CN107421499B - Device and method for detecting erection degree of transplanting pot seedlings of transplanting machine - Google Patents
Device and method for detecting erection degree of transplanting pot seedlings of transplanting machine Download PDFInfo
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- CN107421499B CN107421499B CN201710806325.2A CN201710806325A CN107421499B CN 107421499 B CN107421499 B CN 107421499B CN 201710806325 A CN201710806325 A CN 201710806325A CN 107421499 B CN107421499 B CN 107421499B
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- 238000000034 method Methods 0.000 title claims description 10
- 238000001514 detection method Methods 0.000 claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000007781 pre-processing Methods 0.000 claims description 17
- 238000001914 filtration Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000003491 array Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 3
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- 241000196324 Embryophyta Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 235000002566 Capsicum Nutrition 0.000 description 1
- 239000006002 Pepper Substances 0.000 description 1
- 235000016761 Piper aduncum Nutrition 0.000 description 1
- 235000017804 Piper guineense Nutrition 0.000 description 1
- 244000203593 Piper nigrum Species 0.000 description 1
- 235000008184 Piper nigrum Nutrition 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000013441 quality evaluation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
Abstract
The utility model provides a transplanter plants alms bowl seedling straightness detection device that erects, includes the detection frame of installing between alms bowl seedling transplanter transplanting apparatus mechanism and earthing wheel mechanism, the detection frame include top surface detection mechanism and two side detection mechanism, still be equipped with on the detection frame and be used for detecting the alms bowl seedling and leak and plant the single-shot sensor array of the slope condition and be used for detecting the correlation formula sensor array of alms bowl seedling gradient. The invention has the beneficial effects that: the device has the advantages that the structure is simple, the conception is ingenious, the layout design of the sensor on the detection device is determined according to the size of the transplanted pot seedlings and the study of the pot seedling transplanting form, the mode discrimination is carried out on the sensor signals by utilizing digital logic operation, and the function of identifying the standing degree of the pot seedlings in the three-dimensional direction is realized; according to the standard for judging the transplanting verticality, the pot seedlings which are transplanted in a qualified mode and are more than 45 degrees are distinguished from the pot seedlings which are transplanted in an unqualified mode and less than 45 degrees are distinguished through detection of the opposite-emitting photoelectric sensor on the supporting leg.
Description
Technical Field
The invention relates to the field of transplanting machinery, in particular to a device and a method for detecting the verticality of a planting pot seedling of a transplanting machine.
Background
Most dry crops can be planted by adopting plug seedling and transplanting technology, and the plug seedling has the comprehensive effects of compensating climate and making the growth period of the crops advance, thereby being beneficial to improving the yield of the crops. The dry land pot seedling transplanting process comprises land preparation, transplanting, earthing and compacting, and after the transplanting is completed, the quality evaluation indexes of the transplanting operation comprise factors such as verticality, missing planting, plant spacing and the like. Most of the current transplanting machine operation parameters are adjusted by adopting a mechanical structure, for example, plant spacing, erectness and the like, and the transplanting operation parameters are adjusted by changing structural parameters of a gearbox, a seedling lifter and the like of the transplanting machine. However, the field environment of the transplanting operation is complex, the quality of the operation parameters cannot be ensured by the traditional mechanical adjustment mode, and the operation quality such as the verticality, the missing planting rate, the plant spacing and the like cannot be detected, so that the pot seedling transplanting verticality detection device and the pot seedling transplanting verticality detection method are urgently needed.
