CN-121979308-A - Water taking control system and method for unmanned sprinkler

CN121979308ACN 121979308 ACN121979308 ACN 121979308ACN-121979308-A

Abstract

The invention relates to a water taking control system of an unmanned sprinkler, which comprises the unmanned sprinkler, a plurality of water taking machines distributed along a sprinkler line and corresponding backrests. Unmanned watering vehicle and watering vehicle backstage, water intaking machine and water intaking machine backstage pass through 4G communication, and the CAN module of unmanned watering vehicle passes through 2.4G communication with the water intaking machine and realizes data interaction. The water taking machine is provided with a telescopic L-shaped water taking frame, a driving mechanism, a butt joint positioning mechanism and a monitoring camera, and the control panel drives the mechanism to act according to the detection result of the camera to realize accurate butt joint of the water outlet and the water inlet of the sprinkler. The whole system flow does not need manual intervention, the background intelligent scheduling is carried out on nearby water intaking machines, and the invalid journey and water resource waste are reduced. The water taking machine is compatible with unmanned and manned watering carts, the CAN module comprises an isolation voltage stabilizing circuit and a self-checking mechanism, the power supply system is adapted to the voltage requirements of multiple devices, the stability and reliability of the system are guaranteed, the operation and maintenance cost is reduced, and the water taking machine is suitable for large-scale watering scenes.

Inventors

ZHENG ZHIQIANG
XIE XIAOXU
FAN CHAOYANG
LIU TAO
LI WEI
Zheng Xuyao
DAI XINGPAN
LI BINGSHENG
YAN LEIMING
GUO DINGSHENG

Assignees

河南新鼎智慧水务有限公司

Dates

Publication Date: 20260505
Application Date: 20260210

Claims (10)

