CN106258025B - Laser pickoff and installation testing method in a kind of farmland laser flatting machine - Google Patents
Laser pickoff and installation testing method in a kind of farmland laser flatting machine Download PDFInfo
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- CN106258025B CN106258025B CN201610602744.XA CN201610602744A CN106258025B CN 106258025 B CN106258025 B CN 106258025B CN 201610602744 A CN201610602744 A CN 201610602744A CN 106258025 B CN106258025 B CN 106258025B
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- silicon photocell
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/20—Tools; Details
- A01B35/22—Non-rotating tools; Resilient or flexible mounting of rigid tools
- A01B35/26—Rigid tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/20—Tools; Details
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
The present invention relates to a kind of laser pickoffs, more particularly, to laser pickoff and installation testing method in a kind of farmland laser flatting machine.It can effectively solve the problem that current laser pickoff is received apart from short, the disadvantage of stability and anti-interference difference.The receiver uses silicon photocell as laser energy transducer, by the spectral characteristic for analyzing receiver input signal, suitable signal conditioning circuit is designed, the ambient noise and residual error of laser pickoff are eliminated using software Processing Algorithm, reaches higher positioning accuracy and stability.The receiver has many advantages, such as that elevation location speed is fast, precision is high, and can be in effective range of receiving of 360 degrees omnidirection guarantee 100m.
Description
Technical field
The present invention relates to a kind of laser pickoffs, more particularly, to laser pickoff and peace in a kind of farmland laser flatting machine
Fill test method.
Background technique
Farmland laser flatting machine is current most effective, the highest farmland leveling technology of working efficiency in the world.Farmland
Laser flatting machine mainly the equipment such as pacifically shovels by Geoplane, laser pickoff, hydraulic control system, agricultural ploughing machine and forms.
The nineties in last century, some developed countries such as America and Europe have just had developed a series of farmland laser flatting machine, and very
Popularization and application has been obtained fastly.China introduces the farmland laser flatting machine of external production at the beginning of 21 century, and in areas such as Xinjiang
It comes into operation, but due to the expensive and matched driving farm implements of the farmland laser flatting machine of foreign countries' production and domestic institute
The technical standard of use is different, thus is not all promoted effectively.
China focuses primarily upon land level scraper and hydraulic system to the research of farmland laser flatting machine, and to wherein core equipment
The research of laser pickoff is less.Farmland laser flatting machine in the popularization in China and aiming at the problem that encountered in, the present invention
Studying and designing one kind can adapt to domestic farmland operation environment, and it is enterprising to may be mounted at existing domestic agro-farming machine platform
Row grading operation laser pickoff.
Summary of the invention
The present invention devises a kind of laser pickoff of quick sampling, completes its hardware, software and structure design.According to agriculture
The environmental requirement of field leveling designs the arrangement architecture based on silicon photocell, using the method for Fourier transform to signal spectrum characteristic
It is analyzed, devises the signal conditioning circuit of fast and stable.Laser is introduced according to farmland laser flatting machine elevation location principle
Receiver elevation difference detection method, data acquisition, filtering processing and Anti-interference Design.
The specific technical solution of the present invention is as follows:
First part is the biography silicon photocell sensor arrangement Array Design of this system, including silicon photocell partition arrangement and biography
The design of sensor detection circuit board；Second part is that the signal conditioning circuit of this system designs, including input signal is amplified at filtering
Reason and output signal crest voltage extract；Part III is the data processing algorithm design of this system, including analog-to-digital conversion and number
According to sequence median filter process, laser position signal determining program design.
