CN108693807A - A kind of data acquisition analysis system based on Internet of Things - Google Patents

Abstract

The invention discloses a data acquisition and monitoring system based on the Internet of Things, in which a plurality of plant planting areas (112) for planting plants and at least one operating vehicle for performing detection operations and liquid spraying operations are arranged in the operation area (109) (110); the RFID card is set in the plant planting area; the work vehicle is provided with MCU, plant data acquisition module and liquid spray module; the work vehicle is also provided with RFID reader-writer; the liquid spray module includes a plurality of liquid storage units (105) ) and at least one liquid spray pipe, the liquid spray pipe communicates with the liquid storage unit through the liquid spray control switch, and the liquid spray control switch is controlled by the MCU; the work vehicle or the liquid storage unit is provided with a liquid pump for pumping the liquid in the liquid storage unit The pumping mechanism that sends the liquid to the spray pipe. The data acquisition and monitoring system based on the Internet of Things is highly integrated and has rich functions.

Description

A data acquisition and monitoring system based on the Internet of Things

technical field

The invention relates to a data collection and monitoring system based on the Internet of Things.

Background technique

The existing centralized agricultural planting bases generally use manual cultivation and manual detection of various parameters. With the development of automation control technology, the increasingly vigorous development of Internet of Things technology, and the requirements for production efficiency, it is necessary to design data collection and monitoring system.

In the planting process of crops, in order to reduce the labor intensity of operators, it is necessary to design an automatic liquid spraying device based on mobile robots.

In addition, in the existing planting area, it is necessary to manually measure the diameter of the crops (plants, such as plants such as peppers or eggplants); unmanned measurement cannot be achieved through special equipment.

Therefore, it is necessary to design a data acquisition and monitoring system.

Contents of the invention

The technical problem to be solved by the present invention is to provide a data collection and monitoring system based on the Internet of Things. The data collection and monitoring system based on the Internet of Things has high integration and rich functions.

The technical solution of the invention is as follows:

A data acquisition and monitoring system based on the Internet of Things, in which a plurality of plant planting areas (112) for planting plants and at least one operating vehicle (110) for performing detection operations and spraying operations are set in the operation area (109); Set up RFID cards in plant planting areas;

The work vehicle is equipped with MCU, plant data acquisition module and liquid spray module; the work vehicle is also equipped with RFID reader;

The liquid injection module includes a plurality of liquid storage units (105) and at least one liquid injection pipe, the liquid injection pipe communicates with the liquid storage unit through a liquid injection control switch, and the liquid injection control switch is controlled by the MCU;

A pumping mechanism for pumping the liquid in the liquid storage unit to the liquid spray pipe is provided on the work vehicle or in the liquid storage unit.

In the work area, there is a liquid replenishment area for replenishing liquid for the work vehicle; the liquid storage unit is connected with a liquid replenishment pipe, and the liquid replenishment pipe is equipped with a liquid replenishment switch controlled by the MCU.

There are at least 3 liquid storage units, and at least 2 liquid storage units have the same size; at least one group of adjacent liquid storage units is provided with a connecting pipe, and the connecting pipe is provided with an electric control valve controlled by the MCU. The control valve can group all the liquid storage units, each group includes a plurality of adjacent liquid storage units, and the plurality of liquid storage units in each group are internally connected.

The liquid storage units have the same size for modular management, which is convenient for loading and unloading, replacement and maintenance, and is also beautiful.

The liquid storage unit is used for storing clear water, liquid with dissolved fertilizer, or nutrient solution, or sterilizing liquid, or acid and lye for adjusting pH.

The effect of setting the connecting pipe is that multiple liquid storage units can be used independently or connected together. If the amount of liquid a is twice that of liquid b, the connecting pipe between the two liquid storage units can be connected. , to store liquid a together, and use another liquid storage unit to store liquid b separately, so that the balanced use of each liquid can be maintained.

The number of liquid storage units is N, and the N liquid storage units are arranged in a row. There is a connecting pipe between each adjacent liquid storage unit. The connecting pipe is equipped with an electric control valve controlled by the MCU. The connecting pipe and The number of connecting valves is N-1;

The front of the liquid storage module is provided with a branched liquid spraying main pipe (103), and the liquid spraying main pipe is connected to each liquid storage unit through the unit liquid outlet pipe, and the unit liquid outlet pipe is provided with an electronically controlled valve controlled by the MCU; The liquid injection mother pipe is communicated with the liquid injection pipe. There are 2 outlet pipes, one for normal use and the other for redundancy.

A branched liquid inlet main pipe (106) is arranged at the rear of the liquid storage module, and the liquid inlet main pipe is connected to each liquid storage unit through the unit liquid inlet pipe, and the unit liquid inlet pipe is provided with an electronically controlled valve controlled by the MCU; The liquid inlet main pipe is communicated with the main liquid inlet pipe (replenishment pipe). There can also be 2 rehydration tubes, one for normal use and the other for redundancy.

The liquid storage units are arranged in multiple rows and multiple columns, and there are connecting pipes between each adjacent liquid storage units, and the connecting pipes are equipped with electronically controlled valves controlled by the MCU (such as 3*3 arrangement); all the storage units The liquid unit forms a liquid storage module, and a surrounding liquid spraying main pipe (103) is arranged around the liquid storage module. The liquid spraying main pipe is connected with each liquid storage unit through the unit liquid outlet pipe, and the unit liquid outlet pipe is provided with Controlled by the electronic control valve of the MCU; the liquid spraying main pipe is connected with the liquid spraying pipe. With this mode, the length of the outlet pipe of the unit can be minimized and the layout is easy. There are 2 outlet pipes, one for normal use and the other for redundancy.

A branched liquid inlet main pipe (106) is arranged at the rear of the liquid storage module, and the liquid inlet main pipe is connected to each liquid storage unit through the unit liquid inlet pipe, and the unit liquid inlet pipe is provided with an electronically controlled valve controlled by the MCU; The liquid inlet main pipe is communicated with the main liquid inlet pipe (replenishment pipe). There can also be 2 rehydration tubes, one for normal use and the other for redundancy.

The liquid inlet pipe can also adopt this kind of surrounding liquid inlet pipe. And the liquid outlet main pipe can also adopt the branched pipeline mode.

The plant data collection module is a diameter measuring device for collecting the diameter of the stem of the plant.

The diameter measuring device is a collet type diameter measuring device.

The diameter measuring device is a diameter measuring device based on image processing, and the diameter measuring device includes a rotary table (115) and a camera (116), a scanning module (117) and a distance measuring module (118) arranged on the rotary table; Image processing module.

Specifically, the scanning module is a radar scanning module, which is used to determine the precise orientation of the plant. After determining the precise orientation, a ranging module (such as a laser ranging module) is used to test the distance between the plant and the car. This distance is used to calibrate the camera. The camera ( The camera is provided with an LED lighting module, which is used to take photos for taking pictures (filling light), and the photos taken (ie images) are processed in the image processing module, and the image processing module determines the object size corresponding to each pixel based on the distance, from the image The stem part of the plant is separated, the pixels of the stem part are counted, and combined with the object size corresponding to each pixel, the diameter of the stem can be calculated. Specific image segmentation is a mature technical means in the field of image processing.

The work vehicle is equipped with a wireless communication module and a positioning module;

The wireless communication module is used to upload the collected data to the monitoring server.

The positioning module can be a Beidou or GPS positioning module, or a dedicated indoor positioning module, and the wireless communication module is a 3G, 4G, 5G communication module or a WiFi communication module.

There is a charging area for charging the work vehicle in the work area, and the work vehicle is driven by batteries.

