CN211832241U

CN211832241U - Four-wheel irrigation trolley

Info

Publication number: CN211832241U
Application number: CN202020254774.8U
Authority: CN
Inventors: 潘时佳; 曹晓明; 崔玙璠; 牛子杰
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2020-03-05
Filing date: 2020-03-05
Publication date: 2020-11-03
Anticipated expiration: 2030-03-05

Abstract

The utility model relates to a dolly is irrigated to four-wheel, a serial communication port, be in including walking dolly and setting irrigation equipment, control system and battery on the walking dolly, irrigation equipment passes through the cloud platform setting and is in on the walking dolly, the cloud platform set up in position placed in the middle is gone up to the walking dolly, the cloud platform is driven by steering wheel, connecting rod group and is swung with the axis of walking dolly forward direction of advance, the steering wheel sets up on the walking dolly and with control system connects. The utility model discloses it is small, the flexibility is high, and stability is high, and it is high to spray the precision, and water conservation nature is good, has high practicality.

Description

Four-wheel irrigation trolley

Technical Field

The utility model belongs to the technical field of agricultural irrigation, concretely relates to dolly is irrigated to four-wheel.

Background

At present, the development of water-saving irrigation in China is still basically on manual operation. Due to the limitation of the current agricultural management mode in China, the automatic water-saving irrigation systems in many developed countries are not suitable for China. The per capita freshwater resource of China is far lower than the average level of the world, and the conventional agricultural flood irrigation and furrow irrigation unintentionally bring greater pressure to the resource. The novel irrigation modes such as dropper and spray irrigation are also suitable for large-area continuous vegetation, and the unmanned aerial vehicle has high irrigation cost, has higher requirements on flying space, weather and the like, and is not suitable for planting large-scale plants which are relatively scattered. In conclusion, aiming at automatic identification and water-saving irrigation of large plants such as shrubs or fruit trees, a four-wheel irrigation trolley is designed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a four-wheel irrigation trolley, which is mainly designed for the automatic identification and water-saving irrigation of shrubs or fruit trees and other large plants.

In order to achieve the above purpose, the utility model adopts the following scheme:

the utility model provides a dolly is irrigated to four-wheel, is in including walking dolly and setting irrigation equipment, control system and battery on the dolly of walking, irrigation equipment passes through the cloud platform setting and is in on the dolly of walking, the cloud platform set up in on the dolly of walking position between two parties, the cloud platform is by steering wheel, the axis swing of connecting rod group drive in order to detour the dolly direction of advancing, the steering wheel sets up on the dolly of walking and with control system connects.

Furthermore, the walking trolley comprises a trolley body, wheels are arranged at four corners of the trolley body respectively, distance measuring sensors are arranged on the left side and the right side of the lower portion of the trolley body respectively, and tracking sensors are further arranged on the lower portion of the trolley body.

Further, the wheels are connected with the vehicle body through corresponding suspension devices; the suspension device comprises a spring, a hinge and a fixed connecting piece, one end of the spring is fixedly connected to the side face of the vehicle body, the other end of the spring is fixedly connected with the wheel and the wheel motor through the fixed connecting piece, and the fixed connecting piece is connected with the vehicle body through the hinge.

Furthermore, a plurality of tracking sensors are arranged on the lower part of the vehicle body through a tracking sensor arranging plate; the tracking sensors are divided into four groups and are arranged on the tracking sensor arrangement plate according to the front, the back, the left and the right.

Further, the tracking sensor is a gray sensor.

Further, the irrigation device comprises an irrigation mechanical arm, a water pipe, a water tank and a water pump; the irrigation mechanical arm is connected with the holder in a rotating mode, and a spray head and a visual identification module are arranged at the tail end of the irrigation mechanical arm.

Furthermore, there are two irrigation mechanical arms, and the symmetry sets up on the cloud platform.

Further, the spray head is arranged at the tail end of the irrigation mechanical arm through a spray head support.

