WO2023169016A1

WO2023169016A1 - Air-ground integrated intelligent sprinkler irrigation robot

Info

Publication number: WO2023169016A1
Application number: PCT/CN2022/136814
Authority: WO
Inventors: 赵立军; 李强; 黎斌; 吕程; 龚练; 刘颖
Original assignee: 重庆文理学院
Priority date: 2022-03-10
Filing date: 2022-12-06
Publication date: 2023-09-14
Also published as: CN114467713A; LU503314B1; CN114467713B

Abstract

Provided is an air-ground integrated intelligent sprinkler irrigation robot, which can be used in cooperation with an unmanned aerial vehicle, and comprises: a locomotion system (1), a balancing system (2), an irrigation system (3), and a control system (4). By wirelessly connecting a controller (43) to the unmanned aerial vehicle, taking the advantage of a wide field of view of the unmanned aerial vehicle, a specific drought region in a certain district can be accurately obtained and a signal is transmitted to the controller (43), so that the controller (43) controls a water-saving irrigation device (32) to accurately irrigate a key region; by mounting two lower photoelectric sensors (42) on two sides of the front end of a base plate (11) in the traveling direction, and mounting electric control lifting and lowering devices (22) on two sides of a middle-layer plate (21), the two photoelectric sensors (22) can detect whether the ground on two sides of the advancing direction of the base plate (11) is level, and transmit a signal to the controller (43), and the controller (43) regulates, according to transmitted ground information, the lifting and lowering of the two electric control lifting and lowering devices (22), thereby ensuring that the irrigation system (3) mounted on a top plate (31) remains level, and improving irrigation accuracy.

Description

Air-ground integrated intelligent sprinkler irrigation robot

Technical field

The invention relates to the field of irrigation agricultural equipment, and in particular to an air-ground integrated intelligent sprinkler irrigation robot.

Background technique

Today, as agricultural machinery becomes intelligent, more and more agricultural planting and agricultural irrigation are handed over to robots, thereby freeing human hands and improving the level of agricultural intelligence.

However, some irrigation robots that have appeared on the market do not obtain accurate information and cannot complete operations independently. They still require manual backend work step by step. They can only irrigate large areas, causing serious waste of water resources. They have poor adaptability to complex terrain and are difficult to put into normal operation. In application.

Therefore, how to provide an air-ground integrated intelligent sprinkler irrigation robot is an urgent problem that those skilled in the art need to solve.

Contents of the invention

The invention provides an air-ground integrated intelligent sprinkler irrigation robot, which solves the technical problems of existing irrigation robots with inaccurate irrigation information, serious waste of water resources and inability to adapt to complex terrain.

The technical solution of the present invention to solve the above technical problems is as follows. An air-ground integrated intelligent sprinkler irrigation robot can be used in conjunction with a drone, including: a walking system, a balancing system, an irrigation system and a control system.

The walking system includes a base plate, a plurality of wheels and a wheel motor. The plurality of wheels are respectively arranged on both sides of the base plate; the wheel motor is fixed at the bottom of the base plate and is drivingly connected to the plurality of wheels;

The balance system includes a middle layer board and at least two electronically controlled lifting devices. The middle layer board is fixed in parallel above the bottom plate through a mounting column; at least two of the electronically controlled lifting devices are respectively along the traveling direction perpendicular to the bottom plate. fixed on both sides of the middle layer board;

The irrigation system includes a top plate and an irrigation device. The top plate is arranged in parallel above the middle plate and its bottom surface is fixed on the lifting ends of the two electronically controlled lifting devices; the irrigation device is fixed on the top plate;

The control system includes a battery, a lower photoelectric sensor and a controller. The battery is fixed on the bottom plate. The two lower photoelectric sensors are fixed on both sides of the front end of the bottom plate in the direction of travel. The controller is fixed on the bottom plate. The base plate is electrically connected to the wheel motor, at least two electronically controlled lifting devices, the irrigation device, the battery, and the lower photoelectric sensor. The controller is connected to the UAV. Wireless connections.

The beneficial effects of the present invention are: by wirelessly connecting the controller to the drone, the drone can take advantage of the wide field of view to accurately obtain the specific drought area in a certain area and transmit the signal to the controller, which facilitates the controller to control the drought area. Water irrigation devices accurately irrigate key areas;

By installing two lower photoelectric sensors on both sides of the front end of the base plate in the direction of travel, and installing electronically controlled lifting devices on both sides of the middle board, the two photoelectric sensors can detect whether the ground on both sides of the base plate in the direction of travel is level, and transmit the signal To the controller, the controller regulates the lifting and lowering of the two electronically controlled lifting devices based on the transmitted ground information, thereby ensuring that the irrigation system installed on the roof remains level and improving the accuracy of sprinkler irrigation.

