, wherein the solar collector panel is respectively and electrically connected with the shipborne industrial control computer and the controller battery pack, the shipborne industrial control computer is electrically connected with the controller through a data line, the shipborne industrial control computer comprises a spray irrigation data input/output port, the controller is electrically connected with a driving power source, the controller is respectively and electrically connected with a support leg telescopic control part and a telescopic lifting control part (13), and the controller is respectively and electrically connected with a spray angle adjusting mechanism and a spray direction adjusting mechanism of a spray nozzle gun adjusting component, the controller is electrically connected with the ship body position feedback sensor;
the using method specifically comprises the following steps:
a. preparing spray irrigation: the shipborne industrial control computer charges the controller battery pack in a solar charging mode, an operator inputs width size data of an irrigation channel, water level data in the irrigation channel, farmland azimuth data and farmland irrigation precipitation data into the shipborne industrial control computer through the irrigation data input and output port, and then the shipborne sprinkler is placed in the irrigation channel and floats on the water surface;
b. adjusting the draught of the ship body: the shipborne industrial control computer calculates the swing angle and the extension length of the supporting leg (11) according to the input width size data of the irrigation canal and the water level data in the irrigation canal, then sends an instruction to start the supporting leg lifting control loop and the supporting leg extension control loop according to the calculation result, the controller controls the telescopic lifting control part (13) and the supporting leg extension control part to act so that the supporting leg (11) swings to the calculated swing angle along the hinged shaft and extends to the calculated extension length, and at the moment, the ship body (1) is in a set ship body draft state that the supporting roller top of the supporting roller group (12) leans against the surface of an inclined dike of the irrigation canal and the propeller is not under the irrigation water surface;
c. adjusting the sprinkling irrigation direction and angle: the shipborne industrial control computer calculates the sprinkling irrigation angle and the sprinkling irrigation direction of the spray gun (23) according to the input farmland azimuth data, then sends an instruction to start a spray angle control loop and a spray direction control loop of the spray gun according to the calculation result, and the controller controls the spray angle adjusting mechanism and the spray direction adjusting mechanism to act to position the spray gun (23) in the calculated sprinkling irrigation angle and sprinkling irrigation direction;
d. starting sprinkling irrigation operation: the shipborne industrial control computer calculates the input power of the self-priming pump (21) according to the input farmland sprinkling irrigation precipitation data, sends out an instruction again to start the sprinkling irrigation control loop and the ship body movement control loop, the controller controls the driving power source to output the calculated rated power and drives the self-priming pump (21) to work according to the set flow through the transmission mechanism, irrigation water in the irrigation channel enters the self-priming pump (21) through the water suction pipe, and the irrigation precipitation set by the spraying gun (23) after being pressurized by the self-priming pump (21) sprays farmland crops on the two sides of the irrigation channel; the controller simultaneously controls the driving power source to drive the propeller to rotate according to the set rotating speed through the transmission mechanism to push the ship body (1) to move, and the supporting roller group (12) moves along with the ship body (1) on the surface of the inclined embankment of the irrigation ditch in a rolling manner in the moving process of the ship body (1);
e. stopping the sprinkling irrigation operation: when the ship body position feedback sensor feeds back that the ship body (1) runs to the set sprinkling irrigation distance, the ship-borne industrial control computer sends an instruction to enable the controller to control the ship body movement control loop and the sprinkling irrigation control loop to stop working, and the sprinkling irrigation operation is completed.
2. The use method of the boat sprinkler according to claim 1, wherein the supporting roller set (12) of the boat sprinkler further comprises a supporting roller drive, and an output end of the supporting roller drive is coaxially and fixedly connected with the supporting roller; the electric control device (3) also comprises a supporting roller driving control loop, and the controller is in driving electric connection with the supporting roller;
the method for placing the ship-mounted sprinkler into the irrigation channel in the step a adopts a self-walking water-entering mode of the ship-mounted sprinkler, before the ship-mounted sprinkler enters water, the ship-mounted industrial control computer firstly sends an instruction to start the supporting leg lifting control loop and the supporting leg telescopic control loop, the controller controls the telescopic lifting control component (13) and the supporting leg telescopic control component to act so that the supporting leg (11) swings downwards along a hinged shaft to a set angle and extends to a set extending length, at the moment, the ship body (1) is in a state that the supporting roller group (12) is supported on the ground and the propeller is suspended from the ground, then the ship-mounted industrial control computer sends an instruction to start the supporting roller driving control loop, the supporting roller drives the supporting roller to rotate so that the ship-mounted sprinkler moves along the water-entering slope of the irrigation channel to enter the irrigation channel by self, and the ship-mounted industrial control computer sends an instruction to stop the supporting roller driving control loop until the ship-mounted sprinkler floats on the water surface;
and d, in the moving process of the ship body (1) in the step d, the shipborne industrial control computer sends an instruction to start the supporting roller driving control loop, and the supporting roller drives the supporting roller to rotate so as to provide auxiliary driving force.
