CN108112457A - A kind of plant detection method based on Multifunctional mobile detection vehicle - Google Patents
A kind of plant detection method based on Multifunctional mobile detection vehicle Download PDFInfo
- Publication number
- CN108112457A CN108112457A CN201711406190.7A CN201711406190A CN108112457A CN 108112457 A CN108112457 A CN 108112457A CN 201711406190 A CN201711406190 A CN 201711406190A CN 108112457 A CN108112457 A CN 108112457A
- Authority
- CN
- China
- Prior art keywords
- plant
- vehicle
- platform
- camera
- pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/02—Stationary means for catching or killing insects with devices or substances, e.g. food, pheronones attracting the insects
- A01M1/04—Attracting insects by using illumination or colours
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- 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
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M2200/00—Kind of animal
- A01M2200/01—Insects
- A01M2200/012—Flying insects
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of plant detection method based on Multifunctional mobile detection vehicle, steps 1：Driving moving detection vehicle is advanced at tested plant；Step 2：Data acquisition：Data acquisition includes：(1) detected using chuck type apparatus for detecting diameter by the diameter of side plant；(2) using the information on the RFID card at RFID reader acquisition plant；Step 3：Moving detection vehicle is by wireless communication module by the data sending of acquisition to data acquisition platform.The plant detection method based on Multifunctional mobile detection vehicle is easy to implement, feature-rich.
Description
Technical field
The present invention relates to a kind of plant detection methods based on Multifunctional mobile detection vehicle.
Background technology
It is general warm and humid using fixed sensor is set to realize when digital monitoring is realized on existing agricultural greenhouse or farm
The monitoring of the parameters such as degree and illumination, thus flexibility is poor.
In addition, existing planting area is, it is necessary to manually real to crop (plant, such as plant of capsicum or eggplant plant etc.)
Existing diameter measurement；Unmanned measurement can not be realized by dedicated equipment.
Therefore, it is necessary to design a kind of plant detection method based on Multifunctional mobile detection vehicle.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of plant detection method based on Multifunctional mobile detection vehicle,
The plant detection method integrated level based on Multifunctional mobile detection vehicle is high, feature-rich.
The technical solution of invention is as follows：
A kind of plant detection method based on Multifunctional mobile detection vehicle, comprises the following steps：
Step 1：Driving moving detection vehicle is advanced at tested plant；
Step 2：Data acquisition：Data acquisition includes：
(1) detected using chuck type apparatus for detecting diameter by the diameter of side plant；
(2) using the information on the RFID card at RFID reader acquisition plant；
Step 3：Moving detection vehicle is by wireless communication module by the data sending of acquisition to data acquisition platform.
The telescopic probe of detection soil temperature and humidity is additionally provided on the driving moving detection vehicle, probe is equipped with warm and humid
Spend sensor.
Wireless communication module uses bluetooth communication, ZigBee communication module or Wifi communication modules.
Driving moving detection vehicle includes electric walking mechanism and the support platform being arranged in walking mechanism；
Support platform (112) is equipped with battery, MCU, communication module, memory module, in-vehicle camera (114) and for detecting
The collet (318) of plant diameter；Mobile detection terminal is used to drive electric walking by supporting rod and in-vehicle camera connected battery
Mechanism is additionally operable to the detection device power supply set in mobile detection terminal；
The collet includes quiet arm (306), swing arm (307) and the swing arm driving device for driving swing arm；
The front end of quiet arm is parallel with the front end of swing arm；Collet is equipped with to measure the displacement of spacing between quiet arm and swing arm
Detection device；
Displacement detector and the data sending of in-vehicle camera detection are to MCU；Communication module and memory module with MCU phases
Even；
The locating module being connected with MCU is additionally provided on vehicular platform.Locating module is flat for big dipper module or GPS module support
Platform is equipped with vertical telescopic rod, and vertical telescopic rod is equipped with horizontal extension bar, and the front end of horizontal extension bar is equipped with collet, and
And vertical telescopic rod and horizontal extension bar are motor drive mechanism, therefore, above and below collet energy and are moved forward and backward, in addition walking mechanism
For crawler type walking mechanism, therefore, collet can be freely movable in three dimensions, convenient for detecting the diameter of plant.
Battery is accumulator or lithium battery；Vehicular platform is equipped with the constant-current charging circuit for being used for charging for battery.
Displacement detector is magnetic induction displacement detector, alternatively, displacement detector is pulley-dragline type displacement inspection
Survey device.
Pulley-dragline type displacement detector includes code-disc, pulley (310) and drawstring (311)；Code-disc is arranged on pulley
On, it can be rotated with code-disc coaxial synchronous；The pulse signal of code-disc output is connected with the input terminal of MCU；Pulley is arranged on quiet arm,
One end of drawstring is on the fixed swing arm of the other end on pulley, drawing god；
Alternatively, pulley is arranged on swing arm, one end of drawstring is around the fixed quiet arm of the other end on pulley, drawing god
On.Preferably, the another of drawstring is terminated on drawstring fixing piece.Drawstring fixing piece is fixed on swing arm or quiet arm.
Pulley is equipped with torsional spring, to keep certain tension of drawstring, so as to improve the accuracy of measurement.
The movable end being connected with swing arm is equipped in slide, quiet arm is fixedly connected with slide；Movable end is set in a groove, energy
It is slided along slide.The effect for setting slide is for ensureing swing arm smooth opening and closing.
Swing arm driving device is electric push rod or cylinder.Electric push rod is preferably Rack and pinion mechanism.Motor drives
Gear rotates, and band carry-over bar moves, and rack is connected with swing arm.
The in-vehicle camera is the camera with combined type camera lens and multiple images sensor, is equipped in combined type camera lens more
A sub- camera lens, sub- camera lens is by conducting wire or contact and phase mechatronics, and sub- camera lens is equal with the quantity of imaging sensor, Duo Gezi
Circumferential spaced set of the camera lens along combined type camera lens；The axis of i-th of sub- camera lens and the center line through i-th of imaging sensor
Point；I=1,2 ..., n；N is the number of sub- camera lens.
Vehicular platform is equipped with the RFID read-write module being connected with MCU.It is necessary for reading the RFID card information that plant goes out
When write information into RFID card.
Vehicular platform is equipped with the RFID read-write module being connected with MCU.It is necessary for reading the RFID card information that plant goes out
When write information into RFID card, (including kind, on the seed date, may be used also for reading the information on the ID cards (RFID card)
To include other information).
Hydrojet mechanism is additionally provided in mobile detection terminal, such as water spray or spray waste material or pesticide etc..
Following steps examinations are passed through using moving detection vehicle (moving detection terminal)：
Step 1：Driving moving detection vehicle is advanced at tested plant；
Step 2：Data acquisition：Data acquisition includes：
(1) detected using chuck type apparatus for detecting diameter by the diameter of side plant；
(2) using the information on the RFID card at RFID reader acquisition plant；
Step 3：Moving detection vehicle is by wireless communication module by the data sending of acquisition to data acquisition platform.
The telescopic probe of detection soil temperature and humidity is additionally provided on the driving moving detection vehicle, probe is equipped with warm and humid
Spend sensor.