The chuck includes a static arm (306), a boom (307) and a boom driving device for driving the boom; the front end of the static arm is parallel to the front end of the boom; Displacement detection device for the distance between booms;

The data detected by the displacement detection device and the on-board camera are sent to the MCU; the communication module and the storage module are both connected to the MCU.

The vehicle platform is also provided with a positioning module connected to the MCU. The positioning module is a Beidou module or a GPS module.

The battery is a storage battery or a lithium battery.

The vehicle-mounted platform is equipped with an RFID read-write module connected to the MCU. It is used to read the information of the RFID card from the plant, and write information into the RFID card if necessary, and is used to read the information on the ID card (RFID card) (including varieties, seed dates, and other information).

The support platform is provided with a vertical telescopic rod, the vertical telescopic rod is provided with a horizontal telescopic rod, and the front end of the horizontal telescopic rod is provided with a chuck, and both the vertical telescopic rod and the horizontal telescopic rod are electric mechanisms. The head can move up and down and back and forth, and the traveling mechanism is a crawler-type traveling mechanism, so the chuck can move freely in three-dimensional space, which is convenient for detecting the diameter of the plant.

The mobile detection terminal is also provided with a liquid spraying mechanism, such as spraying water, or spraying waste, or spraying pesticides.

Use the mobile detection vehicle (ie mobile detection terminal) to implement detection through the following steps:

Step 1: Drive the mobile inspection vehicle to the plant to be tested;

Step 2: Data collection: Data collection includes:

(1) adopt chuck type diameter detecting device to detect the diameter of the side plant;

(2) Adopt the RFID reader-writer to collect the information on the RFID card at the plant place;

Step 3: The mobile detection vehicle sends the collected data to the data collection platform through the wireless communication module.

The said driving mobile detection vehicle is also provided with a telescopic probe for detecting soil temperature and humidity, and a temperature and humidity sensor is provided on the probe.

The data monitoring platform (server) and a plurality of mobile detection terminals can form a detection system (ie monitoring system); the mobile detection terminal is connected to the data monitoring platform through wireless communication;

The mobile detection terminal can communicate with multiple fixed detection terminals set in the soil, and the mobile detection terminal can be used as a mobile data aggregation node.

The fixed detection terminal is equipped with a temperature and humidity sensor; the fixed detection terminal is connected to the data monitoring platform by wired or wireless communication;

The mobile detection terminal has an electric traveling mechanism and a lithium battery; the lithium battery is used to drive the electric traveling mechanism, and is also used to supply power for the detection equipment set on the mobile detection terminal;

The monitoring area is a square area; such as a greenhouse planting base, the square area is divided into multiple square sub-areas according to the vertical and horizontal directions; each sub-area is provided with at least one charging platform; each sub-area is equipped with at least one mobile detection terminal .

Each sub-area is provided with a converging terminal for converging detection data; the converging terminal communicates with the monitoring platform; the mobile detection terminal communicates wirelessly with the converging terminal.

The monitoring system also includes an aircraft with a camera; when the aircraft lands on the wireless charging platform, the wireless charging platform can charge the aircraft wirelessly. The aircraft is also equipped with a liquid storage tank and a spraying mechanism. The aircraft is used to spray pesticides and obtain large-scale monitoring image or video.

The fixed detection terminal is equipped with a pest detection device.

In addition, part or all of the plants are provided with ID cards, and the mobile detection terminal is provided with an RFID reader for reading the information on the ID cards (including varieties, seed dates, and other information), and will Relevant information is written on the ID card;

Alternatively, ID codes (barcodes or two-dimensional codes) are provided on some or all of the plants, and a code scanning device is provided on the mobile detection terminal.

Therefore, the corresponding plant information can be maintained in the monitoring platform. The latter way is cheaper and is the preferred way.

There are sprinkler pipes in the soil for humidity control, the monitoring area has automatic window opening and closing devices and lighting devices for light control, and the monitoring area has air temperature regulators for temperature control, spray pipes, Automatic window opening and closing devices, lighting devices, and air temperature regulators (air conditioners) are all controlled by the monitoring platform.

The mobile detection terminal is also equipped with a spraying device for spraying special liquids, such as liquid fertilizers.

The mobile detection terminal can walk on the ground, and if necessary, the mobile detection terminal can also be stuck on the car through the channel. The vehicle-mounted platform (car) is provided with a camera support rod, and a camera is provided on the top of the camera support rod; the control end of the camera is connected to the MCU, and the image data collected by the camera is transmitted to the memory connected to the MCU, and the image data is still in the memory connected to the MCU. displayed on the display.

The MCU is also connected with a wireless communication module and a positioning module. The positioning module is a Beidou and GPS module, and the wireless communication module is a GPRS, 3G, 4G or 5G module or a WiFi module.

The vehicle-mounted platform is provided with a solar panel, and the solar panel charges the battery through a charging circuit.

The vehicle-mounted platform is provided with a wireless charging circuit for charging the battery. The battery is a power lithium battery. When the vehicle installation platform is on the wireless charging parking space, the wireless charging system on the wireless parking space charges the power lithium battery.

The front end of the spray gun is a nozzle, and the spray gun is provided with a regulator to adjust the size of the water flow; the support base of the spray gun is arranged on a horizontal rotating platform, and a support column is arranged on the support base, and the spray gun is set on the support column through a horizontal shaft mechanism (horizontal The axis of the rotating shaft mechanism is horizontal, and the spray gun can rotate in the vertical plane around the rotating shaft mechanism, thereby raising or lowering the angle of the nozzle, and the supporting seat can rotate 360° horizontally relative to the vehicle-mounted platform).

Both the horizontal rotating platform and the rotating shaft mechanism are driven by motors, and the motors and regulators are controlled by the MCU. That is, the MCU can control the rotation of the spray gun in the horizontal and vertical planes through the motor, and can also control the size of the water flow through the regulator, thereby controlling the distance of the sprayed water.

There is a camera support rod on the vehicle platform, and a camera is installed on the top of the camera support rod; the control end of the camera is connected to the MCU, and the image data collected by the camera is transmitted to the memory connected to the MCU, and the image data is still on the display screen connected to the MCU show.

The vehicle-mounted platform is equipped with a drone with a camera. After the drone is lifted into the air, the acquired image information is returned to the remote monitoring center. The remote monitoring center controls or dispatches the vehicle-mounted platform to realize remote auxiliary spraying. The assistance includes planning routes for the vehicle-mounted platform, etc. .

Beneficial effect:

The data acquisition and monitoring system based on the Internet of Things of the present invention can realize the detection and monitoring of various data; specifically:

(a) A liquid injection module based on multiple standard liquid storage units that can be flexibly combined and configured

Since there are multiple standardized and modularized liquid storage units, and since a connecting pipe with a switch can be provided between adjacent liquid storage units, multiple liquid storage units can be flexibly grouped to form multiple groups. , after forming multiple groups, it is more convenient to spray liquid and replenish liquid.

Moreover, since the standardized liquid storage unit is adopted, the maintenance is more convenient and the expandability is good.

(b) Unique sorting mechanism

The uniqueness of the sorting mechanism lies in the fact that the distance between the vertical baffles can be easily adjusted with high precision.

In addition, the sorting mechanism can realize multi-level sorting, can flexibly sort sorting objects according to predetermined requirements, has good practicability, and is suitable for popularization and implementation.

During the sorting process, the distance between the neutral plates of each sorting device is first set in combination with the distance measuring mechanism, and then the sorting is carried out. At least one gate is set on the vertical board, and the gate is opened to release a batch after sorting a batch, so as to prevent the accumulation of sorting objects.