The present invention mainly adopts the following technical scheme that
Laser pickoff in a kind of farmland laser flatting machine, it is characterised in that: including the fixation being fixed in mobile mechanism
Disk is fixed with several silicon photocell array circuit plates, the silicon photocell array by fixation kit on the fixed disc
Circuit board is connected by conducting wire with laser pickoff signal conditioning circuit plate；
The fixation kit includes L-type fixing piece and the fixed bracket of at least four silicon photocell array circuit plates, the bracket
By way of L-type fixing piece is vertically fixed on fixed disc to form four sides column, each face is equipped with silicon photocell battle array
Column circuits plate；
The silicon photocell array circuit plate includes several silicon photocells to form a line, and silicon photocell length and width are 2cm,
As photoelectric conversion sensor, arranged using at least 11 pieces of silicon photocells as one to guarantee that receiver can receive depth displacement
Variation within the scope of -11cm~11cm；Using four column silicon photocell array group diamondwise structures respectively in four longitudinal arrangements
It can make laser pickoff is comprehensive to receive signal；By each column silicon photocell be divided into from top to bottom A1, A2, A3, A4, A5, A6,
The several regions A7, wherein being located at the region A1, A2, A6, A7 of upper and lower ends is composed in parallel two-by-two by two pieces of silicon photocells, it is close
The region A3, A4, A5 of center is single silicon photocell, and 11 pieces of silicon photocells originally are after combination and region division
Reserve the output of 7 road signals；Similarly, the arrangement of secondary series silicon photocell is B1, B2, B3, B4, B5, B6, B7, third from top to bottom
It is classified as C1, C2, C3, C4, C5, C6, C7, the 4th is classified as D1, D2, D3, D4, D5, D6, D7, and each column silicon photocell array is corresponding
The signal parallel connection in region can receive the signal of four road silicon photocell arrays of processing simultaneously；
The laser pickoff signal conditioning circuit plate includes: to add resistance capacitance to constitute by low frequency operational amplifier TL064
Bandpass filtering and amplifying circuit, the amplification factor of two-stage amplifying circuit reaches 10000 times, and the centre frequency of bandpass filter is
10kHz；The peak value sampling circuit constituted using diode 1N4148 and the preferable electric capacity of the dacron of charge storage characteristics；Analog switch
MC14066 is selected as sampling channel and peak detection discharge circuit；The 5V voltage regulator circuit that linear regulator chip LM7505 is constituted
The DC-DC positive-negative power conversion circuit realized with ICL7660；And single-chip microcontroller STC12C5608AD minimum control system circuit,
A/D converter is carried inside controller, and analog-to-digital conversion is carried out to peak value sampling charge.
The installation testing method of laser pickoff in a kind of farmland laser flatting machine, it is characterised in that: include:
Installation steps: the fixed bracket of four silicon photocell array circuit plates is fixed by the L-type of fixed reception device array
Part is fixed on the fixed disc of laser pickoff bottom, then needs silicon photocell array circuit plate being fixed on silicon photocell battle array
On the fixed bracket of column circuits plate, by the way that totally four screw holes are fixed up and down, notice that sensor signal output interface slot will be towards outer
Wiring is convenient in face, and the jack-plug socket of silicon photocell array circuit plate is finally passed through conducting wire and laser pickoff signal conditioning circuit
Slot on plate is connected；
Testing procedure: it is tested using the laser plane of Geoplane sending level, when laser rays is beaten in receiver
When on array A1, B1, C1, D1 regional location, 1 signal lamp is bright on signal conditioning circuit plate, removes 1 signal lamp of laser rays and extinguishes rapidly；
Similarly, when laser rays is beaten at the other regions of receiver array, the lamp of corresponding position is bright on signal conditioning circuit plate, illustrates laser
Receiver can work normally.
First part of the present invention is the silicon photocell of 2cm as photoelectric conversion sensor, utilization using length and width
11 pieces of silicon photocells can receive variation of the depth displacement within the scope of -11cm~11cm as a column to guarantee to connect receiver,
This range can guarantee that farmland leveling degree fluctuates.Using four column silicon photocell array group diamondwise structures respectively at four
Longitudinal arrangement can make laser pickoff is comprehensive to receive signal.By each column silicon photocell be divided into from top to bottom A1, A2, A3,
The several regions A4, A5, A6, A7, wherein it is in parallel two-by-two by two pieces of silicon photocells for being located at the region A1, A2, A6, A7 of upper and lower ends
Composition is single silicon photocell by the region A3, A4, A5 of entad, and 11 pieces of silicon photocells originally are by combination and area
Domain reserves the output of 7 road signals after dividing.Similarly, the arrangement of secondary series silicon photocell be from top to bottom B1, B2, B3, B4, B5,
B6, B7, third are classified as C1, C2, C3, C4, C5, C6, C7, and the 4th is classified as D1, D2, D3, D4, D5, D6, D7, by each column silicon photoelectricity
The signal parallel connection of pond array corresponding region can receive the signal of four road silicon photocell arrays of processing simultaneously.
Filter circuit is using low-pass first order filter and the combination filter of single order high-pass filter in second part of the present invention
Except the low frequency and high frequency spurs mixed in input signal, peak extraction circuit design is constituted simple using diode and capacitor
Peak value sampling circuit.The charge in capacitor is consumed by other parts circuit load in order to prevent, in the defeated of peak value sampling circuit
Enter and increase operational amplifier buffers isolation with output end, and in the method being grounded finally by analog switch to peak value sampling capacitor
In residual charge carry out discharge treatment.
