CN115530053A - Intelligent control reel sprinkling irrigation machine and control method - Google Patents
Intelligent control reel sprinkling irrigation machine and control method Download PDFInfo
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- CN115530053A CN115530053A CN202211412246.0A CN202211412246A CN115530053A CN 115530053 A CN115530053 A CN 115530053A CN 202211412246 A CN202211412246 A CN 202211412246A CN 115530053 A CN115530053 A CN 115530053A
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- 230000002262 irrigation Effects 0.000 title claims abstract description 68
- 238000003973 irrigation Methods 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000003621 irrigation water Substances 0.000 claims abstract description 80
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 39
- 238000012806 monitoring device Methods 0.000 claims abstract description 21
- 238000011084 recovery Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- 230000008569 process Effects 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 12
- 239000011159 matrix material Substances 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 19
- 230000003068 static effect Effects 0.000 abstract description 3
- 238000004804 winding Methods 0.000 description 10
- 239000007788 liquid Substances 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 241000761557 Lamina Species 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 238000007493 shaping process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/40—Arrangements for rotating packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/40—Arrangements for rotating packages
- B65H54/46—Package drive drums
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Quality & Reliability (AREA)
- Catching Or Destruction (AREA)
Abstract
The application relates to the field of sprinkling irrigation equipment, in particular to an intelligent control reel sprinkling irrigation machine and a control method. The reel driving device of the intelligent control reel sprinkler comprises a motor and a speed reducer, wherein the motor is in transmission connection with the speed reducer, and the speed reducer is in transmission connection with a fluted disc; the reel sprinkling machine also comprises a control box and a signal monitoring device, wherein the signal monitoring device is used for acquiring a reel rotation state or sprinkling irrigation water pipe motion state signal and feeding back the acquired signal to the control box; the control box receives the acquisition signal or inputs information, sends out a control command after processing, and then adjusts the recovery speed of the sprinkling irrigation water pipe by controlling the motor or the speed reducer communicated with the control box. This application presets the input of information and information collection through the control box, obtains the static and dynamic information of equipment, through control command control speed governing, makes the speed of withdrawing of sprinkling irrigation water pipe reach suitable speed to the effect that makes the irrigation is even, unanimous.
Description
Technical Field
The application relates to the field of sprinkling irrigation equipment, in particular to an intelligent control reel sprinkling irrigation machine and a control method.
Background
The reel sprinkling machine is agricultural irrigation equipment suitable for sprinkling irrigation large-area farmlands, is sprinkling irrigation equipment usually selected for use in farmland water-saving irrigation, saves a large amount of manpower, and has high irrigation efficiency and water conservation resource.
Reel sprinkling irrigation machine includes reel, support frame, sprinkling irrigation water pipe, reel drive arrangement and shower nozzle car usually, and the reel setting is on the support frame, and the sprinkling irrigation water pipe coils at the reel, can receive or put, and reel drive arrangement can drive the reel and rotate, and the shower nozzle car is connected with the reel through the sprinkling irrigation water pipe, and reel support frame bottom is equipped with the wheel. When carrying out sprinkling irrigation during operation, utilize tractors such as tractor with the whole tractive of reel sprinkling irrigation machine to the field ground after, earlier through adjustment support frame adjustment sprinkling irrigation direction, traction equipment such as reuse tractor or winch drags the shower nozzle car that is connected with the sprinkling irrigation water pipe out to predetermined sprinkling irrigation place, then open water supply valve again, take the pressure water to get into the sprinkling irrigation water pipe, and spray nozzle blowout from the shower nozzle car carries out the sprinkling irrigation operation, it is rotatory to start reel drive arrangement drive reel simultaneously, thereby realize that the automation of sprinkling irrigation water pipe is retrieved and drive the shower nozzle car and roll back.
Reel drive arrangement adopts motor control among the prior art, can realize receiving or putting the automation of sprinkling irrigation water pipe, but at the in-process of receiving or putting the sprinkling irrigation water pipe, the slew rate (being angular velocity) of reel is unanimous, and because the sprinkling irrigation water pipe is that the successive layer coils on the reel, the speed (linear velocity) of receiving or putting of the sprinkling irrigation water pipe of different layers is different in reality, then lead to the shower nozzle to be different through the actual time of unit length, the unit receives under the sprinkling irrigation area to receive the liquid volume inconsistent, can not realize irrigating even effect.