In addition, the present invention also includes the following detection and control:

(1) Acquisition and control of temperature, humidity, and light parameters;

The fixed detection terminal collects temperature, humidity and light parameters and returns them to the data monitoring platform;

The data monitoring platform realizes the temperature, humidity and light control; (according to the preset threshold value or control curve, etc. to realize the control, which is the existing technology, if the temperature is lower than a certain threshold value, it will be heated)

(2) Plant diameter detection based on mobile detection terminal;

The intelligent work vehicle collects the plant diameter data, and returns the acquired diameter data to the data monitoring platform. Specifically, the background staff is based on the positioning device on the mobile detection terminal and the camera as an aid, and walks based on the wireless intelligent work vehicle, and monitors the data on the vehicle-mounted camera. With the assistance, accurately clamp the stem part of the plant to obtain the diameter data; and associate the data with the specific plant ID.

(3) Monitoring image acquisition based on aircraft;

The aircraft flies along a predetermined flight path, or is controlled by an operator in the background to collect images or videos.

(4) Prevention and control of pests and diseases based on aircraft;

The pest detection device installed at the fixed detection terminal obtains the pest data. If the data exceeds the preset threshold, the aircraft is started to spray pesticides (preferably organic pesticides) in a certain area (or including adjacent areas) where the pests occur. The specific flight path is automatically planned or controlled by the background operator.

Additionally, include:

(5) Charge control.

When the aircraft and the mobile detection terminal are on the charging platform, start the wireless charging device to realize wireless charging for the aircraft and the mobile detection terminal.

Temperature control is a data monitoring platform that refers to turning on or off the air conditioner and setting the temperature of the air conditioner;

Humidity control refers to keeping the soil humidity within the preset range by controlling the sprinkler system according to the monitoring platform;

Illumination control, if the illumination is too low (below a certain threshold), turn on the lighting or open the windows (all or partially open); otherwise, if the illumination is higher than a certain threshold, turn off the lighting or close the windows;

Through the above control, the crops grow in the most suitable environment.

(6) The camera for detecting the diameter also adopts a compound camera with multiple sub-lenses, which can automatically switch the sub-lenses to adjust the focal length, which has good flexibility.

To sum up, the data acquisition and monitoring system based on the Internet of Things of the present invention has rich functions, is easy to implement, can perform data detection, liquid spraying and sorting tasks, and has good flexibility.

Description of drawings

Figure 1 is a schematic diagram of the monitoring area;

Fig. 2 is a schematic diagram of the structure of the work vehicle;

Fig. 3 is a schematic diagram of the spray mechanism of four liquid storage units;

Fig. 4 is a schematic diagram of the spraying mechanism of nine liquid storage units;

Fig. 5 is the structural representation of sorting mechanism;

Fig. 6 is a structural schematic diagram of a collet-type diameter detection mechanism;

Figure 7 is a schematic diagram of the relative positions of the movable end, the fixed end and the groove;

Fig. 8 is a schematic diagram of a pest detection device;

Fig. 9 is a structural schematic diagram of a composite lens and camera;

Fig. 10 is the structural representation of vehicle-mounted sprinkler;

Fig. 11 is a schematic diagram (side view) of the overall structure of the automobile wireless charging system;

Fig. 12 is a schematic diagram of the overall structure of the wireless charging system for automobiles (top view);

Fig. 13 is a schematic diagram when the cover plate is closed;

Figure 14 is a schematic diagram when the cover plate is lifted;

Fig. 15 is a schematic structural view of the anti-pressure frame;

Figure 16 is a schematic diagram of the dimming circuit;

Figure 17 is a schematic diagram of constant current charging;

Fig. 18 is an electrical schematic block diagram of a wireless charging system for an automobile;

Fig. 19 is the general structure schematic diagram (not showing water tank) of multifunctional aircraft;

Fig. 20 is a structural schematic diagram (top view) of a four-rotor telescopic support and a rotor;

Figure 21 is a schematic structural view of an aircraft with a four-rotor telescopic support (bottom view, parts such as auxiliary rotors, gimbals and cameras are not shown);

Figure 22 is a schematic diagram of the positional relationship between the main rotor and the auxiliary rotor;

Figure 23 is an exploded view of the telescopic cantilever;

Figure 24 is a schematic structural view of the telescopic cantilever after assembly;

Figure 25 is a schematic structural view of the lock;

Figure 26 is a schematic structural view of the legs;

Fig. 27 is the structural representation of hexagonal star support and rotor;

Figure 28 is a motor current detection and relay control circuit diagram;

Figure 29 is a schematic diagram of an amplifier with adjustable magnification.

Explanation of symbols: 1-sorting table, 9-cylinder, 10-push rod, 11-base, 12-motor, 13-screw rod, 14-guy wire fixing unit, 15-slanting rod, 16-vertical rod, 17- Line wheel, 18-guy wire, 19-vertical baffle. 101-main spray pipe, 102-auxiliary spray pipe, 103-spray main pipe, 104-unit liquid outlet pipe, 105-liquid storage unit, 106-inlet main pipe, 107-main liquid inlet pipe, 108- Auxiliary liquid inlet pipe; 109-operation area, 110-operation vehicle, 111-working position, 112-plant planting area, 113-wheel, 114-vehicle platform, 115-rotary table, 116-camera, 117-scanning module, 118 - Ranging module.

21-Outer arm, 22-Inner arm, 23-Main rotor, 24-Jack, 25-Lock; 26-Auxiliary rotor, 27-Duct fan fixing part, 28-Outrigger, 29-Chassis, 30-Beam , 31-cross position, 32-bracket; 33-head; 51-shell, 52-pin, 53-barb, 511-outer shell, 512-press block, 513-spring; 70-camera on the aircraft, 71-sub-camera, 72-composite lens, 73-rotating shaft, 74-light reflector, 75-photoelectric transmitting and receiving device, 76-CCD sensor, 77-body; 81-upper leg, 82-spring, 83 -Guide rod, 84-lower leg, 85-sleeve, 86-foot nail, 87-backing ring.

1116-drawing rope, 1117-spray gun drive motor, 1118-rotary platform, 1119-driven gear, 1120-support seat, 1121-rotary platform drive motor, 1122-the first driving gear.

201-recess, 202-bottom movable platform, 203-first motor, 204-limit switch, 205-guide rail, 206-first rack rail, 207-second driving gear, 208-code disc, 209-walking Wheel, 210-lifting platform, 211-second rack rail, 212-lead wire, 213-connecting plug, 214-transmitting coil, 215-scissor lifting mechanism, 216-upper movable platform, 217-push rod, 218 - Anti-pressure frame, 219 - removable cover.

306-stationary arm, 307-boom, 308-rope fixing, 309-mounting seat, 310-pulley, 311-rope, 312-boom drive, 313-moving end, 314-groove, 315- Fixed end, 316-vertical telescopic rod, 317-horizontal telescopic rod, 318-clamp, 319-spray liquid mechanism.

401-Air pipe, 402-Air cushion base, 403-Insect collection bottle, 404-Fixed pole, 405-Rotating shaft, 406-Bottle body fixing plate, 407-Insect trap ceiling light, 408-Photoelectric detection module, 409-Insect trap Bottom lamp, 410-ejector rod, 411-ejector rod driving mechanism, 412-solar panel. c is the fixed width of a single clamp arm

Detailed ways

The present invention will be described in further detail below in conjunction with accompanying drawing and specific embodiment:

Embodiment 1: as Fig. 1-5, a kind of data collection and monitoring system based on the Internet of Things, a plurality of plant planting areas (112) for planting plants are set in the operation area (109) and at least one execution detection operation and An operation vehicle (110) for liquid spraying operation; an RFID card is set in the plant planting area;

The work vehicle is equipped with MCU, plant data acquisition module and liquid spray module; the work vehicle is also equipped with RFID reader; the system also includes a sorting mechanism.