Data monitoring platform and multiple mobile detection terminals can form a detecting system (i.e. monitoring system)；Mobile detection
Terminal is connected with data monitoring platform wireless communication；
Mobile detection terminal can communicate with the multiple fixed detection terminals set in the soil, mobile detection terminal
Mobile data aggregation node can be used as.
Fixed detection terminal is equipped with Temperature Humidity Sensor；Fixed detection terminal and data monitoring platform be wired or nothing
Line communicates to connect；
Mobile detection terminal has electric walking mechanism and lithium battery；Lithium battery is also used for driving electric walking mechanism
The detection device power supply set on for mobile detection terminal；
The targeted monitoring area of monitoring system (301) has a plurality of road (303) for being used to move detection terminal communication,
Road includes main line and branch, and for moving detection terminal fast passing, mobile detection terminal can also be on the soil of non-rice habitats
It passes through at a slow speed, at least provided with a wireless charging platform in monitoring area or outside monitoring area；It is equipped in wireless charging platform
Wireless charging mechanism can be that mobile detection terminal charges.
The diameter D=L+2*c of plant；C is single clamp arm fixed width, and L is the length that sensor detects.
Swing arm driving device is electric push rod or cylinder.Electric push rod is preferably Rack and pinion mechanism.Motor drives
Gear rotates, and band carry-over bar moves, and rack is connected with swing arm.
The monitoring area is square region；Such as greenhouse gardening base, square region is divided into multiple sides by putting down in length and breadth
The subregion (302) of shape；Each sub-regions are at least provided with a charging platform；A shifting is at least equipped in each sub-regions
Dynamic detection terminal.
For the convergence terminal of convergence detection data there are one being set in each sub-regions；Convergence terminal leads to monitor supervision platform
Letter connection；Mobile detection terminal is connected with convergence terminal wireless communication.
Agricultural monitoring system further includes the aircraft with camera；When aircraft is dropped on wireless charging platform, wirelessly
Charging platform can be aircraft wireless charging, and liquid reserve tank and spraying mechanism are additionally provided on aircraft, and aircraft is used to spray agriculture
Medicine and the monitoring image or video for obtaining large scene.
Injurious insect detector is equipped at fixed detection terminal.
In addition, partly or entirely plant is equipped with ID cards, mobile detection terminal is equipped with RFID reader, for reading
The information (including kind, the seed date can also include other information) on ID cards is stated, and relevant information is written to ID cards
On；
Alternatively, partly or entirely plant is equipped with ID codes (bar code or Quick Response Code), mobile detection terminal is equipped with barcode scanning
Device.
Therefore corresponding plant information can be safeguarded in monitor supervision platform.It is lower that mode cost is planted afterwards, is preferred side
Formula.
Spray piping is equipped in soil, is used to implement humid control, monitoring area has automatic open-close device for windows and photograph
Bright device has air temperature regulator for illumination control and monitoring area, is used to implement temperature control, spray piping,
Automatic open-close device for windows, lighting device, air temperature regulator (air-conditioning) are controlled by monitor supervision platform.
Mobile detection terminal also is provided with spray equipment, for spraying special liquid, such as liquid fertilizer.
Mobile detection terminal can walk on the ground, and if necessary, mobile detection terminal can also snap into vapour by passage
Che Shang.Vehicular platform (automobile) is equipped with camera support bar, and the top of camera support bar is equipped with camera；The control terminal of camera with
MCU is connected, and the image data of camera acquisition is transferred on the memory being connected with MCU, and it is aobvious to also reside in that MCU is connected for image data
Show screen display.
MCU is also associated with wireless communication module and locating module.Locating module be the Big Dipper and GPS module, radio communication mold
Block is GPRS, 3G, 4G or 5G module or WiFi module.
Vehicular platform is equipped with solar panel, and solar panel is charged by charging circuit for battery.
Vehicular platform be equipped be used for for battery charge wireless charging circuit, the battery be dynamic lithium battery, vehicle
When mounting platform is on wireless charging parking stall, the wireless charging system on wireless parking stall charges for dynamic lithium battery.
In addition, vehicular platform is unmanned vehicular platform (having avoidance sensor etc.), vehicular platform is pure electric vehicle
Carrying platform.Vehicular platform is equipped with unmanned plane, and unmanned plane is equipped with camera, under the cooperation of unmanned plane, can realize a wide range of
Spray planning, unmanned plane is equipped with lithium battery, and vehicular platform is equipped with the wireless charging Denso to charge for lithium battery on unmanned plane
It puts, unmanned plane is generally continued a journey or so half an hour, and per half an hour, unmanned plane makes a return voyage to energy is supplemented on vehicular platform, and unmanned plane is
More, perform task in turn, can generally realize 24 it is small when uninterruptedly perform task.
Therefore, this spray equipment can be there are many working method：
1. double artificial spray, a people drives, and a people sprays on vehicular platform.Suitable for the spray of city roadside greening.
2. one manually sprays, a people drives, and monitors spray operation by display screen.
3. remote control sprays.-- based on unmanned plane and vehicle-mounted camera, remote control vehicle to run and spray.
4. unmanned control automatic spray.-- based on unmanned plane and vehicle-mounted camera, automatic path planning, automatic spray.
Water tank is equipped with Toolbox.
In addition, spray gun rear end is equipped with annular hand grip.Convenient for manual operation.
Sparge pipe, water inlet pipe and drinking-water pipe are hose；
In addition, being additionally provided with robot vehicle (moving detection terminal) on vehicular platform, nozzle and camera are carried on robot vehicle,
And crawler type walking mechanism, nozzle are connected by soft water pipe and water tank.The image or video of camera shooting pass through nothing
Line or wired mode are transferred to vehicular platform, and can be further transferred to remote monitoring center, convenient for driver or long-range prison
It controls personnel control robot vehicle and implements further sprinkling.Implement sprinkling in region especially impassable to vehicle.It can on vehicular platform
Ground is transferred to from vehicular platform convenient for robot vehicle with folding and unfolding or the passage of vehicular platform is returned to from ground.
Vehicular platform is equipped with diesel engine and battery；Battery is accumulator or lithium battery；Diesel engine and battery pass through switching
Mechanism drives centrifugal pump, and the shaft of diesel engine is connected by electric clutch with the shaft of centrifugal pump, and electric clutch is controlled by
MCU, battery directly drive centrifuge by driving circuit；Driving circuit is controlled by MCU.
Diesel engine is connected with generator, and battery is connected with inverter circuit, generator and inverter circuit by switching circuit (such as
Switching circuit based on relay) can be that external loading is powered.
The front end of spray gun is nozzle, and spray gun is equipped with the adjuster for adjusting current size；The support base of spray gun is arranged on water
On flat rotating platform, support base is equipped with support column, and spray gun is set sets (level on the support columns by horizontal rotating shaft mechanism
Rotating shaft mechanism axis horizontal, the spray gun axis mechanism that can rotate rotates in a vertical plane, so as to raise or decline the angle of nozzle
Degree, support base can be compared with 360 ° of horizontal rotations of vehicular platform).