Furthermore, the number of the water pumps is multiple, and the number of the spray heads at the tail end of each irrigation mechanical arm is multiple.

Further, the control system comprises a main control panel, an irrigation control panel and a pan-tilt control panel, wherein the irrigation control panel and the pan-tilt control panel are connected with the main control panel; the steering engine is connected with the cradle head control panel, and the cradle head control panel comprises a gyroscope module; the walking trolley is connected with the main control board.

The four-wheel irrigation trolley has the following beneficial effects:

(1) the utility model has the advantages of small volume, high flexibility and the like, and is mainly designed for automatic identification and water-saving irrigation of shrubs, fruit trees and other large plants; the independent suspension device can help the trolley adapt to complex terrain and has considerable advantages on sloping fields; the four-wheel drive can provide enough power for the trolley, improve the flexibility of the trolley and facilitate the trolley to shuttle in irregular terrain; the leveling cradle head device further improves the stability of the trolley, and in the deflection process of the trolley body, the irrigation device can be kept horizontal all the time through the adjustment of the cradle head, so that the rollover possibility of the trolley body can be reduced, the working performance of the visual identification module and the irrigation device can be improved, and the irrigation accuracy is improved.

(2) The utility model discloses in, be provided with the irrigation equipment of bull multi-pump on the walking dolly, can realize spraying of different water yields accurately, have high practicality.

Drawings

FIG. 1: the three-dimensional structure schematic diagram of the four-wheel irrigation trolley in the embodiment of the utility model;

FIG. 2: the utility model discloses a front view of a four-wheel irrigation trolley in the implementation mode;

FIG. 3: the utility model discloses a left view of a four-wheel irrigation trolley in the implementation mode;

FIG. 4: the utility model discloses a top view of a four-wheel irrigation trolley in the implementation mode;

FIG. 5: the structure schematic diagram of the suspension device in the embodiment of the utility model;

FIG. 6: the utility model discloses in the implementation mode the arrangement of the tracking sensor is schematically shown;

FIG. 7: the utility model discloses the connection structure schematic diagram of cloud platform and automobile body among the embodiment.

Description of reference numerals:

1-a walking trolley; 11-a vehicle body; 12-a suspension device; 121-a spring; 122-a hinge; 123-fixed connecting piece; 13-a distance measuring sensor; 14-a tracking sensor arrangement board; 15-a tracking sensor; 16-a wheel; 2-irrigation devices; 21-an irrigation robot arm; 22-spray head and visual identification module; 23-a water tank; 24-a water pump; 3, a tripod head; 4, a steering engine; 5-a linkage; 6, a main control panel; 7-irrigation control board; 8-battery.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

fig. 1 to 7 show a specific embodiment of the four-wheel irrigation trolley of the present invention. Fig. 1 to 4 are schematic structural views of a four-wheel irrigation trolley in the embodiment; fig. 5 is a schematic structural view of a suspension device in the present embodiment; FIG. 6 is a schematic diagram showing the arrangement of tracking sensors in the present embodiment; fig. 7 is a schematic view of a connection structure of the pan/tilt head and the vehicle body in the present embodiment.

As shown in fig. 1 to 7, the four-wheel irrigation trolley in the present embodiment includes a walking trolley 1, an irrigation device 2, a control system and a battery 8, wherein the irrigation device 2, the control system and the battery are arranged on the walking trolley 1, the irrigation device 2 is arranged on the walking trolley 1 through a cradle head 3, the cradle head 3 is arranged at a middle position on the walking trolley 1, the cradle head 3 is driven by a steering engine 4 and a connecting rod group 5 to swing around a central axis of the walking trolley 1 in a forward direction, and the steering engine 4 is arranged on the walking trolley 1 and connected with the control system. The battery 8 supplies power for the walking trolley 1, the irrigation device 2, the control system and the steering engine 4.