Aiming at the related technologies, the inventor considers that how to realize the speed control of the sprinkling irrigation water pipe collection is an effective guarantee for improving the uniformity of the irrigation effect.
Disclosure of Invention
In order to realize the speed control of the sprinkling irrigation water pipe of the reel sprinkling irrigation machine, the application provides an intelligent control reel sprinkling irrigation machine and a control method.
The application provides an intelligent control reel sprinkling irrigation machine and a control method, which adopt the following technical scheme:
first aspect, this application provides an intelligence accuse reel sprinkling irrigation machine, adopts following technical scheme:
an intelligent control reel sprinkler comprises a reel, a support frame, a sprinkler irrigation water pipe, a reel driving device and a sprinkler head vehicle; an annular fluted disc protruding out of the outer surface of the wing plate is fixedly arranged on the outer surface of one wing plate of the reel, and the fluted disc and the wing plate are concentrically arranged; the reel driving device can drive the spray irrigation water pipe coiled on the reel to be recycled by driving the fluted disc to rotate;
the reel driving device comprises a motor and a speed reducer, the motor is in transmission connection with the speed reducer, and the speed reducer is in transmission connection with the fluted disc;
the reel sprinkler also comprises a control box and a signal monitoring device,
the signal monitoring device is used for acquiring a signal of the rotation state of the reel or the motion state of the sprinkling irrigation water pipe and feeding the acquired signal back to the control box;
the control box receives the acquisition signal or inputs information, sends out a control command after processing, and then adjusts the recovery speed of the sprinkling irrigation water pipe by controlling the motor or the speed reducer communicated with the control box.
Through adopting above-mentioned technical scheme, this application is monitored reel rotating state or sprinkling irrigation water pipe motion state signal through setting up signal monitoring devices, handles monitoring signal through the control box to motor or reduction gear through control and adjustment reel drive arrangement drive fluted disc pivoted rotational speed, and then the speed that the control sprinkling irrigation water pipe was retrieved, thereby can realize the solution to the inhomogeneous problem of speed that the sprinkling irrigation water pipe was retrieved, realize irrigating even effect.
Optionally, the signal monitoring device includes a rotation sensor for collecting rotation of the reel, and the rotation sensor is disposed at an output end of the reel, the fluted disc or the gearbox;
the control box records the actual time length of the rotation sensor for acquiring one circle of rotation.
By adopting the technical scheme, the type or the setting mode of the signal monitoring device is disclosed. The layer that current sprinkling irrigation water pipe place is judged through the signal of the monitoring reel rotation state of control box through feedback to call built-in parameter matrix, then processing module is according to actual need's the speed of retrieving the sprinkling irrigation water pipe, control adjustment fluted disc pivoted rotational speed.
Optionally, the rotation sensor is any one of a hall sensor, an encoder, and a rotation sensor.
By adopting the technical scheme, the selection of the type of the rotation sensor is disclosed.
Optionally, the signal monitoring device comprises a linear velocity sensor for acquiring the moving linear velocity of the sprinkling irrigation water pipe, and the linear velocity sensor is arranged at the position of the sprinkler truck or the position where the sprinkling irrigation water pipe leaves the reel.
By adopting the technical scheme, the type or the setting mode of the other signal monitoring device is disclosed. Through directly detecting sprinkling irrigation water pipe removal linear velocity, can know directly whether even speed is learnt to handle it through the control box, through the adjustment when taking place the change, realize effectual control, control mode is simpler, direct. Thereby can realize the solution to the inhomogeneous problem of speed of sprinkling irrigation water pipe recovery, realize irrigating even effect.
Optionally, a connecting rod is arranged between the outer edges of the wing plates at the two sides of the reel, and the connecting rod is arranged at one side of the movement path for recovering the sprinkling irrigation water pipe and does not interfere with the recovery of the sprinkling irrigation water pipe;
the linear velocity sensor is arranged on the connecting rod.
Through adopting above-mentioned technical scheme, the transformation to the reel when disclosing the position installation linear velocity transducer that the sprinkling irrigation water pipe left the reel.
Optionally, an input module, a processing module and an output module which are sequentially communicated are arranged in the control box, and a storage module communicated with the input module, the processing module and the output module is arranged in the control box;
the input module can receive information collected by the signal monitoring device, input preset information and store the preset information into the storage module;
the processing module can call the information of the storage module, process the signal received by the input module in real time, and send the processed signal to the input module;
and the input module sends a control command to the engine or the speed reducer according to the processed signal.
