CN108693807B - Data acquisition and monitoring system based on Internet of things - Google Patents

Data acquisition and monitoring system based on Internet of things Download PDF

Info

Publication number
CN108693807B
CN108693807B CN201810474438.1A CN201810474438A CN108693807B CN 108693807 B CN108693807 B CN 108693807B CN 201810474438 A CN201810474438 A CN 201810474438A CN 108693807 B CN108693807 B CN 108693807B
Authority
CN
China
Prior art keywords
liquid
module
pipe
mcu
liquid storage
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.)
Expired - Fee Related
Application number
CN201810474438.1A
Other languages
Chinese (zh)
Other versions
CN108693807A (en
Inventor
徐卓农
吴楚梁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Central South University of Forestry and Technology
Original Assignee
Central South University of Forestry and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Central South University of Forestry and Technology filed Critical Central South University of Forestry and Technology
Priority to CN201810474438.1A priority Critical patent/CN108693807B/en
Publication of CN108693807A publication Critical patent/CN108693807A/en
Application granted granted Critical
Publication of CN108693807B publication Critical patent/CN108693807B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428—Safety, monitoring
    • 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
    • A01C23/007—Metering or regulating systems
    • 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
    • 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
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • 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
    • A01G7/00—Botany in general
    • A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
    • 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
    • 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
    • A01M7/0089—Regulating or controlling systems
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Water Supply & Treatment (AREA)
  • Wood Science & Technology (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Zoology (AREA)
  • Remote Sensing (AREA)
  • Pest Control & Pesticides (AREA)
  • Forests & Forestry (AREA)
  • Soil Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Insects & Arthropods (AREA)
  • Ecology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Botany (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention discloses a data acquisition and monitoring system based on the Internet of things.A plurality of plant planting areas (112) for planting plants and at least one operation vehicle (110) for executing detection operation and liquid spraying operation are arranged in an operation area (109); arranging an RFID card in a plant planting area; the operation vehicle is provided with an MCU, a plant data acquisition module and a liquid spraying module; the operation vehicle is also provided with an RFID reader-writer; the liquid spraying module comprises a plurality of liquid storage units (105) and at least one liquid spraying pipe, the liquid spraying pipe is communicated with the liquid storage units through a liquid spraying control switch, and the liquid spraying control switch is controlled by the MCU; a liquid pumping mechanism for pumping liquid in the liquid storage unit to the liquid spraying pipe is arranged on the operation vehicle or in the liquid storage unit. This data acquisition and monitored control system based on thing networking is high, and the function is abundant.

Description

Data acquisition and monitoring system based on Internet of things
Technical Field
The invention relates to a data acquisition and monitoring system based on the Internet of things.
Background
The existing centralized agricultural planting base generally adopts artificial cultivation and artificial detection of various parameters, and along with the development of an automatic control technology, the increasingly vigorous development of an internet of things technology and the requirement on production efficiency, a data acquisition and monitoring system is required to be designed.
In order to reduce the labor intensity of operators in the planting process of crops, a device capable of automatically spraying liquid based on a mobile robot needs to be designed.
In addition, in the existing planting area, diameter measurement of crops (plants, such as plants of pepper, eggplant and the like) needs to be manually realized; unmanned measurement cannot be realized by special equipment.
Therefore, there is a need for a data collection and monitoring system.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a data acquisition and monitoring system based on the Internet of things, which has high integration level and rich functions.
The technical solution of the invention is as follows:
a data acquisition and monitoring system based on the Internet of things is characterized in that a plurality of plant growing areas (112) for growing plants and at least one operating vehicle (110) for executing detection operation and liquid spraying operation are arranged in an operating area (109); arranging an RFID card in a plant planting area;
the operation vehicle is provided with an MCU, a plant data acquisition module and a liquid spraying module; the operation vehicle is also provided with an RFID reader-writer;
the liquid spraying module comprises a plurality of liquid storage units (105) and at least one liquid spraying pipe, the liquid spraying pipe is communicated with the liquid storage units through a liquid spraying control switch, and the liquid spraying control switch is controlled by the MCU;
a liquid pumping mechanism for pumping liquid in the liquid storage unit to the liquid spraying pipe is arranged on the operation vehicle or in the liquid storage unit.
