CN106706846A - Rotary biomass measuring device and measuring method - Google Patents
Rotary biomass measuring device and measuring method Download PDFInfo
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- CN106706846A CN106706846A CN201611129432.8A CN201611129432A CN106706846A CN 106706846 A CN106706846 A CN 106706846A CN 201611129432 A CN201611129432 A CN 201611129432A CN 106706846 A CN106706846 A CN 106706846A
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Abstract
The invention provides a rotary biomass measuring device and a measuring method. The rotary biomass measuring device comprises a supporting frame, a rotating arm and a control mechanism, wherein the lower end of the supporting frame is fixed on ground, the rotating arm is arranged above the supporting frame, the control mechanism is arranged inside the supporting frame and drives the rotating arm to do up-and-down and rotation movement, and a distance measuring module used for measuring height of the distance measuring module above ground is arranged on the rotating arm. The biomass measuring device provided by the invention has the advantages that operating personnel do not need to participate directly, influence on a measuring result due to subjective factors of human in a measuring process is avoided, and labor force can be liberated; relation between crop torque change and biomass at different heights and different rotating speeds can be determined, so that the rotary biomass measuring device is applicable to detection of biomass of crops with different heights; meanwhile, continuous dynamic measurement on crop biomass information in different growth stages is realized when the rotary biomass measuring device is placed in a field crop growing environment for long term, and biomass measuring accuracy is improved.
Description
Technical field
The present invention relates to crop biomass determination techniques field, more particularly, to a kind of rotary biomass measuring device and
Measuring method.
Background technology
In the growth course of field-crop, the economical character such as plant height, leaf area index, coverage, biomass is that reaction is planted
The index of thing upgrowth situation, crop biomass is the important indicator of economical character detection.Generally, biomass is bigger, makees
Thing growing environment is more suitable, is commonly used to assess growth conditions, yield and the output value of crop, is provided simultaneously for crop breeding and germplasm
The screening in source is significant.
The measurement of traditional biological amount is more based on manual breakage sampling and measuring, using harvesting method by crop in measurement range
Removed with vegetation and weighed, although this disposable sampling mode measurement is accurate, measure the cycle is long, with destructiveness, and nothing
Method realizes the successive dynamic measuring of identical sample different growing.Non-destructive nondestructive measurement has turned into crop biomass measurement
Trend, the biomethanics and picture characteristics of Main Basiss crop carry out the measurement of crop biomass.The biomass of crops and its
Planting density, growth period, plant height, the stem thick agronomic shape such as to straw stiffness are related, can rotate masterpiece by measuring crop
Deformation under carries out the measurement of crop biomass.
The biomass In vivo detection based on torque is disclosed in the Chinese patent document of Application No. 20101020584.7 to set
The patent of invention of standby and method, for living body biological measurement.The patent of invention uses guide-rail structure, by torsion torque sensor
Measurement apparatus and pole, feeler lever is fixed on guide rail.Feeler lever is moved in guide rail, makes crop stem stress, by crop stem
The screen resilience of generation acts on feeler lever, and the size of screen resilience is measured by torque sensor, and sets up torque and crop biomass
Between Mathematical Modeling.At least two people are needed to assist that the carrying of guide rail, feeler lever could be realized in the measurement apparatus measurement process
The regulation of height uses manual mode, and the biomass regulation of measurement crop different height is complicated.
The application for a patent for invention of Application No. 201210078528.1, pressure sensor is placed in horizontal push and connected vertically
Two suspension braces directly, are tied up to neck and loins, by gathering crop screen resilience voltage signal to biomass by extension bar respectively
Measure.The participation of people is needed in the device operating process, and the speed of horizontal push is uncontrollable, biomass somatometry
Journey consumes manpower.
The application for a patent for invention of Application No. 201410626908.3 discloses one kind based on machine vision and biomass lotus
The biomass measuring device that weight detection method is combined, the invention is primarily adapted for use in the Individual Biomass detection of protected crop, it is impossible to
Carry out the detection of field crops biomass.