Horizontal rotatable platform and rotating shaft mechanism are driven by motor, and motor and adjuster are controlled by MCU.That is MCU can lead to
It crosses motor control spray gun to rotate in horizontal plane and perpendicular, moreover it is possible to current size is controlled by adjuster, so as to control it
The distance of the water of injection.
Vehicular platform is equipped with camera support bar, and the top of camera support bar is equipped with camera；The control terminal of camera and MCU phases
Even, the image data of camera acquisition is transferred on the memory being connected with MCU, and image data also resides in the display screen that MCU is connected
Upper display.
Vehicular platform is equipped with the unmanned plane with camera, and after unmanned plane lift-off, the image information of acquisition is back to remotely
Monitoring center, remote monitoring center control or scheduling vehicular platform realize remote assistant sprinkling, and auxiliary includes advising for vehicular platform
Draw route etc..
Advantageous effect：
The plant detection method based on Multifunctional mobile detection vehicle of the present invention can realize the detection monitoring of a variety of data；
Specifically：
The present invention includes following detect and control：
(1) acquisition and control of temperature, humidity, illumination parameter；
Fixed detection terminal collecting temperature, humidity and illumination parameter return to data monitoring platform；
Data monitoring platform realizes temperature, humidity and illumination control；(according to the realizations control such as default threshold value or controlling curve
System is the prior art, if temperature is less than a certain threshold value, is then heated)
(2) control and plant diameter detection based on mobile detection terminal；
The mobile detection terminal acquisition plant diameter data of control, data monitoring platform is returned to by the diameter data of acquisition,
Specifically, background work personnel are auxiliary based on the positioner in mobile detection terminal and camera, moved based on wireless control
Dynamic detection terminal walking, and under the auxiliary of in-vehicle camera, the stipe part of plant is accurately clamped, to obtain diameter data；It and will
Data are associated with specific plant ID.
(3) rely on monitoring system that can realize the monitoring image acquisition based on aircraft；
Aircraft flies by predetermined flight path or controls its flight by the operator on backstage, so as to gather image or regard
Frequently.
In addition, it further includes：
(4) prevention and control of plant diseases, pest control control based on aircraft；
Pest and disease damage data are obtained by the injurious insect detector set at fixed detection terminal, if the data are more than default
Threshold value, then start aircraft and spray insecticide (preferably organic agriculture in a certain region (or including adjacent area) that pest and disease damage occurs
Medicine).Specific flight path plan or controlled by consistency operation person automatically.
In addition, it further includes：
(5) charge control.
Aircraft and mobile detection terminal start wireless charging device to aircraft and mobile inspection when on charging platform
It surveys terminal and realizes wireless charging.
Temperature control is that data monitoring platform refers to startup or closes air-conditioning, and sets the temperature of air-conditioning；
Humid control refers to according to monitor supervision platform by the way that spray system is controlled to keep soil moisture in default scope；
Illumination controls, if illumination is too low (being less than a certain threshold value), opens illumination or (fully open or part of opeing the window
It opens)；Otherwise, if illumination is higher than a certain threshold value, close illumination or close window；
Pass through above-mentioned control so that crop grows under most suitable environment.
In conclusion the plant detection method based on Multifunctional mobile detection vehicle of the present invention is feature-rich, it is easy to implement,
Data Detection can be performed and sprinkling task, flexibility are good.
Description of the drawings
Fig. 1 is system general frame figure；
Fig. 2 is field regions schematic diagram；
Fig. 3 checks terminal schematic diagram to be mobile；
Fig. 4 is plant diameter testing agency schematic diagram；
Fig. 5 is movable end, fixing end and groove relative position schematic diagram；
Fig. 6 is injurious insect detector schematic diagram；
Fig. 7 is automatic liquid-spraying system global structure schematic diagram (state diagram of crawler type sprayer when on vehicular platform)；
Fig. 8 is automatic liquid-spraying system global structure schematic diagram (crawler type sprayer leaves state diagram during vehicular platform)；
Fig. 9 is the structure diagram of crawler type sprayer；
Figure 10 is the structure diagram of vehicle-mounted flusher；
Figure 11 is the general structure schematic diagram (side view) of automobile wireless charging system；
Figure 12 is the general structure schematic diagram (top view) of automobile wireless charging system；
Figure 13 is schematic diagram when cover plate lid is closed；
Schematic diagram when Figure 14 lifts for cover board；
Figure 15 is the structure diagram of anti-press box；
Figure 16 is light adjusting circuit schematic diagram；
Figure 17 is constant-current charge schematic diagram；
Figure 18 is the electric functional block diagram of automobile wireless charging system；
Figure 19 is the general structure schematic diagram (water tank is not shown) of multifunction aircraft；
Figure 20 is the structure diagram (top view) of quadrotor telescope support and rotor；
Figure 21 be the aircraft with quadrotor telescope support structure diagram (secondary rotor, holder is not shown in bottom view
With the components such as camera)；
Figure 22 is the position relationship schematic diagram of main rotor and secondary rotor；
Figure 23 is the explosive view of telescopic cantilever；
Figure 24 is the structure diagram after telescopic cantilever is completed；
Figure 25 is the structure diagram of lock；
Figure 26 is the structure diagram of supporting leg；
Figure 27 is the structure diagram of combined type camera lens and camera；
Figure 28 is the structure diagram of hexagram stent and rotor.
Label declaration：21- outer arms, 22- inner arms, 23- main rotors, 24- jacks, 25- locks；26- pair rotors, 27- ducts
Fan fixing member, 28- supporting legs, 29- chassis, 30- crossbeams, 31- intersect position, 32- stents；33- holders；
51- housings, 52- pins, 53- hangnails, 511- outer housings, 512- briquettings, 513- compression springs；
Camera on 70- aircraft, 71- camera lenses, 72- combined type camera lenses, 73- shafts, 74- light-reflecting sheets, 75- photoelectricity hair
It penetrates and reception device, 76-CCD sensors, 77- fuselages；
81- upper supporting legs, 82- springs, 83- guide rods, supporting leg under 84-, 85- sleeves, 86- feet nail, 87- gasket rings.
101- vehicular platforms, 102- camera struts, 103- main phase machines, 104- main water box, 105- aircraft, 106- crawler types
Sprayer, 107- attachment straps, 108- main jet rifles；109- water pipes,
111- crawler type walking mechanisms, 112- support platforms, the auxiliary water tanks of 113-；114- in-vehicle cameras, the auxiliary spray guns of 115-,
116- drawstrings, 117- spray gun driving motors, 118- rotating platforms, 119- driven gears, 120- support bases, 121- rotating platforms drive
Dynamic motor, the first driving gears of 122-.
201- recessed portions, 202- underlying activities platforms, the first motors of 203-, 204- limit switches, 205- guide rails, 206-
One rack rail, the second driving gears of 207-, 208- code-discs, 209- traveling wheels, 210- hoistable platforms, the second rack rails of 211-,
212- conducting wires, 213- connect plugs, 214- transmitting coils, 215- scissor-type lifting mechanisms, 216- upper stratas movable platform, 217- are pushed away
Bar, the anti-press boxes of 218-, 219- removable type cover plates.