A liquid supplementing area for supplementing liquid for the operation vehicle is arranged in the operation area; the liquid storage unit is connected with a liquid supplementing pipe, and a liquid supplementing switch controlled by the MCU is arranged on the liquid supplementing pipe.
The number of the liquid storage units is at least 3, and the sizes of at least 2 liquid storage units are the same; be equipped with communicating pipe between at least a set of adjacent stock solution unit, be equipped with the automatically controlled valve that is controlled by MCU on the communicating pipe, can divide into groups all stock solution units through the automatically controlled valve, each group is including a plurality of stock solution units adjacent, and the inside intercommunication of a plurality of stock solution units in each group.
The liquid storage units have the same size, are used for modular management, are convenient to assemble, disassemble, replace and maintain, and are attractive.
The liquid storage unit is used for storing clear water, liquid dissolved with fertilizer, or nutrient solution, or sterilization solution, or acid liquor and alkali liquor used for adjusting the pH value.
The effect that sets up communicating pipe is, can independently use a plurality of stock solution units, also can communicate and use together, if a liquid is the twice of the quantity of b liquid, then can connect the communicating pipe between 2 stock solution units, stores a liquid jointly, and deposits b liquid alone with another stock solution unit, can maintain the balanced use of each liquid like this.
The number of the liquid storage units is N, the N liquid storage units are arranged in a row, a communicating pipe is arranged between every two adjacent liquid storage units, an electric control valve controlled by an MCU is arranged on the communicating pipe, and the number of the communicating pipes and the number of the communicating valves are N-1;
a branch type liquid spraying main pipe (103) is arranged in front of the liquid storage module, the liquid spraying main pipe is connected with each liquid storage unit through a unit liquid outlet pipe, and an electric control valve controlled by an MCU is arranged on the unit liquid outlet pipe; the main liquid spraying pipe is communicated with the liquid spraying pipe. The number of the liquid outlet pipes is 2, one liquid outlet pipe is normally used, and the other liquid outlet pipe is used as a redundancy spare.
A branch type liquid inlet main pipe (106) is arranged behind the liquid storage module, the liquid inlet main pipe is connected with each liquid storage unit through a unit liquid inlet pipe, and an electric control valve controlled by an MCU is arranged on the unit liquid inlet pipe; the liquid inlet main pipe is communicated with a main liquid inlet pipe (a liquid supplementing pipe). The number of the fluid infusion pipes can be 2, one is normally used, and the other is used as a redundant spare.
The liquid storage units are arranged in multiple rows and multiple columns, a communicating pipe is arranged between every two adjacent liquid storage units, and an electric control valve (such as 3 x 3 arrangement) controlled by the MCU is arranged on the communicating pipe; all the liquid storage units form a liquid storage module, a surrounding type 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 a unit liquid outlet pipe, and an electric control valve controlled by an MCU is arranged on the unit liquid outlet pipe; the main liquid spraying pipe is communicated with the liquid spraying pipe. In this mode, the length of the unit liquid outlet pipe can be minimized, and the layout is easy. The number of the liquid outlet pipes is 2, one liquid outlet pipe is normally used, and the other liquid outlet pipe is used as a redundancy spare.
A branch type liquid inlet main pipe (106) is arranged behind the liquid storage module, the liquid inlet main pipe is connected with each liquid storage unit through a unit liquid inlet pipe, and an electric control valve controlled by an MCU is arranged on the unit liquid inlet pipe; the liquid inlet main pipe is communicated with a main liquid inlet pipe (a liquid supplementing pipe). The number of the fluid infusion pipes can be 2, one is normally used, and the other is used as a redundant spare.
The liquid inlet main pipe can also adopt the surrounding type liquid inlet main pipe. The liquid outlet main pipe can also adopt a branch type pipeline mode.
The plant data acquisition module is a diameter measuring device for acquiring the diameter of the plant stem.
The diameter measuring device is a chuck type diameter measuring device.