On the basis of the above technical solution, the present invention can also make the following improvements.

Further, there are a plurality of wheel motors, and the plurality of wheel motors are respectively fixed on both sides of the bottom of the bottom plate and are respectively connected to the plurality of wheels one by one.

Further, at least two of the electronically controlled lifting devices include a steering gear bracket, a balance steering gear, a steering gear connector, a lifting frame, an upper limit rod and a lower limit rod,

At least two of the steering gear brackets are respectively fixed on both sides of the middle plate along the direction of travel perpendicular to the bottom plate; at least two of the balance servos are respectively fixed inside the two steering gear brackets and both are connected to the two steering gear brackets. The controller is electrically connected; one end of at least two steering gear connectors is vertically connected to the output shaft of the two balance servos respectively; at least two lifting frames are arranged vertically and their bottom ends Fixed at the other end of the two steering gear connectors, at least two of the lifting frames are respectively provided with two upper limit holes and two lower limit holes corresponding to the upper and lower parts of the top plate; at least two of the upper limit holes The position rod and the two lower limiting rods are detachably inserted into the two upper limiting holes and the two lower limiting holes respectively.

Further, the lifting frame includes a connecting rod and two lifting rods. The two lifting rods are arranged vertically and their bottom ends are fixed at both ends of the connecting rod. The two lifting rods are provided with the upper limit. position hole and the lower limit hole; the steering gear connection piece includes two connecting plates, with output shafts extending from both ends of the balanced steering gear, and one end of the two connecting plates is vertically connected to each other. On the output shafts at both ends of the balance steering gear, the other ends are respectively fixed on both ends of the connecting rod.

Description of the operating principle of the electronically controlled lifting device: The controller controls the rotation of the balance servo. The output shafts at both ends of the balance servo drive one end of the connecting rod to rotate. The other end of the connecting rod swings up and down and drives the lifting rod to rise and fall. Since the lifting rod corresponds to There are upper and lower limit holes above and below the top plate. The upper and lower limit rods can be detached and inserted into the upper and lower limit holes respectively. The lifting rod that moves up and down can drive one side of the top plate to move up and down, thus ensuring The top plate is always level.

Further, the irrigation device includes a water tank, a water pump, a pan/tilt steering gear, a pan/tilt, support beams, corner pieces, beams and two water spray devices,

The water tank is fixed on the top plate; the water pump is placed in the water tank; the pan-tilt steering gear is fixed on the middle part of the top plate; the pan-tilt is arranged in parallel above the top plate and is driven in the middle Connected to the output shaft of the pan/tilt servo; the bottom end of the support beam is vertically fixed on the pan/tilt platform; the corner piece is fixed on the top of the support beam; the cross beam is vertically fixed on the base plate. The direction of travel is vertically fixed at the top of the corner piece; the two water spray devices are respectively fixed at both ends of the beam; the controller is respectively connected to the water pump, the pan/tilt steering gear and the two The sprinkler device is electrically connected.

Further, the control system further includes two upper photoelectric sensors and two camera devices, and the two upper photoelectric sensors and the two camera devices are fixed on both sides of the top plate along the direction perpendicular to the traveling direction of the bottom plate. On one side, the two upper photoelectric sensors and the two camera devices are electrically connected to the controller.

The beneficial effects of adopting the above technical solution are: when the water-saving irrigation robot is driving, the two upper photoelectric sensors are normally open and the two camera devices are normally closed. The two normally open upper photoelectric sensors can detect whether there is obstruction on both sides of the roof and will The detection signal is transmitted to the controller, and the controller turns on the two camera devices based on the occlusion signal, and determines whether it is vegetation based on the information observed by the camera devices. When it is determined to be vegetation, the controller turns on the irrigation device to spray the vegetation.

Further, there are two water pumps, and there are two independent water storage cavities inside the water tank, and the two water pumps are respectively arranged in the two water storage cavities,

Both of the water spray devices include a nozzle steering gear, a three-claw nozzle bracket and three nozzles,

The two nozzle servos are respectively fixed at both ends of the beam; the two three-claw nozzle brackets are respectively connected to the two nozzle servos; the six nozzles are respectively installed on the two three-claw nozzles. On the claw nozzle bracket, one of the water pumps is connected to one of the two nozzle heads of the two three-claw nozzle brackets, and the other water pump is connected to the other two nozzles of the two three-claw nozzle brackets; The controller is electrically connected to the two water pumps and the two nozzle servos respectively.