Part III of the present invention is that the elevation location of laser pickoff calculates, and is filtered to the data of acquisition
To eliminate the systematic error generated by shake.7 channel sensor data, the heel row filtered are read by scan round
Sequence, as a result maximum be laser signal position all the way, and the ambient noise of each road sensor under the same conditions is not much different,
The influence of ambient noise can be effectively removed.And the position of laser signal is shown by the indicator light of design on circuit boards.
This system uses electrooptical device of the silicon photocell as receiver, by reasonably designing sensor array
Layout and reliable signal conditioning circuit, it is ensured that laser pickoff is comprehensive in the range of 360 degree 150 meters of radius
Laser signal is fast and effeciently received, devises stable data processing algorithm, guarantees that receiver steady operation and can have
Effect positioning.Three parts recited above, which combine, completes setting for laser pickoff in the laser flatting machine of farmland
Meter, it is indispensable.
Detailed description of the invention
Fig. 1 is the operation schematic diagram of farmland laser flatting machine.
Fig. 2 is the overall structure assembling schematic diagram of laser pickoff sensor array.
Fig. 3 is silicon photocell array interconnector circuit diagram, and the identical output terminal of figure label indicates connection.
Fig. 4 A is laser pickoff signal conditioning circuit figure.(7 tunnel output signals of laser pickoff sensor array are distinguished
It connect with 7 tunnel input signals on signal conditioning circuit plate, is believed by the electric current that sampling resistor exports silicon photocell sensor
Number voltage is converted to, signal is filtered amplification by signal conditioning circuit, successively selects to need to sample finally by analog switch
Channel, single-chip microcontroller acquires all channels and simultaneously calculates.)
Fig. 4 B is laser receiver circuit sheet frame figure.
Fig. 5 A is the two-stage amplification and filter being made of in acceptor circuit plate overall circuit figure low frequency operational amplifier TL064
Wave circuit figure (amplification factor is 10000 times, filter centre frequency 10kHz).
Fig. 5 B is analog switch channel selection circuit figure in acceptor circuit plate overall circuit figure, for selecting silicon photocell
7 tunnel output signals of array, another channel output ground connection of dual-channel analog switch is for the remnants in peak value sampling circuit
Charge discharge treatment；
Fig. 5 C is to constitute+5v pressure stabilizing by linear regulator chip LM7805 and capacitor in acceptor circuit plate overall circuit figure
Circuit is single-chip microcontroller and analog switch power supply circuit；
Fig. 5 D is to be made of+5v in acceptor circuit plate overall circuit figure ICL7660 to turn+5v and -5v circuit diagram, mainly
Make dual power supply for TL064；
Fig. 5 E is singlechip minimum system circuit figure in acceptor circuit plate overall circuit figure, including crystal oscillator and reset electricity
Road, single-chip microcontroller are internally integrated A/D converter circuit.
Fig. 6 is receiver bottom disc engineering drawing, and unit is mm in figure.
Fig. 7 is receiver array fixed link engineering drawing, and unit is mm in figure.
Fig. 8 is receiver array circuit board engineering drawing, and unit is mm in figure.
Specific embodiment
Below in conjunction with attached drawing and implementation process the present invention will be further described explanation, but the description is only used for explaining
The present invention, and be not considered as limiting the invention.
In figure, 1 is receiver bottom fixed disc, and 2 be the L-type fixing piece of fixed reception device array, and 3 be sensor signal
Output interface slot, 4 be receiver array circuit board, and 5 be silicon photoelectric cell slice, and 6 be the fixed bracket of silicon photocell array circuit plate,
7 be farmland soil, and 8 be agricultural ploughing machine, and 9 be laser level plane, and 10 be the bracket of fixed laser receiver, and 11 be laser pickoff,
12 be laser pickoff fixed link, and 13 be hydraulic pump, and 14 be land level scraper, and 15 be Geoplane, and 16 be the fixed bracket of scanner.
H1 and h2 is respectively laser level plane to the height of ground level and receiver bottom end to the height of ground level.
One, mechanism of the invention is introduced first.
The present invention includes the fixed disc being fixed in mobile mechanism, is fixed on the fixed disc by fixation kit
Several silicon photocell array circuit plates, the silicon photocell array circuit plate pass through conducting wire and laser pickoff signal condition electricity
Road plate is connected.
Fixation kit includes L-type fixing piece and at least four brackets, and bracket is vertically fixed on fixed circle by L-type fixing piece
The form of four sides column is formed on disk, each face is equipped with silicon photocell array circuit plate.
