DE102005049503B4 - Irrigation system and method for irrigation of an area - Google Patents

Abstract

Irrigation system (1), which distributes a water jet (11) by means of a nozzle (2) for plant irrigation,
wherein the nozzle (2) is horizontally rotatable with a nozzle head (21) carrying it by means of a rotary head (3) controlled by a first servo (electromotive actuator) (31),
wherein the nozzle head (21) is vertically pivotable by means of a further, second servo (22),
characterized,
that the nozzle (2) is arranged offset radially relative to the rotation axis (R) of the rotary head (3), whereby a torque (D) is exerted on the second servo (22) of the rotary head by the exiting water jet (11),
wherein the torque (D) exerted by the water jet (11) is absorbed by an evaluation circuit (5) detecting the electric current (I) to the first servo (31),
wherein a variable valve (4) controlled by a third servo (41) controls the water jet volume through the nozzle (2).

Description

The The invention relates to a sprinkler system comprising a water jet by means of a nozzle for plant irrigation distributed (claim 1), as well as a method for irrigation of an area with Such a sprinkler system (claim 10).

Known Irrigation systems are for large areas, mostly designed in the agricultural sector. It plays a pinpoint (or for very small surfaces, according to the water jet expansion) control the area to be covered a minor role.

Therefore Mostly used in irrigation systems to provide adequate irrigation to make sure, with a high water use worked, whereby also surfaces which should or should not be irrigated.

Should single plants or subregions in small beds or varied Plantings individually targeted with a jet of water be, so plays an accurate positioning of the nozzle under consideration the pressure of the water jet plays a major role. pressure fluctuations to lead to incorrect positioning of the water jet, too far or may be too short.

From the US 5,366,157 A and the DE 428 460 C irrigation systems are known in which a nozzle is pivotable in two directions to allow a surface irrigation. For this purpose, a nozzle carrying the outlet nozzle is articulated horizontally pivotable on the side of a supply pipe.

From the US 5,280,854 A For example, a computer-controlled irrigation head has become known in which a dispensing tube can be pivoted in the horizontal and vertical planes by means of devices. In order to determine fluctuations in the water pressure, an additional pressure sensor is proposed in the document, which is elaborately evaluated.

adversely is that water pressure fluctuations can only be determined consuming. Also is a straight for Ornamental gentle irrigation with an adjustable water pressure and water jet volume not possible.

task the invention is opposite one The prior art improved irrigation system available which allows precise control of sprinkling and in particular water is saved during operation.

These The object is achieved by a sprinkler with the features of the claim 1 and a method according to claim 10.

According to the invention is a Irrigation system proposed using a water jet by means of a Nozzle for watering distributed, with the nozzle with a nozzle head carrying this by means of a first by a servo (ektromotorischer actuator) controlled rotary head is horizontally rotatable, wherein the nozzle head vertically pivotable by means of another, second servo, characterized in that the nozzle is radial to the axis of rotation of the Rotational head is arranged offset, whereby by the exiting Water jet a torque on the second servo, the rotary head exercised is, wherein the force exerted by the water jet torque through a the electric current to the first servo detecting evaluation circuit is recorded, with a controlled by a third servo variable valve controls the water jet volume through the nozzle.

hereby is an individual vote on automated irrigation every plant position available and selectable programmable, thus providing a very accurate and water-efficient irrigation a garden, especially with delicate ornamental plants. By the evaluation of the torque by the evaluation circuit will be additional Sensors avoided what a trouble-free Continuous operation possible. In addition, by this type of measurement without any additional measures compared to the State of the art cheaper Production possible.

A advantageous embodiment of the invention provides that the evaluation circuit is designed so that the torque detection of the recoil by Comparison of the previously detected control current without water jet and thus without recoil and with current jet of water with unknown recoil.

preferably, a control system is provided, which controls the three servos (mechanical Actuators) controls and controls their position and a current consumption the servos detected by the evaluation circuit.

From Advantage, the control system detects the power consumption of the second and first servos to the adjustable positions with exiting water jet and stores them in a designated memory.

A further development provides that the stored values of the power consumption for determining the recoil by an activated water jet ver with the current be performed so as to perform a recoil correction to avoid misalignment of the nozzle by higher or lower measured electric current and by the energization of the second and first servos.

to Compensation of friction losses and other influencing interference parameters is according to a particularly advantageous embodiment of the invention provided that a determination of the current consumption to be stored the first and second servos to the adjustable positions one Reference travel of the rotary head (horizontal) and / or the nozzle head (vertical) to all possible adjustable positions is performed.