Above-mentioned existing field crops biology amount detecting device and method, majority need people direct assistance from or participate in can
Complete, measure highly desirable manual adjustment, it is bothersome laborious, it is impossible to the need for meeting modern agriculture accurate measurement.
The content of the invention
The present invention provides a kind of rotary biometric measurement for overcoming above mentioned problem or solving the above problems at least in part
Amount device and measuring method, the device can be at the uniform velocity measured the biomass information of crop under different height, improve the accurate of measurement
Property, realize the accurate dynamic measurement of crop biomass.
According to an aspect of the present invention, there is provided a kind of rotary biomass measuring device, the device includes support frame, rotation
Pivoted arm and controlling organization, the lower end of support frame as described above fix on the ground, and the turning arm is arranged on the top of support frame as described above,
The controlling organization is arranged on support frame as described above inside and drives the turning arm to make upper and lower and rotary motion, on the turning arm
It is provided with the range finder module for measuring its terrain clearance.
Preferably, the controlling organization includes screw mandrel, motor, servomotor, torque sensor and microcontroller, described to watch
Take motor and drive the turning arm rotation, the torque sensor is connected with the turning arm, and the servomotor is arranged on institute
Screw mandrel upper end is stated, the motor drives the screw mandrel to rotate, and drives on the servomotor and the turning arm on the screw mandrel
Lower motion.The terrain clearance that can adjust the turning arm is moved by the motor and screw mandrel, it is adjustable by the servomotor
The rotary speed of the whole turning arm.
Preferably, the microcontroller includes radio receiving transmitting module, and the microcontroller sends control signal to control
The rotating speed of motor and servomotor is stated, for adjusting the vertical displacement of screw mandrel and the rotating speed of turning arm respectively, and long-range control is received
The turning arm rotating speed and the parameter information of height that device processed sends；The measurement data of the torque sensor passes through the micro-control
The radio receiving transmitting module of device processed is sent to remote controllers, and is shown by display.The radio receiving transmitting module is provided with a pair,
One is directly connected with the microcontroller chip, and another is connected with remote controllers, realizes remote controllers with microcontroller chip
Communication.
Preferably, turning arm uniform rotation described in the Serve Motor Control, can avoid due to the turning arm rotating speed not
The change in torque for uniformly producing, and then influence the accuracy of biomass information measurement.
Preferably, the torque sensor is fixed on the upper end of the servomotor, the torque sensor upper end and rotation
Pivoted arm is connected, the rebound characteristics data for obtaining crop, and the data is activation that will be obtained wirelessly is sent out to microcontroller
Deliver to remote controllers.When the turning arm makees uniform rotation, crop stress deformation is forced, the screen resilience that its deformation is produced passes through
Torsion torque sensor is measured, and crop is converted into crop biomass information to the resilience force information of turning arm, and wirelessly sends
To remote controllers and show.
Preferably, the range finder module includes laser range sensor, and is fixed on the downside of the turning arm, by surveying
Amount turning arm can obtain the relation of torque and crop biomass at different height apart from the height on ground, so as to difference
The biomass information of growth phase is quantified.
Preferably, it is provided with battery module inside support frame as described above.The battery module is for needed for whole measurement apparatus are provided
Power and electrical energy, while increase the weight of support frame, increase and the frictional force on ground strengthen the overall stabilization of the device
Property.
Preferably, the bottom of support frame as described above is provided with the support feet in insertion ground, and the support feet is in triangular shape, can be straight
Patch into measurement field soil, prevent during the use of rotary biomass measuring device, support frame as described above occurs circumference
Rotate.
Preferably, the turning arm is provided with multiple, and is horizontally disposed at the upper end of the torque sensor.
Preferably, the battery module includes solar powered battery, and the battery module is filled by solar energy
Electricity, can extend the service life of rotary biomass measuring device.