1. The water taking control system of the unmanned sprinkler is characterized by comprising the unmanned sprinkler, a water taking machine background used for assigning water spraying and water taking tasks to the unmanned sprinkler, a plurality of water taking machine backboards used for sending water taking tasks to the water taking machine, a control panel in the water taking machine, the water taking machine backboards, a vehicle-mounted host of the unmanned sprinkler and the unmanned sprinkler backboards all adopt 4G communication to realize data interaction between the respective backboards and the unmanned sprinkler, all the unmanned sprinkler and the water taking machine are respectively provided with a unique number, a water level sensor is arranged in a water tank of the unmanned sprinkler and used for detecting water quantity in the water tank to judge whether water is lacking, a CAN module is arranged in the unmanned sprinkler and is communicated with the vehicle-mounted host of the unmanned sprinkler, and the CAN module and the water taking machine adopt 2.4G communication to exchange vehicle numbers, water taking machine numbers and water taking quantity information of the current time; A water taking frame (2) is arranged on one side of the water taking machine, the water taking frame (2) is of an L-shaped structure which is inverted up and down, the vertical part and the horizontal part of the water taking frame are of telescopic structures, a telescopic driving mechanism is arranged on the vertical part and used for controlling the telescopic movement of the water taking frame, and a translational driving mechanism is arranged on the horizontal part and used for controlling the telescopic movement of the water taking frame; The water taking machine is internally provided with a water conveying pipeline connected with a municipal pipeline, a water outlet (1) is arranged below the tail end of the horizontal part of the water taking frame (2), the water outlet (1) is connected with the tail end of the water conveying pipeline, and the water conveying pipeline is provided with a valve and a flowmeter for adding water to the unmanned sprinkler and providing data for calculating the water adding amount of the water taking machine; Be equipped with butt joint positioning mechanism between the water inlet of unmanned watering lorry water pitcher and delivery port (1) on water intaking frame (2), be equipped with on water intaking frame (2) and be used for detecting unmanned watering lorry locate mode's surveillance camera head (7), surveillance camera head (7) are connected through 4G communication with the water intaking machine backstage, and flexible actuating mechanism, translation actuating mechanism, valve and flowmeter are all connected with the control panel in the water intaking machine, control panel control translation actuating mechanism action in passing through the water intaking machine according to the testing result of surveillance camera head (7), realize the accurate butt joint of delivery port (1) and unmanned watering lorry water pitcher water inlet.
2. The unmanned sprinkler water intake control system of claim 1, wherein the telescopic driving mechanism comprises a winch (3.1), a pulley (3.2) and a steel wire rope (3.3), the vertical part of the water intake frame (2) comprises an outer sleeve rod (2.1) and an inner sleeve rod (2.2) which are sleeved with each other, the winch (3.1) is arranged at the bottom end outside the outer sleeve rod (2.1), the pulley (3.2) is rotatably arranged at the side wall of the top end of the outer sleeve rod (2.1), a groove (2.21) is arranged on the side wall of the inner sleeve rod (2.2), a fixing piece (2.22) is arranged at the bottom of the groove (2.21), and the steel wire rope (3.3) extends out of the winch (3.1), bypasses the pulley (3.2), enters the groove (2.21) and is fixedly connected with the fixing piece (2.22).
3. The water taking control system of the unmanned sprinkler according to claim 2 is characterized in that the horizontal part of the water taking frame (2) comprises a fixed part (2.3) and a moving part (2.4), one end of the fixed part (2.3) is fixed on the top of the inner sleeve rod (2.2), the monitoring camera (7) is fixed on one end of the moving part (2.4) far away from the fixed part (2.3), two groups of translation driving mechanisms are respectively arranged on two sides of the horizontal part of the water taking frame (2), the two groups of translation driving mechanisms comprise an electric telescopic rod (4.1), a supporting sliding rod (4.2), a first fixed supporting block (4.3), a second fixed supporting block (4.4) and an anti-falling block (4.5), one end of the electric telescopic rod (4.1) is fixed on the fixed part (2.3), the other end of the first fixed supporting block (4.3) is fixed on the side wall of the moving part (2.4), the second fixed supporting block (4.4) is fixed on the two groups of fixed parts, and the second fixed supporting block (4.4) is correspondingly arranged on the side wall of the sliding rod (4.4) and is connected with the sliding rod (4.4) through a through hole (6) and is arranged in the sliding rod (4.4) and is correspondingly connected with the sliding rod (4.4).
4. The water taking control system of the unmanned sprinkler is characterized in that the water conveying pipeline stretches into the water taking control system from the bottom of the inner sleeve rod (2.2) and penetrates through the inner sleeve rod (2.2), the fixing part (2.3) and the moving part (2.4), the water conveying pipeline is fixedly installed with the fixing part and the moving part, a water conveying pipeline with a certain length is reserved in the inner sleeve rod, a water conveying pipeline with a certain length is reserved between the moving part and the fixing part, a telescopic space is reserved for the horizontal part and the vertical part of the water taking frame (2), the butt joint positioning mechanism comprises two magnets (5) with opposite polarities and a horn-shaped guide cover (6), the two magnets (5) are respectively arranged at the bottom of the water outlet (1) and the water inlet of the unmanned sprinkler, and the horn-shaped guide cover (6) is arranged above the water inlet of the unmanned sprinkler. When the water outlet (1) contacts the inner wall of the horn-shaped guide cover (6), the water outlet slides along the inner wall until the two magnets are attracted, so that accurate butt joint is realized.
5. The water taking control system of the unmanned sprinkler truck is characterized in that the CAN module comprises a power supply input terminal, a CAN interface, a CAN driving chip, a main control MCU and a 2.4G wireless communication module, one end of the CAN interface is connected to a vehicle-mounted host through a CAN bus, the other end of the CAN interface is connected to the CAN driving chip, the 2.4G wireless communication module and the CAN driving chip are both connected with the main control MCU, a 5V isolation DCDC power module is connected to the power supply input terminal, the output end of the 5V isolation DCDC power module is connected to the CAN driving chip to supply power to the main control MCU, a 3.3V voltage stabilizing circuit module is arranged between the main control MCU, the 2.4G wireless communication module and the 5V isolation DCDC power module, the input end of the 3.3V voltage stabilizing circuit module is connected to the output end of the main control MCU, the 2.4G wireless communication module and the 2.4G wireless communication module to supply power to the main control MCU.
6. The unmanned sprinkler water intake control system of claim 4, wherein the control board adopts STM32 series micro-controller, the control board is also connected with a 4G module, an IC card read-write module, a nixie tube display module and a water pressure sensor, the 4G module is used for communicating with a water intake machine background, the IC card read-write module is used for IC card verification, the nixie tube display module is used for displaying water intake and equipment working state, and the water pressure sensor is used for detecting water delivery pressure.
7. The unmanned sprinkler water intake control system of claim 6, wherein the water intake machine further comprises a power supply system, the power supply system comprises an AC220V input interface, a leakage protector and a plurality of power conversion modules, and the power conversion modules respectively convert the AC220V into DC24V, DC V and DC5V to supply power for a control board, a 4G module, a monitoring camera, an electric telescopic rod, a winch, a water delivery valve and a nixie tube display module.
8. The water taking control method of the unmanned sprinkler is characterized by comprising the following steps of: The method comprises the steps of S1, assigning a water spraying task to an unmanned sprinkler by a background of the unmanned sprinkler, calculating water consumption, detecting the water level in a water tank by a water level sensor in the water tank of the unmanned sprinkler, feeding back to the background of the unmanned sprinkler, judging whether water is needed or not by the background of the unmanned sprinkler according to the water consumption in the water tank, calculating the water intake, searching for the nearest water taking machine, and sending the number and the position of the water taking machine to the unmanned sprinkler; The method comprises the steps of S2, controlling an unmanned sprinkler to move to a designated water taking point after receiving information by a vehicle-mounted host of the unmanned sprinkler, S3, transmitting a vehicle number, a water taking machine number and water taking amount to a CAN module through a CAN bus by the unmanned sprinkler, and establishing communication between the CAN module and a water taking machine with the corresponding number through a 2.4G communication module, S4, transmitting the vehicle number and the water taking amount to a control board of the water taking machine by the CAN module after the communication is established successfully, returning to the step S2 when the communication establishment fails, and re-designating the water taking machine by a background of the unmanned sprinkler; S5, the control board detects the positioning state of the unmanned sprinkler through the monitoring camera, and if the unmanned sprinkler is misaligned, the control board controls the translation driving mechanism to act, so that the water outlet is accurately butted with the water inlet of the water tank of the unmanned sprinkler; S6, the water taking machine sends the vehicle number and the current water taking amount to the water taking machine background through the 4G module, and the water taking machine background sends the current water taking amount and a corresponding valve opening instruction to the water taking machine after receiving the water taking amount; s7, the control board controls the relay to act according to the opening instruction of the valve, opens the valve and starts to add water, and the water delivery flow is acquired in real time through the flowmeter data acquisition circuit; S8, when the accumulated water intake reaches a set value, the control board controls the relay to act to close the valve, so that water intake is completed; S9, the water taking machine informs the unmanned watering vehicle of 'water adding end' through the 2.4G module, and simultaneously informs the water taking machine of 'water adding end' in the background through the 4G module; S10, the water taking frame 2 drives the water outlet 1 to retract.
9. The method for controlling water intake of the unmanned sprinkler according to claim 8, wherein after the unmanned sprinkler is started, the vehicle-mounted CAN module sends handshake information to a CAN bus of the unmanned sprinkler according to a fixed time interval, and the handshake information is used for judging the working state of the unmanned sprinkler, and when the unmanned sprinkler is abnormal, the vehicle-mounted host reports errors to a background of the unmanned sprinkler.
10. The method for controlling water intake of unmanned sprinkler according to claim 8, wherein the determination condition of the communication establishment failure in step S4 is that no response signal of the water intake machine is received within a preset time after the vehicle-mounted CAN module sends the communication request.