In Advantage of advantageous development is the irrigation system a water supply in conjunction, by means of an electromagnetic Safety valve can be disconnected, taking in case of failure a control part or the servo-controlled variable valve or in case of power failure, the water supply is turned off.

A advantageous development of the invention provides that between the electromagnetic safety valve and the servo-controlled variable valve is provided a pressure and compensation chamber, what disorders suppressed in the water supply and a water connection to the servo-controlled variable valve represents. As a result, pressure fluctuations in the form of pulsatile disorders, for example, when you press a toilet flush or turning on a washing machine connected to the same water supply are connected, can occur, be avoided.

to Self-sufficient power supply to the sprinkler system can be an advantage Solar panel (solar cell) and a battery for feeding independently Power network can be provided.

To Another aspect of the invention is a method of sprinkling a surface with a sprinkler according to one of claims 1 to 9, proposed characterized by the fact that the second and first Servos approachable positions of the nozzle given or manually can be programmed wherein by appropriate control of the servo-controlled variable valve It can be specified how long and how intense the position to be rained.

One Another advantageous method step provides that predetermined or manually programmed positions as marginal boundaries of a specified larger area can be where a surface interpolation is calculated by the control system and the calculated, by predetermined or manually programmed positions area can be irrigated automatically by the water jet.

A Another advantageous embodiment of the method provides that programmed a schedule of irrigation of areas or larger areas by irrigation intensity which is repeated.

following the invention will be further explained with reference to the drawings. in the Individual shows the schematic representation in:

1 1 a schematic side view of a sprinkler according to the invention in a sectional representation,

2a an enlarged view of the vertically pivotable with a servo nozzle head,

2 B a view from above on the vertically pivotable nozzle head 2a wherein the rotation by means of the rotary head is shown schematically in two possible positions,

3 a schematic representation of a plurality of preselected by the servos positions of the nozzle head for a targeted irrigation,

4 a schematic representation of a surface interpolation calculated by surface interpolation after specification of boundary points, which is traversed automatically by means of the controlled water jet surface,

5 a schematic view of the block diagram of the sprinkler,

6 a flow chart of a main program,

7 a flowchart of a programming process,

8th a flowchart of a control program, and

9 a flow chart of a surface interpolation.

1 shows a schematic view of a sprinkler according to the invention 1 for plant irrigation.

The sprinkler system 1 has a water jet 11 dispensing nozzle 2 on, which is horizontally and vertically adjustable.

For horizontal adjustment is the nozzle 2 carrying nozzle head 21 by means of a first servo (electromotive actuator) 3l controlled rotary head 3 rotatable (see also 2 B and 3 ). The rotary head 3 is freely rotatable through 360 ° and each position, or a horizontal setting angle 32 freely programmable.

The first servo 31 can, as shown, a reduction gear 33 for the power amplification and to improve the rotational resolution.

For vertical adjustment is the nozzle 2 carrying nozzle head 21 by means of another, second servo 22 vertically rotatable (see also 2a ). The vertical adjustment angle 23 can be up to 180 °, so that all points in space together with the horizontal adjustment by means of the rotary head 3 can be irrigated.

For controlling the flow rate and spray width of the water jet 11 is one by means of a third servo 41 controlled variable valve 4 provided that the water jet volume through the nozzle 2 regulates.

For connection to a water pipe is the sprinkler system with a water supply 7 connected by means of an electromagnetic safety valve 71 can be separated. Thus, in case of a failure of a control part or the servo-controlled variable valve 4 or in the event of a power failure, the water supply 7 turned off.

In the watercourse between the electromagnetic safety valve 71 and the servo-controlled variable valve 4 is a pressure and compensation chamber 72 arranged, which suppresses disturbances in the water supply in the form of pressure fluctuations. The connection can be made by means of a normal garden hose coupling.

For self-sufficient power supply independent of a power grid are solar panel (solar cells) 8th and a battery 81 intended.

The irrigation system is with a housing 12 clad for protection and is attached by means of a peg attached to the housing 13 fastened in the ground.

For measuring the recoil caused by the water jet, which would lead to different spray widths of the water at the same prevailing different pressures in the line with the same horizontal and vertical adjustment, the following arrangement is proposed (see 2a and particularly 2 B ):
The nozzle 2 is radially about the distance A to the rotation axis R of the rotary head 3 arranged offset, whereby by the exiting water jet 11 a torque D on the first servo 31 of the rotary head 3 is exercised (see also 1 ).