According to another aspect of the present invention, there is provided a kind of rotary biomass measuring method, the method includes：Step 1,
The rotary biomass measuring device is put into field；Step 2, sends control instruction, to set survey by remote controllers
Amount height and motor speed；Step 3, torsion parameter information during crop is acted on by torque sensor acquisition turning arm；Step
Rapid 4, according to the torsion set up and the Mathematical Modeling of crop biomass, the biomass of crop is measured by the torsion parameter for obtaining
Information, and shown by the remote controllers.
Based on above-mentioned technical proposal, the invention has the advantages that：Biomass measuring device proposed by the present invention, nothing
Operating personnel are needed directly to participate in, it is to avoid because of the influence of the subjective factor to measurement result of people in measurement process, while labor can be liberated
Power；Wirelessly the rotating speed of needs is sent to microcontroller with measurement height parameter, by lead screw motor and servo electricity
Machine regulation rotation arm measure height and rotating speed, can determine the pass of crop change in torque and biomass under different height, different rotating speeds
System, is adapted to the detection of different height crop biomass；The present invention is positioned in field crops growing environment for a long time simultaneously, is realized not
Continuously dynamically measured with growth period crop biomass information, improve the accuracy of biomass measuring.
Brief description of the drawings
Fig. 1 is the structural representation of the biomass measuring device of the embodiment of the present invention；
Fig. 2 is the structural representation after the screw mandrel lifting of the biomass measuring device of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the rotary biomass measuring device of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the invention is described in further detail.Hereinafter implement
Example is not limited to the scope of the present invention for illustrating the present invention.
In the one embodiment according to the application, with reference to Fig. 1, there is provided a kind of rotary biomass measuring device, the dress
Put including support frame 2, turning arm 1 and controlling organization, the lower end of support frame as described above 2 fixes on the ground, and the turning arm 1 is set
In the top of support frame as described above 2, support frame as described above 2 is in the cylinder type of inner hollow, and the controlling organization is arranged on the branch
The inside of support 2 and the turning arm 1 is driven to make up and down and rotary motion, the turning arm 1 is provided with for measuring its liftoff height
The range finder module 9 of degree.
The controlling organization includes screw mandrel 5, motor 7, servomotor 4, torque sensor 3 and microcontroller 6, the servo
Motor 4 drives the turning arm 1 to rotate, and the torque sensor 3 is connected with the turning arm 1, and the servomotor 4 is arranged on
The upper end of the screw mandrel 5, the motor 7 drives the screw mandrel 5 to rotate, and drives the servomotor 4 on the screw mandrel 5 and rotation
Pivoted arm 1 moves up and down.The terrain clearance of the adjustable turning arm 1 is moved by the motor 7 and screw mandrel 5, is watched by described
Take the rotary speed that motor 4 can adjust the turning arm 1.
The microcontroller 6 includes radio receiving transmitting module, and the microcontroller 6 sends a control signal to the He of the motor 7
Servomotor 4 for adjusting the vertical displacement of screw mandrel 5 and the rotating speed of turning arm 1 respectively, and receives remote control to adjust rotating speed
The rotating speed of the turning arm 1 and the parameter information of height that device sends；The measurement data of the torque sensor 3 passes through the micro-control
The radio receiving transmitting module of device processed 6 sends to remote controllers and shows, and is shown by display.The radio receiving transmitting module sets
Have a pair, one is directly connected with the microcontroller chip, and another is connected with remote controllers, realizes remote controllers and micro-control
The communication of chip.
The servomotor 4 controls the uniform rotation of the turning arm 1, can avoid because the rotating speed of the turning arm 1 is uneven
And the change in torque for producing, and then influence the accuracy of biomass information measurement.
The torque sensor 3 is fixed on the upper end of the servomotor 4, the upper end of the torque sensor 3 and turning arm 1
Be connected, the rebound characteristics data for obtaining crop, and will obtain data is activation to microcontroller 6, wirelessly send
To remote controllers.When the turning arm 1 makees uniform rotation, crop stress deformation is forced, the screen resilience that its deformation is produced passes through
Torsion torque sensor is measured.
