WO2022203569A1

WO2022203569A1 - Automated watering system

Info

Publication number: WO2022203569A1
Application number: PCT/SE2022/050262
Authority: WO
Inventors: Xiatao Wang; Lars Sparf
Original assignee: Archerfish Ab
Priority date: 2021-03-25
Filing date: 2022-03-20
Publication date: 2022-09-29

Abstract

A watering system including a housing, a platform rotatable above the housing in a degree of azimuth, brackets extending upward from the platform, a nozzle mounted between the brackets rotatable in a degree of elevation, a first motor and gears configured to rotate the platform, a second motor and gears configured to rotate the nozzle, and a processor mounted in the housing controlling activation of the first and second motors, wherein the second motor gears include first and second meshed bevel gears, wherein the first bevel gear is rotated parallel to the platform, and independent of the platform rotation, and the second bevel gear is attached to the platform and is translated with the platform rotation, whereby the second bevel gear rotates about the center of the platform according to a differential between the rotation of the platform and the rotation of the first bevel gear.

Description

AUTOMATED WATERING SYSTEM

FIELD OF THE INVENTION

[0001] The field of the present invention is watering and irrigation systems.

BACKGROUND OF THE INVENTION

[0002] Irrigation is the controlled application of water for agricultural purposes through manmade systems to supply water requirements not satisfied by rainfall. Crop irrigation is vital throughout the world in order to provide the world's ever-growing populations with enough food. Sprinkler/spray irrigation is the method of applying water to a controlled manner in that is similar to rainfall. The water is distributed through a network that may include pumps, valves, pipes, and sprinklers. Irrigation sprinklers can be used for residential, industrial, and agricultural usage. [0003] Rotor sprinklers include a gear-driven body and nozzle that emits a fan-out stream of water, with uneven distribution across the sprinkler throw distance, through a vertical-to-the-ground opening slit in the nozzle. Rotor sprinklers have a low precipitation rate, so that they cover more area over a longer period of time, allowing time for water absorption. Rotor sprinklers typically have a longer throw than other types of sprinkler. Rotor sprinklers rotate the nozzle by fluid pressure, and are affected by recoil of the water pumped out of the sprinkler. Typically, rotor sprinkler systems need to be manually adjusted to optimize coverage. It would be advantageous to provide a rotor sprinkler with increased throw and less recoil than prior art rotor sprinklers. It would also be advantageous to enable watering route changes without requiring manual changes to the sprinkler. These advantages are enabled by the invention disclosed hereinbelow. SUMMARY

[0004] The present disclosure relates to watering and irrigation systems. [0005] There is thus provided in accordance with an embodiment of the present invention a watering system including a stationary housing, a platform mounted above the housing with a first rolling bearing to enable rotation in a degree of azimuth, upright brackets extending upward from the platform, a nozzle mounted between the brackets with a second rolling bearing to enable rotation in a degree of elevation, wherein the center of the nozzle is on the same line that is perpendicular to the elevation rotation axis, a first motor mounted in the housing, a first gear system connecting the first motor to the platform, configured to rotate the platform in a degree of azimuth, a second motor mounted in the housing, a second gear system connecting the second motor to the nozzle configured to rotate the nozzle in a degree of elevation, comprising first and second meshed bevel gears, wherein the first bevel gear is rotated parallel to the platform, and independent of the platform rotation, by the second motor, wherein the second bevel gear is attached to the platform and is translated with the platform rotation, whereby the second bevel gear rotates about the center of the platform according to a differential between the rotation of the platform and the rotation of the first bevel gear, wherein rotation of the nozzle in a degree of elevation is driven by the second bevel gear.

[0006] According to further features in embodiments of the invention, the watering system further includes a processor mounted in the housing controlling activation of the first and second motors.

[0007] According to further features in embodiments of the invention, at least one gear in the first gear system and at least one gear in the second gear system have the same pitch diameter to facilitate the processor to track the azimuth and elevation angles of the nozzle based on rotations of the first and second motors. [0008] According to still further features in embodiments of the invention, the second gear system further includes a first timing pulley rotated by the meshed bevel gears, a second timing pulley rotating the nozzle, and a timing belt running over the first and second sprockets.

[0009] According to still further features in embodiments of the invention, a ratio of rotations between the first and second meshed bevel gears is equal to a ratio of rotations between the second sprocket and the first sprocket.

