CN116349589A

CN116349589A - Irrigation system and method

Info

Publication number: CN116349589A
Application number: CN202310590356.4A
Authority: CN
Inventors: 方槐敏; 孙伟峰; 戴高乐; 陈双印; 李新帅; 程松鹤; 杨小磊; 孙冬霞; 汤帅; 董杜; 王皓
Original assignee: Luoyang Vision Technology Co ltd
Current assignee: Luoyang Vision Technology Co ltd
Priority date: 2023-05-24
Filing date: 2023-05-24
Publication date: 2023-06-30

Abstract

The invention discloses a water conservancy irrigation system and a water conservancy irrigation method, wherein the water conservancy irrigation system comprises a walking trolley, a vision camera, a spray head, a high-pressure water tank and a control valve are arranged on the walking trolley, the high-pressure water tank is communicated with the spray head through a pipeline, and the pipeline is provided with the control valve. The beneficial effects are that: the irrigation system disclosed by the invention utilizes an unmanned technology to control the travelling trolley to travel on the field, and utilizes the vision camera to acquire the position of crops in the field, and then controls the spray head to accurately spray a certain amount of water to the crops, so that water resources are not wasted, the spraying speed is high, the efficiency is high, and the travelling trolley does not need to stop in the whole process, so that the irrigation is efficient and quick, the irrigation system has excellent water-saving performance, no pipe network is required to be buried in the field, the cost is low, and the soil preparation is not influenced.

Description

Irrigation system and method

Technical Field

The invention relates to the field of irrigation, in particular to an irrigation system and an irrigation method.

Background

In the prior art, large water flood irrigation is adopted to irrigate farmlands indiscriminately in the water conservancy irrigation, and the irrigation method is simple, convenient and quick to operate, high in irrigation speed and efficiency, but has obvious defects, wastes water, and is difficult to apply for areas with insufficient water resources for a long time.

Of course, there are irrigation methods with good water saving performance such as sprinkling irrigation and drip irrigation in the prior art, but all the methods need to embed a pipe network in the field in advance, so that the cost is high, the soil preparation is affected, and the method is not practical.

Disclosure of Invention

The invention mainly aims to provide a water conservancy irrigation system and a water conservancy irrigation method, and aims to solve the problems in the background art.

In order to solve the problems, the invention provides a water conservancy irrigation system which comprises a walking trolley, wherein a vision camera, a spray head, a high-pressure water tank and a control valve are arranged on the walking trolley, the high-pressure water tank is communicated with the spray head through a pipeline, and the pipeline is provided with the control valve.

In one embodiment, the walking trolley comprises a chassis and a plurality of belt wheels rotatably arranged on two sides of the chassis, and the belt wheels are connected through crawler transmission;

the chassis is internally provided with a first driving motor in transmission connection with the belt wheel, and the belt wheel positioned on the same side of the chassis is in transmission connection with the same first driving motor.

In an embodiment, a first hub motor is arranged in the case, the first hub motor rotates around a vertical axis, a first turntable is fixedly arranged at the upper end of the first hub motor, and the upper end face of the first turntable extends out of the case and is connected with the vision camera, the spray head, the high-pressure water tank and the control valve.

In one embodiment, the first turntable is fixedly connected with the vision camera through the first mounting plate.

In an embodiment, the first mounting plate that has set firmly on the revolving stage, install a plurality of in-wheel motor two on the mounting plate, in-wheel motor two is around vertical axial rotation, in-wheel motor two's upper end has set firmly the revolving stage two, set firmly the mounting bracket on the revolving stage two, set firmly driving motor two on the mounting bracket, driving motor two's output shaft links to each other with the shower nozzle is fixed, drives the inclination of shower nozzle rotation adjustment shower nozzle through driving motor two.

In one embodiment, a plurality of spray heads are arranged in a straight line along the traveling direction of the traveling trolley.

In an embodiment, a containing box and a driving motor III are fixedly arranged on the case, a roller is rotatably arranged at the upper end of the containing box, and the driving motor III is in transmission connection with the roller.

In an embodiment, a column is fixedly arranged on the first rotary table, the high-pressure water tank is fixedly arranged at the upper end of the column, and control valves with the same number as the spray heads are fixedly arranged on the high-pressure water tank.