By evaluating the by the first servo 31 flowing currents in a reference measurement and a current measurement can on. the water pressure and thus on the spray width are closed, without further sensors are needed. Due to the proposed arrangement and wiring longer-lasting pressure fluctuations can be easily taken into account and compensated, without leading to errors in the irrigation.

The described mechanical design of the nozzle head 21 and its suspension generated when a stream of water emerges 11 a torque on the horizontal movement delivering rotary head 3 , That by the water jet 11 Torque generated is considered as a different current draw from the servo 31 added.

This current "I" is through a sense resistor 51 to an amplifier 52 the evaluation circuit 5 guided and is the CPU-containing control system 6 as a relative current moment "RI" available (see 5 ).

"RI" and the vertical Angle of attack of the nozzle head, connected with the during a reference travel measured friction loss "VI", give a correction value of the stored points compared in the program and for used a correction of the vertical angle of attack of the nozzle head becomes. This change of the angle of attack, ensures a precise and constant irrigation the plants even with rough water pressure disturbances.

A recording of the friction losses and the thus taken up stream "VI" of the horizontal rotation unit takes place with the help of a reference run (see later 6 to 9 ). Before each operation of the irrigation system (manual input or automatic sequence), a reference run is performed to measure the friction loss "VI" by the current.

"VI consists of two parts: the static current moment" Vistat "and the dynamic part" Vidyn ", the latter being measured at a uniform speed of the rotation unit. "Vistat" and "Vidyn" are determined and stored in the memory of the control system. "Vistat" is used to determine in the normal irrigation program (standing / stationary rotary head with water jet), the axis delta "current moment" RI "." Vidyn "is used in interpolation mode (water beam is on and is not turned off), to determine the delta current moment "RI" of the axis.

These Values become due to immediate use of the sprinkler system for the correction of the vertical nozzle head used.

The current moment "RI" of the horizontal rotary head and the horizontal angle of attack 23 "Phi" of the vertical nozzle head (see 2a ), combined with the friction loss "VI" measured during the reference run, gives a correction value of the points stored (original measured current moments determined during manual input / programming of the sprinkler), compared in the program and lead to a change / compensation of the angle of attack "Phi", the vertical nozzle head.This change in the angle of attack "Phi", ensures a constant irrigation of the plants (constant end position of the water jet) even with rough water pressure disturbances.

The Nozzle can For example, be built so that you have the water jet over a Range of about Can carry 15 meters, with a beam expansion at the end of the water jet done so as not to injure the planting.

The 3 and 4 show various aspects of automatic irrigation according to an irrigation program stored in the control system.

3 shows schematically how five different points with plants 14 a garden in succession with the sprinkler system are controlled and irrigated specifically with the water jet.

4 shows the schematic sequence of an automated surface irrigation of a surface F, for example, a piece of grass, next to a building 9 with adjoining path 91 lies. 9 shows a flowchart of a program that performs the area interpolation. With this, it is possible to sprinkle an asymmetrical surface as shown in the example.

For this purpose, a user must use the points P1 to P10 roughly bordering the lawn by means of the water jet 11 the irrigation system 1 Manually control and program.

in the For example, the stored points P1 and P2 define a distance, while the watered becomes. This route S1 is interpolated to the next stored Points P3 / P4. Each stored point is a polar coordinate (x / y) and describes the coordinate system of the irrigated area F.

The Measure of Interpolation is calculated from the delta | P1 to P3 | and delta | P2 to P4 | and is calculated with the jet of water resulting coverage (constant x = average thickness of the water jet in f (throw width)) divided. This results in new coordinates P1.1 and P2.1 for the irrigation system and lead to a repeated water path P1.1 to P2.1.

This is repeated until the entire surface is covered.

The Sprinkler system sweeps over the area F train to train (routes Si) adjacent to each other.

So can an irrigation of unbalanced surfaces accomplished where, for example, 4 points from the learned coordinate system for surface interpolation serve. The area interpolation leads the Water jet as a straight line in the given contour back and forth and is used for uniform irrigation a surface.

5 shows the control system 6 with the components connected to it in a schematic block diagram.

The control system 6 consists of a microprocessor, a servo control electronics, limit switches 61 for detecting an end stop of the rotary head, a piezo horn as a loudspeaker 82 for warning in persons to be irrigated, an input part 83 with LCD display for programming the irrigation system, a solar panel 8th and a battery 81 and charging unit. The user panel 83 is removable and can be used for several irrigation systems for programming.

