CN108032926B - Remote control trolley for measuring depth of mud feet in paddy field - Google Patents
Remote control trolley for measuring depth of mud feet in paddy field Download PDFInfo
- Publication number
- CN108032926B CN108032926B CN201711294616.4A CN201711294616A CN108032926B CN 108032926 B CN108032926 B CN 108032926B CN 201711294616 A CN201711294616 A CN 201711294616A CN 108032926 B CN108032926 B CN 108032926B
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- mud
- measuring
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- chassis
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims abstract description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 10
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000005259 measurement Methods 0.000 abstract description 13
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 239000002699 waste material Substances 0.000 abstract 1
- 238000003971 tillage Methods 0.000 description 4
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009328 dry farming Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011326 mechanical measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/26—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring depth
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses a remote control trolley for measuring depth of mud feet of a paddy field, which solves the problems of time and labor waste, poor precision and the like of the conventional depth measurement of the mud feet of the paddy field. The technical scheme includes that the device comprises a driving chassis with a lithium battery module, a display and control assembly, a mud inlet assembly and a measuring assembly, wherein the display and control assembly, the mud inlet assembly and the measuring assembly are arranged on the driving chassis; the display control assembly comprises a control panel fixed on the bin body, and a display control screen, a Beidou positioning antenna, a Beidou positioning module and a wireless communication antenna which are connected with the control panel, and the measuring assembly comprises a displacement sensor vertically installed on the supporting plate. The invention can completely replace manpower, save time and labor, has high precision and good reliability, and can realize multi-point continuous rapid measurement, rapid data transmission, obstacle crossing and anti-trapping performance.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a remote control trolley for measuring the depth of mud feet in a paddy field.
Background
Rice production plays an important role in food production in China. In the traditional rice production of China, the requirements of fine tillage, fine harrowing, no water flowing over the field and the like exist, and the modern mechanical transplanting technology also has high requirements on tillage of the rice field. Four typical paddy field environments (dry farming paddy field, summer tillage paddy field, lake field and retting field) in south China have different mud foot depths, and different mud foot depths have important influence on the paddy field tillage process.
At present, the standard mud foot depth measuring method and measuring equipment are not available in China, the depth is estimated after the traditional mud foot depth measurement is carried out manually, time and labor are wasted, the efficiency is low, the precision is low, the reliability is poor, mud foot depth data cannot be provided consistently and accurately, and rapid measurement and real-time transmission of digital data cannot be carried out. The technical problems of obstacle crossing and sink prevention difficulty, low measurement speed, large plugging resistance in measurement, inconvenience in data transmission and the like exist by adopting simple and improved mechanical measurement, and the technical problems need to be solved as soon as possible.
Disclosure of Invention
The invention aims to solve the technical problems and provides the remote control dolly for measuring the depth of the mud feet of the paddy field, which can completely replace manpower, save time and labor, has high precision and good reliability, and can realize multi-point continuous and rapid measurement, rapid data transmission, obstacle crossing and strong anti-sinking performance.
The remote control dolly for measuring the depth of the mud feet of the paddy field comprises a driving chassis with a lithium battery module, a display and control assembly, a mud inlet assembly and a measuring assembly, wherein the display and control assembly, the mud inlet assembly and the measuring assembly are arranged on the driving chassis; the display control assembly comprises a control panel fixed on the bin body, and a display control screen, a Beidou positioning antenna, a Beidou positioning module and a wireless communication antenna which are connected with the control panel; the mud feeding assembly comprises a supporting plate vertically arranged on the driving chassis, a pressurizing motor and a speed reducer connected with the pressurizing motor are arranged at the upper end of the supporting plate, the output end of the speed reducer is connected with a vertical pressurizing screw rod, a pressurizing nut is in threaded connection with the pressurizing screw rod, the pressurizing nut is connected with the mud feeding plate through a mud feeding sliding rod, and a pressure sensor is arranged on the bottom surface of the mud feeding plate; the measuring assembly comprises a displacement sensor vertically arranged on a supporting plate, and a sliding block of the displacement sensor is connected with the mud inlet sliding rod through a connecting rod; the control panel is also respectively connected with a chassis control module of the four-wheel drive chassis, a pressurizing motor, a displacement sensor and a pressure sensor; the lithium battery module provides electric energy for the control panel through the chassis control module.