In an embodiment, a camera is arranged on the walking trolley.

In addition, the invention also provides a water conservancy irrigation method, which adopts the water conservancy irrigation system described in any one of the above to execute the following steps:

the walking trolley is controlled to walk in the field, and the planting position of crops is obtained by using a vision camera;

and controlling the driving motor II to drive the spray head to rotate according to the planting position of the crops to adjust the spraying angle, and opening the control valve when the spray head is aligned to the crops to spray water to the crops.

The beneficial effects are that: the irrigation system disclosed by the invention utilizes an unmanned technology to control the travelling trolley to travel on the field, and utilizes the vision camera to acquire the position of crops in the field, and then controls the spray head to accurately spray a certain amount of water to the crops, so that water resources are not wasted, the spraying speed is high, the efficiency is high, and the travelling trolley does not need to stop in the whole process, so that the irrigation is efficient and quick, the irrigation system has excellent water-saving performance, no pipe network is required to be buried in the field, the cost is low, and the soil preparation is not influenced.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a irrigation system according to the present invention;

FIG. 2 is a schematic diagram of a second embodiment of the irrigation system of the present invention;

FIG. 3 is an internal block diagram of the chassis of the present invention;

fig. 4 is a schematic diagram of a irrigation system according to the present invention.

The reference numerals are explained as follows:

1. a chassis; 2. driving a first motor; 3. a gear set; 4. a belt wheel I; 5. a belt wheel II; 6. a track; 7. a wheel axle; 8. a shaft seat; 9. a hub motor I; 10. a thrust bearing; 11. a turntable I; 12. a platen; 13. a first mounting plate; 14. a vision camera; 15. a second mounting plate; 16. a hub motor II; 17. a second turntable; 18. a mounting frame; 19. a second driving motor; 20. a mounting ring; 21. a spray head; 22. a third mounting plate; 23. a housing box; 24. a roller; 25. a third driving motor; 26. a column; 27. a high pressure water tank; 28. a second pipe joint; 29. a control valve; 30. a first pipe joint; 31. a camera is provided.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The invention provides a water conservancy irrigation system, which utilizes an unmanned technology to control a travelling trolley to walk on a field, and simultaneously utilizes a vision camera 14 to acquire the position of crops in the field, and then controls a spray head 21 to accurately spray a certain amount of water aiming at the crops, so that water resources are not wasted, the spraying speed is high, the efficiency is high, and the travelling trolley does not need to stop in the whole process, so that irrigation is efficient and quick, not only has excellent water-saving performance, but also does not need to embed a pipe network in the field, and the cost is low and the soil preparation is not influenced.

Specifically, in an embodiment of the invention, as shown in fig. 1-4, the irrigation system comprises a walking trolley, the walking trolley has an unmanned function and can walk on the ground by itself, one of the specific forms of the walking trolley is shown in fig. 1-4, the irrigation system comprises a case 1 and a plurality of pulleys rotatably mounted on two sides of the case 1 through a wheel shaft 7, the pulleys are in transmission connection through a crawler 6, the walking trolley can also walk rapidly in a soft ground with good off-road performance, as shown in fig. 3, a driving motor 1 connected with the pulleys in transmission is arranged in the case 1, in order to enable the walking trolley to obtain larger torque and good off-road performance, as shown in fig. 3, the driving motor 2 is connected with the wheel shaft 7 in transmission, in order to enable the walking trolley to bend smoothly, as shown in fig. 3, the pulleys on the same side of the case 1 are in transmission connection with the same driving motor 2, the pulleys on two sides of the case 1 are also connected with the two driving motors 2, and the pulleys on the two sides of the case 1 are in different rotation speeds of the case 1 are controlled to rotate at different rotation speeds.

In this embodiment, as shown in fig. 1-4, the pulley includes a pulley one 4 and a pulley two 5, and the pulley one 4 is a driving wheel.

In this embodiment, as shown in fig. 3, an axle seat 8 is fixed in the chassis 1, a lower end rotating shaft of a first hub motor 9 and a thrust bearing 10 are fixed on the axle seat 8, the first hub motor 9 is stably rotated around a vertical axis through the thrust bearing 10, the first hub motor 9 is vertically arranged and can rotate around the vertical axis, a first turntable 11 is coaxially and fixedly installed at the upper end of the first hub motor 9, and the first turntable 11 can be driven to rotate around the vertical axis after the first hub motor 9 is started.