Specifically, as shown in fig. 7, the pan-tilt 3 is swingably disposed on the upper surface of the walking trolley 1 and connected to the steering engine 4 through the linkage 5, and the steering engine 4 is disposed on the walking trolley 1 and connected to the control system. The cloud platform 3 is driven by the steering wheel 4 and the connecting rod group 5 to swing around the central axis of the advancing direction of the walking trolley 1, so that the cloud platform 3 is guaranteed to be always horizontal, the water tank 23 and the irrigation mechanical arm 21 on the cloud platform 3 are guaranteed to be always horizontal, and the working stability is improved.

Preferably, the traveling trolley 1 comprises a trolley body 11, wheels 16 are respectively arranged at four corners of the trolley body 11, distance measuring sensors 13 are respectively arranged at the left side and the right side of the lower part of the trolley body 11, and tracking sensors 15 are also arranged at the lower part of the trolley body 11, as shown in fig. 1 to 4.

Preferably, the wheels 16 are connected to the body 11 by respective suspension means 12; the suspension device 12 includes a spring 121, a hinge 122, and a fastening member 123, as shown in fig. 5, one end of the spring 121 is fixedly connected to the side surface of the vehicle body 11, the other end is fixedly connected to the wheel 16 and the wheel motor through the fastening member 123, and the fastening member 123 is connected to the vehicle body 11 through the hinge 122.

In the embodiment, the travelling device of the travelling trolley 1 adopts a four-wheel drive scheme, and is provided with the independent suspension device 12, so that the travelling trolley can easily climb over a sloping field; the walking trolley 1 can accurately move forwards and backwards at different speeds along a preset route by matching with the distance measuring sensor 13 and the tracking sensor 15, and when the deflection angle formed by the axis of the walking trolley and the straight line is larger than a preset value, the angular quantity can be compensated and adjusted.

Preferably, there are a plurality of tracking sensors 15, which are provided at the lower portion of the vehicle body 11 via a tracking sensor arrangement plate 14; the tracking sensors 15 are divided into four groups and arranged on the tracking sensor arrangement plate 14 in the front, rear, left, and right directions, as shown in fig. 6.

In this embodiment, the tracking sensor 15 is a grayscale sensor. The tracking sensor arrangement board 14 is a board which is formed by 16 gray sensors to form a rectangular detection range of 80mm × 80mm, the width of a detection area of a single gray sensor is about 8mm, and the planned road track on the ground can be fed back to the main control board 6 in real time.

Under the action of the distance measuring sensor 13 and the tracking sensor 15, the walking trolley 1 can realize the movement of advancing, retreating, turning and the like according to the planned path.

Preferably, the irrigation device 2 comprises an irrigation robot 21, a water pipe, a water tank 23 and a water pump 24; the irrigation mechanical arm 21 is rotatably connected with the cradle head 3, and the tail end of the irrigation mechanical arm 21 is provided with a spray head and a visual identification module 22, as shown in fig. 1 to 4.

The visual identification module, like openmv, sets up in the terminal plant concrete position that is used for detecting of arm, carries out the analysis according to the image that it detected to judge whether the below has the plant, and then carry out accurate irrigation.

Preferably, there are two irrigation robotic arms 21, symmetrically arranged on the head 3, as shown in fig. 1 to 4.

Preferably, the spray head is arranged at the end of the irrigation arm 21 by means of a spray head holder.

In this embodiment, there are a plurality of water pumps 24, and there are a plurality of spray heads at the end of each irrigation arm 21.

Preferably, the control system comprises a main control panel 6, and an irrigation control panel 7 and a pan-tilt control panel (not shown in the figure) connected with the main control panel 6, wherein the irrigation control panel 7 is connected with the irrigation device 2; the steering engine 4 is connected with a cradle head control panel, and the cradle head control panel comprises a gyroscope module; the gyroscope module of the pan-tilt control panel detects the inclination angle of the vehicle body 11 and adjusts the pan-tilt 3 through the steering engine 4, so that the water tank 3, the irrigation mechanical arm 2 and the like are kept horizontal all the time, and the working stability is improved; the walking trolley 1 is connected with a main control board 6.