The bottom surface of the four-wheel drive chassis is also provided with an infrared distance sensor, and the infrared distance sensor is connected with the control panel.
The displacement sensor is a magnetostrictive displacement sensor.
A through hole is formed in the four-wheel drive chassis, and a mud inlet sliding rod of the mud inlet assembly is located in the through hole.
The lower section of the supporting plate is provided with a guide groove for guiding the mud inlet slide bar.
The display and control assembly further comprises an attitude sensor connected with the control panel.
Aiming at the problems in the background art, the inventor considers that a remote control trolley is adopted to replace manpower, and the remote control trolley adopts a four-wheel drive chassis, so that the remote control trolley can well walk on a mud land and flexibly steer, and has good obstacle crossing and anti-sinking performance. Adopt into mud subassembly and measuring assembly cooperation, go into the mud subassembly and adopt the pressurization motor to provide drive power, exert power on the pressurization screw rod through the speed reducer, the cooperation conversion through pressurization screw rod and pressurization spiral shell becomes downward vertically effort, through going into the mud slide bar and being used in the mud board of going into, this kind of simple structure effect is showing, the overdraft is quick, accurate and effective, not only can effectively replace artifical pushing down, still solved by spare part self gravity pushing down the inefficiency that exists, the relatively poor problem of reliability. The bottom surface of the mud inlet plate is provided with a pressure sensor for detecting downward pressing resistance, when the measured pressure is increased to a set value, the bottom is determined to be touched, the control panel can control the pressurizing motor to stop working, and meanwhile, the measured value of the displacement sensor is read. The measuring component adopts a displacement sensor, and a person skilled in the art can select a proper displacement sensor according to needs, which is the prior art, and the specific structure of the displacement sensor is not described in detail. Preferably, a magnetostrictive displacement sensor is adopted, the sensor is of a sliding fit structure of a sliding block on a measuring rod, the displacement value is measured by utilizing the magnetostrictive displacement principle, and the sliding block can be connected with a mud inlet sliding rod through a connecting rod, so that the displacement value of the mud inlet sliding rod can be synchronously measured, and the measured data can be rapidly read by a control board.
The bottom surface of the four-wheel drive chassis is also provided with an infrared distance sensor, and the infrared distance sensor is connected with the control panel. Before measurement, the ground clearance of the bottom surface of the four-wheel drive chassis is measured through an infrared sensor, then the mud inlet sliding plate is controlled to be flush with the bottom surface of the four-wheel drive chassis to serve as initial displacement data, and the ground clearance of the four-wheel drive chassis is subtracted from a displacement value obtained after measurement, so that the paddy field mud foot depth is obtained.
The displacement sensor can be reasonably selected according to needs, and is particularly preferably a magnetostrictive displacement sensor. The displacement of the mud inlet slide bar can be transmitted to the slide block of the magnetostrictive displacement sensor through the connecting rod to form the relative displacement between the slide block and the measuring rod of the magnetostrictive displacement sensor, so that a displacement measured value is generated.
The four-wheel drive chassis is provided with the through hole, so that a mud inlet sliding rod of the mud inlet assembly works in the vertical direction of the through hole, the use stability of components is improved, external interference is reduced, and the mud inlet assembly is favorable for keeping a better mud inlet posture; the mud inlet slide bar is further guided by the guide groove, so that the stability of the mud inlet posture of the mud inlet slide bar is improved; and the attitude sensor monitors the mud entering attitude of the mud entering slide bar in real time.