301- monitoring areas, 302- subregions, 303- roads, 304- charging zones, 305- is by side object, the quiet arms of 306-, 307-
Swing arm, 308- drawstring fixing pieces, 309- mounting bases, 310- pulleys, 311- drawstrings, 312- swing arm driving devices, 313- movable ends,
314- grooves, 315- fixing ends, the vertical telescopic rods of 316-, 317- horizontal extension bars, 318- collets.319- hydrojets mechanism.
401- gas-adding pipes, 402- air-cushion type pedestals, 403- insect receiving flasks, 404- fixation struts, 405- shafts, 406- bottles
Body fixed plate, 407- lure worm ceiling light, 408- Photoelectric Detection modules, and 409- lures worm bottom lamp, 410- mandrils, 411- top rod driving machines
Structure, 412- solar panels.C is single clamp arm fixed width
Specific embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：Such as Fig. 1-5, a kind of agricultural monitoring system based on Internet of Things, including data monitoring platform and at least one
A mobile detection terminal；Mobile detection terminal is connected with data monitoring platform wireless communication；
Multiple fixed detection terminals are additionally provided in the soil；Fixed detection terminal is equipped with Temperature Humidity Sensor；Gu
Fixed pattern detection terminal is connected with data monitoring platform wired or wireless communication；
Mobile detection terminal has electric walking mechanism and lithium battery；Lithium battery is also used for driving electric walking mechanism
The detection device power supply set on for mobile detection terminal；
The targeted monitoring area 301 of monitoring system has a plurality of road 303 for being used to move detection terminal communication, road
Including main line and branch, for moving detection terminal fast passing, mobile detection terminal can also be on the soil of non-rice habitats at a slow speed
It is current, at least provided with a wireless charging platform in monitoring area or outside monitoring area；It is equipped in wireless charging platform wireless
Charging mechanism can be that mobile detection terminal charges.
The support platform 112 of mobile detection terminal is equipped with MCU, communication module, memory module, in-vehicle camera 114 and uses
In the collet 318 of detection plant diameter；Mobile detection terminal is connected by supporting rod with in-vehicle camera；
The collet includes quiet arm 306, swing arm 307 and the swing arm driving device for driving swing arm；Before quiet arm
End is parallel with the front end of swing arm；Collet is equipped with to measure the displacement detector of spacing between quiet arm and swing arm；
Displacement detector and the data sending of in-vehicle camera detection are to MCU；Communication module and memory module with MCU phases
Even.
Support platform is equipped with vertical telescopic rod, and vertical telescopic rod is equipped with horizontal extension bar, the front end of horizontal extension bar
Portion is equipped with collet, moreover, vertical telescopic rod and horizontal extension bar are motor drive mechanism, therefore, above and below collet energy and moves forward and backward,
In addition walking mechanism is crawler type walking mechanism, and therefore, collet can be freely movable in three dimensions, convenient for the straight of detection plant
Footpath.
The diameter D=L+2*c of plant；C is single clamp arm fixed width, and L is the length that sensor detects.
Displacement detector is pulley-dragline type displacement detector.Or magnetic induction displacement detector.
Pulley-dragline type displacement detector includes code-disc, pulley 310 and drawstring 311；Code-disc is arranged on pulley, energy
It is rotated with code-disc coaxial synchronous；The pulse signal of code-disc output is connected with the input terminal of MCU；
Pulley is arranged on quiet arm, and one end of drawstring is on the fixed swing arm of the other end on pulley, drawing god；
Alternatively, pulley is arranged on swing arm, one end of drawstring is around the fixed quiet arm of the other end on pulley, drawing god
On.Preferably, the another of drawstring is terminated on drawstring fixing piece.Drawstring fixing piece is fixed on swing arm or quiet arm.
Pulley is equipped with torsional spring, to keep certain tension of drawstring, so as to improve the accuracy of measurement.
The movable end being connected with swing arm is equipped in slide, quiet arm is fixedly connected with slide；Movable end is set in a groove, energy
It is slided along slide.The effect for setting slide is for ensureing swing arm smooth opening and closing.
Swing arm driving device is electric push rod or cylinder.Electric push rod is preferably Rack and pinion mechanism.Motor drives
Gear rotates, and band carry-over bar moves, and rack is connected with swing arm.
Injurious insect detector is as shown in fig. 6, injurious insect detector has (to be such as used as aggregation node with host node device
Data Transform Device) communication wireless communication module；Injurious insect detector has air-cushion type pedestal 402, stent and solar energy
Plate 412；Stent is mounted on air-cushion type pedestal, and solar panels are arranged on stent, are supported by stent；Collect on injurious insect detector
Into having child node controller, Temperature Humidity Sensor, water level sensor, light intensity sensor and locating module；
Insect receiving flask 403 is additionally provided on air-cushion type pedestal；The bottom of insect receiving flask is equipped with and lures worm bottom lamp 409, insect
The top of receiving flask is equipped with and lures worm ceiling light 407；Insect receiving flask has the bottleneck of bending；(for preventing insect from going out after entering
It goes)；The neck of insect receiving flask is equipped with to detect the Photoelectric Detection module 408 whether insect enters and realize into bottle
Insect counts；Insect receiving flask is fixed by the bottle fixed plate 406 being arranged on stent；Temperature Humidity Sensor, level sensor
Device, Photoelectric Detection module, light intensity sensor and locating module are connected with child node controller.It is integrated on injurious insect detector
Dissolved oxygen sensor, air pump and gas-adding pipe 401；Gas-adding pipe is more, positioned at the bottom of cushion pedestal；Dissolved oxygen sensor with
Child node controller is connected；Gas-adding pipe is connected with air pump；Air pump is controlled by child node controller.The stent includes fixed branch
Bar 404 and the mandril 410 driven by top rod driving mechanism 411；The one side of fixed strut support solar panel；Mandril supports
The opposite side of solar panel；Mandril lifts to adjust the angle of inclination of solar panel.Insect receiving flask has push-and-pull
Formula bottom plate, plug-type bottom plate are driven by push-and-pull drive module, for the insect in periodic cleaning bottle.
The wireless communication module is ZigBee communication module, 315MHz wireless communication modules or 433MHz wireless communications
Module (communication module that i.e. common remote controler is applicable in).Injurious insect detector sets the data sending of acquisition to host node
Standby, host node device is uploading to monitoring server after being collected into data；Monitoring server or host node device can send instruction
To injurious insect detector；Multiple injurious insect detectors form monitoring network, and injurious insect detector directly communicates with host node device,
Alternatively, child node
Equipment is relayed by other injurious insect detectors and communicated with host node device.Locating module is GPS or big dipper module.
Injurious insect detector is equipped with aspect sensor and driving mechanism (such as Mini-type spiral paddle), and rotary drive mechanism is used to drive evil
Worm detection device itself rotates and walking；Aspect sensor is used to detect the direction of injurious insect detector.Worm ceiling light is lured for inhaling
It is close to draw the pest of eminence, lures worm bottom lamp for pest to be attracted to enter bottle.Child node controller is controlled by relay module
It lures worm ceiling light and lures the opening and closing of worm bottom lamp.Injurious insect detector acquisition humiture, water level, position, dissolved oxygen content, light
Monitoring server is sent to through host node module according to disease pest data, realizes remote monitoring.The preferred microcontroller of child node controller
Or DSP；ZigBee communication module, working frequency is between 800M~2.4GHz, and communication distance is up to 100 meters.Pest detection fills
Put the data such as humiture, illumination and the insect numbers of collection site, then by data summarization to host node device, host computer and main section
Point device communicates, for collecting data, so as to fulfill long-range monitoring.Fixed strut by the linkwork with shaft 405 with
Solar panel is connected, convenient for adjusting angle.