In this embodiment, as shown in fig. 1-4, a platen 12 is fixedly installed at the upper end of the chassis 1, the first turntable 11 penetrates the platen 12 and extends out from the upper surface of the platen 12, as shown in fig. 1-4, the first turntable 11 is fixedly provided with a first mounting plate 13 and a second mounting plate 15, the first mounting plate 13 is fixedly provided with a vision camera 14, and the vision camera 14 can shoot images of one side in front of the travelling trolley, so that when the travelling trolley travels parallel to the crops in parallel between two rows of crops, the vision camera 14 can just shoot images of one row of crops continuously, the vision camera 14 transmits the shot image information to a processor in the chassis 1, and the processor acquires the position information of each crop, and then controls the spray nozzle 21 to spray water to the root of the crop, thereby realizing precise irrigation and saving water resources;

after one row of crops are irrigated, the first rotary table 11 is controlled to rotate 180 degrees, so that the vision camera 14 and the spray head 21 move to the other side of the travelling trolley, and then the travelling trolley returns to the original path, so that the other row of crops can be irrigated.

In this embodiment, as shown in fig. 1-4, the first turntable 11 is fixedly provided with a second mounting plate 15, the second mounting plate 15 is provided with a plurality of second hub motors 16, and the second hub motors 16 are arranged in a straight line along the traveling direction of the traveling trolley, so that the plurality of spray heads 21 can simultaneously spray water to irrigate a plurality of crops in a row of crops.

In this embodiment, as shown in fig. 1-4, the second hub motors 16 rotate around the vertical axis, the upper end of each second hub motor 16 is fixedly provided with a second turntable 17, the second turntable 17 rotates around the vertical axis under the drive of the second hub motors 16, each second turntable 17 is fixedly provided with a mounting frame 18, each mounting frame 18 is fixedly provided with a second driving motor 19, the second driving motors 19 are horizontally arranged, an output shaft of each second driving motor 19 is fixedly connected with a mounting ring 20, a spray head 21 is fixedly inserted into the mounting ring 20, and the spray head 21 is driven to rotate by the second driving motors 19 to adjust the inclination angle of the spray head 21 so as to adapt to crops with different distances between the travelling trolley.

In this embodiment, when the travelling trolley travels parallel to the crops in parallel between two rows of crops, the processor obtains the position information of each crop, and then the processor controls the driving motor two 19 to drive the spray heads 21 to rotate to adjust the positions of the spray heads 21 through the controller, so that the spray heads 21 aim at the crops, and as a plurality of spray heads 21 are arranged in a straight line along the travelling direction of the travelling trolley, the plurality of spray heads 21 can spray water simultaneously for irrigation for a plurality of crops in one row of crops, thereby greatly accelerating irrigation efficiency.

After one row of crops is irrigated, the wheel hub motor I9 drives the rotary table I11 to rotate 180 degrees, so that the vision camera 14 and the spray head 21 move to the other side of the travelling trolley, the vision camera 14 can shoot an image of one row of crops on the other side of the travelling trolley, the spray head 21 can spray water to the row of crops, then the travelling trolley is controlled to return in a primary way, the vision camera 14 can shoot an image of one row of crops on the other side of the travelling trolley, the processor acquires the position information of each crop according to the image information, and then the driving motor II 19 is controlled to drive the spray head 21 to rotate to adjust the position of the spray head 21, so that the spray head 21 aims at the crops, and irrigation can be carried out on the other row of crops.

Therefore, the irrigation system of the embodiment controls the travelling trolley to reciprocate once between two rows of crops, and can finish water spraying irrigation operation on the two rows of crops on two sides of the travelling trolley.