The diameter measuring device is based on image processing and comprises a rotating platform (115), and a camera (116), a scanning module (117) and a distance measuring module (118) which are arranged on the rotating platform; and an image processing module is arranged in the MCU.
Specifically, the scanning module is a radar scanning module for determining the accurate position of the plant, after the accurate position is determined, the distance between the plant and the trolley is tested by adopting a distance measuring module (such as a laser distance measuring module), the distance is used for calibrating a camera, the camera (provided with an LED lighting module at the position of the camera) is used for shooting a photo for light supplement during shooting), the shot photo (namely, an image) is processed by an image processing module, the image processing module determines the object size corresponding to each pixel based on the distance, the plant stem part is separated from the image, the pixels of the stem part are counted, the object size corresponding to each pixel is combined, and the diameter of the stem can be calculated. Specific image segmentation and the like are mature technical means in the field of image processing.
The operation vehicle is provided with a wireless communication module and a positioning module;
the wireless communication module is used for uploading the acquired data to the monitoring server.
The positioning module can be a Beidou or GPS positioning module or a special indoor positioning module, and the wireless communication module is a 3G, 4G, 5G communication module or a WiFi communication module.
And a charging area used for charging the operation vehicle is arranged in the operation area, and the operation vehicle is driven by a battery.
The chuck comprises a static arm (306), a movable arm (307) and a movable arm driving device for driving the movable arm; the front end of the static arm is parallel to the front end of the movable arm; the chuck is provided with a displacement detection device for measuring the distance between the static arm and the movable arm;
data detected by the displacement detection device and the vehicle-mounted camera are sent to the MCU; and the communication module and the storage module are connected with the MCU.
And the vehicle-mounted platform is also provided with a positioning module connected with the MCU. The positioning module is a Beidou module or a GPS module.
The battery is a storage battery or a lithium battery.
And the vehicle-mounted platform is provided with an RFID read-write module connected with the MCU. The device is used for reading the information of the RFID card from the plant, writing the information into the RFID card when necessary, and reading the information (including variety, seed date and other information) on the ID card (RFID card).
The supporting platform is provided with a vertical telescopic rod, the vertical telescopic rod is provided with a horizontal telescopic rod, the front end part of the horizontal telescopic rod is provided with a chuck, and the vertical telescopic rod and the horizontal telescopic rod are electric mechanisms, so that the chuck can move up and down and front and back, and the walking mechanism is a crawler-type walking mechanism, so that the chuck can freely move in a three-dimensional space, and the diameter of a plant can be conveniently detected.
The mobile detection terminal is also provided with a liquid spraying mechanism, such as spraying water, or spraying waste materials, or spraying pesticides, and the like.
The detection is implemented by adopting a mobile detection vehicle (namely a mobile detection terminal) through the following steps:
step 1: driving the mobile detection vehicle to move to the plant to be detected;
step 2: data acquisition: the data acquisition comprises the following steps:
(1) detecting the diameter of the plant to be detected by adopting a chuck type diameter detection device;
(2) collecting information on an RFID card at a plant by adopting an RFID reader-writer;
and step 3: the mobile detection vehicle sends the acquired data to the data acquisition platform through the wireless communication module.
The driving mobile detection vehicle is further provided with a telescopic probe for detecting the temperature and the humidity of the soil, and the probe is provided with a temperature and humidity sensor.
The data monitoring platform (server) and the plurality of mobile detection terminals can form a detection system (namely a monitoring system); the mobile detection terminal is in wireless communication connection with the data monitoring platform;
the mobile detection terminal can be communicated with a plurality of fixed detection terminals arranged in soil, and the mobile detection terminal can be used as a mobile data sink node.
A temperature and humidity sensor is arranged on the fixed detection terminal; the fixed detection terminal is in wired or wireless communication connection with the data monitoring platform;
the mobile detection terminal is provided with an electric walking mechanism and a lithium battery; the lithium battery is used for driving the electric walking mechanism and also used for supplying power to detection equipment arranged on the mobile detection terminal;
the monitoring area is a square area; for example, in a greenhouse planting base, a square area is divided into a plurality of square sub-areas according to the length and the width; each subarea is at least provided with a charging platform; at least one mobile detection terminal is arranged in each subarea.