Such as Fig. 7-28, automatic liquid-spraying system including vehicular platform 101, is equipped with main water box 104, water pump on vehicular platform
7th, rotating platform 118, rotating platform driving motor 121；Main jet rifle (108) is arranged on rotating platform；Main water box and water pump
Water inlet is connected by water pipe, and the water outlet of water pump is connected by water pipe with spray gun；The water pipe of connection water pump and spray gun is equipped with
First valve 13；
Rotating platform driving motor can drive rotating platform to rotate by the first transmission mechanism；Rotating platform is equipped with spray gun
Driving motor 117, spray gun driving motor can pass through the elevation angle of the second transmission mechanism control main jet rifle.
First transmission mechanism is gear drive.Gear drive includes being mounted on rotating platform driving electricity
The first driving gear 122 in machine shaft and the driven gear 119 engaged with first driving gear, driven gear
The outer ring of rotating platform is arranged on, is designed for integral type, driven gear and rotating platform coaxial line, therefore, rotating platform driving
Motor can drive rotating platform to rotate.
Second transmission mechanism is drawstring 116, and the upper end of drawstring is arranged on the rear end of spray gun, and the lower end of drawstring installs around
In the shaft of spray gun driving motor (or on the belt wheel filled in shaft).
Since spray gun is mounted on gunjet rack, be with gunjet rack it is hinged, therefore, spray gun front end be under the effect of gravity to
Under, therefore, the elevation angle is controlled completely by drawstring.
Vehicular platform is equipped with main phase machine 103.Main phase machine is preferably arranged on by camera strut 102 on vehicular platform, this
Sample obtains the wider array of visual field.The sprinkling state of main phase machine monitoring main jet rifle, camera acquisition image can be shown on driver's cabin,
Remote platform is manipulated or is transmitted to convenient for the manipulator of driver's cabin, such manipulator can be with remote control water spray operation.
Vehicular platform is equipped with the aircraft 105 with camera, and aircraft is multiple, because during the work of each aircraft
Between it is limited, such as half an hour, multiple aircraft can use in turn, and one another takes off when making a return voyage, and realize that uninterrupted perform is appointed
Business.Vehicular platform is equipped with the charging module for being used for wirelessly or non-wirelessly charging for aircraft.Further, aircraft is equipped with water
Case and jet pipe, on vehicular platform, the water tank of aircraft can the moisturizing from main water box.At this point, aircraft can not only perform prison
Control task, moreover it is possible to implement water spray task, can also spray water in the impassable region of vehicle or creeper truck (crawler type sprayer).
Vehicular platform is equipped with crawler type sprayer 106, and crawler type sprayer is equipped with sub- camera 114 and auxiliary spray gun 115.
Crawler type sprayer is connected by water pipe 109 with the main water box on vehicular platform；And it is set on crawler type sprayer
There is auxiliary water tank 113.
Vehicular platform is driven by gasoline engine, diesel engine or power battery.It is preferred that the dynamic lithium battery driving of new energy, more ring
It protects, preferably, vehicular platform is automatic Pilot platform.
Vehicular platform is equipped with locating module (such as GPS or big dipper module) and wireless communication module；Wireless communication module is
PPRS, 3G, 4G or 5G communication module, vehicular platform pass through wireless communication module and remote control table or remote control terminal
(such as PC machine, laptop and tablet computer) communicates to connect.It can realize remotely monitor and remote control water spray.
Vehicular platform is equipped with dynamic lithium battery and charging module, and charging module is the charging mould with charging pile cooperation
Block or charging module are wireless charging module；Wireless charging module is with setting wireless charging system on the ground to coordinate.
Vehicular platform can realize automatic Pilot, automatic path planning.Automatic sensed water level state etc., automatic water supplement, automatically
It charges.
Sparge pipe is additionally provided on vehicular platform, if necessary, operator can hold sparge pipe and be sprayed at the scene, as
A kind of supplement of automatic spraying.
In addition, spray gun is equipped with the adjuster of regulating pondage, regulating pondage can realize the distance of sprinkling.
Wireless charging module, including the support platform being arranged in recessed portion 201 and the transmitting being arranged in support platform
Coil 214；
The support platform include underlying activities platform 202, upper strata movable platform 216 and connection underlying activities platform with
The elevating mechanism of upper strata movable platform；Underlying activities platform is equipped with longitudinal translation mechanism；Upper strata movable platform is equipped with laterally
Translation mechanism.
The elevating mechanism is cylinder formula elevating mechanism or scissor-type lifting mechanism 215.Cylinder formula elevating mechanism is push-down
Driving mechanism such as uses pneumatic cylinder or Driven by Hydraulic Cylinder.
Longitudinal translation mechanism includes being arranged on 205 and first rack rail 206 of guide rail of recessed portion bottom；
The guide rail is 2；Rack rail is one, rack rail and guide rail parallel arrangement；
Underlying activities mesa base is equipped with multiple traveling wheels 209 that can be rolled on the guide rail；Traveling wheel be 4, one
2, side.
The front end of underlying activities platform is equipped with the first motor 203；The shaft of first motor be equipped with gear 207, gear with
The first rack rail engagement；When first motor rotates, underlying activities platform can be driven along the first rack rail longitudinal direction (front and rear)
Translation.
Laterial translation mechanism includes the second rack rail 211 and the second motor；Second rack rail is laterally set, and described second
Motor upper strata movable platform left or right；The shaft of second motor is equipped with the gear being meshed with second rack rail,
When second motor rotates, upper strata movable platform can be driven along laterally (left and right) translation of the second rack rail.
Code-disc 208 is equipped in the shaft of first motor and the second motor.Code-disc is used to detect the number of turns of motor rotation, from
And the displacement of platform traveling can be converted into.
The opening of recessed portion is equipped with electronic removable type cover plate 219.It is electronic to refer to motor driving or electric signal control liquid
Cylinder pressure or cylinder driving.
Removable type cover plate is 2 pieces, is equipped with to drive the push rod of removable type cover plate, upper end and the activity of push rod in recessed portion
Formula cover board ground is connected.
The opening of recessed portion is additionally provided with anti-pushing-down mechanism 210, and when removable type cover plate flattens, anti-pushing-down mechanism can support movable
Cover board.
Anti-pushing-down mechanism is square frame-shaped.Using stainless steel or cast iron quality, intensity is high.
The automobile wireless charging system further includes control unit, and control unit includes MCU, laterial translation mechanism and vertical
MCU is controlled by translation mechanism；MCU is also associated with communication module.