[0010] According to still further features in embodiments of the invention, the watering system includes a tube, for transmitting water from a water source to the nozzle, extending through the center of the platform, the tube including a first tube portion in the housing, and a second tube portion above the platform connected to the nozzle in a manner configured to allow the nozzle to rotate around an axis at the center of the second tube portion's cross section, wherein the second portion is configured to rotate around an axis at the center of the first portion's cross section.

[0011] According to further features in embodiments of the invention, the watering system includes a poppet valve connected to an inlet to the first tube portion, comprising a movable stem regulating flow pressure through the valve and into the tube, wherein stem movement is controlled by the processor, and a pressure sensor attached to the first tube portion near an outlet of the poppet valve, measuring flow pressure through the tube, and providing flow pressure feedback to the processor.

[0012] According to further features in embodiments of the invention, the first tube portion and the pressure sensor are configured to enable the pressure sensor to be repeatedly attached to and detached from the first tube portion.

[0013] According to further features in embodiments of the invention, the poppet valve is configured such that there is a substantially linear relationship between the distance traveled by the stem and the resulting change in pressure.

[0014] According to still further features in embodiments of the invention, the nozzle has an elongated shape and includes a cylindrical outlet at one end of the nozzle, a seal at the other end of the nozzle, an inlet along a side of the nozzle between the outlet and the seal, receiving water from the second tube portion, a plurality of parallel tubes inside the nozzle each parallel tube extending from above the seal to below the outlet, whereby water entering the nozzle through the inlet travels toward the seal, into the parallel tubes and out the outlet in a laminar flow generated by the parallel tubes.

[0015] According to further features in embodiments of the invention, inner walls of the nozzle above the parallel tubes are smooth to reduce turbulence for water flowing out of the nozzle.

[0016] According to further features in embodiments of the invention, the parallel tubes vary in at least one of size, shape and length, to achieve an even speed of water flowing through the parallel tubes, to enhance the laminar effect.

[0017] According to further features in embodiments of the invention, the watering system includes a barrier between the platform and the housing preventing water above the platform from entering into the housing.

[0018] According to further features in embodiments of the invention, the housing is configured for modular attachment and detachment from the platform.

[0019] According to further features in embodiments of the invention, the platform is a portable fixture.

[0020] According to still further features in embodiments of the invention, the platform is attached to a stake inserted into the ground. [0021] According to still further features in embodiments of the invention, the housing and the platform are configured for modular insertion and removal from a cavity equipped with a water source.

[0022] According to still further features in embodiments of the invention, the watering system is configured to enable multiple revolutions of the platform in the azimuth direction and multiple revolutions of the nozzle in the elevation direction.

[0023] According to further features in embodiments of the invention, the watering system is characterized in that there are no electrical wires above the platform.

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be more fully understood and appreciated from the following detailed description, taken in conjunction with the drawings in which:

[0025] FIG. 1 is a front perspective view of a sprinkler for a watering system, in accordance with an embodiment of the present invention;

[0026] FIG. 2 is a rear perspective view of the sprinkler of FIG. 1, in accordance with an embodiment of the present invention;

[0027] FIG. 3 is a front view of the the sprinkler of FIG. 1 with its outer housing removed, in accordance with an embodiment of the present invention;

[0028] FIG. 4 is a cross-sectional view of the upper portion of the sprinkler of FIG. 1, in accordance with an embodiment of the present invention;

[0029] FIG. 5 illustrates a poppet valve in the sprinkler of FIG. 1, wherein FIG. 5A is a front view of the valve, FIG. 5B is a side view of the valve, and FIG. 5C is a cross-section of the valve, in accordance with an embodiment of the present invention;

[0030] FIG. 6 illustrates an electronic control system for a watering system, in accordance with an embodiment of the present invention;

[0031] FIG. 7 illustrates software designed to enable a distributed software with interconnect-ability for a watering system, in accordance with an embodiment of the present invention; and

[0032] FIG. 8 is a flow diagram for software designed to enable a distributed software with interconnect-ability for a watering system, in accordance with an embodiment of the present invention.

[0033] In the disclosure and figures, the following numbering scheme is used. Like numbered elements are similar but not necessarily identical.

DETAILED DESCRIPTION

[0035] Reference is made to FIG. 1, showing a watering system in accordance with embodiments of the invention. The watering system nozzle 108 is configured to rotate freely in both pan and tilt directions. Pan rotation is performed by rotating platform 102, on which bracket 103 is mounted, by a motor and a respective set of gears inside housing 101. Tilt rotation is performed by a pulley that includes sprocket wheels 105 and 107 and timing belt 106. Sprocket wheel 105 is rotated by bevel gear 120 that rotates about the center of platform 102 according to a differential between the rotation of platform 102 and the rotation of gear 125, shown in FIG.3, inside housing 101.