A convergence terminal for converging detection data is arranged in each subarea; the convergence terminal is in communication connection with the monitoring platform; the mobile detection terminal is in wireless communication connection with the convergence terminal.
The monitoring system further includes an aircraft having a camera; when the aircraft descends on wireless charging platform, wireless charging platform can be for the wireless charging of aircraft, still is equipped with the liquid reserve tank and sprays the mechanism on the aircraft, and the aircraft is used for spraying the pesticide and obtains the monitoring image or the video of big scene.
The fixed detection terminal is provided with a pest detection device.
In addition, an ID card is arranged on part or all of the plants, and an RFID reader-writer is arranged on the mobile detection terminal and used for reading information (including varieties, seed dates and other information) on the ID card and writing related information into the ID card;
or, some or all of the plants are provided with ID codes (bar codes or two-dimensional codes), and the mobile detection terminal is provided with a code scanning device.
Therefore, the corresponding plant information can be maintained in the monitoring platform. The latter approach is less costly and is the preferred approach.
The soil is provided with a spray pipeline for realizing humidity control, a monitoring area is provided with an automatic window opening and closing device and a lighting device for illumination control, the monitoring area is provided with an air temperature regulator for realizing temperature control, and the spray pipeline, the automatic window opening and closing device, the lighting device and the air temperature regulator (air conditioner) are controlled by a monitoring platform.
The mobile detection terminal is also provided with a spraying device for spraying special liquid, such as liquid fertilizer and the like.
The mobile detection terminal can walk on the ground, and can be clamped on an automobile through a channel when necessary. A camera support rod is arranged on the vehicle-mounted platform (automobile), and a camera is arranged at the top end of the camera support rod; the control end of the camera is connected with the MCU, image data collected by the camera is transmitted to the memory connected with the MCU, and the image data is displayed on the display screen connected with the MCU.
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 cell panel, and the solar cell panel charges the battery through a charging circuit.
Be equipped with the wireless charging circuit who is used for charging for the battery on the vehicle-mounted platform, the battery be the power lithium cell, when car mounting platform was in wireless charging parking stall, wireless charging system on the wireless parking stall charges for the power lithium cell.
The front end of the spray gun is provided with a nozzle, and the spray gun is provided with a regulator for regulating the water flow; the supporting seat setting of spray gun is equipped with the support column on the supporting seat on the horizontal rotation platform, and the spray gun setting is through the setting of horizontally pivot mechanism on the support column (the axis level of horizontally pivot mechanism, the spray gun can revolute pivot mechanism at vertical plane internal rotation to raise or descend the angle of nozzle, the supporting seat can be for 360 horizontal rotation of vehicle-mounted platform).
The horizontal rotating platform and the rotating shaft mechanism are both driven by a motor, and the motor and the regulator are both controlled by the MCU. MCU can pass through the motor control spray gun at horizontal plane and vertical plane internal rotation promptly, can also pass through the size of regulator control rivers to the distance of the water of its ejection of control.
A camera support rod is arranged on the vehicle-mounted platform, and a camera is arranged at the top end of the camera support rod; the control end of the camera is connected with the MCU, image data collected by the camera is transmitted to the memory connected with the MCU, and the image data is displayed on the display screen connected with the MCU.
Be equipped with the unmanned aerial vehicle of taking the camera on the vehicle-mounted platform, after unmanned aerial vehicle rose to the air, the image information who acquires returned remote monitoring center, and remote monitoring center control or scheduling vehicle-mounted platform realize that long-range supplementary sprays, and the supplementary including for vehicle-mounted platform planning route etc..
Has the advantages that:
the data acquisition and monitoring system based on the Internet of things can realize the detection and monitoring of various data; specifically, the method comprises the following steps:
(a) liquid spraying module based on multiple standard liquid storage units and capable of being flexibly combined and configured
Because be equipped with a plurality of standardization and modular stock solution units, moreover, because can be equipped with the communicating pipe of taking the switch between the adjacent stock solution unit, consequently, a plurality of stock solution units can be nimble be grouped, form a plurality of groups after, can carry out hydrojet and fluid infusion more conveniently.