Data signals of the pressure sensor, the displacement sensor, the infrared distance sensor, the attitude sensor and the like are sent to the control panel for storage, calculation and judgment, and can be displayed in the control display screen, and the control panel is also communicated with the pressurizing motor of the mud inlet assembly and the chassis control module of the four-wheel drive chassis and outputs control signals.
Four wheels of the four-wheel drive chassis are driven by independent motors and speed reducers, so that the obstacle crossing and sinking prevention performance is improved. Receiving a remote control command through wireless and moving the remote control command to a measuring position; and recording the measurement position and the motion trail through the Beidou positioning module and the Beidou positioning antenna. All motors and all electric control equipment are powered by rechargeable lithium battery modules, and the requirement of field data acquisition mobility can be met. The data are simultaneously transmitted back to the workstation in a wireless mode, monitoring and database software on the workstation can monitor the running state of the measuring equipment in real time and store the returned data, and follow-up processing is facilitated. All equipment on the robot is powered by the lithium battery module on the four-wheel drive chassis.
The invention has the advantages of strong obstacle crossing and anti-trapping performance, simple operation, simple and reliable structure, high measurement precision, high measurement speed, low labor intensity, real-time wireless data transmission, data storage and analysis, and the like.
Drawings
FIG. 1 is an overall view of the structure of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of the structure of the chassis of the present invention;
FIG. 4 is a bottom view of the chassis structure of the present invention;
fig. 5 is a control schematic diagram of the present invention.
Wherein, 1-a magnetostrictive displacement sensor, 2-a display and control component, 3-a mud inlet component, 4-a four-wheel drive chassis, 5-an infrared distance sensor, 6-an electronic bin, 7-a measuring rod, 8-a slide block, 9-a connecting rod, 10-a lithium battery module, 11-a guide groove, 12-a speed reducer, 13-a pressurizing motor and 14-a mud inlet plate, 15-support plate, 16-pressurizing screw, 17-pressurizing nut, 18-Beidou positioning antenna, 19-wireless communication antenna, 20-pressure sensor, 21-control panel, 22-display control screen, 23-attitude sensor, 24-Beidou positioning module, 25-mud entering slide bar, 26-chassis control module and 27-through hole.
Detailed Description
The invention is further explained below with reference to the drawings in which:
referring to fig. 1, the remote control dolly for measuring the depth of mud feet in a paddy field consists of a magnetostrictive displacement sensor 1, a display and control assembly 2, a mud inlet assembly 3 and a four-wheel drive chassis 4.
Referring to fig. 2, the mud feeding assembly 3 is composed of a pressurizing motor 13, a speed reducer 12 (preferably a worm gear speed reducer), a pressurizing screw 16, a pressurizing nut 17, a support plate 15, a guide groove 11, a mud feeding slide rod 25, a mud feeding plate 14 and a pressure sensor 20. The supporting plate 15 is vertically installed at a through hole 27 of the four-wheel drive chassis 4, and the pressurizing motor 13 and the speed reducer 12 are driven by a key and fixed at the upper end of the supporting plate 15. The upper end of the pressurizing screw 16 is connected with the output end of the speed reducer 12, a pressurizing nut 17 is sleeved on the pressurizing screw, the pressurizing nut 17 is welded at the upper end of a mud inlet slide rod 25, a mud plate 14 is arranged at the lower end of the mud inlet slide rod 25, a pressure sensor 20 is arranged on the bottom surface of the mud inlet plate 14, the mud inlet plate 14 and the pressure sensor 20 are both made of stainless steel, and a guide groove 11 for guiding the mud inlet slide rod 17 in a linear motion manner is further arranged at the lower section of the support plate 15.
The magnetostrictive displacement sensor 1 is commercially available and at least comprises an electronic cabin 6, a measuring rod 7 and a sliding block 8. The electronic bin 6 is fixed at the upper end of the measuring rod 7, the sliding block 8 is a permanent magnet, and when the electronic bin 6 can move on the measuring rod 7, the absolute displacement signal is output by the measuring electronic bin 6 by utilizing the magnetostrictive displacement principle. The sliding block 8 is rigidly connected with a mud inlet sliding rod 17 through a connecting rod 9.