Automobile wireless charging system is arranged on parking stall, and the electricity for being controlled by MCU is additionally provided on automobile wireless charging system
Berth lock is controlled, automobile wireless charging system combines with shared parking stall；Removable type cover plate be equipped with for mobile phone interaction
Identification code, identification code are Quick Response Code or bar code or character string, and smart mobile phone barcode scanning or input character string can be with the berth locks
And parking stall associates；And charge data is fed back into mobile phone, realize parking and common charging of charging.
Communication module is additionally operable to be based on bluetooth with automobile or wifi communicates or for energy for being connected with remote server
It is controlled by mobile phone (such as cell phone application).
In addition, limit switch and code-disc output signals to MCU；
First motor and the second motor is stepper motor.
First rack rail is located between 2 guide rails.
The rear end of underlying activities platform is equipped with limit switch 204；The front end of motor is equipped with limit switch 204.Limit switch
Action, illustrates front or behind in place, stops motor and rotates, so as to ensure whole equipment safe operation.
Underlying activities platform is equipped with the conducting wire with connect plug 213.Conducting wire obtains alternating current for connecting, so as to be transmitting
Coil power supply.
MCU and single-phase bridge rectification and inverter circuit are additionally provided on underlying activities platform；Single-phase bridge rectification and inversion
Circuit includes rectifier bridge and inverter bridge, and rectifier bridge uses 4 power diodes, and inverter uses 4 IGBT, and connection mode is existing
There is mature technology, the G poles of IGBT are controlled by the pulse that MCU is sent.The input side of rectifier bridge connects with alternating current, the output of rectifier bridge
Side connects transmitting coil by inverter；Rectifier bridge is used to alternating current becoming direct current, and inverter is used to change into direct current not
The alternating current of same frequency changes frequency to improve charge efficiency.
Display screen is arranged in recessed portion, is connected with MCU, for field adjustable and real-time display presence state data.
Automobile end is equipped with constant-current charging circuit, for being efficiently that lithium battery charges.
Recessed portion opening is equipped with the inductor for having automobile for sensing top, such as uses ultrasonic wave or photoelectric sensor；
It is advantageously implemented automatic charging.
The charging system further includes to adjust display screen (display location is in the driver's cabin of vehicular platform) luminosity
Brightness regulating circuit；The brightness regulating circuit includes MCU, LED light string, triode, potentiometer Rx and A/D converter；Three
Pole pipe is NPN type triode；The fixed frame Shanghai of display screen is coaxially connected equipped with rotary switch with potentiometer Rx；
Potentiometer Rx and first resistor R1 concatenates to form partial pressure branch, and partial pressure branch one terminates positive pole Vcc, partial pressure branch
The other end ground connection on road；The tie point of potentiometer Rx and first resistor R1 connect the input terminal of A/D converter；A/D converter it is defeated
Go out to terminate the data-in port of MCU；
LED light string includes the LED light of multiple concatenations；The anode of LED light string meets positive pole Vcc；The cathode of LED light string connects
The C poles of triode, the E poles of triode are grounded through second resistance R2；The output terminal for meeting MCU of the B poles of triode.Positive pole
Vcc is 5V, and A/D converter is 8 Bits Serial output type converters.
Constant-current charging circuit includes constant pressure driving chip and current feedback circuit；
(1) voltage output end of constant pressure driving chip is the positive output end VOUT+ of constant-current charging circuit；Constant pressure driving chip
Negative output terminal ground connection；
Constant pressure driving chip is powered by DC-voltage supply end VIN+ and VIN-；
(2) current feedback circuit described in includes resistance R1, R2 and R5 and reference voltage end VREF+；
Reference voltage end VREF+ is grounded by resistance R1, R2 and the R5 being sequentially connected in series；
The tie point of resistance R5 and R2 are the negative output terminal VOUT- of constant-current charging circuit；
The tie point of resistance R1 and R2 meet the feedback end FB of constant pressure driving chip.
Constant-current charging circuit further includes voltage feedback circuit；
Voltage feedback circuit includes resistance R3 and R4 and diode D1；
Resistance R3 and R4 series connection are followed by between the positive output end VOUT+ and ground of constant-current charging circuit；Resistance R3's and R4
Tie point connects the anode of diode D1；The cathode of diode D1 meets the feedback end FB of constant pressure driving chip.
Operation principle explanation：
Using stable reference power supply as reference voltage, using R1, R2, R5 divide to obtain the voltage equal with FB, so as to
By FB the inside PWM of adjustment DCDC IC is gone to control the size of output current.For example, when output current becomes larger, in sampling electricity
Voltage on resistance R5 will raise, and since VRFE+ is fixed value, so as to be that FB voltages become larger, FB becomes larger, and duty cycle will subtract
It is few, so as to be that output current is reduced, and a complete feedback is completed, achieve the purpose that stabling current exports.
Multi-functional aerial photography aircraft, including stent 32, rotor, bottom plate 29, holder 33, supporting leg 28 and camera 70；
Rotor and holder are arranged on stent；
Bottom plate is fixed on frame bottom；Camera is mounted on holder；
Supporting leg is fixed on the bottom of bottom plate；
Camera includes fuselage 77 and combined type camera lens 72；Ccd sensor 76 is equipped in fuselage, fuselage is equipped with for camera lens
The photoemission of alignment and reception device 75；
Combined type camera lens is equipped with shaft 73；4 sub- camera lenses 71 are integrated in combined type camera lens；Sub- camera lens is along combined type mirror
Head is arranged circumferentially；The rear end of combined type camera lens is additionally provided with the light-reflecting sheet being adapted to the photoemission with reception device
74；It is additionally provided with to drive the stepper motor of rotation of lens in fuselage.Photoemission can be with reception device and light-reflecting sheet
More sets, preferably 2 sets, in axisymmetrical, alignment result is more preferable, and only 2 sets of photoemission and reception device and light-reflecting sheet are all right
After standard, just think that camera lens is targeted by with ccd sensor, such alignment precision higher.
Supporting leg is 4, and supporting leg is vertically arranged, and horizontal crossbeam is provided between adjacent legs；Supporting leg includes upper supporting leg
81st, lower supporting leg 84 and foot nail 86；Upper supporting leg lower end is equipped with guide groove；Lower supporting leg upper end is equipped with guide rod 83；Guide rod is inserted into
In guide groove；Spring 82 is equipped in guide groove；Spring is arranged on the roof (inner wall of innermost end) of guide groove and guide rod top
Between end；The lower end of lower supporting leg is equipped with foot and follows closely 86.The outer wall of the lower end of lower supporting leg is equipped with external screw thread；The lower end of lower supporting leg
Tapped sleeve 85 is socketed with, the lower end of sleeve is equipped with gasket ring 87.Gyroscope and radio communication mold are additionally provided on chassis
Block.For gyroscope for navigating, wireless communication module is used to receive the instruction of remote controler, and the photo of shooting and video information are passed
It is sent to ground receiver end equipment.The stent is the cross-shaped cantilever frame being made of 4 identical telescopic cantilevers of structure；Often
One telescopic cantilever includes outer arm 21 and inner arm 22；The inner end of outer arm is connected with the outer end of inner arm by lock 25；Lock
It buckles equipped with the pin 52 with hangnail 53；It latches to be multiple；The inner end of outer arm and the outer end of inner arm are equipped with multigroup be used for
The jack 24 that pin passes through；Every group of jack includes at least two jack；Rotor includes main rotor and secondary rotor；In the outer end of outer arm
Portion is equipped with main rotor 23 and secondary cantilever 26；Main rotor and secondary cantilever coaxial line are set, and main rotor is located at the top of outer arm, pair rotation
The wing is located at the lower section of outer arm；The paddle footpath of main rotor is more than the paddle footpath of secondary rotor；Secondary rotor is ducted fan, and secondary rotor passes through duct
Fan fixing member 7 is fixed on the bottom of outer arm；Lock has housing 51；Housing includes outer housing 511, briquetting 512 and compression spring
513；Pin is 2；Pin is fixed on outer housing；Briquetting is located in outer housing and is sleeved on 2 pins；Briquetting can along insert
Foot moves；Compression spring is equipped between briquetting and pin, compression spring sleeve is mounted in the root of pin.The inner end of outer arm is equipped with 2 groups for inserting
The jack that foot passes through；Every group of jack on outer arm includes 2 jacks；It latches as 2；4 are equidistantly equipped on the outer end of inner arm
The jack that group passes through for pin；Every group of jack on inner arm includes 2 jacks.The paddle footpath of secondary rotor and the paddle footpath of main rotor it
Than for 0.2-0.35；Preferred value is 0.25 and 0.3.Gasket ring is rubber material, and foot nail is stainless steel.