The range finder module 9 includes laser range sensor, and is fixed on the downside of the turning arm 1, is revolved by measuring
Pivoted arm 1 can obtain the relation of torque and crop biomass at different height apart from the height on ground, so as to different growths
The biomass information in stage is quantified.
Battery module 8 is provided with inside support frame as described above 2.The battery module 8 is dynamic for needed for whole measurement apparatus are provided
Power and electrical energy, while increasing the frictional force of the weight of support frame 2, increase and ground, strengthen the overall stability of the device.
The bottom of support frame as described above 2 is provided with the support feet 10 in insertion ground, and the support feet 10 is in triangular shape, can be direct
Insertion measurement field soil, prevents during the use of rotary biomass measuring device, and support frame as described above 2 occurs circumference and turns
It is dynamic.
The turning arm 1 is provided with multiple, and is horizontally disposed at the upper end of the torque sensor 3.
The battery module 8 includes solar powered battery, and the battery module 8 is charged by solar energy, can
Extend the service life of rotary biomass measuring device.
Fig. 2 is the structural representation after the screw mandrel lifting of the biomass measuring device of the embodiment of the present invention；Fig. 3 is the present invention
The schematic diagram of the rotary biomass measuring device of embodiment.
The rotary biomass measuring device uses process：
Support frame 2 is inserted the ground of long-term cropping, while the support feet 10 of bottom is inserted into ground.By remote control
Device sends to microcontroller 6 the measurement height and rotary speed information of setting by radio receiving transmitting module, and microcontroller 6 receives finger
After order, height of the turning arm 1 apart from ground is measured by laser ranging module 9, and send a command signal to motor 7, by electricity
Motor 4, torque sensor 3 and turning arm 1 are lifted or declined by the rotation of machine 7 and screw mandrel 5, are adjusted to the measurement of setting highly.
Microcontroller 6 sends to servomotor 4 rotary speed instruction afterwards, and servomotor 4 is rotated the uniform rotation of arm 1, and turning arm 1 is even
Fast rotary action is sent to microcontroller 6, microcontroller in the resilience force signal produced after crop stem by torque sensor 3
6 send to remote controllers the torque signal of acquisition by wireless sensor module.
In an embodiment of the present invention, rotary biomass measuring device can for a long time be fixed on crop-planting field, be used for
Obtain different growing, crop biomass information under different growing heights.
The measuring method of above-mentioned rotary biomass measuring device includes：Step 1, the rotary biomass measuring is filled
Put into field；Step 2, control instruction is sent by remote controllers, to set measurement height and motor speed；Step 3, leads to
Cross torque sensor and obtain torsion parameter information when turning arm acts on crop；Step 4, gives birth to according to the torsion set up with crop
The Mathematical Modeling of thing amount, the biomass information of crop is measured by the torsion parameter for obtaining, and by the remote controllers
Display.
The step 4 is further included：
Step 41, the various representational crop samples of selection, including different plot, different cultivars and different growing
Various crop sample；
Step 42, monitor on field point is put into by the biomass measuring device, sets measurement height and motor speed, is passed through
Torque sensor acquisition turning arm acts on torsion parameter information during crop stem；
Step 43, after being measured, the crop sample in measured zone is cut off on patch ground, fresh to crop using weighing device
Accurately measured again, obtained the biological value of the sample；
Step 44, according to the torsion parameter for obtaining and crop fresh weight data, is set up based on analysis methods such as linear regressions and turned round
The Mathematical Modeling of force parameter and crop biomass；
Step 45, convergence analysis are carried out to parameter informations such as crop varieties, measurement height, breeding time and soil densities,
The Mathematical Modeling is corrected；
Step 46, by correction after the Mathematical Modeling store to microcontroller, the microcontroller will obtain torsion
Parameter transcoding is crop biomass information, and sends to remote controllers and show.