By adopting the technical scheme, the composition and the effect of the control system in the control box are disclosed, and automatic, efficient and timely process control is realized by presetting parameters, processing acquired signals and issuing control instructions through the control system.
Optionally, the motor is a variable frequency motor or a common motor is provided with a frequency converter;
the speed reducer adopts a speed reducer provided with a speed regulating component or a speed regulating speed reducer.
By adopting the technical scheme, the model selection of the motor and the speed reducer for realizing automatic control is disclosed.
Optionally, the intelligent control reel sprinkler is provided with a pressure gauge for monitoring the water pressure of the inlet water in real time on the water inlet pipe, and feeds a pressure signal back to the control box;
the intelligent control reel sprinkler is also provided with an alarm device connected with the control box;
a pressure threshold value is preset in the control box,
when the monitoring pressure value is smaller than the pressure threshold value, the control box controls the reel driving device to stop driving the fluted disc to rotate and sends an alarm signal to the alarm device;
when the detected pressure value is reduced but not smaller than the pressure threshold value, the control box controls the reel driving device to reduce the rotating speed for driving the fluted disc to rotate, and sends an alarm signal to the alarm device.
By adopting the technical scheme, further optimization of the method is disclosed. Because different water supply pressures can influence the uniformity of irrigation, the corresponding control is carried out by monitoring the water supply pressure and processing the water supply pressure by a control system so as to ensure the irrigation effect.
The second aspect, this application provides a control method of intelligence accuse reel sprinkling irrigation machine, adopts following technical scheme:
a control method of an intelligent control reel sprinkler comprises the steps of,
starting the reel sprinkler;
initializing a control box;
presetting information;
moving at an initial rotational angular velocity;
the signal monitoring device collects signals and feeds the signals back to the control box;
the control box processes signals;
issuing a control instruction signal;
speed regulation of a motor or a speed reducer;
and (5) stopping rolling.
Through adopting above-mentioned technical scheme, through the input of control box default information and acquisition information, obtain the static and dynamic information of equipment, obtain control command after calling and handling, through control command control speed governing, make the speed of withdrawing of sprinkling irrigation water pipe reach suitable speed to the effect that makes the irrigation is even, unanimous.
Optionally, the preset information includes all or part of parameter matrix of { layer C, number of turns N, diameter R, arc length S }, initial rotation angular velocity, pressure threshold, actually required velocity of the recovered sprinkling irrigation water pipe, length of the farmland to be sprinkled, and planned sprinkling irrigation time.
Through adopting above-mentioned technical scheme, some information that the control box was predetermine are disclosed.
The application comprises at least one of the following beneficial technical effects:
1. this application presets the input of information and information collection through the control box, obtains the static and dynamic information of equipment, obtains control command after calling and handling, through control command control motor or reduction gear speed governing, makes the speed of withdrawing of sprinkling irrigation water pipe reach suitable speed to the effect that makes the irrigation is even, unanimous.
2. This application is through the monitoring to pressure of intaking to handle the back through control system, make corresponding control, in order to guarantee the effect of irrigating.
3. This application automated control through efficient intelligent control, has improved efficiency, has practiced thrift the power consumption, has improved the efficiency.
Drawings
Fig. 1 is a schematic view of the main view structure of an embodiment of the intelligent control reel sprinkler of the present application.
Fig. 2 is a schematic top view of an embodiment of the intelligent-control reel sprinkler of the present application.
Fig. 3 is a schematic perspective view of an embodiment of the intelligent control reel sprinkler of the present application.
Description of reference numerals:
1. a support frame; 11. a wheel; 2. coiling; 21. a wing plate; 22. a rotary shaft seat; 3. a reel driving device; 31. an electric motor; 32. a speed reducer; 33. a fluted disc; 4. a sprinkling irrigation water pipe; 41. a water inlet pipe; 42. a pressure gauge; 5. and a control box.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
This embodiment discloses an intelligence accuse reel sprinkling irrigation machine.
Referring to fig. 1-3, a reel 2 sprinkler includes a reel 2, a support frame 1, a sprinkler pipe 4, a reel driving device 3, and a sprinkler head carriage (not shown).