Disclosure of Invention
The invention aims to solve the technical problems of providing a device and a method for detecting the verticality of a transplanting pot seedling of a transplanter, and solving the problems of detecting the verticality and the miss-planting condition of the pot seedling after mechanical transplanting at present.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a transplanter plants alms bowl seedling straightness detection device that erects, includes the detection frame of installing between alms bowl seedling transplanter transplanting machine mechanism and earthing wheel mechanism, is equipped with the connecting piece that makes detection device and alms bowl seedling transplanter transplanting machine mechanism connect on the detection frame, the detection frame include top surface detection mechanism and two side detection mechanism, still be equipped with the single-shot sensor array that is used for detecting alms bowl seedling and leaks and plant and incline condition and be used for detecting alms bowl seedling gradient to the formula sensor array that is used for detecting, the single-shot sensor array sets up in the lower surface of top surface detection mechanism, the opposite-shot sensor array symmetry sets up on the medial surface of two side detection mechanisms;
the pot seedling transplanting verticality detection device also comprises a detection system matched with the detection rack for detecting the verticality, wherein the detection system comprises a pre-amplifier, a signal preprocessing circuit, a multi-path selection switch, a processor, a display unit, a storage unit and a power module, each sensor is connected with the signal preprocessing circuit through the pre-amplifier, the signal preprocessing circuit is connected with the multi-path selection switch, the multi-path selection switch is connected with the processor, and the processor is connected with the display unit and the storage unit.
Preferably, the side detection mechanism is two supporting legs, and the top detection mechanism is a support plate transversely arranged between the two supporting legs.
Preferably, the single-shot sensor array according to the present invention includes 5 single-shot photosensors N1, N2, N3, N4, and N5, and the 5 single-shot photosensors are respectively mounted at the center of the top surface detection mechanism and four vertices of a circular inscribed square having a radius R around the center of the top surface detection mechanism.
Preferably, the correlation sensor array according to the present invention comprises 5 correlation photosensors S1, S2, S3, S4 and S5, which are mounted in such a manner that S2, S4 are respectively located at two vertices of a square having a side length of a distance between S2, S4, and S1, S3 and S5 are located at midpoints of other three sides of the square.
The method for detecting the upright degree of the pot seedlings by using the device for detecting the upright degree of the pot seedlings planted by the transplanting machine comprises the following steps:
step one: and (3) detecting position identification: when the transplanter moves forwards and the pot seedlings pass through the lower part of the detection rack, the detection system judges whether the pot seedlings are at the detection position or not;
step two: judging the pot seedling posture: when the pot seedlings are determined to be at the detection positions, the multi-path selection switches are communicated, so that the sensors are ensured to collect the pot seedling posture information at the pot seedling detection positions, the pot seedling inclination direction information is collected through the single-shot sensor array on the top surface detection mechanism, and whether the pot seedling inclination angle is larger than 45 degrees is collected through the opposite-shot photoelectric sensor array on the side surface detection mechanism;
step three: processing collected information: coding through a digital encoder according to the position relation of each sensor in the single-shot sensor array and the correlation sensor array to obtain a pot seedling state truth table, writing the truth table into a processor, transmitting the information to a signal preprocessing circuit after each sensor collects the gesture information of pot seedlings, filtering, sampling and A/D converting the collected information by the signal preprocessing circuit, converting the analog signals of the sensors into digital level signals, transmitting the digital level signals to the processor, comparing the digital level signals with the truth table to obtain the gesture information of the pot seedlings by the processor, judging the qualified condition of the pot seedlings through a logic function arranged in the processor, and transmitting the gesture information and qualified information P of the pot seedlings to a display unit and a storage unit.
The beneficial effects of the invention are as follows: the invention has simple structure, ingenious conception, convenient use and strong operability, determines the layout design of the sensor on the detection device according to the size of the transplanted pot seedlings and the research of the pot seedling transplanting form, and utilizes digital logic operation to judge the mode of the sensor signals so as to realize the function of identifying the verticality of the pot seedlings in the three-dimensional direction; according to the judging standard of the transplanting verticality, the pot seedlings which are transplanted in a qualified mode and are more than 45 degrees are distinguished from the pot seedlings which are transplanted in a disqualified mode and less than 45 degrees are detected by the opposite-emitting photoelectric sensors on the supporting legs; judging the oblique direction of the pot seedlings through detection of a single-shot photoelectric sensor on the support plate; the invention has higher degree of automation, can fully consider the specific conditions of pot seedling transplanting, and meets the requirements of the transplanting machine on the pot seedling verticality and the missing planting detection.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a detection device of the present invention;
FIG. 2 is a top view of a test rack according to an embodiment of the present invention;
FIG. 3 is a right side view of the detecting device according to the embodiment of the invention;
FIG. 4 is a schematic diagram of the connection structure of the detection system of the present invention.