The moving mode of the utility model is four-wheel drive, and the independent suspension device is installed, the sprinkling irrigation operation can be carried out on the terrain with complex change, the flexibility is better, and the lower plate of the vehicle body is provided with the tracking sensors which are arranged in a rectangular shape and can move along the preset track; the cradle head can be automatically leveled, and the irrigation devices are arranged on the cradle head, so that the trolley can be ensured to stably run, side turning is reduced, and meanwhile, the structural level of the irrigation mechanical arms on two sides can be kept, and the accuracy of identification and irrigation is improved; irrigation with different water quantities can be realized by controlling the number of the switches of the water pumps.

The utility model discloses a can be at the purpose of the irrigation of setting for the orbit steady traveling, automatic adjustable water yield of relatively uneven topography, have stronger practical value.

The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.

Claims

1. The utility model provides a dolly is irrigated to four-wheel, its characterized in that is in including walking dolly and setting irrigation equipment, control system and battery on the walking dolly, irrigation equipment passes through the cloud platform setting and is in on the walking dolly, the cloud platform set up in on the walking dolly middle position, the cloud platform is swung in order to wind the axis of walking dolly advancing direction by steering wheel, the drive of connecting rod group, the steering wheel sets up on the walking dolly and with control system connects.

2. The four-wheel irrigation trolley as claimed in claim 1, wherein the walking trolley comprises a trolley body, wheels are arranged at four corners of the trolley body, distance measuring sensors are arranged on the left side and the right side of the lower portion of the trolley body, and tracking sensors are arranged on the lower portion of the trolley body.

3. The four-wheeled irrigation trolley as claimed in claim 2, wherein the wheels are connected to the trolley body by respective suspension means; the suspension device comprises a spring, a hinge and a fixed connecting piece, one end of the spring is fixedly connected to the side face of the vehicle body, the other end of the spring is fixedly connected with the wheel and the wheel motor through the fixed connecting piece, and the fixed connecting piece is connected with the vehicle body through the hinge.

4. The four-wheel irrigation trolley as claimed in claim 2 or 3, wherein a plurality of tracking sensors are arranged on the lower part of the trolley body through a tracking sensor arrangement plate; the tracking sensors are divided into four groups and are arranged on the tracking sensor arrangement plate according to the front, the back, the left and the right.

5. The four-wheel irrigation trolley as claimed in claim 4, wherein the tracking sensor is a grayscale sensor.

6. A four-wheeled irrigation trolley according to claim 1, 2, 3 or 5, wherein said irrigation means comprises an irrigation robot, a water pipe, a water tank and a water pump; the irrigation mechanical arm is connected with the holder in a rotating mode, and a spray head and a visual identification module are arranged at the tail end of the irrigation mechanical arm.

7. The four-wheel irrigation trolley as claimed in claim 6, wherein the number of the irrigation mechanical arms is two, and the two irrigation mechanical arms are symmetrically arranged on the cradle head.

8. The four-wheel irrigation trolley as claimed in claim 6, wherein the spray head is arranged at the tail end of the irrigation mechanical arm through a spray head bracket.

9. The four-wheeled irrigation trolley as claimed in claim 6, wherein the number of the water pumps is multiple, and the number of the spray heads at the end of each irrigation mechanical arm is multiple.

10. A four-wheeled irrigation trolley according to claim 1, 2, 3, 5, 7, 8 or 9, wherein said control system comprises a main control panel and an irrigation control panel and a pan-tilt control panel connected to said main control panel, said irrigation control panel being connected to said irrigation device; the steering engine is connected with the cradle head control panel, and the cradle head control panel comprises a gyroscope module; the walking trolley is connected with the main control board.