Wherein, reel 2 includes barrel, pterygoid lamina 21, and the barrel is hollow cylindric structure, and pterygoid lamina 21 is discoid structure, and two pterygoid laminas 21 are coaxial and fixed the setting at the both ends of barrel with the barrel, and the external diameter size of pterygoid lamina 21 is greater than the external diameter size of barrel, and the relative internal surface of two pterygoid laminas 21 and the surface of barrel constitute the accommodation space of sprinkling irrigation water pipe 4 jointly, and sprinkling irrigation water pipe 4 can be convoluteed in this accommodation space. An annular gear 33 protruding from the outer surface of one of the wing plates 21 is fixed on the outer surface of the wing plate 21, and the gear 33 is concentric with the wing plate 21.
Wherein, the bottom of the support frame 1 is provided with wheels 11, which are convenient for driving the support frame to move. The supporting frame 1 is symmetrically provided with rotating shaft seats 22, the rotating shaft seats 22 are coaxially provided with rotating shafts, the rotating shafts are connected with the drum body from two sides of the drum body of the reel 2, the drum body and the rotating shafts are coaxial, and the reel 2 can rotate on the rotating shaft seats 22. A motor 31 and a speed reducer 32 are arranged on the support frame 1 at one side of the reel 2, which is provided with the fluted disc 33, one side of the speed reducer 32 is provided with a protruded belt wheel, and the belt wheel is connected with the output end of the motor 31 through a belt; the other side of the reducer 32 is provided with a protruding sprocket wheel which is connected with a circular toothed disc 33 on the outer surface of the wing plate 21 through a chain. The motor 31 drives the speed reducer 32 to move, the speed reducer 32 drives the toothed disc 33 to move, and the wing plates 21 and the toothed disc 33 rotate synchronously, that is, the reel 2 and the toothed disc 33 rotate synchronously. Wherein the motor 31, the speed reducer 32 and the fluted disc 33 form the reel driving device 3.
Wherein, one side of the cylinder body of the reel 2 is provided with a water inlet pipe 41 for sprinkling irrigation water. The water inlet pipe 41 is communicated with one end of the sprinkling irrigation water pipe 4, and the other end of the sprinkling irrigation water pipe 4 is communicated with a spray head of the spray head vehicle for irrigation. The water supplied by the water inlet pipe 41 passes through the sprinkling water pipe 4 and reaches the spray head for sprinkling irrigation to the farmland.
This spool sprinkling irrigation machine is controlled to intelligence still includes control box 5, and PLC control box 5 is adopted to this embodiment, can also adopt other software programming control box 5 certainly. The control box 5 comprises an input module, a processing module, an output module and a storage module, wherein the input module is communicated with the processing module, the processing module is communicated with the output module, and the input module, the processing module and the output module are respectively communicated with the storage module. The input module can receive signals collected by an external monitoring device and can also input information through an operator. The processing module can process the information input by the input module according to a built-in program and can call the data information stored in the storage module, and the output module can externally send control instruction information according to the processing result of the processing module. The storage module can prestore the recorded information, store the process information of the input module, the processing module and the output module, and the like.
In order to reduce or overcome the problems of inconsistent liquid receiving amount under the unit spray irrigation area and uneven irrigation caused by different recovery speeds of the spray irrigation water pipe 4. In the present application, the most central problem is to dynamically control the recovery speed (linear speed) of the sprinkling irrigation water pipe 4 in the recovery process of the sprinkling irrigation water pipe 4, so that the sprinkling irrigation water pipe 4 is maintained in a relatively stable state. The problem of uneven irrigation is solved, and the problem of uneven speed of the recovery of the sprinkling irrigation water pipe 4 is mainly solved.
In this embodiment, the speed (linear speed) of the recovery of the sprinkling irrigation water pipe 4 can be determined and controlled by various signal monitoring devices in cooperation with the processing of the monitoring signals by the control system.
Since the sprinkling irrigation water pipes 4 are wound on the reel 2 layer by layer, the rotation diameters of the sprinkling irrigation water pipes 4 in different layers are different, and in the rotation process of the reel 2, the rotation angular speeds of the reel 2 are the same, namely the rotation angular speeds of the sprinkling irrigation water pipes 4 in different layers are the same, and according to the relation between the angular speed and the linear speed, v = ω R, v is the linear speed (unit: m/s), ω is the angular speed (unit: rad/s), and R is the radius (unit: m), it is known that in the winding condition of the reel 2, as the winding progress progresses, R is increased, v needs to be reduced, and ω needs to be reduced.