Finally, the present processes are only preferably embodiment, are not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc. should be included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of rotary biomass measuring device, it is characterised in that including support frame, turning arm and controlling organization, the branch
The lower end of support fixes on the ground, and the turning arm is arranged on the top of support frame as described above, and the controlling organization is arranged on institute
State support frame inside and drive the turning arm to make upper and lower and rotary motion, the turning arm is provided with for measuring its liftoff height
The range finder module of degree.
2. a kind of rotary biomass measuring device according to claim 1, it is characterised in that the controlling organization includes
Screw mandrel, motor, servomotor, torque sensor and microcontroller, the servomotor drive the turning arm rotation, the torsion
Square sensor is connected with the turning arm, and the servomotor is arranged on the screw mandrel upper end, and the motor drives the screw mandrel
Rotate, and drive the servomotor and turning arm on the screw mandrel to move up and down.
3. a kind of rotary biomass measuring device according to claim 2, it is characterised in that the microcontroller includes
Radio receiving transmitting module, the microcontroller sends control signal to control the rotating speed of the motor and servomotor, and receives remote
The turning arm rotating speed and the parameter information of height that range controller sends；The measurement data of the torque sensor is by described
The radio receiving transmitting module of microcontroller is sent to remote controllers.
4. a kind of rotary biomass measuring device according to claim 2, it is characterised in that the Serve Motor Control
The turning arm uniform rotation.
5. a kind of rotary biomass measuring device according to claim 2, it is characterised in that the torque sensor is consolidated
Due to the upper end of the servomotor, the torque sensor upper end is connected with turning arm, the rebound characteristics for obtaining crop
Data, and will obtain data is activation to microcontroller, wirelessly send to remote controllers.
6. a kind of rotary biomass measuring device according to claim 1, it is characterised in that the range finder module includes
Laser range sensor, and it is fixed on the downside of the turning arm.
7. a kind of rotary biomass measuring device according to claim 1, it is characterised in that set inside support frame as described above
There is battery module, the battery module includes solar powered battery.
8. a kind of rotary biomass measuring device according to claim 7, it is characterised in that the turning arm is provided with many
It is individual, and it is horizontally disposed at the upper end of the torque sensor；The bottom of support frame as described above is provided with the support in insertion ground
Pin.
9. a kind of measuring method of rotary biomass measuring device as described in above-mentioned claim 1-8 is any, its feature exists
In, including：
Step 1, field is put into by the rotary biomass measuring device；
Step 2, control instruction is sent by remote controllers, to set measurement height and motor speed；
Step 3, torsion parameter information during crop is acted on by torque sensor acquisition turning arm；
Step 4, according to the torsion set up and the Mathematical Modeling of crop biomass, crop is measured by the torsion parameter for obtaining
Biomass information, and shown by the remote controllers.
10. measuring method according to claim 9, it is characterised in that the step 4 is further included：
The various crop sample of step 41, selection various crop sample, including different plot, different cultivars and different growing；
Step 42, monitor on field point is put into by the biomass measuring device, measurement height and motor speed is set, by moment of torsion
Sensor acquisition turning arm acts on torsion parameter information during crop stem；
Step 43, after being measured, the crop sample in measured zone is cut off on patch ground, and crop fresh weight is entered using weighing device
The accurate measurement of row, obtains the biological value of the sample；
Step 44, according to the torsion parameter for obtaining and crop fresh weight data, torsion parameter is set up based on linear regression analysis method
With the Mathematical Modeling of crop biomass；
Step 45, carries out convergence analysis, to the Mathematical Modeling to crop varieties, measurement height, breeding time and soil density
It is corrected；
Step 46, by correction after the Mathematical Modeling store to microcontroller.
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| CN201611129432.8A CN106706846B (en) | 2016-12-09 | 2016-12-09 | Rotary biomass measurement device and measurement method |
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| CN201611129432.8A CN106706846B (en) | 2016-12-09 | 2016-12-09 | Rotary biomass measurement device and measurement method |
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Cited By (1)
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| CN117630285A (en) * | 2023-11-14 | 2024-03-01 | 西南科技大学 | Omnibearing measuring device based on agronomic characters of wheat |
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