The beneficial effect of adopting the above technical solution is that the water spray device at one end of the beam is connected to two water pumps, one water pump is connected to one nozzle in the water spray device, and the other water pump is connected to the other two nozzles in the water spray device, so that the water spray device can The water device uses three different irrigation modes: single sprinkler, double sprinkler or triple sprinkler for different vegetation.

Further, the irrigation system also includes a pan-tilt bracket, a rotating link and two sliding columns. The pan-tilt bracket is fixed on the top plate corresponding to the outer peripheral side of the pan-tilt steering gear and the top surface thereof corresponds to the pan-tilt. There is a through hole below, and the top surface of the pan/tilt bracket is provided with an annular track corresponding to the outer peripheral side of the through hole; the rotating connecting rod is vertically connected to the pan/tilt rudder corresponding to the upper part of the through hole. The output shaft of the machine passes through one end of the through hole, and both ends of the rotating connecting rod are provided with installation grooves; the two sliding columns are placed vertically in the two installation grooves and their bottom ends are slidingly connected In the circular track, the bottom surface of the platform is vertically fixed on the tops of the two sliding columns.

The beneficial effect of adopting the above technical solution is that the pan-tilt bracket, rotating connecting rod and two sliding columns can support the pan-tilt, avoid shaking during the rotation of the pan-tilt, and improve the structural stability of the water-saving irrigation robot.

Further, the control system further includes a voltage reduction module, which is fixed on the base plate and electrically connected to the controller.

The beneficial effect of adopting the above technical solution is that the voltage reduction module can reduce the internal current and voltage of the control system, thereby protecting various components in the control system and extending the service life of the control system.

Description of the drawings

Figure 1 is a schematic three-dimensional structural diagram of the air-ground integrated intelligent sprinkler irrigation robot of the present invention;

Figure 2 is a schematic front view of the air-ground integrated intelligent sprinkler irrigation robot of the present invention;

Figure 3 is a side structural schematic diagram of the air-ground integrated intelligent sprinkler irrigation robot of the present invention;

Figure 4 is a schematic structural diagram of the electronically controlled lifting device in the air-ground integrated intelligent sprinkler irrigation robot of the present invention;

Figure 5 is a schematic diagram of the internal structure of the electronically controlled lifting device in the air-ground integrated intelligent sprinkler irrigation robot of the present invention;

Figure 6 is a schematic diagram of the connection structure between the pan/tilt servo and the pan/tilt in the air-ground integrated intelligent sprinkler irrigation robot of the present invention;

Figure 7 is a schematic structural diagram of the installation of the pan-tilt bracket, rotating connecting rod and sliding column in the air-ground integrated intelligent sprinkler irrigation robot of the present invention.

In the drawings, the parts represented by each number are listed as follows:

1. Walking system, 11. Base plate, 12. Wheels, 13. Wheel motors,

2. Balance system, 21. Middle layer plate, 22. Electronic control lifting device, 221. Steering gear bracket, 222. Balanced steering gear, 223. Steering gear connector, 2231. Connection plate, 224. Lifting frame, 2241. Connecting rod , 2242, lifting rod, 225, upper limit rod, 226, lower limit rod.

3. Irrigation system, 31. Roof plate, 32. Irrigation device, 321. Water tank, 322. Cloud platform steering gear, 323. Cloud platform, 324. Support beam, 325. Angle piece, 326. Cross beam, 327. Water spray device, 3271. Nozzle servo, 3272. Three-claw nozzle bracket, 3273. Nozzle, 33. Pan-tilt bracket, 331. Through hole, 332. Ring track, 34. Rotating connecting rod, 341. Installation slot, 35. Slide column,

4. Control system, 41. Battery, 42. Lower photoelectric sensor, 43. Controller, 44. Buck module, 45. Upper photoelectric sensor, 46. Camera device.

Detailed ways

The principles and features of the present invention are described below with reference to the accompanying drawings. The examples cited are only used to explain the present invention and are not intended to limit the scope of the present invention.

As shown in Figure 1, the air-ground integrated intelligent sprinkler irrigation robot can be used in conjunction with drones, including: walking system 1, balance system 2, irrigation system 3 and control system 4.