Of the guided by the operation Water jet is passed through the input part from plant to plant, to store these points in manual mode. The real one watering time is simply by means of keys of the input part individually for each of the Stored positions entered by user program. Of the User still has to choose from, the water jet for the movement to the next Position On or Off. Each stored position becomes saved or modified by means of the input part. Furthermore, time can and repeat interval of irrigation be specified.

To The irrigation system in the brought a home position and automatically switches the servo control into a state of rest.

The Movement of the water jet can be done by means of a polar coordinate system calculated and controlled using a virtual axis of position is interpolated to position. This leads to a synchronized Movement of all axes.

In 6 a flow chart of the main program of the irrigation system is shown.

At the Processor start, the parameters are loaded to the building blocks of To initialise control. The LCD display of the control panel shows the diagnostic status. The current date and time are now with the help of the menu buttons entered by the user. Now the processor is in the main diagnosis and operation selection loop, in repeated time intervals expires. A diagnosis of the CPU and battery status is repeated during each one Time interval checked. Now become the inputs the operating mode selection checked and jumped into these subprograms.

7 shows the flow diagram for the manual operation of the irrigation system.

It is checked if the Used with the help of the menu keys, has selected the scheduling or learning mode. In the scheduling loop the user becomes, with the help of the menu keys, the scheduling for the procedure select the programs. The LCD display leads the user through the menu to the program [1-10], on a certain day of the week [1, 2 ... 7] (Sunday, Monday, ..., Saturday), at a certain time, in hours [1-24] and minutes [1-60] to plan.

in the Learning mode is first called the homing program, which sets the servo drives in the zero position. In addition, the limit switches of the horizontal rotary head approached to the zero position to put this drive. The friction losses VI1-3 become measured and stored in a memory. VI1-2 is the dynamic friction loss while The movement of the rotary head and VI3 is the static friction loss the rigid axis in position control.

The Irrigation system tutorial is called and allows the User using the menu keys the irrigation programs to create. The LCD shows the current status of the watering program: current program, position points, watering time and intensity.

Of the guided by the operation Water jet passes through the control panel from plant to plant in order to save these points in the learning mode. The control buttons The sprinkler system allows the user to pass the water jet and to the desired To steer position. The tutorial now awaits the selection of the program to be created [1-10]. The user confirms with Enter and is now prompted for the first desired position to approach the irrigation system. If the user is using the Enter key approved, he will be prompted by the program again the watering time in seconds. After this selection, the user is asked whether the water jet to the next Position on or off. When confirming with When the Enter key is pressed, the Position Pointer will be incremented and the position input for the next irrigation repeatedly until the end position number 40. The cancel button or ESC key takes the storage of all positions and inputs an EEprom of the control system. The program ends now the loop with the main valve switched off and with the switch off the control voltage from the actuators.

The 8th shows a flowchart of a control program for the irrigation system.

The Program compares the current date and time with the time schedule stored irrigation times. If the comparison succeeds, the irrigation program will start. The reference journey will be made first and with your degree starts the actual irrigation.

The irrigation program increments the memory pointer and places the first program points: (position points, torques, water times) in the main memory. In the 9 shown interpolation and motion logic takes over the kinematic process. When the current sprinkler position is reached, the water valve is switched through and now checks the upcoming water time with the elapsed time. If the comparison is successful, the next procedure will ask if the water should be kept to the next position or switched off. The last query in the program monitors the memory pointer and checks it for the last position for the flow. If the check fails, the memory pointer is incremented and the next position is pulled into memory. Then the sequence program repeats for the next watering cycle. When the last watering cycle has expired, the servos and the water valve are released, the sequence ends and the loop returns to the time program comparison.

It can also be provided to combine the automatic sprinkler with a humidity sensor, which then takes into account the existing moisture of the soil before irrigation and affects the timing sequence. The affected timing sequence may result in a delay in the next watering operation, thereby preventing unnecessary irrigation of the garden during a rainy period.

A further supplement may be a connection of the automatic sprinkler system with a fertilizer exchange unit manufacture. this device becomes easy between the water supply and the automatic irrigation system connected. An electrical connector becomes the automatic connector Irrigation system and includes the control of a servo-controlled, variable valve. The program sequence of the irrigation system can in this case also the mixing ratio of the fertilizer and affect the controlled volume of water. Several different ones fertilizer chambers can for the individual and precise Adjustment of the selected dung medium to the desired one Planting.

From Advantage can radio or IR remote control as a control panel with LCD display be provided. The automatic sprinkler system will then go through operated codable signals and has the advantage that no cable connection between control panel and sprinkler system exists.