(1) Introduction of liquid injection module

The liquid injection module includes a plurality of liquid storage units (105) and at least one liquid injection pipe, the liquid injection pipe communicates with the liquid storage unit through a liquid injection control switch, and the liquid injection control switch is controlled by the MCU;

A pumping mechanism for pumping the liquid in the liquid storage unit to the liquid spray pipe is provided on the work vehicle or in the liquid storage unit. There is a communication pipe between each adjacent liquid storage unit, and an electric control valve controlled by the MCU is arranged on the communication pipe.

(a) As shown in Figure 3, the single row arrangement mode, the number of liquid storage units is 4, and the 4 liquid storage units are arranged in a row, and the number of connecting pipes and connecting valves is 3; specifically c1-c3;

The front of the liquid storage module is provided with a branched liquid spraying main pipe 103, and the liquid spraying main pipe is connected with each liquid storage unit through the unit liquid outlet pipe 104, and the unit liquid outlet pipe is provided with an electronically controlled valve controlled by the MCU (specifically are a1-a4); the liquid spraying mother pipe is communicated with the liquid spraying pipe. There are 2 liquid outlet pipes, one for normal use and the other as a redundant backup; a branched liquid inlet main pipe 106 is provided at the rear of the liquid storage module, and the liquid inlet main pipe is connected to each liquid storage unit through the unit liquid inlet pipe 106 , The unit liquid inlet pipe is provided with an electronically controlled valve (specifically b1-b4) controlled by the MCU; the liquid inlet main pipe is connected with the main liquid inlet pipe (replenishment pipe). There can also be 2 rehydration tubes, one for normal use and the other for redundancy.

(b) As shown in Figure 4, the array arrangement mode;

The 9 liquid storage units are arranged in 3 rows and 3 columns; all the liquid storage units form a liquid storage module, and the liquid storage module is surrounded by a surrounding liquid spraying main pipe 103, and the liquid spraying main pipe passes through the unit liquid outlet pipe and The liquid storage units are connected, and the unit liquid outlet pipes are provided with electronically controlled valves (a1-a9) controlled by the MCU; the liquid spray main pipe is connected with the liquid spray pipes. With this mode, the length of the outlet pipe of the unit can be minimized and the layout is easy. There are 2 outlet pipes, one for normal use and the other for redundancy;

The rear of the liquid storage module is provided with a branched (also initially surrounding) liquid inlet main pipe 106, which is connected to each liquid storage unit through the unit liquid inlet pipe. The electronically controlled valves of the MCU (specifically b1-b9); the liquid inlet main pipe is connected with the main liquid inlet pipe (replenishment pipe). There can also be 2 rehydration tubes, one for normal use and the other for redundancy

If necessary, if there are 3 liquids, and the volume ratio is: 1:1:1;

It can be divided into three groups by column: (I) M1, M4, M7 are connected into a group, (II) M2, M5, M8 are connected into a group, (III) M3, M6, M9 are connected into a group, and each of the three groups stores different liquid.

Or, if there are 6 kinds of liquids, and the volume ratio is: 1:1:1:1:1:4; M5, M6, M8 and M9 form a group, and each of the remaining M1-M4 and M5 is used separately, Can be used in groups of 6.

The plant planting areas are arranged in multiple rows and columns or in a circular array, and each plant planting area is provided with a working position (111) for parking the work vehicle on the side. This area will not interfere with the growth of the plants. There are sensors, such as proximity sensors, for work vehicle identification.

An unmanned driving module is integrated on the work vehicle. Automatic navigation, automatic implementation of liquid replenishment, liquid injection, detection and charging and other operations.

(2) Introduction of sorting device

As shown in Figure 5, the sorting device includes a sorting table 1 for sorting, two vertical baffles 19 arranged in parallel, and a distance for driving the vertical baffles to translate to adjust the distance between the two vertical baffles Adjusting mechanism, there is also a dropping mechanism on the sorting table, which is used to drop the sorting objects that cannot pass through the baffle to the storage basket;

The sorting table is tilted (the tilt angle depends on the specific situation, generally 5-15 degrees), so that the sorting objects can travel to the vertical baffle under the action of gravity;

There are two sets of spacing adjustment mechanisms, and the two sets of adjustment mechanisms are used to respectively drive the two sets of detection modules to move closer to or separate from each other.

The transmission mechanism is a screw, and there is a screw hole on the mounting plate, and a guiding mechanism for guiding the mounting plate is provided on the sorting table; the screw is inserted in the screw hole, and the rotation of the motor can drive the mounting plate to move laterally through the screw. ;

The transmission mechanism can also be a synchronous belt transmission mechanism, the synchronous wheel is provided with a synchronous belt, the synchronous belt is fixed with a slider, and the slider is also fixed on the mounting plate, driven by the motor, the mounting plate can slide along the transverse guide rail.

The mounting plate is provided with a distance detection device; the distance detection device includes a vertical rod 16, a pull wire 18 and a wire wheel 17; there are 2 vertical rods, which are respectively arranged on 2 mounting boards, and are recorded as the first vertical rod and the second vertical rod The wire wheel is arranged on the first vertical bar, the pull wire is wound on the wire wheel, the lead-out end of the pull wire is fixed on the second vertical bar, and the pull wire is kept horizontal; the wire wheel is provided with a torsion spring, which is used to keep the pull wire tensioned; There is also a code disc on the wheel, which rotates coaxially with the wire wheel, and the code disc outputs pulse signals to the MCU (the MCU can convert the displacement of the two vertical rods based on the number of pulses, so as to calculate the two detection pieces spacing between). The MCU is connected with a display screen, and the MCU is also connected with a communication module, which is used to transmit the detection result or distance value to the server or remote detection terminal, or the upper computer.

A diagonal bar for reinforcement is arranged between the mounting plate and the vertical bar. Prevent the vertical bar from tilting.

A base 11 and a cylinder 9 are arranged on the sorting table;

The spacing adjustment mechanism is arranged on the base 11; the sorting table is also provided with a guide rail for guiding the movement of the base;

The piston rod of the cylinder is connected to the base.

There is a counter at the sorting device to count the sorting results. The sorting device is equipped with a photoelectric detection switch, which is used to detect whether there is a sorting object at the vertical baffle, as a prerequisite for the opening of the blanking mechanism. The blanking mechanism is driven by a cylinder, and the cylinder drives the bottom plate to rotate downward. Drops in sorting objects. The sorting device is provided with a wireless communication module for uploading the sorting statistical data to the server.

(3) Stem diameter detection mechanism based on image processing

As shown in Figure 5, the diameter measuring device is a diameter measuring device based on image processing, and the diameter measuring device includes a rotary table (115) and a camera (116) arranged on the rotary table, a scanning module (117) and a distance measuring module (118); An image processing module is provided in the MCU. Specifically, the scanning module is a radar scanning module, which is used to determine the precise orientation of the plant. After determining the precise orientation, a ranging module (such as a laser ranging module) is used to test the distance between the plant and the car. This distance is used to calibrate the camera. The camera ( The camera is provided with an LED lighting module, which is used to take photos for taking pictures (filling light), and the photos taken (ie images) are processed in the image processing module, and the image processing module determines the object size corresponding to each pixel based on the distance, from the image The stem part of the plant is separated, the pixels of the stem part are counted, and combined with the object size corresponding to each pixel, the diameter of the stem can be calculated. Specific image segmentation is a mature technical means in the field of image processing.