The traveling system 1 includes a base plate 11, a plurality of wheels 12 and a wheel motor 13. The plurality of wheels 12 are respectively arranged on both sides of the base plate 11; the wheel motor 13 is fixed at the bottom of the base plate 11 and is transmission connected to the plurality of wheels 12;

The balance system 2 includes a middle plate 21 and at least two electronically controlled lifting devices 22. The middle plate 21 is fixed parallel to the base plate 11 through mounting columns; at least two electronically controlled lifting devices 22 are respectively fixed on the middle layer along the traveling direction of the vertical base plate 11. both sides of plate 21;

The irrigation system 3 includes a top plate 31 and an irrigation device 32. The top plate 31 is arranged in parallel above the middle plate 21 and its bottom surface is fixed on the lifting ends of two electronically controlled lifting devices 22; the irrigation device 32 is fixed on the top plate 31;

The control system 4 includes a battery 41, a lower photoelectric sensor 42 and a controller 43. The battery 41 is fixed on the base plate 11; the two lower photoelectric sensors 42 are fixed on both sides of the front end of the base plate 11 in the direction of travel; the controller 43 is fixed on the base plate 11. And are electrically connected to the wheel motor 13, at least two electronically controlled lifting devices 22, irrigation device 32, battery 41, and lower photoelectric sensor 42 respectively. The controller 43 is wirelessly connected to the drone.

Specifically, the controller 43 is a myrio controller.

In some specific embodiments, there are multiple wheel motors 13 , and the multiple wheel motors 13 are respectively fixed on both sides of the bottom of the base plate 11 and are transmission-connected to the multiple wheels 12 one by one.

In some specific embodiments, at least two electronically controlled lifting devices 22 each include a steering gear bracket 221, a balancing steering gear 222, a steering gear connector 223, a lifting frame 224, an upper limit rod 225 and a lower limit rod 226,

At least two steering gear brackets 221 are respectively fixed on both sides of the middle plate 21 along the traveling direction of the vertical bottom plate 11; at least two balance servos 222 are respectively fixed inside the two steering gear brackets 221 and are electrically connected to the controller 43 ; One end of at least two steering gear connectors 223 is vertically connected to the output shafts of two balance servos 222 respectively; at least two lifting frames 224 are arranged vertically and their bottom ends are fixed on the two steering gear connectors 223 At the other end, at least two lifting frames 224 are respectively provided with two upper limit holes and two lower limit holes corresponding to the top and bottom of the top plate 31; at least two upper limit levers 225 and two lower limit levers 226 are respectively removable and insertable. Connected to the two upper limit holes and the two lower limit holes.

In some specific embodiments, the lifting frame 224 includes a connecting rod 2241 and two lifting rods 2242. The two lifting rods 2242 are arranged vertically and their bottom ends are fixed at both ends of the connecting rod 2241. The two lifting rods 2242 are provided with The upper limit hole and the lower limit hole; the steering gear connector 223 includes two connecting plates 2231, with output shafts extending from both ends of the balancing steering gear 222, and one end of the two connecting plates 2231 is vertically connected to the balancing steering gear 222 respectively. On the output shafts at both ends, the other ends are respectively fixed at both ends of the connecting rod 2241.

In some specific embodiments, the irrigation device 32 includes a water tank 321, a water pump, a pan/tilt servo 322, a pan/tilt 323, a support beam 324, a corner piece 325, a beam 326 and two water spray devices 327,

The water tank 321 is fixed on the top plate 31; the water pump is placed in the water tank 321; the pan/tilt servo 322 is fixed in the middle of the top plate 31; the pan/tilt 323 is arranged in parallel above the top plate 31 and its middle transmission is connected to the output of the pan/tilt servo 322 shaft; the bottom end of the support beam 324 is vertically fixed on the platform 323; the corner piece 325 is fixed on the top of the support beam 324; the cross beam 326 is vertically fixed on the top of the corner piece 325 along the traveling direction of the vertical bottom plate 11; two water spray devices 327 are fixed at both ends of the beam 326 respectively; the controller 43 is electrically connected to the water pump, the pan/tilt steering gear 322 and the two water spray devices 327 respectively.

In some specific embodiments, the control system 4 also includes two upper photoelectric sensors 45 and two camera devices 46. The two upper photoelectric sensors 45 and the two camera devices 46 are fixed on both sides of the top plate 31 along the direction of travel of the vertical bottom plate 11. On the other hand, the two upper photoelectric sensors 45 and the two camera devices 46 are electrically connected to the controller 43 .