The marks in the figure: 1. the device comprises a detection frame, 2, supporting legs, 3, a support plate, 4, a single-shot sensor array, 5, a correlation sensor array, 6, a connecting piece, 7 and pot seedlings.
Detailed Description
The invention is further illustrated below with reference to examples and figures.
As shown in fig. 1, the upright degree detection device for the pot seedlings planted by the transplanting machine comprises a detection rack 1 arranged between a pot seedling transplanting machine mechanism and a soil covering wheel mechanism, wherein a connecting piece 6 which enables the detection device to be connected with the pot seedling transplanting machine mechanism is arranged on the detection rack 1, the bottom surface of the detection rack 1 slides by being stuck to a ridge, the detection rack 1 comprises two supporting legs 2 and a supporting plate 3 transversely arranged between the upper ends of the two supporting legs 2, a single-shot sensor array 4 for detecting the condition of missing planting and inclination of the pot seedlings and a correlation sensor array 5 for detecting the inclination of the pot seedlings are further arranged on the detection rack 1, the single-shot sensor array 4 is arranged on the lower surface of the supporting plate 3, the correlation sensor array 5 is symmetrically arranged on the inner side surfaces of the two supporting legs, and the connecting pieces 6 are respectively arranged at two ends of the supporting plate 3.
As shown in fig. 2, the single-shot sensor array 4 includes 5 single-shot photoelectric sensors N1, N2, N3, N4 and N5, the 5 single-shot photoelectric sensors are respectively installed at the center of the support plate 3 and four vertexes of a circular inscribed square with the center of the support plate 3 as a circle center radius R, and the specific value of the radius R is determined according to the width of the transplanted pot seedling; the purpose of this mounting is to obtain detection in eight directions of up, down, left, right, upper left, lower left, upper right, and lower right with the N3 bit center.
As shown in fig. 3, the correlation sensor array 5 includes 5 correlation photoelectric sensors S1, S2, S3, S4 and S5, where the installation manner is that the S2, S4 are respectively located at two vertices of a square with the distance between the S2, S4 as the side length, the S1, S3 and S5 are located at the midpoints of the other three sides of the square, the installation situation of the sensor on the left leg 2 is symmetrical to the right leg 2, and the distance between the S2, S4, that is, the side length of the square is determined according to the width of the transplanted pot seedling; the purpose of this mounting mode is to divide the base angle 90 ° into two areas of 45 ° -45 ° + and 45 ° + by the diagonal line of the square, and if the detected pot seedling inclination is less than 45 ° when S4 and S1 are simultaneously 1 and greater than 45 ° when S4 and S5 are simultaneously 0, and similarly, if the detected pot seedling inclination is detected by S2 as the reference point, the conditions of greater than 45 ° and less than 45 ° can be distinguished, so as to judge whether the erection degree is qualified.
As shown in fig. 4, the pot seedling transplanting verticality detection device further comprises a detection system matched with the detection rack 1 for detecting the verticality, the detection system comprises a pre-amplifier, a signal preprocessing circuit, a multi-path selection switch, a processor, a display unit, a storage unit and a power module, each sensor is connected with the signal preprocessing circuit through the pre-amplifier, the signal preprocessing circuit is connected with the multi-path selection switch, the multi-path selection switch is connected with the processor, the processor is connected with the display unit and the storage unit, and the detection system further comprises the power module for supplying power.
The signal preprocessing circuit is used for amplifying and filtering sensor detection signals, fusing the sensor signals, realizing A/D conversion and converting sensor analog signals into digital level signals.
The multi-path selection switch is used for controlling the on-off of sensor signals, ensuring that sampling signals are gesture effective signals, the signals of the sensors S2, N3 and S4 are not only connected with the gating end PIN of the multi-path selection switch, but also connected with the input end PIN of the multi-path selection switch, and the other sensors are only connected with the input end PIN of the multi-path selection switch, and the gating end signals control the on-off of the multi-path selection switch.
The processor comprises the functions of receiving the detection signals, identifying the pot seedling gesture and outputting the identification result to the display unit and the storage unit, and meanwhile, the processor also has the functions of missing planting alarm and judging uneven planting distance.