1

sprinkler

11

waterjet

12

casing

13

peg

14

plant

2

jet

21

nozzle head

22

second Servo, electromotive actuator

23

vertical Setting angle

3

rotary head

31

first Servo, electromotive actuator

32

horizontal Setting angle

33

Reduction gear

4

servo-controlled variable valve

41

third Servo, electromotive actuator

5

evaluation

51

sense resistor

52

amplifier

6

control system

61

limit switch

7

water supply

71

safety valve

72

Print- and compensation chamber

8th

solar cell

81

battery

82

speaker

83

input part

9

building

91

path

pi

programmed positions

F

area

D

torque

R

axis of rotation

I

electricity

Claims (12)

Irrigation system ( 1 ), which has a water jet ( 11 ) by means of a nozzle ( 2 ) for plant irrigation, wherein the nozzle ( 2 ) with a nozzle head ( 21 ) by means of a first servo (electromotive actuator) ( 31 ) controlled rotary head ( 3 ) is horizontally rotatable, wherein the nozzle head ( 21 ) vertically by means of another second servo ( 22 ) is pivotable, characterized in that the nozzle ( 2 ) radially to the axis of rotation (R) of the rotary head ( 3 ) is arranged, whereby by the exiting water jet ( 11 ) a torque (D) on the second servo ( 22 ) of the rotary head is exerted, whereby by the water jet ( 11 ) applied torque (D) by one of the electric current (I) to the first servo ( 31 ) detecting evaluation circuit ( 5 ), whereby one by means of a third servo ( 41 ) controlled variable valve ( 4 ) the water jet volume through the nozzle ( 2 ) regulates. Sprinkler system according to claim 1, characterized in that the evaluation circuit ( 5 ) is designed so that the torque detection takes place by comparing the previously detected control flow without water jet and thus without recoil and with the current water jet with unknown recoil. Sprinkler system according to one of the preceding claims, characterized in that a control system ( 6 ) is provided that the three servos (mechanical actuators) ( 22 . 31 . 41 ) and controls their position and a current consumption of the servos by means of the evaluation circuit ( 5 ) detected. Sprinkler system according to claim 3, characterized in that the control system ( 6 ) the current consumption of the second and first servo ( 22 . 31 ) to the adjustable positions with exiting water jet ( 11 ) and stored in a memory provided for this purpose. Sprinkler system according to claim 4, characterized in that the stored values of the power consumption for determining the recoil by a switched on water jet ( 11 ) are compared with the current current consumption, so as to provide a recoil correction to avoid misalignment of the nozzle ( 2 ) by higher or lower measured electric current and by the energization of the second and first servos. Sprinkler system according to one of the preceding claims, characterized characterized in that to compensate for the friction losses and other influencing interference parameter a determination of the current consumption of the second and first servos to the adjustable positions by a reference run of the rotary head (horizontal) and / or the nozzle head (vertical) to all possible adjustable positions is performed. Sprinkler system according to one of the preceding claims, characterized in that it is provided with a water supply ( 7 ) connected by means of an electromagnetic safety valve ( 71 ) can be separated, wherein in case of failure of a control part or the servo-controlled variable valve ( 4 ) or during power failure, the water supply ( 7 ) is switched off. Sprinkler system according to claim 7, characterized in that between the electromagnetic safety valve ( 71 ) and the servo-controlled variable valve ( 4 ) a pressure and compensation chamber ( 72 ), which suppresses disturbances in the water supply and a water connection to the servo-controlled variable valve ( 4 ). Sprinkler system according to one of the preceding claims, characterized in that a solar panel (solar cell) ( 8th ) and a battery ( 81 ) is provided for feeding independently of the power network. A method for irrigation of a surface with a sprinkler system according to one of claims 1 to 9, characterized in that by the second and first servos ( 22 . 31 ) approachable positions of the nozzle ( 2 ) or can be programmed manually, whereby by appropriate control of the servo-controlled variable valve ( 4 ), how long and how intensively to the position to be irrigated. A method according to claim 10, characterized in that predetermined or manually programmed positions (Pi) can be specified as boundary boundaries of a larger area (F), wherein a surface interpolation by the control system ( 6 ) and the calculated area given by the preset or manually programmed positions by the water jet ( 11 ) can be irrigated automatically. Method according to claim 10 or 11, characterized that a timing of irrigation of areas or larger areas (F) after irrigation intensity can be programmed, which is repeatedly executed.