Moreover, because the standardized liquid storage unit is adopted, the maintenance is more convenient, and the expansibility is good.
(b) Unique sorting mechanism
The sorting mechanism is unique in that the distance between the vertical baffles can be conveniently adjusted, and the sorting mechanism is high in precision.
In addition, the sorting mechanism can realize multi-level sorting, can flexibly sort the sorted objects according to the preset requirements, has good practicability and is suitable for popularization and implementation.
In the sorting process, the distance between the vertical plates in each sorting device is set by combining the distance measuring mechanism, and then sorting is carried out. The riser sets up one at least gate, sorts a batch and opens the gate again and let pass a batch, prevents that the letter sorting object from piling up.
In addition, the invention also comprises the following detection and control:
(1) collecting and controlling temperature, humidity and illumination parameters;
the fixed detection terminal collects temperature, humidity and illumination parameters and returns the temperature, humidity and illumination parameters to the data monitoring platform;
the data monitoring platform realizes temperature, humidity and illumination control; (control is effected according to a predetermined threshold or control curve, etc., as in the prior art, e.g., warming if the temperature is below a certain threshold)
(2) Detecting the diameter of the plant based on a mobile detection terminal;
the intelligent operation vehicle collects diameter data of plants and returns the obtained diameter data to the data monitoring platform, and specifically, background workers walk based on the wireless intelligent operation vehicle with the assistance of a positioning device and a camera on a mobile detection terminal and accurately clamp the stem part of the plants with the assistance of a vehicle-mounted camera to obtain the diameter data; and associate the data with a specific plant ID.
(3) Monitoring image acquisition based on an aircraft;
the aircraft flies according to a preset flight route or is controlled by a background operator to fly, so that images or videos are collected.
(4) Pest control based on aircraft;
pest and disease damage data are obtained through a pest detection device arranged at a fixed detection terminal, and if the data exceed a preset threshold value, an aircraft is started to spray pesticide (preferably organic pesticide) in a certain area (or adjacent area) where the pest and disease damage occurs. The specific flight path is automatically planned or controlled by a background operator.
In addition, still include:
(5) and (5) controlling charging.
When the aircraft and the mobile detection terminal are on the charging platform, the wireless charging device is started to wirelessly charge the aircraft and the mobile detection terminal.
The temperature control is that the data monitoring platform starts or closes the air conditioner and sets the temperature of the air conditioner;
the humidity control means that the soil humidity is kept within a preset range by controlling the spraying system according to the monitoring platform;
lighting control, turning on lighting or opening a window (fully or partially open) if the lighting is too low (below a certain threshold); otherwise, if the illumination is higher than a certain threshold value, the illumination is closed or the window is closed;
through the control, crops can grow in the most suitable environment.
(6) The camera for detecting the diameter also adopts a composite camera with a plurality of sub-lenses, the sub-lenses can be automatically switched to adjust the focal length, and the flexibility is good.
In conclusion, the data acquisition and monitoring system based on the Internet of things has rich functions, is easy to implement, can execute data detection, liquid spraying and sorting tasks, and has good flexibility.