(4) Comprehensive agricultural monitoring includes data acquisition control and intelligent spraying control;

(a) Data Acquisition Control:

The diameter of the stem of the plant is collected by an operation vehicle;

Use the work vehicle to collect the data output by the sensor group;

(b) Intelligent liquid spray control:

A plurality of liquid storage units containing liquid are arranged on the work vehicle, and the liquid storage units are connected with liquid spray pipes; the plants are sprayed with liquid through the work vehicle.

The system of the present invention also includes the following parts:

(1) Chuck type stem diameter detection mechanism

As shown in Figure 6-7, the chuck includes a static arm 306, a boom 307 and a boom driving device for driving the boom; the front end of the static arm is parallel to the front end of the boom; A displacement detection device for the distance between the arm and the boom;

The data detected by the displacement detection device and the on-board camera are sent to the MCU; the communication module and the storage module are both connected to the MCU.

The support platform is provided with a vertical telescopic rod, the vertical telescopic rod is provided with a horizontal telescopic rod, and the front end of the horizontal telescopic rod is provided with a chuck, and both the vertical telescopic rod and the horizontal telescopic rod are electric mechanisms. The head can move up and down and back and forth, and the traveling mechanism is a crawler-type traveling mechanism, so the chuck can move freely in three-dimensional space, which is convenient for detecting the diameter of the plant.

The diameter of the plant D=L+2*c; c is the fixed width of a single clamp arm, and L is the length detected by the sensor.

The displacement detection device is a pulley-drawing rope type displacement detection device. Or a magnetic induction displacement detection device.

The pulley-drawing rope type displacement detection device includes a code disc, a pulley 310 and a pull cord 311; the code disc is arranged on the pulley and can rotate coaxially with the code disc; the pulse signal output by the code disc is connected to the input end of the MCU;

The pulley is set on the static arm, one end of the pull rope is wound on the pulley, and the other end of the puller is fixed on the boom;

Or, the pulley is arranged on the boom, and one end of the stay rope is wound around the pulley, and the other end of the puller is fixed on the static arm. Preferably, the other end of the drawstring is connected to the drawstring fixing part. The cable anchor is fixed on the boom or the static arm.

A torsion spring is provided on the pulley to maintain a certain tension of the pull cord, thereby improving the accuracy of measurement.

The slide rail is provided with a movable end connected with the moving arm, and the static arm is fixedly connected with the slide rail; the movable end is arranged in the groove and can slide along the slide rail. The function of setting the slide rail is to ensure the smooth opening and closing of the boom.

The boom driving device is an electric push-pull rod or a cylinder. The electric push-pull rod is preferably a rack-and-pinion mechanism. The motor drives the gear to rotate, drives the rack to move, and the rack is connected to the boom.

The diameter of the plant D=L+2*c; c is the fixed width of a single clamp arm, and L is the length detected by the sensor.

The boom driving device is an electric push-pull rod or a cylinder. The electric push-pull rod is preferably a rack-and-pinion mechanism. The motor drives the gear to rotate, drives the rack to move, and the rack is connected to the boom.

(2) pest detection device As shown in Figure 8, the pest detection device has a wireless communication module for communicating with the main node equipment (such as a data aggregation device as a sink node); the pest detection device has an air cushion base 402, a support and a solar energy Board 412; the bracket is installed on the air cushion type base, the solar panel is arranged on the bracket and supported by the bracket; the pest detection device is integrated with a sub-node controller, a temperature and humidity sensor, a water level sensor, a light intensity sensor and a positioning module;

The air cushion type base is also provided with an insect collection bottle 403; the bottom of the insect collection bottle is provided with an insect trap bottom light 409, and the top of the insect collection bottle is provided with an insect trap top light 407; the insect collection bottle has a bent bottle mouth; (for Go out after preventing insects from entering); the neck of the insect collection bottle is provided with a photoelectric detection module 408 for detecting whether insects enter and realizes the counting of insects entering the bottle; the insect collection bottle is fixed by the bottle body fixing plate 406 arranged on the support ; The temperature and humidity sensor, the water level sensor, the photoelectric detection module, the light intensity sensor and the positioning module are all connected to the sub-node controller. The pest detection device is integrated with a dissolved oxygen sensor, an air pump and an air supply pipe 401; there are multiple air supply pipes located at the bottom of the cushion base; the dissolved oxygen sensor is connected to the sub-node controller; the air supply pipe is connected to the air pump; the air pump is controlled by the sub-node node controller. The support includes a fixed pole 404 and a mandrel 410 driven by a mandrel drive mechanism 411; one side of the fixed pole supports the solar panel; the other side of the mandrel supports the solar panel; the mandrel lifts to adjust the solar energy The tilt angle of the panel. The insect collecting bottle has a push-pull bottom plate, and the push-pull bottom plate is driven by a push-pull drive module for regularly cleaning insects in the bottle.

The wireless communication module is a ZigBee communication module, a 315MHz wireless communication module or a 433MHz wireless communication module (that is, a communication module suitable for common remote controllers). The pest detection device sends the collected data to the master node device, and the master node device uploads the collected data to the monitoring server; the monitoring server or the master node device can send instructions to the pest detection device; multiple pest detection devices form a monitoring network, and pests The detection device communicates directly with the master node device, or, the child node

The device communicates with the master node device through the relay of other pest detection devices. The positioning module is GPS or Beidou module. The pest detection device is provided with an orientation sensor and a drive mechanism (such as a miniature propeller, etc.), and the rotation drive mechanism is used to drive the pest detection device to rotate and walk; the orientation sensor is used to detect the direction of the pest detection device. The top lamp for attracting insects is used to attract pests from high places, and the bottom lamp for attracting insects is used to attract pests to enter the bottle. The sub-node controller controls the opening and closing of the insect trap top light and the insect trap bottom light through the relay module. The pest detection device collects temperature and humidity, water level, location, dissolved oxygen content, light, and pest data and sends them to the monitoring server through the main node module to realize remote monitoring. The sub-node controller is preferably a single-chip microcomputer or DSP; ZigBee communication module, the working frequency is between 800M and 2.4GHz, and the communication distance can reach 100 meters. The pest detection device collects data such as temperature and humidity, light, and number of insects on site, and then aggregates the data to the master node device. The host computer communicates with the master node device to collect data, thereby realizing remote monitoring. The fixed pole is connected with the solar panel through a hinged mechanism with a rotating shaft 405, which is convenient for angle adjustment.

(3) As shown in Figure 10, the automatic liquid spraying device,

The rotary platform drive motor can drive the rotary platform to rotate through the first transmission mechanism; the rotary platform is provided with a spray gun drive motor 1117, and the spray gun drive motor can control the elevation angle of the main spray gun through the second transmission mechanism.

The first transmission mechanism is a gear transmission mechanism. The gear transmission mechanism includes a first driving gear 1122 installed on the rotating shaft of the driving motor of the rotating platform, and a driven gear 1119 meshed with the first driving gear. The driven gear is arranged on the outer ring of the rotating platform, and is designed in one piece , the driven gear is coaxial with the rotary platform, therefore, the rotary platform drive motor can drive the rotary platform to rotate.

Described second transmission mechanism is stay cord 1116, and the upper end of stay cord is arranged on the rear end of spray gun, and the lower end of stay cord is wound on the rotating shaft of spray gun driving motor (or on the pulley of rotating shaft).

Because the spray gun is installed on the spray gun frame and is hinged with the spray gun frame, therefore, the front end of the spray gun is downward under the action of gravity, so its elevation angle is completely controlled by the stay rope.

The vehicle-mounted platform is equipped with a power lithium battery and a charging module, the charging module is a charging module that cooperates with the charging pile, or the charging module is a wireless charging module; the wireless charging module cooperates with the wireless charging system set on the ground.