Description

Water taking control system and method for unmanned sprinkler Technical Field The invention relates to the technical field of water taking systems of sprinkler trucks, in particular to a water taking control system and a water taking control method of an unmanned sprinkler truck. Background The watering operation is a core link in the working of urban environmental sanitation maintenance, park greening maintenance and the like, and the watering cart is used as key equipment for realizing the operation, and the operation efficiency, the water taking convenience and the operation and maintenance management level directly influence the overall quality and the cost control of the sanitation work. Along with the acceleration of the urban process and the popularization of the intelligent sanitation concept, the application scene of the sprinkler is continuously expanded, and the demands on the automation, the intellectualization and the high-efficiency operation of the sprinkler are increasingly urgent. The traditional water sprinkling operation mainly depends on a person driving the water sprinkling truck, a driver needs to drive the truck to a fixed water taking point during water taking, manually adjusts the position of the truck to align the water taking port, the operation is complicated, time and labor are consumed, the water taking point is usually a shorter water supply bolt, the layout is fixed, the driver needs to memorize and search the water taking point by experience, if the water taking point is missed, the driver needs to travel a longer distance to search the water taking point, invalid travel is increased, the energy consumption and the operation time of the truck are increased, the water taking statistics depends on manual recording, the data accuracy is poor, real-time data interaction between the truck and water taking equipment and the management background cannot be realized, management personnel cannot grasp the information such as water resource consumption, equipment running state and the like, and the operation and maintenance management efficiency is low. With the development of unmanned technique, in recent years, unmanned technique gradually applied to the watering lorry field, reduced the manual work dependence of driving link to a certain extent, but because unmanned watering lorry has not had a large amount of popularization yet, unmanned watering lorry water intaking point is few, water intaking inconvenience, and unmanned watering lorry can't adjust the water intake according to the task demand among the prior art, often top up the water tank before watering task execution, lead to unmanned watering lorry to be in the heavy load condition for a long time, and sometimes still remain a large amount of water in the water tank after watering task execution. Disclosure of Invention The invention aims to overcome the technical defects and provide a water taking control system and method for an unmanned sprinkler. The water taking control system of the unmanned sprinkler comprises the unmanned sprinkler, a water taking machine background, a CAN module, a vehicle-mounted host computer, a 2.4G communication device and a water taking machine, wherein the unmanned sprinkler is used for assigning sprinkling water to the unmanned sprinkler and taking water tasks, the water taking machine background is used for issuing water tasks to the water taking machine, the water taking machine is provided with a plurality of water taking machines along a sprinkling line, a control panel in the water taking machine is communicated with the water taking machine background, the vehicle-mounted host computer of the unmanned sprinkler and the water taking machine background by 4G, so that the data interchange between the water taking machine background and the water taking machine background is realized, the water tank of the unmanned sprinkler is internally provided with a water level sensor for detecting the water quantity in the water tank to judge whether water is lack, and the CAN module is communicated with the vehicle-mounted host computer on the unmanned sprinkler by 2.4G communication device for exchanging the water taking machine number, the CAN number and the water taking machine information; The water taking machine is characterized in that a water taking frame is arranged on one side of the water taking machine, the water taking frame is of an L-shaped structure which is inverted from top to bottom, the vertical part and the horizontal part of the water taking frame are of telescopic structures, a telescopic driving mechanism is arranged on the vertical part and used for controlling the telescopic movement of the vertical part, and a translational driving mechanism is arranged on the horizontal part and used for controlling the telescopic movement of the horizontal part; The water intake machine is internally provided with a water delivery pipeline connected with a municipal pipeline, a water ou