Because the number of turns N of the sprinkling irrigation water pipe 4 which can be coiled on each layer of the coil 2 is determined, the diameter R of different layers is determined, and the arc length S corresponding to the sprinkling irrigation water pipe 4 of each turn on the layer is also determined. The corresponding relation parameter matrix of { layer C, number of turns N, diameter R, arc length S } of the reel 2 sprinkler can be formed.
In an embodiment of the application, the intelligent control reel sprinkler pre-records a parameter matrix of { layer C, turn number N, diameter R, arc length S } in the control box 5 through the input module, and forms a relation between the layer C-the turn number N of the layer-the diameter R of the layer-the arc length S of the layer. Further, it is possible to determine the relationship between the layer C-the number N of turns of the layer-the diameter R of the layer-the arc length S of the layer-and the time T of one turn of the layer if the duration T of one turn of the layer at a certain fixed angular velocity ω is determined when the sprinkling irrigation water pipe 4 is rotated back and forth on a certain layer C on the reel 2 with the rotation of the reel 2 according to S = ω RT, T being the duration (unit: S) of one turn.
The intelligent control reel sprinkling machine is provided with a rotation sensor for collecting the rotation of the reel 2, the rotation sensor can be arranged at the output end of the reel 2 or the fluted disc 33 or the gearbox and feeds back the collected signals to the control box 5, the signals are input through the input module, the actual time t of one rotation circle is recorded at the same time, the t is the time (unit: s) of the actual rotation circle, the recorded time can be automatically completed through a program in the control box 5, namely the control program in the control box 5 is provided with a timer module.
The rotary sensor can adopt a Hall sensor for counting, the Hall sensor is used as an original point, one pulse of the Hall sensor is received, namely one circle, and the actual time length t of one circle of rotation is recorded. The rotary sensor can also adopt an encoder to count, and the position directly read can be counted; the rotation sensor may also be a sensor capable of detecting the number of turns or the rotation speed, such as a rotation sensor.
After the intelligent control reel sprinkling machine is started, an initial rotation angular speed omega is input from the input module 0 At a constant angular velocity omega, the sprinkler irrigation pipe 4 0 The reel 2 is driven to be recovered under the action of rotation and is regarded as uniform-speed circular motion, and at the moment, the actual time t of one rotation is collected 0 The arc length S actually traversed by the process 0 =ω 0 Rt 0 Form S 0 And t 0 The relationship (2) of (c). The processing module calls a parameter matrix of { layer C, number of turns N, diameter R and arc length S }, and obtains the rotation angular speed omega 0 Time S 0 And t 0 Is compared with the relation between the layer C, the number of turns N of the layer, the diameter R of the layer, the arc length S of the layer and the time T of one turn, so as to judge the layer C where the current sprinkling irrigation water pipe 4 is positioned 0 And the current diameter R is obtained at the same time. Equal parameters, then the processing module recovers the speed v of the sprinkling irrigation water pipe 4 according to actual needs 1 Calculating the corresponding angular velocity value omega 1 。
Angular velocity versus rotational speed ω =2 n, n being the number of revolutions per second. The angular velocity control may be realized by directly controlling the angular velocity value of the output end of the speed reducer 32, or by controlling the rotational velocity of the motor 31, so as to control the rotational velocity of the input end of the speed reducer, and further control the angular velocity value of the output end of the speed reducer 32. Depending on the control method, the motor 31 and/or the decelerator 32 are communicated with the control box 5. And the processing module obtains corresponding command instruction information according to different controls. For example, the speed reducer 32 may be a speed reducer 32 provided with a speed regulating component, or a speed regulating speed reducer.
The output module sends the control instruction informationTo the motor 31 and/or the reducer 32 to jump the reel 2 according to the angular velocity value ω 1 And (4) rotating.
When the sprinkling irrigation water pipe 4 is coiled from the previous layer to the next layer in the coiling process of the sprinkling irrigation water pipe 4, the relation between the arc length S and the duration t is changed, and the processing module automatically calculates and jumps to the corresponding angular speed value.
And stopping winding until the winding is finished.