In some specific embodiments, there are two water pumps, and there are two independent water storage cavities inside the water tank 321. The two water pumps are respectively arranged in the two water storage cavities.

Both water spray devices 327 include a nozzle steering gear 3271, a three-claw nozzle bracket 3272 and three nozzles 3273.

Two nozzle servos 3271 are respectively fixed at both ends of the beam 326; two three-claw nozzle brackets 3272 are respectively connected to the two nozzle servos 3271; six nozzles 3273 are respectively installed on the two three-claw nozzle brackets 3272. One water pump is connected to one nozzle 3273 of the two three-claw nozzle brackets 3272, and the other water pump is connected to the other two nozzles 3273 of the two three-claw nozzle brackets 3272; the controller 43 is connected to the two water pumps and the two nozzle servos 3271 respectively. Electrical connection.

In some specific embodiments, the irrigation system 3 also includes a pan-tilt bracket 33, a rotating link 34 and two sliding columns 35. The pan-tilt bracket 33 is fixed on the top plate 31 corresponding to the outer peripheral side of the pan-tilt servo 322 and its top surface A passage hole 331 is provided below the pan-tilt 323, and an annular track 332 is provided on the top surface of the pan-tilt support 33 corresponding to the outer circumference of the passage hole 331; the rotating link 34 is vertically connected to the pan-tilt head corresponding to the top of the passage hole 331. The output shaft of the steering gear 322 passes through one end of the through hole 331, and both ends of the rotating link 34 are provided with mounting slots 341; the two sliding columns 35 are placed vertically in the two mounting slots 341 and their bottom ends are slidingly connected to In the circular track 332; the bottom surface of the pan/tilt 323 is vertically fixed on the tops of the two sliding columns 35.

In some specific embodiments, the control system 4 further includes a voltage reduction module 44 , which is fixed on the base plate 11 and electrically connected to the controller 43 .

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. Inside.

Claims

The air-ground integrated intelligent sprinkler irrigation robot can be used in conjunction with drones and is characterized by including: a walking system (1), a balancing system (2), an irrigation system (3) and a control system (4).

The walking system (1) includes a base plate (11), a plurality of wheels (12) and a wheel motor (13). The plurality of wheels (12) are respectively arranged on both sides of the base plate (11); the wheels The motor (13) is fixed on the bottom of the base plate (11) and is drivingly connected to a plurality of the wheels (12);

The balance system (2) includes a middle layer board (21) and at least two electronically controlled lifting devices (22). The middle layer board (21) is fixed in parallel above the bottom plate (11) through a mounting column; at least two The electronically controlled lifting device (22) is respectively fixed on both sides of the middle layer board (21) along the traveling direction perpendicular to the bottom board (11);

The irrigation system (3) includes a top plate (31) and an irrigation device (32). The top plate (31) is arranged in parallel above the middle plate (21) and its bottom surface is fixed on the two electronically controlled lifting devices. The lifting end of (22); the irrigation device (32) is fixed on the top plate (31);

The control system (4) includes a battery (41), a lower photoelectric sensor (42) and a controller (43). The battery (41) is fixed on the bottom plate (11); the two lower photoelectric sensors (41) are fixed on the base plate (11). 42) are correspondingly fixed on both sides of the front end of the base plate (11) in the traveling direction; the controller (43) is fixed on the base plate (11) and is connected to the wheel motor (13) and at least two of the The electronically controlled lifting device (22), the irrigation device (32), the battery (41), and the lower photoelectric sensor (42) are electrically connected, and the controller (43) is wirelessly connected to the UAV. .
The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that there are multiple wheel motors (13), and the plurality of wheel motors (13) are respectively fixed on two bottom sides of the bottom plate (11). A plurality of said wheels (12) are connected side by side and driven one by one respectively.
The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that at least two of the electronically controlled lifting devices (22) include a steering gear bracket (221), a balancing steering gear (222), and a steering gear connector. (223), lifting frame (224), upper limit rod (225) and lower limit rod (226),