In this embodiment, as shown in fig. 1-4, the accommodating box 23 and the driving motor three 25 are fixedly arranged on the bedplate 12, the mounting plate three 22 is fixedly arranged at the upper end of the accommodating box 23, the roller 24 is rotatably arranged on the mounting plate three 22, the water hose can be wound on the roller 24, one end of the water hose is communicated with the water delivery vehicle positioned at the ground, water is pumped into the water delivery hose by the water delivery vehicle, the middle part of the water delivery hose is wound on the roller 24, the other end of the water delivery hose is spirally arranged in the accommodating box 23, the driving motor three 25 is in transmission connection with the roller 24, the roller 24 is driven to rotate by the driving motor three 25, the water delivery hose wound on the roller 24 is unfolded in a rotating way, the unfolding length of the water delivery hose is ensured to adapt to the position of the walking trolley, namely, the walking trolley is also walked on one side, and the water delivery hose wound on the roller 24 is unfolded on one side, so that the water delivery trolley stopped at the ground can be continuously supplied with water by the water delivery vehicle, the water delivery irrigation system, the trouble of the walking trolley of the water delivery irrigation system is saved, the walking trolley is not required to be in a large size, the walking trolley is not required to be in a walking trolley, and the walking trolley is further is not required to be in a walking trolley, and the walking trolley is in a walking process is in a large size, and the walking trolley is required to be in a walking state.

In this embodiment, the travelling trolley uses the electric energy to control the driving motor one 2 to rotate to drive the travelling trolley to travel in the field, the electric energy required by the operation of the driving motor one 2 can be provided by a battery or can be provided by an electric wire, the battery can be placed in the case 1, the electric wire can be bundled with the water transmission hose, and the roller 24 controls the electric wire to be unfolded, so that the electric wire is prevented from being pulled by the travelling trolley, the travelling resistance of the travelling trolley is reduced, the travelling energy consumption of the travelling trolley is further reduced, and the electric energy is saved.

In the present embodiment, the water hose and the electric wire wound around the drum 24, which are rotatably unwound from the drum 24, are placed on the ground, and the water hose and the electric wire wound around the housing box 23 are wound around the drum 24 while the drum 24 is rotatably unwound from the drum 24; when the roller 24 rotates reversely to unwind the water hose and the electric wire placed on the ground onto the roller 24 (at the moment, the corresponding travelling trolley returns along the original path), the water hose and the electric wire wound on the roller 24 are unwound and placed back into the accommodating box 23, and the design does not influence the water hose to supply water to the spray head 21 and the electric wire to supply power to the irrigation system, can avoid the water hose and the electric wire to influence (i.e. pull or block) the travelling trolley to move, is beneficial to reducing the travelling resistance of the travelling trolley, further reduces the travelling energy consumption of the travelling trolley and saves electric energy.

In this embodiment, as shown in fig. 1-4, the first turntable 11 is fixedly provided with the upright post 26, the upper end of the upright post 26 is fixedly provided with the high-pressure water tank 27, the high-pressure water tank 27 is provided with the pipe joint two 28, one end of the water delivery hose positioned in the accommodating tank 23 extends out of the accommodating tank 23 and is communicated with the pipe joint two 28, so that the water delivery vehicle positioned in the field can continuously fill water into the high-pressure water tank 27 through the water delivery hose, the high-pressure water tank 27 always keeps in a full water state (a water pump is arranged in the water tank of the water delivery vehicle and pumps water into the water delivery hose through the water pump), the trouble of adding water into the high-pressure water tank 27 regularly is omitted, irrigation time is saved, and irrigation efficiency is improved.

In this embodiment, as shown in fig. 1 to 4, the high-pressure water tank 27 is fixedly provided with control valves 29 the number of which is equal to that of the spray heads 21, each control valve 29 is provided with a first pipe joint 30, and the first pipe joint 30 is communicated with the spray heads 21 through another water delivery hose, so when the high-pressure water tank 27 is always kept in a full water high-pressure state, the control valve 29 is opened, water in the high-pressure water tank 27 is sprayed from the spray heads 21, and after the control valve 29 is closed, the spray heads 21 stop spraying water, so the water spraying time of the spray heads 21, namely the water spraying amount, can be controlled by controlling the opening and closing of the control valve 29.

According to the irrigation system of the embodiment, the upright post 26, the high-pressure water tank 27 and the control valve 29 are arranged on the first turntable 11, the control valve 29 controls the spray heads 21 to spray water, the high-pressure water tank 27 supplies water for the spray heads 21, the water hose in the containing box 23 supplies water for the high-pressure water tank 27, the problem that water delivery is unsmooth due to the fact that the water hose is wound and knotted in the rotating process of the first turntable 11 is avoided, the downward pressure of the first mounting plate 13 and the second mounting plate 15 on the first turntable 11 is balanced, and the uneven pressing of the first turntable 11 is avoided.