The display unit is used for displaying the inclination direction of the pot seedlings, the inclination of the pot seedlings and the alarm display of lodging seedlings and missed seedlings, wherein the inclination comprises more than 45 degrees and less than 45 degrees, if the inclination is more than 45 degrees, the pot seedlings are qualified in standing degree, and if the inclination is less than 45 degrees, the pot seedlings are unqualified in standing degree.
When the pot seedling signals are detected by the sensors, the pot seedling signals are processed by the signal preprocessing circuit, the pot seedling signals are in logic level 1, the pot seedling signals are not in logic level 0, the pot seedling state truth table is obtained by encoding through the digital encoder according to the position relations of the single-shot photoelectric sensors N1, N2, N3, N4 and N5 and the single-shot photoelectric sensors S1, S2, S3, S4 and S5, and the truth table is written into the processor, the truth table is shown in table 1 and table 2, wherein table 1 is the encoding of the single-shot photoelectric sensors and the corresponding pot seedling inclination truth table, and table 2 is the encoding of the single-shot photoelectric sensors and the corresponding pot seedling inclination truth table.
The coding function of the digital coder is realized by a digital logic circuit arranged inside the digital coder, and the digital logic circuit is written by an Altera EPM7128S (PLCC 84) chip.
Table 1 coding of single-shot photoelectric sensor and corresponding truth table for pot seedling inclination direction
Table 2 code for photoelectric sensor and corresponding pot seedling inclination truth table
The method for detecting the upright degree of the pot seedlings by using the device for detecting the upright degree of the pot seedlings planted by the transplanting machine comprises the following steps:
step one: and (3) detecting position identification: when the transplanter moves forwards and the pot seedlings pass through the lower part of the detection rack, the sensors S2, N3 and S4 are triggered to output signals in sequence, and whether the pot seedlings are at the detection position is judged;
step two: judging the pot seedling posture: when the pot seedlings are determined to be at the detection positions, the gating end signals of the multi-path selection switches control the multi-path selection switches to be communicated, so that the sensors are ensured to collect the pot seedling posture information at the pot seedling detection positions, and the combination of the opposite-shooting photoelectric sensors S1, S3 and S5 on the side surfaces of the detection devices triggers the position sensor S2 or S4 to judge whether the inclination angle of the pot seedlings is larger than 45 degrees; judging the oblique direction of the pot seedlings by combining the single-shot sensors N1, N2, N4 and N5 on the support plate of the detection device with the triggering position sensor N3;
step three: processing collected information: after each sensor collects the posture information of the pot seedlings, the information is transmitted to a signal preprocessing circuit, the signal preprocessing circuit filters, samples and A/D converts the collected information, then converts analog signals into digital level signals, and transmits the digital level signals to a processor, the processor compares the digital level signals with a truth table to obtain the posture information of the pot seedlings, and meanwhile, the processor judges the qualified condition of the upright degree of the pot seedlings through a logic function arranged in the processor and transmits the posture information of the pot seedlings and the qualified information of the upright degree to a display unit and a storage unit;
the logic function for judging the qualified condition of the upright degree of the pot seedlings in the processor is as follows:wherein N3, S1, S2, S3, S4 represent detected level signals, and are logical and operations, + is logical or operations, and-is logical not operations, by which the flag P output is 1, and the flag P output is 0, and the flag P indicates that the flag P is not.
By adopting the scheme, the operation quality detection test is carried out on the transplanted pepper seedlings, the detection effect of the verticality is ideal, the accuracy can reach more than 96%, the failure rate is almost zero, and the method is suitable for further popularization in the field of pot seedling transplanting.