In this embodiment, because the { layer C, number of turns N, diameter R, arc length S } parameter matrix of intelligence accuse reel sprinkling irrigation machine has already been confirmed when equipment shaping, consequently in subsequent use, need not frequent adjustment, the system predetermine can. During the use, only need set for an initial angular velocity under initial condition, start the rotation, rotate the sensor monitoring reel 2 through rotating and rotate the round, can gather the length of time of rotating the round by oneself in the system, through calling the parameter matrix, can obtain the layer that is located at present and the relevant parameter on this layer. The system can automatically control the reel 2 to adapt to the recorded pipe winding linear speed to be achieved. In the process of jumping layers, the same automatic adaptation makes the whole process, and the speed of receiving the pipe of the sprinkling irrigation water pipe 4 on different layers can tend to and maintain unanimous automatically, makes the shower nozzle the same through the actual time of unit length, and the unit receives the liquid volume unanimous under the sprinkling irrigation area, realizes irrigating even effect.
Of course, this intelligence accuse reel sprinkling irrigation machine can also set for the length of the farmland of treating the sprinkling irrigation and the time of plan sprinkling irrigation through input module, makes this intelligence accuse reel sprinkling irrigation machine automatic matching receive tub speed, through automatic control, accomplishes the sprinkling irrigation effect. The user can be enabled to better plan irrigation operation.
In this embodiment, when the sprinkling operation is interrupted halfway, the system automatically records the parameters before the operation is stopped, and can select the initial parameters for restarting. Therefore, the device does not need to reset the system, manual winding is not necessarily completed under the conditions of stopping operation or faults and the like, and the position of the spray head vehicle is reset when the device is restarted. Therefore, the omission or repeated irrigation can be well avoided, the continuous operation effect is good, and the irrigation uniformity and consistency are better.
Wherein, in order to guarantee the effect of sprinkling irrigation and the safety of sprinkling irrigation, set up the manometer 42 that is used for detecting the hydraulic pressure of intaking on the inlet tube 41 of the water of sprinkling irrigation, this manometer 42 can real-time supervision pressure of intaking to feed back this pressure signal to control box 5. Before the sprinkling irrigation operation is started, the lowest working pressure threshold value of the irrigation operation is input through the input module. When the processing module judges that the water pressure of the water inlet pipe 41 is lower than the minimum working pressure threshold value, the water pressure of the water inlet pipe 41 is insufficient, and at the moment, the water spraying flow at the sprayer vehicle is insufficient, so that the sprinkling operation cannot be carried out. During normal operation, the water supplied by the water inlet pipe 41 is pressurized water, and the pressure threshold condition can be met. When the detected pressure value is lower than the set pressure threshold value during the work, the output module box motor 31 sends out a command for stopping the work. Meanwhile, an alarm is arranged on the intelligent control reel sprinkler and adopts sound alarm and/or light alarm.
As further optimization, for better guarantee of the sprinkling irrigation effect, even on the premise of the same pipe retracting linear speed, if the water pressure of the water inlet pipe is greatly changed, namely the water supply amount in unit time is changed, the liquid receiving amount of the unit under the sprinkling irrigation area is inconsistent, and the uniform irrigation effect cannot be realized. To this end, this intelligent control reel sprinkling irrigation machine judges that manometer 42 detects the water pressure and descends, but not be less than the condition of the minimum pressure threshold value of work at the processing module, can issue control command through output module and reduce the rotational speed of motor 31 or reduction gear 32 to the control reduces the mode of the rotation angular velocity of reel 2, guarantees the uniformity of the effect of sprinkling irrigation.
Of course, the intelligent control reel sprinkling irrigation machine can be shut down manually or by setting the operation time, and the intelligent control reel sprinkling irrigation machine can be shut down when the irrigation time reaches the preset value.
Example 2
As another example, the intelligent control reel sprinkler sets up the linear velocity sensor who is used for gathering 4 removal linear velocities of sprinkling irrigation water pipe, and linear velocity sensor can set up in shower nozzle car department or sprinkling irrigation water pipe 4 and leave the position department of reel 2. When it sets up in the position department that spray irrigation water pipe 4 left reel 2, set up the connecting rod between the outer fringe of the both sides pterygoid lamina 21 of reel 2, the connecting rod setting is in the one side of the process that spray irrigation water pipe 4 retrieved, and does not disturb spray irrigation water pipe 4 and retrieve the department, and linear velocity sensor sets up on the connecting rod. The linear velocity transducer feeds back the acquired signal to the control box 5 and inputs the signal through the input module.
The intelligent control reel sprinkling irrigation machine is characterized in that a parameter matrix of { layer C, number of turns N, diameter R and arc length S } is pre-recorded in the control box 5 through an input module.