The display and control component 2 is also arranged on the four-wheel drive chassis 4 and is composed of a Beidou positioning antenna 18, a wireless communication antenna 19, a control panel 21, a display control screen 22, an attitude sensor 23 and a Beidou positioning module 24. The four-wheel drive chassis 4 communicates with the control board 21 through a cable and supplies power. The control board 21 is connected with the magnetostrictive displacement sensor 1 and the pressurizing motor 13 through cables for communication and power supply. The control panel 21 is still connected with display control screen 22, big dipper location antenna 18, wireless communication antenna 19, big dipper orientation module 24, pressure sensor 20 and attitude sensor 23 and infrared distance sensor 5 all through the cable, realizes communication and power supply.
Referring to fig. 3, the four-wheel drive chassis 4 is an electric control four-wheel drive, the chassis control module 34 controls four motors corresponding to four wheels to make corresponding actions according to specified requirements, the specific structure of the four-wheel drive chassis is the prior art, detailed description is omitted, and the obstacle crossing and anti-sinking performance of the trolley can be greatly improved by adopting the four-wheel drive chassis 4. Referring to fig. 4, an infrared distance sensor 5 is further disposed on the bottom surface of the four-wheel drive chassis 4 for measuring the ground clearance; the lithium battery module 10 is arranged on the four-wheel drive chassis 4, and the chassis control module 26 obtains electric energy provided by the lithium battery module 10 through a cable and detects the working state of the battery; the chassis control module 26 outputs electric energy and control signals to four motors of the four wheels through cables, and the control board 21 communicates with the infrared distance sensor 49 through the cables and provides electric energy for the infrared distance sensor; the chassis control module 26 also communicates with and supplies power to the control board 21 via cables.
The working principle is as follows:
the control panel 21 receives the remote control command wirelessly and sends a control signal to the chassis control module 34 to control the trolley to move, so as to achieve the purpose of remote control. When the remote control trolley moves to a measuring point, the remote control trolley stops moving forwards, and the data of the ground clearance measured by the infrared distance sensor 5 is transmitted to the control board 21; the control panel 21 controls the pressurizing motor 13 to work, the pressurizing screw 16 is driven to rotate through the speed reducer 14, the pressurizing nut 17 moves downwards along the axial direction of the pressurizing screw 16 until the bottom surface of the mud feeding plate 14 is flush with the four-wheel drive chassis 4, and the control panel 21 records displacement data transmitted by the magnetostrictive displacement sensor 1 at the moment as initial displacement data; the control panel 21 controls the pressurizing motor 13 to work, the mud inlet slide rod 25 drives the mud inlet plate 14 to move downwards into mud until the mud inlet plate touches the paddy field substrate, a signal is transmitted to the control panel 21 after the pressure sensor 20 at the bottom surface of the mud inlet plate 14 monitors that the pressure value reaches a set value, the control panel 21 records the displacement data transmitted by the magnetostrictive displacement sensor 1 at the moment, and the mud foot depth data of the measuring point can be obtained through calculation; after the detection is finished, the control panel 21 controls the pressurizing motor 13 to rotate reversely, and the pressurizing screw 16 drives the mud inlet plate 14 to move upwards to the height which is flush with the four-wheel drive chassis 4 through the pressurizing nut 17 and the mud inlet slide bar 25 so as to prepare for the next measurement. The attitude sensor 23 monitors the mud entering attitude of the mud entering slide bar in real time, and transmits the data to the control panel 21 for recording, analyzing and judging. The control panel 21 is provided with a wireless communication module, and all received data can be in data communication with the workstation through the wireless communication antenna 19.