At least two steering gear brackets (221) are respectively fixed on both sides of the middle plate (21) along the traveling direction perpendicular to the bottom plate (11); at least two balance steering gears (222) are respectively fixed on The two steering gear brackets (221) are internally electrically connected to the controller (43); one end of at least two steering gear connectors (223) is vertically connected to the two balance rudders respectively. on the output shaft of the machine (222); at least two of the lifting frames (224) are arranged vertically and their bottom ends are fixed on the other ends of the two steering gear connectors (223). The frame (224) is respectively provided with two upper limit holes and two lower limit holes corresponding to the upper and lower parts of the top plate (31); at least two upper limit levers (225) and two lower limit levers ( 226) can be detachably inserted into the two upper limit holes and the two lower limit holes respectively.
The air-ground integrated intelligent sprinkler irrigation robot according to claim 2, characterized in that the lifting frame (224) includes a connecting rod (2241) and two lifting rods (2242), and the two lifting rods (2242) are both It is arranged vertically and its bottom end is fixed on both ends of the connecting rod (2241). The two lifting rods (2242) are provided with the upper limit hole and the lower limit hole; the steering gear connector ( 223) includes two connecting plates (2231), with output shafts extending from both ends of the balancing steering gear (222), and one end of the two connecting plates (2231) is vertically connected to the balancing steering gear respectively. (222) is on the output shaft at both ends, and the other end is respectively fixed on the two ends of the connecting rod (2241).
The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that the irrigation device (32) includes a water tank (321), a water pump, a pan/tilt steering gear (322), a pan/tilt (323), and a support beam (323). 324), corner pieces (325), cross beams (326) and two water spray devices (327),

The water tank (321) is fixed on the top plate (31); the water pump is placed in the water tank (321); the pan/tilt servo (322) is fixed on the middle part of the top plate (31); The pan/tilt (323) is arranged in parallel above the top plate (31) and its middle part is connected to the output shaft of the pan/tilt servo (322); the bottom end of the support beam (324) is vertically fixed on the On the cloud platform (323); the corner piece (325) is fixed on the top of the support beam (324); the cross beam (326) is vertically fixed on the corner along the traveling direction perpendicular to the base plate (11). The top of the component (325); the two water spray devices (327) are respectively fixed at both ends of the beam (326); the controller (43) is connected to the water pump and the pan/tilt steering gear (327) respectively. 322) is electrically connected to the two water spray devices (327).
The air-ground integrated intelligent sprinkler irrigation robot according to claim 4, characterized in that the control system (4) further includes two upper photoelectric sensors (45) and two camera devices (46), and the two upper photoelectric sensors (45) and two camera devices (46). The upper photoelectric sensor (45) and the two camera devices (46) are fixed on both sides of the top plate (31) along the traveling direction perpendicular to the bottom plate (11). The two upper photoelectric sensors (45) and Both of the two camera devices (46) are electrically connected to the controller (43).
The air-ground integrated intelligent sprinkler irrigation robot according to claim 5, characterized in that there are two water pumps, and there are two independent water storage cavities inside the water tank (321), and the two water pumps are respectively arranged in In the two water storage cavities,

Both of the water spray devices (327) include a nozzle steering gear (3271), a three-claw nozzle bracket (3272) and three nozzles (3273),

The two nozzle servos (3271) are respectively fixed at both ends of the cross beam (326); the two three-claw nozzle brackets (3272) are respectively connected to the two nozzle servos (3271); The six nozzles (3273) are respectively installed on the two three-claw nozzle brackets (3272), and one of the water pumps is connected to one of the nozzles (3273) of the two three-claw nozzle brackets (3272). The other water pump is connected to the other two nozzles (3273) of the two three-claw nozzle brackets (3272); the controller (43) is connected to the two water pumps and the two nozzle heads (3273) respectively. The nozzle servo (3271) is electrically connected.
The air-ground integrated intelligent sprinkler irrigation robot according to claim 5, characterized in that the irrigation system (3) also includes a cloud platform bracket (33), a rotating link (34) and two sliding columns (35). The platform bracket (33) is fixed on the top plate (31) corresponding to the outer peripheral side of the pan-tilt servo (322), and its top surface is provided with a through hole (331) corresponding to the bottom of the pan-tilt servo (323). The top surface of the pan/tilt support (33) is provided with an annular track (332) corresponding to the outer peripheral side of the through hole (331); the rotating link (34) is vertically corresponding to the upper side of the through hole (331). The transmission is connected to one end of the output shaft of the pan/tilt servo (322) passing through the through hole (331), and both ends of the rotating connecting rod (34) are provided with mounting slots (341); two The sliding column (35) is placed vertically in the two installation grooves (341) and its bottom end is slidingly connected in the annular track (332); the bottom surface of the pan/tilt (323) is vertically fixed in the two mounting grooves (341). The top of the sliding column (35).
The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that the control system (4) further includes a pressure reduction module (44), and the pressure reduction module (44) is fixed on the bottom plate (11) and is electrically connected to the controller (43).