[0036] The watering system includes platform 102 mounted above housing 101 with a first rolling bearing that enables rotation in a degree of azimuth. Upright brackets 103,113 extend upward from platform 102. Nozzle 108 is mounted between brackets 103 and 113 with a second rolling bearing to enable rotation in a degree of elevation, and the center of the nozzle 108 is on the same line that is perpendicular to the elevation rotation axis. Water enters nozzle 108 via the 104 and exits nozzle 108 through aperture or opening 110.

[0037] Reference is made to FIG.2, showing the watering system of FIG. 1 from the rear. FIG.2 shows seal 109 at the rear of nozzle 108. In certain embodiments of the invention, water travels upward through a pipe at the center of housing 101, into pipe 104 and from pipe 104 into the rear of nozzle 108. The water stream is output through opening 110 at the front of nozzle 108. In other embodiments of the invention, pipe 104 is connected to nozzle 108 at the middle of the elongated nozzle body, opposite bracket 103. Nozzle 108 includes two concentric, cylindrical portions. Water enters the outer cylindrical portion from pipe 104 and travels to rear seal 109 where the water is redirected through the inner cylindrical portion to output aperture 110. This second configuration eliminates pipe portion 112 and thus the space between brackets 103 and 113 can accommodate a wider nozzle 108, namely, a nozzle as wide as the space between brackets 103 and 113.

[0038] In embodiments of the invention according to the second configuration, the pipe transmitting water from a water source to nozzle 108 includes a first pipe portion 142 in housing 101 and a second pipe portion 143 above platform 102. The distal end of pipe portion 143 is connected to nozzle 108 in a manner configured to allow nozzle 108 to rotate around an axis at the center of the pipe portion 143 cross section, wherein pipe portion 143 is configured to rotate around an axis at the center of the pipe portion 141 cross section.

[0039] Reference is made to FIG. 3, showing tilt motor 127, pan motor 128, and their respective gears, valve 129 and processor 175 controlling all of the above. Pan motor 128 rotates pan pinion 123, that rotates pan gear 122, affixed to platform 102. Thus, motor 127 rotates platform 102 and attached brackets 103 and 113. Pan swivel 131 allows pipe 104 to rotate freely above horizontal tilt bevel gear 120. Horizontal tilt bevel gear 120 moves independent of platform 102, as explained below with respect to FIG. 4. However, vertical bevel gear 120, attached to bracket 113, rotates together with platform 102.

[0040] Tilt motor 127 rotates tilt pinion 124, that rotates tilt gear 125, which rotates horizontal bevel gear 120, causing vertical bevel gear 120 to rotate according to the differential between the rotation of platform 102 and the rotation of vertical bevel gear 120. As vertical bevel gear 120 controls sprocket wheel 105, moving timing belt 106, rotating sprocket wheel 107, rotates nozzle 108 in a degree of elevation.

[0041] Reference is made to FIG. 4 which is a cross section of the upper part of the watering system of the present invention. Elements related to pan rotation are: pan swivel seat 150, pan swivel spindle 153, pan swivel seal 154, outer bearing 156 and pan gear 157. Elements related to tilt rotation are: tilt gear ring 151, tilt bevel gear 120, tilt bevel pinion 152, inner bearing 155 and tilt gear 158. Water travels upward through pile portions 141 - 143 into nozzle 108.

[0042] A plurality of parallel tubes 140 are formed along the length of nozzle 108, inside the nozzle, each parallel tube extending from above seal 109 to below nozzle outlet 110, whereby water entering the nozzle travels through parallel tubes 140 and out outlet 110 in a laminar flow generated by parallel tubes 140. The inner walls of nozzle 108 above the tips of parallel tubes 140 are smooth to reduce turbulence for water flowing out of the nozzle. Furthermore, in certain embodiments of the invention, parallel tubes 140 vary in at least one of size, shape and length, to achieve an even speed of water flowing through the parallel tubes, to enhance the laminar effect.

[0043] In certain embodiments of the invention, all electronic components and motors are inside housing 101. In order to prevent water above platform 102 from entering into housing 101, a barrier is mounted between platform 102 and the interior of housing 101. In certain embodiments of the invention, housing 101 is configured for modular attachment and detachment from platform 102. In certain embodiments of the invention, platform 102 is a portable fixture. In certain embodiments of the invention, platform 102 is attached to a stake inserted into the ground. In certain embodiments of the invention, housing 101 and platform 102 are configured for modular insertion and removal from a cavity equipped with a water source.