The irrigation system of this embodiment is because having adopted the water hose to last to supply water for the irrigation system, consequently need not regularly to add water in the high-pressure water tank 27, has practiced thrift the irrigation time, has promoted irrigation efficiency.

In this embodiment, the travelling bogie has an unmanned function, so a plurality of cameras 31 may be disposed on the travelling bogie, the travelling bogie is controlled to travel by analyzing the shooting information of the cameras 31 through the processor, so as to realize unmanned operation, and of course, a plurality of radars, or a combination of the radars and the cameras 31 may also be disposed to realize unmanned operation of the travelling bogie.

s1, controlling a travelling trolley to travel in the field, preferably, controlling the travelling trolley to travel in the field by adopting a conventional unmanned technology;

s2, in the field walking process of the walking trolley, the vision camera 14 is utilized to obtain the planting position of each crop in one row of crops on one side of the walking trolley, specifically, the vision camera 14 shoots image information, and the processor carries out identification processing on the image information to obtain the planting position of each crop in one row of crops;

s3, controlling the driving motor II 19 to drive the spray head 21 to rotate according to the planting position of crops to adjust the spraying angle, when the spray head 21 aims at the crops, controlling the control valve 29 to be opened, enabling the spray head 21 to spray water to the crops, inputting the water spraying quantity into a computer of a water conservancy irrigation system in advance by manpower, after the water spraying quantity of the spray head 21 reaches a set value, controlling the control valve 29 to be closed, and controlling the control valve 29 to be opened again when the spray head 21 aims at the next crop, so that the spray head 21 sprays water to the crops.

In this embodiment, when the instantaneous water spray flow of the spray head 21 is large, and irrigation to a single crop can be completed in a short time, the travelling trolley can realize continuous travelling without stopping irrigation, and of course, continuous travelling without stopping irrigation can be realized by arranging a plurality of spray heads 21, so that irrigation efficiency is improved.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. The utility model provides a irrigation system, its characterized in that, includes the walking dolly, be provided with vision camera, shower nozzle, high-pressure water tank, control valve on the walking dolly, high-pressure water tank passes through pipeline intercommunication shower nozzle, be provided with the control valve on the pipeline.

2. The irrigation system as in claim 1, wherein the travelling trolley comprises a chassis and a plurality of pulleys rotatably mounted on both sides of the chassis, the plurality of pulleys being connected by a track drive;

3. The irrigation system as claimed in claim 2, wherein a first hub motor is arranged in the case, the first hub motor rotates around a vertical axis, a first turntable is fixedly arranged at the upper end of the first hub motor, and the upper end surface of the first turntable extends out of the case and is connected with the vision camera, the spray head, the high-pressure water tank and the control valve.

4. A irrigation system according to claim 3, wherein the first turntable is fixedly connected to the vision camera by a first mounting plate.

5. A irrigation system according to claim 3, wherein the first rotary table is fixedly provided with a second mounting plate, the second mounting plate is provided with a plurality of second hub motors, the second hub motors rotate around a vertical axis, the second rotary table is fixedly arranged at the upper ends of the second hub motors, the second rotary table is fixedly provided with a mounting frame, the mounting frame is fixedly provided with a second driving motor, an output shaft of the second driving motor is fixedly connected with the spray head, and the second driving motor drives the spray head to rotate so as to adjust the inclination angle of the spray head.

6. A irrigation system as in claim 5 wherein the plurality of spray heads are arranged in a line along the direction of travel of the travelling cart.

7. A irrigation system according to claim 3, wherein the housing is fixedly provided with a housing box and a third driving motor, the upper end of the housing box is rotatably provided with a roller, and the third driving motor is in transmission connection with the roller.

8. The irrigation system as recited in claim 7, wherein the first turntable is fixedly provided with a column, the high-pressure water tank is fixedly arranged at the upper end of the column, and the high-pressure water tank is fixedly provided with control valves with the same number as the spray heads.

9. A irrigation system as in claim 1, wherein the travelling trolley is provided with a camera.

10. A method of irrigation, wherein the irrigation system according to any of claims 1-9 is used to perform the steps of: