CN220068468U

CN220068468U - Irrigation control device

Info

Publication number: CN220068468U
Application number: CN202320772354.2U
Authority: CN
Inventors: 刘观华; 刘波; 李香泉; 唐伟荣; 李健珩; 朱礼强; 吴松湖
Original assignee: Guilin Honyuan Technology Co ltd; Jingdezhen University
Current assignee: Guilin Honyuan Technology Co ltd; Jingdezhen University
Priority date: 2023-04-10
Filing date: 2023-04-10
Publication date: 2023-11-24
Anticipated expiration: 2033-04-10

Abstract

The utility model discloses an irrigation control device, which comprises a controller, an external battery power supply, a two-dimensional code identification module, an industrial touch screen, a remote controller, an ultrasonic module, a liquid level sensor infrared distance measurement module, an infrared distance measurement module and a steering motor module, wherein the external battery power supply is connected with the controller; the irrigation control device also comprises a roller and a spraying valve, wherein the roller and the spraying valve are controlled by an output relay; the external battery power supply, the two-dimension code identification module, the industrial touch screen, the remote controller, the external detection communication module, the motor, the roller and the spraying valve are all positioned outside the controller. According to the technical scheme, through the combined navigation mode, the advantages of two-dimensional code navigation positioning and laser ranging accuracy are combined, meanwhile, the cost advantage of ultrasonic ranging obstacle avoidance is considered, various actions can be completed in an unattended state, and automatic irrigation capacity is improved.

Description

Irrigation control device

Technical Field

The utility model relates to the field of control, in particular to a watering control device.

Background

Automatic Guided Vehicle (AGV), the current situation of the automatic irrigation control system of AGV: the domestic AGV technology applied to the agricultural field is becoming more and more popular, but most of the AGVs are applied to transportation and stacking, the AGVs applied to irrigation are not seen, and most of the equipment applied to irrigation work is in a semi-automatic stage.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model discloses an irrigation control device, which comprises a controller, an external battery power supply, a two-dimension code identification module, an industrial touch screen, a remote controller, an external detection communication module and a motor, wherein the external battery power supply is connected with the controller; the irrigation control device also comprises a roller and a spray valve, wherein the roller and the spray valve are controlled by the output relay; the external battery power supply, the two-dimensional code identification module, the industrial touch screen, the remote controller, the external detection communication module, the motor, the roller and the spraying valve are all positioned outside the controller;

the two-dimensional code identification module, the industrial touch screen and the remote controller are used for inputting instructions to the controller; the external detection communication module is used for interactively transmitting information with the controller; the controller controls the output relay to drive the roller and the spray valve to act.

The irrigation control device further comprises a moving end, wherein the moving end is positioned outside the controller and is in wireless connection with the controller;

the controller comprises a Bluetooth communication module and a microprocessor, wherein the microprocessor and the Bluetooth control module are both positioned in the controller, the Bluetooth communication module is connected with the microprocessor, and the Bluetooth communication module is in wireless connection with the mobile terminal.

The irrigation control device further comprises an industrial touch screen, wherein the industrial touch screen is positioned outside the controller and is connected with the PLC interface;

the controller also comprises a 232 communication interface, wherein the 232 communication interface is positioned in the controller and connected with the microprocessor, the 232 communication interface is connected with the PLC interface, and the 232 communication interface is connected with the two-dimensional code identification module.

The remote controller comprises a wireless remote controller and a wired remote controller;

the controller also comprises an input port and a wireless communication module, wherein the input port and the wireless communication module are positioned in the controller and are connected with the microprocessor, the input port is connected with the wired remote controller, and the wireless communication module is connected with the wireless remote controller.

The controller also comprises a power interface, wherein the power interface is positioned in the controller and is electrically connected with the external battery power supply.

The controller also comprises a data storage module which is positioned in the controller and connected with the microprocessor.

The controller also comprises a relay output module which is positioned in the controller and connected with the microprocessor, and the relay control module is used for controlling the actions of the roller and the spraying valve.

The external detection communication module comprises an ultrasonic module, an infrared ranging module, a liquid level sensing module and a steering motor module which are positioned outside the controller;

the controller also comprises a 485 communication interface, wherein the 485 communication interface is positioned in the controller and connected with the microprocessor, and the 485 communication interface is connected with the ultrasonic module, the infrared ranging module, the liquid level sensing module and the steering motor module.

The input port is provided with an optical coupling isolation, and the button signal of the wired control handle is obtained through the optical coupling isolation.

The relay output module is driven by a built-in 12VMOSFET and used as a switch to control the motor.

The device disclosed by the utility model has the following advantages:

the combined navigation mode of 'ultrasonic obstacle avoidance+two-dimensional code positioning+laser ranging' is adopted, the advantages of two-dimensional code navigation positioning and laser ranging accuracy are combined, the cost advantage of ultrasonic ranging obstacle avoidance is considered, and the combined navigation mode is combined with an actual application scene, so that AGV navigation is more accurate, path planning is more flexible, and the cost performance is higher compared with the cost performance of the current domestic navigation mode such as vision, GPS or Beidou navigation mode. All actions can be completed in an unattended state from the beginning to the end of the operation; the Android upper computer man-machine interaction APP based on Bluetooth communication is set, and the requirements of control and debugging are more conveniently met compared with the traditional upper computer.

Description of the drawings:

in order to more clearly illustrate the technical solution of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described.

FIG. 1 is a functional block diagram of a system for controlling irrigation in accordance with the present utility model.

FIG. 2 is a power circuit of the irrigation control device of the present utility model.

Fig. 3 shows a 4-way output interface of the irrigation control device of the present utility model.

FIG. 4 is a data storage circuit of the irrigation control device of the present utility model.

Fig. 5 shows a bluetooth interface and a wireless remote control module of the irrigation control device according to the present utility model.

FIG. 6 is an RS232 communication module of the irrigation control device of the present utility model.

FIG. 7 shows a voltage detection module of the irrigation control device of the present utility model.

FIG. 8 is an optocoupler isolation module of the irrigation control device of the present utility model.

Fig. 9 is a 485 communication module of the irrigation control device of the present utility model.

FIG. 10 is a circuit of the MCU system of the irrigation control device of the present utility model.

Detailed Description

The following will describe the technical scheme of the embodiment of the utility model clearly and completely;

wherein the orientation of the utility model is based on the structural position of the drawings of the utility model, and the connection of the utility model comprises direct connection and indirect connection.

The utility model discloses an irrigation control device, which comprises a controller, an external battery power supply, a two-dimension code identification module, an industrial touch screen, a remote controller, an external detection communication module and a motor, wherein the external battery power supply is connected with the controller; the irrigation control device also comprises a roller and a spray valve, wherein the roller and the spray valve are controlled by the output relay; the external battery power supply, the two-dimensional code identification module, the industrial touch screen, the remote controller, the external detection communication module, the motor, the roller and the spraying valve are all positioned outside the controller;

the two-dimensional code identification module, the industrial touch screen and the remote controller are used for inputting instructions to the controller; the external detection communication module is used for interactively transmitting information with the controller; the controller controls the output relay to drive the roller and the spraying valve to act.

The controller also comprises a relay output module which is positioned in the controller and connected with the microprocessor, and the relay control module is connected with the motor and used for controlling the roller and the action of the spray valve.

The relay output module is driven by a built-in 12VMOSFET and used as a switch to control the motor;

specifically: 1. description of the functions: automatic Guided Vehicle (AGV)

Under the action of the digital control device, the functions of self-checking, multichannel serial port communication, intelligent obstacle avoidance, automatic cruising, irrigation and the like of each functional module powered on by the AGV are mainly realized.

2. The digital control device mainly comprises the following seven parts:

(1) 3-path RS232 communication interface part: the first path of external industrial touch screen realizes the functions of local control and data display, the second path of external Bluetooth module is connected with the mobile phone APP to realize the functions of wireless control and display, the two paths of serial communication protocols are MODBUS-RTU, and the controller software is realized in a Direct Memory Access (DMA) mode, so that the controller software has the technical characteristics of occupying no more CPU; the third path is communicated with the two-dimensional code scanning module, and the two-dimensional code scanning recognition function is realized according to the communication protocol of the code scanning module.

(2) A central processing unit (MCU) section: the chip model is STM32F407VGT6, is a 32-bit microcontroller based on Cortex-M4 kernel, has the highest main frequency of 168MHz, adopts an ART accelerator, an intelligent power consumption control technology and an intelligent low power consumption technology unique to an Italian semiconductor company, and can ensure high performance and high efficiency in a low power consumption state. A DMA controller with a plurality of channels, a plurality of timers, a plurality of USART, SPI, I C and other interfaces; meanwhile, various external memory interfaces, such as an SDIO interface, an SPI interface and the like, are supported, so that the data storage function of an external chip is realized, a 256KB Flash memory and a 128KB SRAM memory are very suitable for high-performance application scenes.

(3) Input interface and wireless handle control part: the input interface is externally connected with the operating handle, 5 input points are arranged, a button signal externally connected with the wired control handle is obtained through optical coupler isolation, and the position of the AGV can be manually corrected or the operation of the AGV can be operated; the wireless handle is remotely controlled, and a stable 315M wireless communication module is adopted to communicate with a wireless remote controller, so that the left-right steering, advancing, retreating and scram of the digitizing device are realized.

(4) An output interface section: the board is integrated with 10 paths of MOSFET output interfaces, wherein 4 paths of MOSFET output interfaces can be externally connected with a 12V normally open relay and can be used as a switch to control the forward, backward, scram and on-off of the spray valve module of the 4-wheel direct current speed regulating motor of the AGV.

(5) A power interface section: the power is supplied by a 20V-30V direct current lithium battery, and the input voltage is converted into direct current 5V voltage, 12V voltage and 3.3V voltage required by a system circuit module in the controller.

(6) A data storage section: the W25Q16 data storage chip with the SPI interface is adopted, so that the storage function of the system operation basic parameters is realized.

(7) Multipath 485 communication part: the ultrasonic sensing, infrared ranging, liquid level sensor and 4 steering brushless direct current motor drivers realize data interaction with the MCU through 485 interfaces; the ultrasonic ranging is used for realizing distance measurement with lower precision, so that the obstacle avoidance function is realized; the infrared distance measurement is used for ensuring high-precision distance measurement when the AGV linearly operates; the automatic water adding function at the corresponding water supplementing position and the alarm function of too low liquid level in the irrigation operation process are ensured by adopting liquid level measurement; the angle at which the steering motor operates is adjusted by communicating with the steering motor.

3. The AGV automatic irrigation system comprises the following operation steps:

before starting, the trolley manually adjusts and operates to an original position (the position is provided with a corresponding two-dimensional code mark), and water is automatically replenished to a preset value water level.

(1) Starting, namely starting self-checking after the AGV steering motor returns to zero, checking and communicating the main control system with modules such as ultrasonic wave, infrared detection and liquid level sensing, and detecting an origin if the communication is normal, otherwise stopping the AGV at the original position and alarming; origin detection: and judging whether the AGV is at the origin or not according to the preset infrared ranging parameters and whether the origin code is read, and if so, enabling the self-checking to enter a ready state.

(2) After the AGV completes self-checking, irrigation operation of a plurality of channels can be completed according to parameter configuration, and automatic water supplementing can be performed at a plurality of water supplementing points of the water supplementing channels. The following takes a working flow of an irrigation channel as an example, and the specific steps are as follows:

(2-1) starting from the original point code position (or the water supplementing code), the AGV forwards runs until the spraying code is read, and a spraying switch is started to perform spraying operation; meanwhile, starting the right infrared distance measurement and forward ultrasonic wave, spraying ultrasonic wave distance measurement functions on the arm, performing irrigation operation according to preset safe driving parameters, suspending operation and alarming if the device encounters an obstacle, and keeping straight line operation in an irrigation channel according to a built-in operation algorithm;

(2-2) the AGV advances to the end of the irrigation channel and reads the backward code, the trolley retreats and keeps the spray switch and the infrared ranging and the tail ultrasonic ranging on;

(2-3) the AGV retreats and reads the spraying code again, and the trolley closes the spraying switch and the right infrared ranging; continuously backing to the state that the steering code is read, stopping backing by the AGV, rotating the 4 wheels by 90 degrees simultaneously, then moving horizontally leftwards, starting rear-side infrared ranging to keep the trolley to run straight, starting left-side ultrasonic waves to range, and realizing the obstacle avoidance function;

(2-4) the AGV horizontally moves left to read the steering code of the next irrigation channel, the trolley pauses to move and 4 wheels return to zero, and then the AGV backwards moves to find the water supplementing code and complete automatic water supplementing;

and (2-5) the trolley pauses to run and waits for water replenishment, the liquid level height is read in real time at the moment, and when the liquid level height reaches a preset value, the AGV trolley automatically starts to advance and repeatedly starts the irrigation operation of the next irrigation channel.

Remarks: the preset value appearing in the process can be set on the APP of the industrial touch screen or the Android mobile phone.

Description: the AGV pauses operation and alarms when encountering obstacles in the irrigation operation process until the obstacles are relieved and the irrigation operation is continued; in the process, the infrared ranging keeps the principle of straight running of the trolley: the infrared distance measurement deviates from a preset value, and the AGV can adjust the traveling direction of the trolley according to an algorithm so as to keep traveling in a straight line.