[0044] The watering system of the present invention as described is thus configured to enable multiple revolutions of platform 102 in the azimuth direction and multiple revolutions of nozzle 108 in the elevation direction, and also that there are no electrical wires above platform 102. Unlimited movement in all directions ensures that the machine does not clash with itself under any circumstances, and also enables continuous rotation. Continuous rotation is an important feature for certain use cases.

[0045] Reference is made to FIGS.5A - 5C illustrating poppet valve 129 connected to an inlet to pipe 104, including a movable stem to regulate flow pressure through the valve and into pipe 104, and pressure sensor 170 attached to first pipe portion 141 near an outlet of poppet valve 129, measuring flow pressure through the pipe. The valve stem is moved by motor 171.

[0046] Valve 129 includes valve gear hub 160, valve gear 161, valve motor pinion 162, valve stem 163, valve stem bushing 164, anti-rotation pin 165, valve stem seal 166, valve spring 167, valve poppet 168, valve seat 169 and pressure sensor 170 at the valve outlet.

[0047] The watering system of the present invention is controlled by processor 175 configured to direct specific amounts of water to specific areas and locations by rotating nozzle 108 in both pan and tilt directions, by controlling motors 127 and 128, to direct the water stream output to target locations, and also by controlling the water pressure exiting nozzle 108 by controlling movement of valve stem 163 by motor 171 based on flow pressure feedback from sensor 170. In certain embodiments of the invention the poppet valve is configured such that there is a substantially linear relationship between the distance traveled by valve stem 163 and the resulting change in pressure. The purpose of this feature is to make valve 129 a linear proportional valve that can be controlled by processor 175 without input from sensor 170.

[0048] In certain embodiments of the invention, tilt gear 125 and pan gear 122 have the same pitch diameter to facilitate processor 175 in tracking the azimuth and elevation angles of nozzle 108 based on rotations of motors 127 and 128.

[0049] In certain embodiments of the invention, the ratio of rotations between meshed bevel gears 120 is equal to the ratio of rotations between sprocket wheel 107 and sprocket wheel 105 to facilitate processor 175 in tracking the elevation angle of nozzle 108 based on rotations of motors

127 and 128.

[0050] Reference is made to FIG. 6 illustrating three interconnected subsystems in a watering system according to the present invention, namely, (1) a mechatronic subsystem that includes pan and tilt feedback loop 200 and valve feedback loop 220, (2) embedded subsystem 230 and (3) application subsystem 240. The mechatronic subsystem includes motors 201, 202 and 221, rotary encoders 203 and 204, and sensors 205, 206 and 222 - 224. Rotary encoders 203 and 204, and sensors 205, 206 and 222 - 224, send feedback to embedded CPU 236 via sensor interface 234, in response to which, CPU 236 controls motor drivers 231 - 233. Real-time clock (RTC) is also shown in embedded subsystem 230. The embedded subsystem is controlled by application subsystem 240, featuring CPU 241, memory 242, 243, and connectivity such as Bluetooth 245 and wifi 244.

[0051] Reference is made to FIG. 7 illustrating a software design strategy for a distributed and interconnectable system. There are five parts in the system: (1) software for the main control board 340, 341 to deal with the embedded real-time subsystem; (2) software for the application subsystem, including runner 360 and configurator 380; (3) software that provides a user interface through a web browser or app; (4) software running on computers for professional production and maintenance; and (5) software for cloud services. Parts 3 - 5 are illustrated by remote access element 300. Simulator 320 enables advanced modeling for configuring the system. In this system, part 1 is mandatory whereas parts 2 to 5 provide added functionality and an improved user experience. The software is designed to be autonomous after an initial setup, by responding to environmental changes in real time and making adjustments to the mechanical devices in response to the water pressure, temperature and other environmental changes. The software is further designed to be very versatile in terms of configuration changes and communication, enabling over-the-air software updates and upgrades, unit-cloud and inter-unit communication, coordination among units. In certain embodiments the system remains connected to a remote application and continuously streams status to the connected device, enabling analysis to be summarized and presented to the user to configure further optimizations on this and other systems.

[0052] Reference is made to FIG. 8 illustrating program flow beginning with power on and initialization steps 400 - 406, followed by setup 420 and task runner 430 with interrupt handler 440.