3. The use method of the boat-type sprinkler as claimed in claim 2, wherein the telescopic lifting control part (13) and the supporting leg telescopic control part of the boat-type sprinkler are both hydraulic cylinder structures, and the supporting roller drive of the supporting roller set (12) is a hydraulic motor structure; the ship type sprinkling machine also comprises a hydraulic control device arranged on the ship body (1), the hydraulic control device comprises a hydraulic pump station and a hydraulic control valve bank, the hydraulic pump station comprises a hydraulic pump and a hydraulic oil tank, the hydraulic pump of the hydraulic pump station is connected with a driving power source through a transmission mechanism, the hydraulic pump station is connected with the hydraulic control valve bank through a hydraulic pipeline, the hydraulic control valve bank is respectively in driving connection with a telescopic lifting control part (13), a supporting leg telescopic control part and a supporting roller of a supporting roller group (12) through the hydraulic pipeline, and the hydraulic control valve bank is electrically connected with a controller of the electric control device (3); the shipborne industrial control computer controls the lifting and the stretching of the supporting legs (11) and the rotation of the supporting rollers of the supporting roller groups (12) in a hydraulic transmission mode.
4. The use method of the boat-type sprinkler of claim 3, characterized in that the telescopic lifting control part (13) and the support leg telescopic control part of the boat-type sprinkler hydraulic cylinder structure are respectively provided with a pressure sensor, the electric control device (3) further comprises a hydraulic pressure adjusting loop, and the boat-mounted industrial control computer is respectively electrically connected with the pressure sensors; step d in to irrigating the in-process hydraulic pressure regulation return circuit of irrigating to the farmland crops on irrigation canal both sides work all the time, when shower nozzle rifle (23) irrigates flexible lift control part (13) and the supporting leg of flexible control part of opposite direction one side and feeds back hydraulic pressure numerical value and be greater than the settlement numerical value, on-board industrial control computer sends out the instruction and makes controller control hydraulic control valves action to flexible lift control part (13) and the supporting leg flexible control part pressure boost of this side to settlement numerical value and pressurize in order to balance the recoil of sprinkling irrigation.
5. The use method of the ship-based sprinkler according to claim 1, characterized in that the ship-based industrial control computer of the ship-based sprinkler further comprises a wireless transceiver module, the ship-based industrial control computer is in wireless connection with the central control computer of the large farm through the wireless transceiver module, and the central control computer of the large farm inputs the irrigation canal width dimension data, the water level data in the irrigation canal, the farmland orientation data, and the farmland irrigation precipitation data fed back by the humidity sensor in the farmland soil into the ship-based industrial control computer through wireless transmission.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010549709.2A CN111713379B (en) | 2018-04-20 | 2018-04-20 | Using method of ship type sprinkling irrigation machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810358926.6A CN108651238B (en) | 2018-04-20 | 2018-04-20 | Using method of ship type sprinkling machine for irrigation canal of large farm |
| CN202010549709.2A CN111713379B (en) | 2018-04-20 | 2018-04-20 | Using method of ship type sprinkling irrigation machine |
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| CN201810358926.6A Division CN108651238B (en) | 2018-04-20 | 2018-04-20 | Using method of ship type sprinkling machine for irrigation canal of large farm |
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| CN111713379A CN111713379A (en) | 2020-09-29 |
| CN111713379B true CN111713379B (en) | 2021-08-13 |
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| CN110463572B (en) * | 2019-08-01 | 2021-10-15 | 上海交通大学 | Method and device for acquiring real-time position of nozzle of variable-rate sprinkler |
| CN110915624A (en) * | 2019-12-11 | 2020-03-27 | 黄诚 | Agricultural machine irrigation machine |
| CN113572921A (en) * | 2021-06-10 | 2021-10-29 | 中国科学院海洋研究所 | Marine ranching data monitoring system |
| CN113317172A (en) * | 2021-06-18 | 2021-08-31 | 安徽省润博农业科技有限公司 | Energy-saving paddy field irrigation device and application method thereof |
| CN115012463A (en) * | 2022-06-02 | 2022-09-06 | 湖北省赛孚智能科技有限责任公司 | Ash cleaning and dredging robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108651238B (en) | 2020-07-17 |
| CN108651238A (en) | 2018-10-16 |
| CN111713379A (en) | 2020-09-29 |
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