Drawings
FIG. 1 is a schematic view of a monitoring area;
FIG. 2 is a schematic view of the construction of the work vehicle;
FIG. 3 is a schematic diagram of a liquid spraying mechanism with 4 liquid storage units;
FIG. 4 is a schematic diagram of a liquid spraying mechanism of 9 liquid storage units;
FIG. 5 is a schematic structural view of a sorting mechanism;
FIG. 6 is a schematic structural view of a collet-type diameter detecting mechanism;
FIG. 7 is a schematic view showing the relative positions of the movable end, the fixed end and the groove;
FIG. 8 is a schematic view of a pest detection device;
FIG. 9 is a schematic view of a composite lens and a camera;
FIG. 10 is a schematic view of the structure of the vehicle-mounted spraying device;
fig. 11 is a schematic view (side view) of the general structure of the wireless charging system for the automobile;
fig. 12 is a schematic general structural diagram (top view) of a wireless charging system for an automobile;
FIG. 13 is a schematic view of the cover plate when closed;
FIG. 14 is a schematic view of the cover plate when raised;
FIG. 15 is a schematic structural view of a press-proof frame;
FIG. 16 is a schematic diagram of a dimming circuit;
fig. 17 is a schematic diagram of a constant current charging;
FIG. 18 is an electrical schematic block diagram of a wireless charging system for an automobile;
FIG. 19 is a schematic view of the general structure of the multi-purpose aircraft (water tank not shown);
fig. 20 is a schematic structural view (top view) of a quad-rotor telescopic boom and rotors;
fig. 21 is a schematic structural view of an aircraft with a quad-rotor telescopic boom (bottom view, with sub-rotor, pan/tilt and camera components not shown);
FIG. 22 is a schematic view of the position relationship of the main rotor and the auxiliary rotor;
FIG. 23 is an exploded view of the telescoping boom;
FIG. 24 is a schematic view of the assembled telescopic boom;
FIG. 25 is a schematic view of the latch;
FIG. 26 is a schematic structural view of a leg;
FIG. 27 is a schematic view of a hexagram spider and rotor;
FIG. 28 is a circuit diagram of motor current detection and relay control;
fig. 29 is a schematic diagram of an amplification factor adjustable amplifier.
Description of reference numerals: 1-sorting table, 9-cylinder, 10-push rod, 11-base, 12-motor, 13-screw rod, 14-stay wire fixing unit, 15-diagonal rod, 16-vertical rod, 17-wire wheel, 18-stay wire, 19-vertical baffle. 101-main liquid spray pipe, 102-auxiliary liquid spray pipe, 103-liquid spray main pipe, 104-unit liquid outlet pipe, 105-liquid storage unit, 106-liquid inlet main pipe, 107-main liquid inlet pipe and 108-auxiliary liquid inlet pipe; 109-operation area, 110-operation vehicle, 111-working position, 112-plant growing area, 113-wheel, 114-vehicle platform, 115-rotating platform, 116-camera, 117-scanning module and 118-ranging module.
21-outer arm, 22-inner arm, 23-main rotor, 24-jack, 25-lock catch; 26-auxiliary rotor, 27-ducted fan mount, 28-leg, 29-chassis, 30-beam, 31-cross, 32-cradle; 33-a pan-tilt head; 51-shell, 52-pin, 53-barb, 511-shell, 512-pressing block, 513-pressing spring; 70-on-board camera, 71-sub-lens, 72-compound lens, 73-rotating shaft, 74-light reflection sheet, 75-photoelectric emitting and receiving device, 76-CCD sensor, 77-fuselage; 81-upper leg, 82-spring, 83-guide bar, 84-lower leg, 85-sleeve, 86-foot nail, 87-grommet.
1116-pull rope, 1117-spray gun driving motor, 1118-rotary platform, 1119-driven gear, 1120-support seat, 1121-rotary platform driving motor, 1122-first driving gear.
201-a concave part, 202-a bottom movable platform, 203-a first motor, 204-a limit switch, 205-a guide rail, 206-a first rack rail, 207-a second driving gear, 208-a coded disc, 209-a walking wheel, 210-a lifting platform, 211-a second rack rail, 212-a lead, 213-a power-on plug, 214-a transmitting coil, 215-a scissor type lifting mechanism, 216-an upper movable platform, 217-a push rod, 218-a pressure-proof frame and 219-a movable cover plate.
306-static arm, 307-movable arm, 308-stay rope fixing piece, 309-mounting seat, 310-pulley, 311-stay rope, 312-movable arm driving device, 313-movable end, 314-groove, 315-fixed end, 316-vertical telescopic rod, 317-horizontal telescopic rod, 318-chuck and 319-liquid spraying mechanism.
401-air filling pipe, 402-air cushion type base, 403-insect collecting bottle, 404-fixed support rod, 405-rotating shaft, 406-bottle body fixed plate, 407-insect attracting top lamp, 408-photoelectric detection module, 409-insect attracting bottom lamp, 410-top rod, 411-top rod driving mechanism and 412-solar panel. c is a single arm lock fixed width
Detailed Description
The invention will be described in further detail below with reference to the following figures and specific examples:
example 1: referring to fig. 1-5, a data collecting and monitoring system based on internet of things, a plurality of plant growing areas (112) for growing plants and at least one working vehicle (110) for performing detection and liquid spraying operations are arranged in a working area (109); arranging an RFID card in a plant planting area;
the operation vehicle is provided with an MCU, a plant data acquisition module and a liquid spraying module; the operation vehicle is also provided with an RFID reader-writer; the system also includes a sorting mechanism.