In the present embodiment, silicon photocell array circuit plate includes several silicon photocells to form a line, and silicon photocell is long
Width is 2cm, as photoelectric conversion sensor, can be connect using at least 11 pieces of silicon photocells as a column with guaranteeing to connect receiver
Receive variation of the depth displacement within the scope of -11cm~11cm；Using four column silicon photocell array group diamondwise structures respectively four
A longitudinal arrangement can make laser pickoff is comprehensive to receive signal；By each column silicon photocell be divided into from top to bottom A1, A2,
The several regions A3, A4, A5, A6, A7, wherein be located at upper and lower ends the region A1, A2, A6, A7 be by two pieces of silicon photocells two-by-two
It composes in parallel, is single silicon photocell by the region A3, A4, A5 of entad, 11 pieces of silicon photocells originally are by combination
It is exported with 7 road signals are reserved after region division；Similarly, the arrangement of secondary series silicon photocell be from top to bottom B1, B2, B3, B4,
B5, B6, B7, third are classified as C1, C2, C3, C4, C5, C6, C7, and the 4th is classified as D1, D2, D3, D4, D5, D6, D7, by each column silicon light
The signal parallel connection of cell array corresponding region can receive the signal of four road silicon photocell arrays of processing simultaneously.
As shown in fig. 4 a, laser pickoff signal conditioning circuit plate includes: to be powered on resistance electricity by low frequency operational amplifier TL064
Hold the bandpass filtering and amplifying circuit constituted, the amplification factor of two-stage amplifying circuit reaches 10000 times, the center of bandpass filter
Frequency is 10kHz；The peak value sampling circuit constituted using diode 1N4148 and the preferable electric capacity of the dacron of charge storage characteristics；Simulation
Switch MC14066 is selected as sampling channel and peak detection discharge circuit；The 5V pressure stabilizing that linear regulator chip LM7505 is constituted
The DC-DC positive-negative power conversion circuit that circuit and ICL7660 are realized；And single-chip microcontroller STC12C5608AD minimum control system electricity
Road, controller inside carry A/D converter and carry out analog-to-digital conversion to peak value sampling charge.
Two, lower test method of the invention is described below.
1, to be mounted first is laser pickoff sensor array, by four silicon photocell array circuit plates in Fig. 2
Fixed bracket 6 is fixed on receiver bottom fixed disc 1 by the L-type fixing piece 2 of fixed reception device array, then need by
Silicon photocell array circuit plate is fixed on the fixed bracket 6 of silicon photocell array circuit plate, by the way that totally four screw holes are fixed up and down,
Notice that the sensor signal output interface slot 3 of silicon photocell array circuit plate will be towards outside convenient for wiring, finally by silicon light
The jack-plug socket of cell array circuit board is connected by conducting wire with the slot in laser pickoff signal conditioning circuit version.
2, it tests: whether testing laser receiver works normally, mainly see whether it can be accurately positioned laser position.
It is tested using the laser plane of Geoplane sending level, when laser rays is beaten in the area receiver array A1, B1, C1, D1
When on the position of domain, 1 signal lamp is bright on signal conditioning circuit plate, removes 1 signal lamp of laser rays and extinguishes rapidly；Similarly, when laser rays is beaten
When the other regions of receiver array, the lamp of corresponding position is bright on signal conditioning circuit plate, illustrates that laser pickoff can normal work
Make.
Although laser pickoff is used more herein, silicon photocell array, elevation location, Fourier transform, intermediate value
The technical terms such as filtering, but it does not exclude the possibility of using other terms.The use of these items is only for more easily
Essence of the invention is described and explained, being construed as any additional limitation is disagreed with spirit of that invention
's.