Another aircraft is as shown in figure 28, and stent is the hexagram branch being made of the identical lateral strut of 6 root long degree
Frame；Each angle position of hexagram stent is both provided with rotor.Rotor includes main rotor and secondary rotor；
Main rotor 23 and secondary cantilever 26 are equipped in the outer end of outer arm；Main rotor and secondary cantilever coaxial line are set, and main rotation
The wing is located at the top of outer arm, and secondary rotor is located at the lower section of outer arm；The paddle footpath of main rotor is more than the paddle footpath of secondary rotor；Secondary rotor is culvert
Road fan, secondary rotor are fixed on the bottom of outer arm by ducted fan fixing piece 27.Further, in the every of hexagram stent
Rotor, the position corresponding to the X intersections intersected position and formed for adjacent lateral strut are equipped at one intersection position；This
One aircraft of sample just has 12 or 12 groups of rotors.The ratio between the paddle footpath of secondary rotor and the paddle footpath of main rotor are 0.25 or 0.3.
Aircraft has the characteristics that following prominent：
Aircraft camera uses the combined type camera lens from camera lens of switching, and 4 different focal lengths are integrated in combined type camera lens
Camera lens, for the photo to object shooting different visual angles, flexibility is good；The photoemission and reception device set on camera
It is aligned with the light-reflecting sheet set on camera lens for sub- camera lens with ccd sensor, combined type camera lens is by driving stepper motor, alignment
Precision is high, and sub- Shot change is convenient.This camera has the outstanding quality of fixed-focus head, it may have change the flexibility of focal length, because
This, practicability is good.
Using hexagram rotor；Using the hexagram stent of original creation, this support stability is good, due to each rotation
The wing be all located at angle position, and each angle position all in vertex of a triangle, by 2 strut supports, and due to triangle in itself
Stability, the vertex is there is no any offset or drift during flight, accordingly, with respect to regular hexagon, criss-cross branch
Frame or other stents are with the advantage in terms of great stability.In addition, the arrangement of 6 rotors, compared to the cloth of 2-4 rotors
Mode is put, there is better aerodynamic arrangement, to sum up, this six rotorcraft clever structure, stability are good.
Claims (10)
1. a kind of plant detection method based on Multifunctional mobile detection vehicle, which is characterized in that
Comprise the following steps：
Step 1：Driving moving detection vehicle is advanced at tested plant；
Step 2：Data acquisition：Data acquisition includes：
(1) detected using chuck type apparatus for detecting diameter by the diameter of side plant；
(2) using the information on the RFID card at RFID reader acquisition plant；
Step 3：Moving detection vehicle is by wireless communication module by the data sending of acquisition to data acquisition platform.
2. the plant detection method according to claim 1 based on Multifunctional mobile detection vehicle, which is characterized in that described
The telescopic probe of detection soil temperature and humidity is additionally provided on driving moving detection vehicle, probe is equipped with Temperature Humidity Sensor.
3. the plant detection method according to claim 1 based on Multifunctional mobile detection vehicle, which is characterized in that channel radio
Believe that module uses bluetooth communication, ZigBee communication module or Wifi communication modules.
4. the plant detection method according to claim 1 based on Multifunctional mobile detection vehicle, which is characterized in that driving moves
Dynamic detection vehicle includes electric walking mechanism and the support platform being arranged in walking mechanism；
Support platform (112) is equipped with battery, MCU, communication module, memory module, in-vehicle camera (114) and for detecting plant
The collet (318) of diameter；Mobile detection terminal is connected by supporting rod with in-vehicle camera；
Battery is additionally operable to the detection device power supply set in mobile detection terminal for driving electric walking mechanism；
The collet includes quiet arm (306), swing arm (307) and the swing arm driving device for driving swing arm；Before quiet arm
End is parallel with the front end of swing arm；Collet is equipped with to measure the displacement detector of spacing between quiet arm and swing arm；Displacement is examined
The data sending of device and in-vehicle camera detection is surveyed to MCU；Communication module and memory module are connected with MCU；
The locating module being connected with MCU is additionally provided on vehicular platform；
Support platform is equipped with vertical telescopic rod, and vertical telescopic rod is equipped with horizontal extension bar, and the front end of horizontal extension bar is set
There is collet, moreover, vertical telescopic rod and horizontal extension bar are motor drive mechanism, therefore, above and below collet energy and move forward and backward, in addition
Walking mechanism is crawler type walking mechanism, and therefore, collet can be freely movable in three dimensions, convenient for detecting the diameter of plant.
5. the plant detection method according to claim 1 based on Multifunctional mobile detection vehicle, which is characterized in that battery is
Accumulator or lithium battery；Vehicular platform is equipped with the constant-current charging circuit for being used for charging for battery.
6. the plant detection method according to claim 4 based on Multifunctional mobile detection vehicle, which is characterized in that displacement is examined
Survey device is magnetic induction displacement detector, alternatively, displacement detector is pulley-dragline type displacement detector.
7. the plant detection method according to claim 6 based on Multifunctional mobile detection vehicle, which is characterized in that pulley-
Dragline type displacement detector includes code-disc, pulley (310) and drawstring (311)；Code-disc is arranged on pulley, can be coaxial with code-disc
Synchronous rotary；The pulse signal of code-disc output is connected with the input terminal of MCU；
Pulley is arranged on quiet arm, and one end of drawstring is on the fixed swing arm of the other end on pulley, drawing god；
Alternatively, pulley is arranged on swing arm, one end of drawstring is on the fixed quiet arm of the other end on pulley, drawing god；
Pulley is equipped with torsional spring.
8. the plant detection method according to claim 1 based on Multifunctional mobile detection vehicle, which is characterized in that swing arm drives
Dynamic device is electric push rod or cylinder.