The vehicle-mounted platform can realize automatic driving and automatic route planning. Automatic detection of water level status, etc., automatic water replenishment, automatic charging.

In addition, the spray gun is equipped with a regulator to adjust the water volume, and the adjustment of the water volume can realize the distance of spraying.

(4) As shown in Figures 11-15, the wireless charging module includes a supporting platform arranged in the recessed part 201 and a transmitting coil 214 arranged on the supporting platform;

The supporting platform includes a bottom movable platform 202, an upper movable platform 216 and a lifting mechanism connecting the bottom movable platform and the upper movable platform; the bottom movable platform is provided with a longitudinal translation mechanism; the upper movable platform is provided with a lateral translation mechanism.

The lifting mechanism is a cylinder lifting mechanism or a scissor lifting mechanism 215 . The cylinder type lifting mechanism is a push rod type driving mechanism, such as being driven by a pneumatic cylinder or a hydraulic cylinder.

The longitudinal translation mechanism includes a guide rail 205 and a first rack rail 206 arranged at the bottom of the recess;

There are two guide rails; one rack rail, and the rack rail and guide rail are arranged in parallel;

The bottom of the bottom movable platform is provided with a plurality of walking wheels 209 that can roll on the guide rail; there are 4 walking wheels, 2 on one side.

The front end of the bottom movable platform is provided with a first motor 203; the rotating shaft of the first motor is provided with a gear 207, and the gear meshes with the first rack rail; when the first motor rotates, it can drive the bottom movable platform along the first gear. The rails translate vertically (back and forth).

The lateral translation mechanism includes a second rack rail 211 and a second motor; the second rack rail is arranged horizontally, and the left end or right end of the upper movable platform of the second motor; The gears meshed with the rack rails can drive the upper movable platform to translate laterally (left and right) along the second rack rails when the second motor rotates.

Code discs 208 are provided on the rotating shafts of the first motor and the second motor. The code disc is used to detect the number of rotations of the motor, which can be converted into the displacement of the platform.

An electric movable cover 219 is provided at the opening of the recess. Electric refers to motor drive, or electric signal control hydraulic cylinder or cylinder drive.

There are 2 movable cover plates, and a push rod for driving the movable cover plate is arranged in the recessed part, and the upper end of the push rod is connected with the ground of the movable cover plate.

An anti-pressure mechanism 210 is also provided at the opening of the concave part, and when the movable cover is flattened, the anti-pressure mechanism can support the movable cover.

The anti-pressure mechanism is in the shape of a square frame. Made of stainless steel or cast iron for high strength.

The vehicle wireless charging system further includes a control unit, the control unit includes an MCU, and both the horizontal translation mechanism and the longitudinal translation mechanism are controlled by the MCU; the MCU is also connected with a communication module.

The car wireless charging system is arranged on the parking space. The car wireless charging system is also equipped with an electronically controlled parking lock controlled by the MCU. The car wireless charging system is combined with the shared parking space; Identification code, the identification code is a QR code or a barcode or a character string, which can be associated with the parking lock and the parking space by scanning the code or inputting a character string with a smart phone; the charging data is fed back to the mobile phone to realize common billing for parking and charging.

The communication module is used to connect with a remote server, and is also used to communicate with the car based on bluetooth or wifi, or to be able to be controlled by a mobile phone (such as a mobile phone APP).

In addition, the limit switch and code disc output signals to the MCU;

Both the first motor and the second motor are stepping motors.

The first rack rail is located between the two guide rails.

A limit switch 204 is provided at the rear end of the bottom movable platform; a limit switch 204 is provided at the front end of the motor. The action of the limit switch indicates that the front or rear is in place, and the motor is stopped to ensure the safe operation of the entire equipment.

The ground floor activity platform is provided with the lead with electric plug 213. Wires are used to connect to get mains power to power the transmitter coil.

There are also MCU and single-phase bridge rectification and inverter circuits on the bottom activity platform; the single-phase bridge rectification and inverter circuits include rectifier bridge and inverter bridge, the rectifier bridge uses 4 power diodes, and the inverter uses 4 IGBT, the connection method is an existing mature technology, and the G pole of the IGBT is controlled by the pulse sent by the MCU. The input side of the rectifier bridge is connected to the mains, and the output side of the rectifier bridge is connected to the transmitting coil through the inverter; the rectifier bridge is used to convert alternating current into direct current, and the inverter is used to convert direct current into alternating current of different frequencies, changing the frequency to Improve charging efficiency.

The display screen is arranged in the recessed part and is connected with the MCU for on-site debugging and real-time display of on-site status data.

There is a constant current charging circuit on the car side to efficiently charge the lithium battery.

The opening of the recess is provided with an inductor for sensing that there is a car above, such as an ultrasonic or photoelectric sensor; it is beneficial to realize automatic charging.

(5) As shown in Figure 6, the charging system also includes a brightness adjustment circuit for adjusting the luminous brightness of the display screen (the display screen is located in the driver's cab of the vehicle platform); The device Rx and A/D converter; the triode is an NPN type triode; the fixing frame of the display screen is equipped with a knob switch and the potentiometer Rx is connected coaxially;

The potentiometer Rx and the first resistor R1 are connected in series to form a voltage divider branch, one end of the voltage divider branch is connected to the positive pole Vcc of the power supply, and the other end of the voltage divider branch is grounded; the connection point of the potentiometer Rx and the first resistor R1 is connected to the A/D The input terminal of the converter; the output terminal of the A/D converter is connected to the data input port of the MCU;

The LED light string includes multiple LED lights connected in series; the positive pole of the LED light string is connected to the positive pole Vcc of the power supply; the negative pole of the LED light string is connected to the C pole of the triode, and the E pole of the triode is grounded through the second resistor R2; the B pole of the triode is connected to output of the MCU. The positive Vcc of the power supply is 5V, and the A/D converter is an 8-bit serial output converter.

(6) As shown in Figure 17, the constant current charging circuit includes a constant voltage drive chip and a current feedback circuit;

(1) The voltage output terminal of the constant voltage driver chip is the positive output terminal VOUT+ of the constant current charging circuit; the negative output terminal of the constant voltage driver chip is grounded;

The constant voltage drive chip is powered by the DC voltage supply terminals VIN+ and VIN-;

(2) The current feedback circuit includes resistors R1, R2 and R5 and a reference voltage terminal VREF+;

The reference voltage terminal VREF+ is grounded through serially connected resistors R1, R2 and R5;

The connection point of resistors R5 and R2 is the negative output terminal VOUT- of the constant current charging circuit;

The connection point of the resistors R1 and R2 is connected to the feedback terminal FB of the constant voltage driver chip.

The constant current charging circuit also includes a voltage feedback circuit;

The voltage feedback circuit includes resistors R3 and R4 and diode D1;

Resistors R3 and R4 are connected in series between the positive output terminal VOUT+ of the constant current charging circuit and ground; the connection point of resistors R3 and R4 is connected to the anode of diode D1; the cathode of diode D1 is connected to the feedback terminal FB of the constant voltage driver chip.