Claims (2)
1. The utility model provides a transplanter plants alms bowl seedling straightness detection device that stands, includes and installs detection frame (1) between alms bowl seedling transplanter transplanting machine mechanism and earthing wheel mechanism, is equipped with on detection frame (1) and makes detection device and alms bowl seedling transplanter transplanting machine mechanism be connected connecting piece (6), its characterized in that: the detecting rack (1) comprises a top surface detecting mechanism and two side surface detecting mechanisms, wherein the detecting rack (1) is also provided with a single-shot sensor array (4) for detecting the condition of pot seedling missing planting and inclination and an opposite-shot sensor array (5) for detecting the inclination of the pot seedling, the single-shot sensor array (4) is arranged on the lower surface of the top surface detecting mechanism, and the opposite-shot sensor arrays are symmetrically arranged on the inner side surfaces of the two side surface detecting mechanisms;
the pot seedling transplanting verticality detection device also comprises a detection system matched with the detection rack (1) for detecting the verticality, wherein the detection system comprises a pre-amplifier, a signal preprocessing circuit, a multi-path selection switch, a processor, a display unit, a storage unit and a power supply module, each sensor is connected with the signal preprocessing circuit through the pre-amplifier, the signal preprocessing circuit is connected with the multi-path selection switch, the multi-path selection switch is connected with the processor, and the processor is connected with the display unit and the storage unit;
the side detection mechanism is two support legs (2), and the top detection mechanism is a support plate (3) transversely arranged between the two support legs (2); the single-shot sensor array (4) comprises 5 single-shot photoelectric sensors N1, N2, N3, N4 and N5, wherein the 5 single-shot photoelectric sensors are respectively arranged at the center of the top surface detection mechanism and four vertexes of a circular inscribed square with the center of the top surface detection mechanism as the circle center radius R; the correlation sensor array (5) comprises 5 pairs of correlation photoelectric sensors S1, S2, S3, S4 and S5, wherein the installation mode is that the S2 and the S4 are respectively positioned at two vertexes of a square with the distance between the S2 and the S4 as the side length, and the S1, the S3 and the S5 are positioned at the midpoints of the other three sides of the square.
2. The method for detecting the verticality of the pot seedlings by using the device for detecting the verticality of the pot seedlings planted by the transplanting machine according to claim 1, which is characterized in that: the method comprises the following steps:
step one: and (3) detecting position identification: when the transplanter moves forwards and the pot seedlings pass through the lower part of the detection rack, the detection system judges whether the pot seedlings are at the detection position or not;
step two: judging the pot seedling posture: when the pot seedlings are determined to be at the detection positions, the multi-path selection switches are communicated, so that the sensors are ensured to collect the pot seedling posture information at the pot seedling detection positions, the pot seedling inclination direction information is collected through the single-shot sensor array (4) on the top surface detection mechanism, and whether the pot seedling inclination angle is larger than 45 degrees is collected through the opposite-shot photoelectric sensor array (5) on the side surface detection mechanism;
step three: processing collected information: coding through a digital coder according to the position relation of each sensor in the single-jet sensor array (4) and the correlation sensor array (5) to obtain a pot seedling state truth table, writing the truth table into a processor, transmitting the information to a signal preprocessing circuit after each sensor collects the gesture information of pot seedlings, filtering, sampling and A/D converting the collected information by the signal preprocessing circuit, converting the analog signals of the sensors into digital level signals, transmitting the digital level signals to the processor, comparing the digital level signals with the truth table by the processor to obtain the pot seedling gesture information, and judging the qualified condition of the pot seedlings through a logic function arranged in the processor, and transmitting the pot seedling gesture information and qualified upright information P to a display unit and a storage unit.
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| CN117330138B (en) * | 2023-12-01 | 2024-02-13 | 上海优异达机电有限公司 | Precise external dimension and quality deviation intelligent detection equipment |
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| CN107014301A (en) * | 2017-05-18 | 2017-08-04 | 河南科技大学 | A kind of detection means and method of pot seedling diameter |
| CN207248158U (en) * | 2017-09-08 | 2018-04-17 | 河南科技大学 | A kind of potted-seedling transplanting upright degree detection device |
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| CN107014301A (en) * | 2017-05-18 | 2017-08-04 | 河南科技大学 | A kind of detection means and method of pot seedling diameter |
| CN207248158U (en) * | 2017-09-08 | 2018-04-17 | 河南科技大学 | A kind of potted-seedling transplanting upright degree detection device |
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| Title |
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| 烟草钵苗移栽机鸭嘴式移栽部件移栽质量试验;那明君等;《农机化研究》(第11期);全文 * |
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