9. the plant detection method according to claim 2 based on Multifunctional mobile detection vehicle, which is characterized in that described
In-vehicle camera is the camera with combined type camera lens and multiple images sensor, and multiple sub- camera lenses, sub- mirror are equipped in combined type camera lens
For head by conducting wire or contact and phase mechatronics, sub- camera lens is equal with the quantity of imaging sensor, and multiple sub- camera lenses are along combined type
The circumferential spaced set of camera lens；The axis of i-th of sub- camera lens and the centerline through i-th of imaging sensor；I=1,
2,…,n；N is the number of sub- camera lens.
10. according to plant detection method of the claim 1-9 any one of them based on Multifunctional mobile detection vehicle, feature exists
In vehicular platform is equipped with the RFID read-write module being connected with MCU, for reading the RFID card information that plant goes out, writes information
Into RFID card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711406190.7A CN108112457A (en) | 2017-12-22 | 2017-12-22 | A kind of plant detection method based on Multifunctional mobile detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711406190.7A CN108112457A (en) | 2017-12-22 | 2017-12-22 | A kind of plant detection method based on Multifunctional mobile detection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108112457A true CN108112457A (en) | 2018-06-05 |
Family
ID=62231193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711406190.7A Withdrawn CN108112457A (en) | 2017-12-22 | 2017-12-22 | A kind of plant detection method based on Multifunctional mobile detection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108112457A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111264110A (en) * | 2020-03-14 | 2020-06-12 | 广西壮族自治区农业科学院 | A gardens management mechanical platform system for mountain area |
| CN112257825A (en) * | 2020-10-19 | 2021-01-22 | 中建(天津)工业化建筑工程有限公司 | Factory equipment monitoring and management system based on data identification technology |
| WO2021136122A1 (en) * | 2020-01-03 | 2021-07-08 | 苏州宝时得电动工具有限公司 | Image acquisition system and method |
| CN113940261A (en) * | 2021-11-15 | 2022-01-18 | 中国农业科学院都市农业研究所 | Plant factory monitoring and management system |
| CN114051918A (en) * | 2021-11-15 | 2022-02-18 | 中国农业科学院都市农业研究所 | A protect device for strengthening plant output correlation characters |
| EP4018824A1 (en) * | 2020-12-23 | 2022-06-29 | Agroscope | Device and method for identifying pests and pathogens on a component of a plant |
| CN115281065A (en) * | 2022-07-05 | 2022-11-04 | 南通大学 | Culture device and culture method for vegetable transportation process |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149894A (en) * | 2013-01-30 | 2013-06-12 | 中国农业大学 | Vehicle-mounted control system and vehicle-mounted control method for soil sampling information |
| CN105509792A (en) * | 2014-09-24 | 2016-04-20 | 福建新大陆电脑股份有限公司 | Vehicle temperature and humidity gathering apparatus based on distributed RFID |
| CN106226115A (en) * | 2016-10-09 | 2016-12-14 | 中国农业大学 | A kind of collecting soil sample method and device |
| CN106869023A (en) * | 2017-03-06 | 2017-06-20 | 张家港市欧微自动化研发有限公司 | A kind of bridge detection robot |
-
2017
- 2017-12-22 CN CN201711406190.7A patent/CN108112457A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149894A (en) * | 2013-01-30 | 2013-06-12 | 中国农业大学 | Vehicle-mounted control system and vehicle-mounted control method for soil sampling information |
| CN105509792A (en) * | 2014-09-24 | 2016-04-20 | 福建新大陆电脑股份有限公司 | Vehicle temperature and humidity gathering apparatus based on distributed RFID |
| CN106226115A (en) * | 2016-10-09 | 2016-12-14 | 中国农业大学 | A kind of collecting soil sample method and device |
| CN106869023A (en) * | 2017-03-06 | 2017-06-20 | 张家港市欧微自动化研发有限公司 | A kind of bridge detection robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021136122A1 (en) * | 2020-01-03 | 2021-07-08 | 苏州宝时得电动工具有限公司 | Image acquisition system and method |
| CN111264110A (en) * | 2020-03-14 | 2020-06-12 | 广西壮族自治区农业科学院 | A gardens management mechanical platform system for mountain area |
| CN112257825A (en) * | 2020-10-19 | 2021-01-22 | 中建(天津)工业化建筑工程有限公司 | Factory equipment monitoring and management system based on data identification technology |
| EP4018824A1 (en) * | 2020-12-23 | 2022-06-29 | Agroscope | Device and method for identifying pests and pathogens on a component of a plant |
| CN113940261A (en) * | 2021-11-15 | 2022-01-18 | 中国农业科学院都市农业研究所 | Plant factory monitoring and management system |
| CN114051918A (en) * | 2021-11-15 | 2022-02-18 | 中国农业科学院都市农业研究所 | A protect device for strengthening plant output correlation characters |
| CN115281065A (en) * | 2022-07-05 | 2022-11-04 | 南通大学 | Culture device and culture method for vegetable transportation process |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108112457A (en) | A kind of plant detection method based on Multifunctional mobile detection vehicle | |
| CN108052084A (en) | A kind of agricultural monitoring system based on Internet of Things | |
| CN108132654A (en) | A kind of agriculture multinode monitoring method based on Internet of Things | |
| CN108549441A (en) | A kind of integrated agriculture monitoring method based on Internet of Things Yu intelligent operation vehicle | |
| CN108693807B (en) | Data acquisition and monitoring system based on Internet of things | |
| CN108132655A (en) | A kind of Multifunctional mobile detection device for farmland | |
| CN108968116A (en) | A kind of wisdom agricultural data acquisition method and system based on Internet of Things | |
| CN108655011A (en) | A kind of intelligent sorting device, method for sorting and comprehensive detection system | |
| CN107196410B (en) | ground transformer substation inspection system and method | |
| CN108012825A (en) | One kind automation hydrojet control method | |
| CN107938579A (en) | A kind of multifunctional vehicle mounted sprinkling system | |
| CN108145562B (en) | Intelligence steel form system of polishing | |
| CN205450777U (en) | Automatic change plant protection system | |
| CN205067744U (en) | Mobile terminal control type obstacle detection system with adjustable scope | |
| CN112249190A (en) | Operation method of field crop growth data information acquisition small vehicle | |
| CN109298741A (en) | Smart greenhouse environment cruising inspection system | |
| CN108845608A (en) | Potted plant crop Intelligence Supervisory System of Greenhouse based on robot | |
| CN107727542B (en) | Rapid detection device and detection method suitable for unmanned aerial vehicle spraying droplets | |
| CN108225234A (en) | A kind of standing tree size detecting device based on angular transducer | |
| CN108204797A (en) | A kind of standing tree size detecting method based on angular transducer | |
| CN207338618U (en) | A kind of unmanned plane antenna | |
| CN108225163A (en) | A kind of standing tree size method for continuous measuring based on drawing and pulling type mechanism | |
| CN108127525B (en) | Multifunctional steel formwork grinding machine | |
| CN207529215U (en) | A kind of hothouse production ambient intelligence monitoring system | |
| CN108413838A (en) | A kind of vertical wood diameter method for continuous measuring of back-shaped ruler terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180605 |
|
| WW01 | Invention patent application withdrawn after publication |