Claims (2)
1. laser pickoff in a kind of farmland laser flatting machine, it is characterised in that: including the fixed circle being fixed in mobile mechanism
Disk is fixed with several silicon photocell array circuit plates, the silicon photocell array electricity by fixation kit on the fixed disc
Road plate is connected by conducting wire with laser pickoff signal conditioning circuit plate；
The fixation kit includes L-type fixing piece and the fixed bracket of at least four silicon photocell array circuit plates, which passes through L
Type fixing piece is vertically fixed on the form that four sides column is formed on fixed disc, and each face is equipped with silicon photocell array circuit
Plate；
The silicon photocell array circuit plate includes several silicon photocells to form a line, and silicon photocell length and width are 2cm, as
Photoelectric conversion sensor, using at least 11 pieces of silicon photocells as one column with guarantee receiver can receive depth displacement-
Variation within the scope of 11cm~11cm；Using four column silicon photocell array group diamondwise structures respectively four longitudinal arrangements can
Make laser pickoff is comprehensive to receive signal；It is several that each column silicon photocell is divided into A1, A2, A3, A4, A5, A6, A7 from top to bottom
A region, wherein being located at the region A1, A2, A6, A7 of upper and lower ends is composed in parallel two-by-two by two pieces of silicon photocells, close to center
The region A3, A4, A5 of position is single silicon photocell, and 11 pieces of silicon photocells originally reserve after combination and region division
The output of 7 road signals；Similarly, the arrangement of secondary series silicon photocell is B1, B2, B3, B4, B5, B6, B7 from top to bottom, and third is classified as
C1, C2, C3, C4, C5, C6, C7, the 4th is classified as D1, D2, D3, D4, D5, D6, D7, by each column silicon photocell array corresponding region
Signal parallel connection can receive simultaneously processing four road silicon photocell arrays signal；
The laser pickoff signal conditioning circuit plate includes: the band for adding resistance capacitance to constitute by low frequency operational amplifier TL064
Pass filter and amplifying circuit, the amplification factor of two-stage amplifying circuit reach 10000 times, and the centre frequency of bandpass filter is
10kHz；The peak value sampling circuit constituted using diode 1N4148 and the preferable electric capacity of the dacron of charge storage characteristics；Analog switch
MC14066 is selected as sampling channel and peak detection discharge circuit；The 5V voltage regulator circuit that linear regulator chip LM7505 is constituted
The DC-DC positive-negative power conversion circuit realized with ICL7660；And single-chip microcontroller STC12C5608AD minimum control system circuit,
A/D converter is carried inside controller, and analog-to-digital conversion is carried out to peak value sampling charge.
2. the installation testing method of laser pickoff in a kind of farmland laser flatting machine described in claim 1, it is characterised in that:
Include:
Installation steps: the fixed bracket of four silicon photocell array circuit plates is consolidated by the L-type fixing piece of fixed reception device array
It is scheduled on the fixed disc of laser pickoff bottom, then needs for silicon photocell array circuit plate to be fixed on silicon photocell array electricity
On the fixed bracket of road plate, by the way that totally four screw holes are fixed up and down, notice that sensor signal output interface slot will be towards outside just
In wiring, finally the jack-plug socket of silicon photocell array circuit plate is passed through on conducting wire and laser pickoff signal conditioning circuit plate
Slot be connected；
Testing procedure: it is tested using the laser plane of Geoplane sending level, when laser rays is beaten in receiver array
When on A1, B1, C1, D1 regional location, 1 signal lamp is bright on signal conditioning circuit plate, removes 1 signal lamp of laser rays and extinguishes rapidly；Similarly,
When laser rays is beaten at the other regions of receiver array, the lamp of corresponding position is bright on signal conditioning circuit plate, illustrates laser pick-off
Device can work normally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610602744.XA CN106258025B (en) | 2016-07-27 | 2016-07-27 | Laser pickoff and installation testing method in a kind of farmland laser flatting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610602744.XA CN106258025B (en) | 2016-07-27 | 2016-07-27 | Laser pickoff and installation testing method in a kind of farmland laser flatting machine |
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| Publication Number | Publication Date |
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| CN106258025A CN106258025A (en) | 2017-01-04 |
| CN106258025B true CN106258025B (en) | 2019-10-25 |
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| CN110645827A (en) * | 2019-08-21 | 2020-01-03 | 北京华如科技股份有限公司 | Scattering type omnidirectional laser signal receiving device and harness |
| CN112611395B (en) * | 2020-12-31 | 2022-07-08 | 美国西北仪器公司 | Method and system for calibrating a laser scanner |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2720787Y (en) * | 2004-06-17 | 2005-08-31 | 中国农业大学 | Laser receiver for levelling ground system controlled by laser |
| FR2896376B1 (en) * | 2006-01-23 | 2010-03-26 | Avril Ind | DESHERBEUSE-EMIETTEUSE |
| CN203136450U (en) * | 2013-03-29 | 2013-08-21 | 北京农业智能装备技术研究中心 | Laser receiver lifting device and laser grader using same |
| CN103959944A (en) * | 2013-04-19 | 2014-08-06 | 常州华达科捷光电仪器有限公司 | Laser receiver for laser land leveling machine |
| CN203243673U (en) * | 2013-04-19 | 2013-10-23 | 常州华达科捷光电仪器有限公司 | Laser land leveling machine and control system thereof |
| CN203984896U (en) * | 2014-08-12 | 2014-12-10 | 华南农业大学 | A kind of land leveller laser pickoff hydraulic lift |
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