(7) As shown in Figures 19-27, the system also includes a multifunctional aerial vehicle for monitoring the operating area, including a support 32, a rotor, a base plate 29, a cloud platform 33, legs 28 and a camera 70;

The rotor and the platform are set on the bracket;

The bottom plate is fixed at the bottom of the bracket; the camera is installed on the gimbal;

The outriggers are fixed to the bottom of the base plate;

The camera includes a fuselage 77 and a composite lens 72; a CCD sensor 76 is provided in the fuselage, and a photoelectric transmitting and receiving device 75 for lens alignment is provided on the fuselage;

The composite lens is provided with a rotating shaft 73; 4 sub-lenses 71 are integrated in the composite lens; the sub-lenses are evenly arranged along the circumference of the composite lens; A light reflection sheet 74 is provided; a stepping motor for driving the lens to rotate is also provided in the fuselage. There can be multiple sets of photoelectric emitting and receiving devices and light reflecting sheets, preferably 2 sets, which are axially symmetrical and have a better alignment effect. Only after the two sets of photoelectric emitting and receiving devices and light reflecting sheets are aligned, can the lens and the CCD sensor be considered aligned. Alright, so the alignment accuracy is higher.

There are 4 outriggers, the outriggers are set vertically, and horizontal beams are arranged between adjacent outriggers; the outriggers include upper outriggers 81, lower outriggers 84 and foot nails 86; the lower ends of the upper outriggers are provided with guide grooves The upper end of the lower leg is provided with a guide rod 83; the guide rod is inserted in the guide groove; a spring 82 is arranged in the guide groove; the spring is arranged between the top wall (the innermost inner wall) of the guide groove and the top end of the guide rod; The lower end of the lower leg is provided with a spike 86 . The outer wall of the lower end of the lower leg is provided with external thread; the lower end of the lower leg is sleeved with a sleeve 85 with internal thread, and the lower end of the sleeve is provided with a backing ring 87 . A gyroscope and a wireless communication module are also arranged on the chassis. The gyroscope is used for navigation, and the wireless communication module is used to receive instructions from the remote control, and transmit the captured photos and video information to the ground receiving device. The support is a cross-shaped cantilever frame composed of four telescopic cantilevers with the same structure; each telescopic cantilever includes an outer arm 21 and an inner arm 22; the inner end of the outer arm and the outer end of the inner arm pass through the lock The buckles 25 are connected; the lock is provided with pins 52 with barbs 53; the lock is multiple; the inner end of the outer arm and the outer end of the inner arm are provided with multiple sets of jacks 24 for the pins to pass through ; Each set of jacks includes at least 2 jacks; the rotor includes a main rotor and an auxiliary rotor; the outer end of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, and the main rotor is located outside Above the arm, the auxiliary rotor is located below the outer arm; the paddle diameter of the main rotor is greater than the paddle diameter of the auxiliary rotor; the auxiliary rotor is a ducted fan, and the auxiliary rotor is fixed on the bottom of the outer arm by the ducted fan fixing part 7; the lock has a shell Body 51; the shell includes an outer shell 511, a pressing block 512 and a compression spring 513; there are two pins; the pins are fixed on the outer shell; the pressing block is located in the outer shell and is set on the two pins; the pressing block can move along the pins; A compression spring is arranged between the pressing block and the pin, and the compression spring is sleeved on the root of the pin. The inner end of the outer arm is provided with 2 sets of jacks for pins to pass through; each set of jacks on the outer arm includes 2 jacks; there are 2 locks; the outer end of the inner arm is equally spaced. 4 sets of sockets for the pins to pass through; each set of sockets on the inner arm consists of 2 sockets. The ratio of the blade diameter of the auxiliary rotor to the blade diameter of the main rotor is 0.2-0.35; the preferred values are 0.25 and 0.3. The grommets are rubber and the feet are stainless steel.

Another kind of aircraft is shown in Figure 27, and the support is a six-pointed star-shaped support composed of six transverse struts of the same length; each corner of the six-pointed star-shaped support is provided with a rotor. Rotor includes main rotor and auxiliary rotor;

The outer end of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, and the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the paddle diameter of the main rotor is greater than that of the auxiliary rotor The paddle diameter; the auxiliary rotor is a ducted fan, and the auxiliary rotor is fixed on the bottom of the outer arm by the ducted fan fixture 27. Furthermore, a rotor is provided at each intersection of the hexagonal star bracket, and the intersection is the position corresponding to the X intersection formed by adjacent transverse struts; such an aircraft has 12 or 12 groups rotor. The ratio of the blade diameter of the auxiliary rotor to the blade diameter of the main rotor is 0.25 or 0.3.

The aircraft has the following outstanding features:

The aircraft camera adopts a composite lens with switched self-lens, and 4 lenses with different focal lengths are integrated in the composite lens, which is used to take pictures of different angles of view of the target object, with good flexibility; the photoelectric transmitting and receiving device and the The light reflection sheet set on the lens is used to align the sub-lens with the CCD sensor. The compound lens is driven by a stepping motor, with high alignment accuracy and convenient sub-lens switching. This camera has the excellent qualities of a fixed-focus head and the flexibility to change the focal length, so it is practical.

Hexagonal star-shaped rotor is adopted; the original hexagonal star-shaped bracket is used, which has good stability, because each rotor is located at a corner, and each corner is at the apex of a triangle, supported by two poles, and because The stability of the triangle itself, the vertex will not have any offset or drift during flight, therefore, it has a great advantage in stability compared to regular hexagonal, cross-shaped brackets or other brackets. In addition, the arrangement of 6 rotors has a better aerodynamic layout than the arrangement of 2-4 rotors. All in all, this hexacopter has an ingenious structure and good stability.

(8) As shown in Figure 28-29, the description of the electrical equipment (drive motor) current detection and relay control circuit (also known as overcurrent detection and protection circuit) is as follows:

Working principle: Insert the AC wire into the current transformer (or coil) on site to make the current transformer generate mutual induction current. The greater the power consumption on site, the greater the mutual induction current, and the smaller the power consumption on site, the smaller the mutual induction current , so the voltage comparator can be used to output a signal waveform, and the main controller (MCU) can obtain the on-site current magnitude information through its own AD acquisition, so as to achieve the detection function. In circuit design, four rectifier diodes are used to convert the AC mutual induction current into DC current, and there are two output signals, one is analog, output by VOUT, and output to MCU; the other is TTL high and low level, directly The control relay is used to cut off and on the power supply to the motor.

Circuit description:

The output signal of the current transformer is obtained by the bridge rectifier Vin; the comparator compares Vin and the reference voltage Vref, if Vin>Vref, the comparator outputs a low level, and the control relay is disconnected.

In addition, Vin enters the ADC port of the MCU after being amplified by the amplifier (that is, the port with A/D conversion function);

Since the signal may be relatively weak, an amplifier with adjustable magnification is designed; the specific circuit connection and working principle are as follows:

The output terminal Vin of the bridge rectifier is the signal terminal, the signal terminal is connected to the inverting input terminal of the operational amplifier LM393 through the resistor R0, the same input terminal of the operational amplifier LM393 is grounded through the resistor R0, and the same input terminal of the operational amplifier LM393 The terminal is also connected to the 4 input channels of the 4-choice selector through 4 resistors R01-R04, the output channel of the 4-choice selector is connected to the output terminal Vout of the operational amplifier LM393, and Vout is connected to the ADC terminal of the MCU;

In addition, the two output ports of the MCU are respectively connected to the channel selection terminals A and B of the 4-to-one selector;

The calculation formula of Vout and Vin:

Vout=Vin*(Rx+R0)/R0; wherein, Rx=R01, R02, R03 or R04; determine which resistor to select based on the gate AB; and R01, R02, R03 and R04 are different; preferred R04＝5*R03＝25*R02＝100*R01; R01＝5*R0. It is convenient to realize switching of range and precision.

The detection device refers to an optical detection device. The specific steps are: push the reaction tube into the dark room of the detection device, detect its color, etc. through light, or take photos for analysis and processing, and obtain the final detection result, which is specifically the prior art.