[0053] In the foregoing specification, the invention has been described with reference to specific exemplary embodiments thereof. It will, however, be evident that various modifications and changes may be made to the specific exemplary embodiments without departing from the broader spirit and scope of the invention. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.

Claims

CLAIMS What is claimed is:

1. A watering system comprising: a stationary housing; a platform mounted above said housing with a first rolling bearing to enable rotation in a degree of azimuth; upright brackets extending upward from said platform; a nozzle mounted between said brackets with a second rolling bearing to enable rotation in a degree of elevation, wherein the center of the nozzle is on the same line that is perpendicular to the elevation rotation axis; a first motor mounted in said housing; a first gear system connecting said first motor to said platform, configured to rotate said platform in a degree of azimuth; a second motor mounted in said housing; a second gear system connecting said second motor to said nozzle configured to rotate said nozzle in a degree of elevation, comprising first and second meshed bevel gears, wherein the first bevel gear is rotated parallel to said platform, and independent of the platform rotation, by said second motor, wherein the second bevel gear is attached to said platform and is translated with the platform rotation, whereby the second bevel gear rotates about the center of said platform according to a differential between the rotation of said platform and the rotation of the first bevel gear, wherein rotation of said nozzle in a degree of elevation is driven by said second bevel gear.

2. The watering system of claim 1, further comprising a processor mounted in said housing controlling activation of said first and second motors.

3. The watering system of claim 2, wherein at least one gear in said first gear system and at least one gear in said second gear system have the same pitch diameter to facilitate said processor to track the azimuth and elevation angles of said nozzle based on rotations of said first and second motors.

4. The watering system of claim 3, wherein said second gear system further comprises: a first timing pulley or sprocket wheel rotated by said meshed bevel gears; a second timing pulley or sprocket wheel rotating said nozzle; and a timing belt running over said first and second sprocket wheels.

5. The watering system of claim 4, wherein a ratio of rotations between said first and second meshed bevel gears is equal to a ratio of rotations between said second sprocket and said first sprocket.

6. The watering system of claim 3, further comprising a pipe, for transmitting water from a water source to said nozzle, extending through the center of said platform, the pipe comprising: a first pipe portion in said housing; and a second pipe portion above said platform connected to said nozzle in a manner configured to allow said nozzle to rotate around an axis at the center of the second pipe portion's cross section, wherein the second portion is configured to rotate around an axis at the center of the first portion's cross section.

7. The watering system of claim 6, further comprising: a poppet valve connected to an inlet to said first pipe portion, comprising a movable stem regulating flow pressure through the valve and into said pipe, wherein stem movement is controlled by said processor; and a pressure sensor attached to said first pipe portion near an outlet of said poppet valve, measuring flow pressure through said pipe, and providing flow pressure feedback to said processor.

8. The watering system of claim 7, wherein said first pipe portion and said pressure sensor are configured to enable said pressure sensor to be repeatedly attached to and detached from said first pipe portion.

9. The watering system of claim 7, wherein said poppet valve is configured such that there is a substantially linear relationship between the distance traveled by said stem and the resulting change in pressure.

10. The watering system of claim 6, wherein said nozzle has an elongated shape and comprises: an cylindrical outlet at one end of the nozzle; a seal at the other end of the nozzle; an inlet along a side of said nozzle between said outlet and said seal, receiving water from said second pipe portion; a plurality of parallel tubes inside the nozzle each parallel tube extending from above said seal to below said outlet, whereby water entering said nozzle through said inlet travels toward said seal, into the parallel tubes and out said outlet in a laminar flow generated by the parallel tubes.

11. The watering system of claim 10, wherein inner walls of said nozzle above said parallel tubes are smooth to reduce turbulence for water flowing out of said nozzle.

12. The watering system of claim 10, wherein said parallel tubes vary in at least one of size, shape and length, to achieve an even speed of water flowing through said parallel tubes, to enhance the laminar effect.

13. The watering system of claim 6, further comprising a barrier between said platform and said housing preventing water above said platform from entering into said housing.

14. The watering system of claim 6, wherein said housing is configured for modular attachment and detachment from said platform.

15. The watering system of claim 6, wherein said platform is a portable fixture.

16. The watering system of claim 6, wherein said platform is attached to a stake inserted into the ground.

17. The watering system of claim 6, wherein said housing and said platform are configured for modular insertion and removal from a cavity equipped with a water source.

18. The watering system of claim 6, configured to enable multiple revolutions of said platform in the azimuth direction and multiple revolutions of said nozzle in the elevation direction.

19. The watering system of claim 6, characterized in that there are no electrical wires above said platform.