(3) After the last irrigation channel finishes the operation, when the AGV retreats to read the steering code, the AGV pauses to travel and rotates for 90 degrees at the same time, the trolley runs to the right, the rear side infrared ranging is started to keep straight running, and no reaction is caused when any code is read in the middle; and when the AGV reads the transfer code of the first irrigation channel, the trolley pauses to travel and returns to zero for 4 wheels, then starts to travel back to the original point code position, stops running and enters a standby state, and the operation of all irrigation channels of the greenhouse is completed.

As shown in fig. 2: a power supply circuit: the controller mainly provides 5V, 12V and 3.3V voltages for the internal circuit of the controller, and provides power for each sensor module, the code scanner and the relay.

As shown in fig. 3: output interface: the controller designs 10 paths of MOSFET outputs, 4 paths of the MOSFET outputs are externally connected with 12V normally open relays, and the MOSFET outputs can be used as switches for controlling the AGV to advance, retreat, scram and start and stop of a spray valve module.

As shown in fig. 4: a data storage circuit: the operating parameters and basic configuration parameters store functions.

As shown in fig. 5: USART bluetooth interface and wireless remote control module: the wireless remote control module is used for being externally connected with the Bluetooth module and realizing data communication with the Android mobile phone, and the wireless remote control module is used for carrying out data communication with the wireless remote controller.

As shown in fig. 6: RS232 communication module: and the data communication with the industrial touch screen and the two-dimensional code identification module is realized.

As shown in fig. 7: the voltage detection module: the method is used for detecting whether the input voltage of the system is in the working voltage range.

As shown in fig. 8: an optical coupling isolation input module: the button signal of the external wired handle is obtained through optical coupling isolation.

As shown in fig. 9: 485 communication module: the data communication with modules such as ultrasonic wave, infrared detection, liquid level sensing, steering motor and the like is realized, and one path of 485 communication isolation module is taken as an example.

As shown in fig. 10: the main MCU circuit: STM32F407VGT6 is used as the main core chip, and the minimum system design is shown in FIG. 10.

The method disclosed by the utility model has the following advantages:

Claims

1. The irrigation control device is characterized by comprising a controller, an external battery power supply, a two-dimensional code identification module, an industrial touch screen, a remote controller, an external detection communication module and a motor, wherein the external battery power supply, the two-dimensional code identification module, the industrial touch screen, the remote controller, the external detection communication module and the motor are connected with the controller; the irrigation control device also comprises a roller and a spraying valve, wherein the roller and the spraying valve are controlled by an output relay; the external battery power supply, the two-dimensional code identification module, the industrial touch screen, the remote controller, the external detection communication module, the motor, the roller and the spraying valve are all positioned outside the controller;

2. The irrigation control device of claim 1 wherein the irrigation control device further comprises a mobile terminal in communication, the mobile terminal being located outside the controller and the mobile terminal being in wireless communication with the controller;

the controller comprises a Bluetooth communication module and a microprocessor, wherein the microprocessor and the Bluetooth communication module are both positioned in the controller, the Bluetooth communication module is connected with the microprocessor, and the Bluetooth communication module is in wireless connection with the mobile terminal.

3. The irrigation control device of claim 2 further comprising an industrial touch screen, the industrial touch screen being located outside the controller, the industrial touch screen being connected to a PLC interface;

the controller also comprises a 232 communication interface, wherein the 232 communication interface is positioned in the controller and connected with the microprocessor, the 232 communication interface is connected with a PLC interface, and the 232 communication interface is connected with the two-dimensional code identification module.

4. A watering control according to claim 3, wherein the remote control comprises a wireless remote control, a wired remote control;

5. The irrigation control device of claim 4 wherein the controller further comprises a power interface, the power interface being located within the controller, the power interface being electrically connected to the external battery power source.

6. A watering control according to claim 5 wherein the controller further comprises a data storage module located within the controller and connected to the microprocessor.

7. The irrigation control device of claim 6 wherein the controller further comprises a relay output module located within the controller and coupled to the microprocessor, the output relay control module controlling the operation of the roller and the spray valve.

8. The irrigation control device of claim 7 wherein the external detection communication module comprises an ultrasonic module, an infrared ranging module, a liquid level sensing module, a steering motor module located outside the controller;

9. The irrigation control device of claim 8 wherein the input port is provided with an optocoupler isolation by which the button signal of the wired remote control is obtained.

10. A watering control according to claim 9, wherein the output relay output module is driven by a built-in 12V MOSFET as a switch to control the roller and valve.