Claims (10)

1. a kind of data acquisition analysis system based on Internet of Things, which is characterized in that the multiple use of setting in operation area (109) Plant growing area (112) in plantation plant and at least one Operation Van (110) for executing detection operation and hydrojet operation;It is planting RFID card is arranged in strain growing area;

Operation Van is equipped with MCU, plant data acquisition module and hydrojet module;RFID reader is additionally provided in Operation Van;

Hydrojet module includes multiple liquid storage units (105) and at least one sparge pipe, and sparge pipe passes through hydrojet control switch and storage Liquid unit is connected to, and hydrojet control switch is controlled by MCU;

It is equipped in Operation Van or in liquid storage unit for by the pump liquid mechanism of the liquid pumping in liquid storage unit to sparge pipe.

2. the data acquisition analysis system according to claim 1 based on Internet of Things, which is characterized in that set in operation area It is useful for supplementing the fluid infusion area of liquid for Operation Van;Liquid storage unit is connected with liquid supplementation pipe, and liquid supplementation pipe is equipped with the benefit for being controlled by MCU Liquid switchs.

3. the data acquisition analysis system according to claim 2 based on Internet of Things, which is characterized in that liquid storage unit is The size of at least three, at least two liquid storage unit is identical;It is equipped with communicating pipe, communicating pipe between at least one set of adjacent liquid storage unit It is equipped with and is controlled by the electrically-controlled valve of MCU, all liquid storage units can be grouped by electrically-controlled valve, each group includes adjacent multiple Liquid storage unit, and connection inside multiple liquid storage units in each group.

4. the data acquisition analysis system according to claim 3 based on Internet of Things, which is characterized in that liquid storage unit Number is N, and N number of liquid storage unit is arranged in a line, and communicating pipe is equipped between every adjacent liquid storage unit, communicating pipe is equipped with controlled In the electrically-controlled valve of MCU, the quantity of communicating pipe and communicating valve is N-1;

The front of liquid storage module is equipped with the hydrojet main pipe (103) of bifurcated, and hydrojet main pipe passes through unit outlet tube and each liquid storage list Member connection, unit outlet tube are equipped with the electric control valve for being controlled by MCU;Hydrojet main pipe is connected to sparge pipe.

The rear of liquid storage module is equipped with the feed liquor main pipe (106) of bifurcated, and feed liquor main pipe passes through unit inlet tube and each liquid storage list Member connection, unit inlet tube are equipped with the electric control valve for being controlled by MCU;Feed liquor main pipe is connected to main inlet tube.

5. the data acquisition analysis system according to claim 3 based on Internet of Things, which is characterized in that liquid storage unit is in Multiple lines and multiple rows are arranged, and per communicating pipe is equipped between adjacent liquid storage unit, is equipped with communicating pipe and is controlled by the electrically-controlled valve of MCU (such as 3*3 arranges);All liquid storage units form a liquid storage module, and the hydrojet main pipe of circulating type is equipped with around liquid storage module (103), hydrojet main pipe is connect by unit outlet tube with each liquid storage unit, and unit outlet tube, which is equipped with, is controlled by the automatically controlled of MCU Valve;Hydrojet main pipe is connected to sparge pipe;

The rear of liquid storage module is equipped with the feed liquor main pipe (106) of bifurcated, and feed liquor main pipe passes through unit inlet tube and each liquid storage list Member connection, unit inlet tube are equipped with the electric control valve for being controlled by MCU;Feed liquor main pipe and main inlet tube.

6. the data acquisition analysis system according to claim 1 based on Internet of Things, which is characterized in that plant data are adopted It is the diameter measuring device for acquiring plant Trunk diameter to collect module.

7. the data acquisition analysis system according to claim 6 based on Internet of Things, which is characterized in that diameter measurement fills It is set to chuck type diameter measuring device.

8. the data acquisition analysis system according to claim 6 based on Internet of Things, which is characterized in that diameter measurement fills It is set to the diameter measuring device based on image procossing, diameter measuring device includes turntable (115) and is arranged on a spinstand Camera (116), scan module (117) and range finder module (118);Image processing module is equipped in MCU;

Scan module is radar scanning module, the refined orientation for determining plant, after determining refined orientation, using laser ranging Module testing plant is at a distance from trolley, which shoots photo for demarcating camera, camera, and the photo of shooting is in image Processing module is handled, and image processing module determines the corresponding object size of each pixel based on the distance, from image Plants stems bar part is isolated, the pixel of statistics cane part calculates stalk in conjunction with the corresponding object size of each pixel Diameter.

9. the data acquisition analysis system according to claim 6 based on Internet of Things, which is characterized in that set in Operation Van There are wireless communication module and locating module;

Wireless communication module is used to the data of acquisition uploading to monitoring server;

Locating module can make the Big Dipper or GPS positioning module or dedicated indoor positioning module, wireless communication module 3G, 4G, 5G communication modules or WiFi communication module.

10. the data acquisition analysis system according to claim 1 based on Internet of Things, which is characterized in that in operation area Equipped with the charging zone for charging for Operation Van, Operation Van uses battery power;

System further includes the multi-functional aerial photography aircraft monitored for operation area, including holder 32, rotor, bottom plate 29, holder 33, Supporting leg 28 and camera 70;

Rotor and holder are arranged on holder;

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, which is equipped with, is used for alignment lens Photoemission 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 camera lens It is arranged circumferentially;The rear end of combined type camera lens is additionally provided with the light-reflecting sheet 74 being adapted to reception device with the photoemission; The stepper motor for driving rotation of lens is additionally provided in fuselage.Photoemission can be more with reception device and light-reflecting sheet Set, preferably 2 sets, be in axisymmetrical, alignment result is more preferable, and only 2 sets of photoemission are all aligned with reception device and light-reflecting sheet Afterwards, 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 include upper supporting leg 81, under 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 guide groove In;Spring 82 is equipped in guide groove;The roof (inner wall of innermost end) in guide groove is arranged between guide rod top in spring; 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 is socketed with The lower end of tapped sleeve 85, sleeve is equipped with gasket ring 87.Gyroscope and wireless communication module are additionally provided on chassis.Gyro For instrument for navigating, wireless communication module is used to receive the instruction of remote controler, and is transmitted to ground by the photo of shooting and video information Face receiving device.The holder is the cross-shaped cantilever frame being made of the identical telescopic cantilever of 4 structures;Each is stretched Contracting formula 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;It is set on lock There is the pin 52 with hangnail 53;Lock is multiple;The inner end of outer arm and the outer end of inner arm are equipped with multigroup wears for pin The jack 24 crossed;Every group of jack includes at least two jack;Rotor includes main rotor and secondary rotor;It is equipped in the outer end of outer arm Main rotor 23 and secondary cantilever 26;Main rotor and secondary cantilever are coaxially arranged, and main rotor is located at the top of outer arm, and secondary rotor is located at The lower section of outer arm;The paddle diameter of main rotor is more than the paddle diameter of secondary rotor;Secondary rotor is ducted fan, and secondary rotor is solid by ducted fan Determine the bottom that part 7 is fixed on outer arm;Lock has shell 51;Shell includes outer housing 511, briquetting 512 and compression spring 513;Pin It is 2;Pin is fixed on outer housing;Briquetting is located in outer housing and is sleeved on 2 pins;Briquetting can be moved along pin; 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 and is used for what pin passed through Jack;Every group of jack on outer arm includes 2 jacks;Lock is 2;4 groups are equidistantly equipped on the outer end of inner arm for inserting The jack that foot passes through;Every group of jack on inner arm includes 2 jacks.The ratio between the paddle diameter of secondary rotor and the paddle diameter of main rotor are 0.2- 0.35;Gasket ring is rubber material, and foot nail is stainless steel.