After the intelligent control reel sprinkler is started, an initial rotation angular speed omega is input from the input module 0 So that the sprinkling water pipe 4 is at a fixed angular velocity omega 0 The reel 2 is driven to be recovered under the action of rotation and is regarded as uniform-speed circular motion, and at the moment, the linear velocity sensor monitors the moving linear velocity v of the sprinkling irrigation water pipe 4 0 Then the processing module can calculate the diameter R = v of the layer where the current sprinkling irrigation water pipe 4 is located 0 /ω 0 And calling a parameter matrix of { layer C, number of turns N, diameter R and arc length S } so as to judge the layer C where the current sprinkling irrigation water pipe 4 is located. Then the processing module recovers the linear velocity v of the sprinkling irrigation water pipe 4 according to the actual requirement 1 Calculating the corresponding angular velocity value omega 1 。
The output module sends control command information to the motor 31 and/or the reducer 32 to cause the reel 2 to jump according to the angular velocity value ω 1 And (4) rotating.
When the sprinkling irrigation water pipe 4 is coiled from the previous layer to the next layer in the coiling process of the sprinkling irrigation water pipe 4, the angular velocity value is still omega due to the change of R 1 When the linear velocity detected by the linear velocity sensor changes, the processing module automatically recovers the linear velocity v of the sprinkling irrigation water pipe 4 according to actual needs 1 Calculating the corresponding angular velocity value omega 1’ And the output module issues a control instruction to jump to a corresponding angular velocity value.
And stopping winding until the winding is finished.
Of course, the signal monitoring devices in the above embodiments can be used together to achieve better detection accuracy.
The application also discloses a control method of the intelligent control reel sprinkling machine, which comprises the following steps.
And (5) preparing. An external water supply pipe is connected to the water inlet pipe 41. And (3) arranging the sprayer vehicle at an initial position to be sprayed, installing the sprayer and adjusting the angle of the sprayer. The direction that adjustment support frame 1 made reel 2 is unanimous with the direction of sprinkling irrigation water pipe 4 with the shower nozzle car (to the condition that uses the random sprinkling irrigation effect of shower nozzle car that the locomotive of pulling drove this reel 2 sprinkling irrigation machine, need not adjust the uniformity of direction, certainly, also not in the technical problem that this application will solve). The support frame 1 is fixed. Starting an external water supply device, etc.
And (4) presetting parameters. Starting the reel 2 sprinkler; initializing a control box 5; presetting a parameter matrix comprising { layer C, number of turns N, diameter R and arc length S } and an initial rotation angular velocity omega through an input module of the control box 5 0 Minimum working pressure threshold, actual required velocity v of the recovery sprinkler irrigation pipe 4 1 The length of the farmland to be irrigated, the time of planned irrigation, etc.
The reel 2 sprinkler is started. Including starting motor 31, speed reducer 32, opening water inlet pipe 41 valve to supply water, etc. An input module in the control box 5 receives a detection signal of the signal monitoring device, a processing module processes the information, and an output module issues a control instruction to enable the equipment to make adaptive movement or adjustment.
When the layer where the irrigation water pipe is located changes in the irrigation process, the control system in the control box 5 automatically adjusts.
And stopping winding until winding is finished.
This application both can effectual improvement irrigate homogeneity, the uniformity of operation, through perfecting automated control again, through efficient intelligent control, improved efficiency, practiced thrift the power consumption, improved the efficiency.
The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. An intelligent control reel sprinkler comprises a reel, a support frame, a sprinkler irrigation water pipe, a reel driving device and a sprinkler head vehicle; an annular fluted disc protruding out of the outer surface of the wing plate is fixedly arranged on the outer surface of one wing plate of the reel, and the fluted disc and the wing plate are arranged concentrically; the reel driving device can drive the spray irrigation water pipe coiled on the reel to be recycled by driving the fluted disc to rotate; it is characterized in that the preparation method is characterized in that,
the reel driving device comprises a motor and a speed reducer, the motor is in transmission connection with the speed reducer, and the speed reducer is in transmission connection with the fluted disc;
the reel sprinkler also comprises a control box and a signal monitoring device,
the signal monitoring device is used for acquiring a signal of the rotation state of the reel or the movement state of the sprinkling irrigation water pipe and feeding the acquired signal back to the control box;
the control box receives the acquisition signal or inputs information, sends out a control command after processing, and then adjusts the recovery speed of the sprinkling irrigation water pipe by controlling a motor or a speed reducer communicated with the control box.