Claims (6)
1. A remote control dolly for measuring the depth of mud feet in a paddy field comprises a driving chassis with a lithium battery module, a display and control assembly, a mud entering assembly and a measuring assembly which are arranged on the driving chassis, and is characterized in that the driving chassis is a four-wheel driving chassis; the display control assembly comprises a control panel fixed on the bin body, and a display control screen, a Beidou positioning antenna, a Beidou positioning module and a wireless communication antenna which are connected with the control panel; the mud feeding assembly comprises a supporting plate vertically arranged on the driving chassis, a pressurizing motor and a speed reducer connected with the pressurizing motor are arranged at the upper end of the supporting plate, the output end of the speed reducer is connected with a vertical pressurizing screw rod, a pressurizing nut is in threaded connection with the pressurizing screw rod, the pressurizing nut is connected with the mud feeding plate through a mud feeding sliding rod, and a pressure sensor is arranged on the bottom surface of the mud feeding plate; the measuring assembly comprises a displacement sensor vertically arranged on a supporting plate, and a sliding block of the displacement sensor is connected with the mud inlet sliding rod through a connecting rod; the control panel is also respectively connected with a chassis control module of the four-wheel drive chassis, a pressurizing motor, a displacement sensor and a pressure sensor; the lithium battery module provides electric energy for the control panel through the chassis control module.
2. The remote control dolly for measuring the depth of mud feet in paddy field according to claim 1, wherein the bottom surface of the four-wheel drive chassis is further provided with an infrared distance sensor, and the infrared distance sensor is connected with the control board.
3. The remote control dolly for measuring the depth of the mud feet in the paddy field according to claim 1 or 2, wherein the displacement sensor is a magnetostrictive displacement sensor.
4. The remote control dolly for measuring the depth of mud feet in paddy field according to claim 1, wherein the four-wheel drive chassis is provided with a through hole, and the mud inlet slide bar of the mud inlet component is positioned in the through hole.
5. The remote control dolly for measuring the depth of mud feet in paddy fields as claimed in claim 1 or 4, wherein the lower section of the supporting plate is provided with a guide groove for guiding the mud entering slide bar.
6. The remote control dolly for measuring the depth of mud feet in paddy field according to claim 1 or 4, wherein the display and control assembly further comprises an attitude sensor connected with the control board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294616.4A CN108032926B (en) | 2017-12-08 | 2017-12-08 | Remote control trolley for measuring depth of mud feet in paddy field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294616.4A CN108032926B (en) | 2017-12-08 | 2017-12-08 | Remote control trolley for measuring depth of mud feet in paddy field |
Publications (2)
| Publication Number | Publication Date |
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| CN108032926A CN108032926A (en) | 2018-05-15 |
| CN108032926B true CN108032926B (en) | 2020-05-19 |
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| CN201711294616.4A Expired - Fee Related CN108032926B (en) | 2017-12-08 | 2017-12-08 | Remote control trolley for measuring depth of mud feet in paddy field |
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| CN108955490B (en) * | 2018-08-17 | 2024-04-12 | 南京溥博渊泉环保科技有限公司 | Hand-held type hole depth measuring device |
| CN116793180B (en) * | 2023-08-29 | 2023-10-31 | 山西建筑工程集团有限公司 | Anti-collision wall deflection measuring device |
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| CN105021111B (en) * | 2014-07-18 | 2017-09-22 | 国家电网公司 | A kind of method of work for detecting convenient earthing bar buried depth detector |
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2017
- 2017-12-08 CN CN201711294616.4A patent/CN108032926B/en not_active Expired - Fee Related
Patent Citations (6)
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| JP2008144385A (en) * | 2006-12-07 | 2008-06-26 | Maeda Corp | Apparatus and method for detecting height of placing of concrete |
| KR20130004679A (en) * | 2011-07-04 | 2013-01-14 | 현대중공업 주식회사 | Apparatus of measuring of subsea pipeline installation |
| CN105021111B (en) * | 2014-07-18 | 2017-09-22 | 国家电网公司 | A kind of method of work for detecting convenient earthing bar buried depth detector |
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| CN108032926A (en) | 2018-05-15 |
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Granted publication date: 20200519 |