2. The intelligent reel sprinkler of claim 1,
the signal monitoring device comprises a rotation sensor for collecting rotation of the reel, and the rotation sensor is arranged at the output end of the reel or the fluted disc or the gearbox;
the control box records the actual time length of the rotation sensor for acquiring one rotation.
3. The intelligent reel sprinkler of claim 2,
the rotation sensor adopts any one of a Hall sensor, an encoder and a rotation sensor.
4. The intelligent reel sprinkler of claim 1,
the signal monitoring device comprises a linear velocity sensor used for collecting the moving linear velocity of the sprinkling irrigation water pipe, and the linear velocity sensor is arranged at the position of the sprinkler truck or the position where the sprinkling irrigation water pipe leaves the reel.
5. The intelligent reel sprinkler of claim 4,
a connecting rod is arranged between the outer edges of wing plates at two sides of the reel, and the connecting rod is arranged at one side of a moving path for recovering the sprinkling irrigation water pipe and does not interfere with the recovery of the sprinkling irrigation water pipe;
the linear velocity sensor is arranged on the connecting rod.
6. The intelligent reel sprinkler according to any one of claims 2-5,
the control box is internally provided with an input module, a processing module and an output module which are sequentially communicated, and a storage module communicated with the input module, the processing module and the output module;
the input module can receive information collected by the signal monitoring device, input preset information and store the preset information into the storage module;
the processing module can call the information of the storage module, process the signal received by the input module in real time, and send the processed signal to the input module;
and the input module sends a control command to the engine or the speed reducer according to the processed signal.
7. The intelligent reel sprinkler of claim 6,
the motor adopts a variable frequency motor or a common motor and is provided with a frequency converter;
the speed reducer adopts a speed reducer provided with a speed regulating component or a speed regulating speed reducer.
8. The intelligent reel sprinkler of claim 6,
the intelligent control reel sprinkler is characterized in that a pressure gauge for monitoring the water pressure of inlet water in real time is arranged on a water inlet pipe, and a pressure signal is fed back to a control box;
the intelligent control reel sprinkler is also provided with an alarm device connected with the control box;
a pressure threshold value is preset in the control box,
when the monitored pressure value is smaller than the pressure threshold value, the control box controls the reel driving device to stop driving the fluted disc to rotate and sends an alarm signal to the alarm device;
when the detected pressure value is reduced but not smaller than the pressure threshold value, the control box controls the reel driving device to reduce the rotating speed for driving the fluted disc to rotate, and sends an alarm signal to the alarm device.
9. A control method of an intelligent control reel sprinkler is characterized by comprising the following steps,
starting the reel sprinkler;
initializing a control box;
presetting information;
moving at an initial rotational angular velocity;
the signal monitoring device collects signals and feeds the signals back to the control box;
the control box processes signals;
issuing a control instruction signal;
speed regulation of a motor or a speed reducer;
and (5) stopping rolling.
10. The method for controlling an intelligent reel sprinkler according to claim 9,
the preset information comprises all or part of parameter matrix of { layer C, number of turns N, diameter R, arc length S }, initial rotation angular velocity, pressure threshold, actually required velocity of recovered sprinkling irrigation water pipe, length of farmland to be sprinkled, and planned sprinkling irrigation time.
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| CN2359881Y (en) * | 1998-12-10 | 2000-01-26 | 锦州矿山机器厂 | Mobile capstan type sprinkler |
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| CN106171864A (en) * | 2016-08-31 | 2016-12-07 | 河北农哈哈机械集团有限公司 | A kind of intelligent electric sprinkler with reel |
| CN113207645A (en) * | 2021-05-06 | 2021-08-06 | 江苏德源制泵有限公司 | Sprinkling irrigation pipe recovery speed adjusting device, adjusting method using sprinkling irrigation pipe recovery speed adjusting device and sprinkling irrigation machine |
| CN214709387U (en) * | 2021-05-31 | 2021-11-16 | 黑龙江德沃科技开发有限公司 | Intelligent reel sprinkling irrigation equipment |
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2022
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2359881Y (en) * | 1998-12-10 | 2000-01-26 | 锦州矿山机器厂 | Mobile capstan type sprinkler |
| CN203279600U (en) * | 2013-06-09 | 2013-11-13 | 山东华泰保尔水务农业装备工程有限公司 | Velocity compensation device of sprinkler |
| CN104472320A (en) * | 2014-11-26 | 2015-04-01 | 西北农林科技大学 | Visual reel-type irrigator of water turbine and solar motor combined drive |
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