(1) Introduction to liquid spray Module
The liquid spraying module comprises a plurality of liquid storage units (105) and at least one liquid spraying pipe, the liquid spraying pipe is communicated with the liquid storage units through a liquid spraying control switch, and the liquid spraying control switch is controlled by the MCU;
a liquid pumping mechanism for pumping liquid in the liquid storage unit to the liquid spraying pipe is arranged on the operation vehicle or in the liquid storage unit. A communicating pipe is arranged between every two adjacent liquid storage units, an electric control valve controlled by an MCU is arranged on the communicating pipe,
(a) as shown in fig. 3, in the single-row arrangement mode, the number of the liquid storage units is 4, 4 liquid storage units are arranged in a row, and the number of the communicating pipes and the communicating valves is 3; in particular to c1-c 3;
a branch type liquid spraying main pipe 103 is arranged in front of the liquid storage module, the liquid spraying main pipe is connected with each liquid storage unit through a unit liquid outlet pipe 104, and an electric control valve (specifically a1-a4) controlled by an MCU is arranged on the unit liquid outlet pipe; the main liquid spraying pipe is communicated with the liquid spraying pipe. 2 liquid outlet pipes are arranged, one is normally used, and the other is used as redundancy for standby; a branch type liquid inlet main pipe 106 is arranged behind the liquid storage module, the liquid inlet main pipe is connected with each liquid storage unit through a unit liquid inlet pipe 106, and an electric control valve (specifically b1-b4) controlled by an MCU is arranged on the unit liquid inlet pipe; the liquid inlet main pipe is communicated with a main liquid inlet pipe (a liquid supplementing pipe). The number of the fluid infusion pipes can be 2, one is normally used, and the other is used as a redundant spare.
(b) FIG. 4, array arrangement pattern;
the 9 liquid storage units are arranged in 3 rows and 3 columns; all the liquid storage units form a liquid storage module, a surrounding type 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 a unit liquid outlet pipe, and an electric control valve (a1-a9) controlled by an MCU is arranged on the unit liquid outlet pipe; the main liquid spraying pipe is communicated with the liquid spraying pipe. In this mode, the length of the unit liquid outlet pipe can be minimized, and the layout is easy. 2 liquid outlet pipes are arranged, one is normally used, and the other is used as redundancy for standby;
a branch type (also starting to be a surrounding type) liquid inlet main pipe 106 is arranged behind the liquid storage module, the liquid inlet main pipe is connected with each liquid storage unit through a unit liquid inlet pipe, and an electric control valve (specifically b1-b9) controlled by an MCU is arranged on the unit liquid inlet pipe; the liquid inlet main pipe is communicated with a main liquid inlet pipe (a liquid supplementing pipe). The number of the liquid supplementing pipes can be 2, one is normally used, and the other is used as a redundant spare
If necessary, if the liquid has 3 kinds, and the volume ratio is: 1:1: 1;
can be divided into three groups according to the following: (I) m1, M4 and M7 are connected into a group, (II) M2, M5 and M8 are connected into a group, (III) M3, M6 and M9 are connected into a group, and the three groups respectively store different liquids.
Or if the number of the liquid is 6, and the volume ratio is as follows: 1:1:1:1:1: 4; m5, M6, M8 and M9 form one group, and each of the remaining M1-M4 and M5 is used alone and can form 6 groups for use.
Plant planting district is the multirow multiseriate and arranges or annular array arranges, and each plant planting district side is equipped with one and is used for work position (111) that the operation car stopped, and this area can not disturb plant growth, and this area is equipped with the sensor, like proximity sensor for operation car discernment.
And a unmanned module is integrated on the operation vehicle. And automatic navigation, automatic implementation of operations such as liquid supplementing, liquid spraying, detection, charging and the like.
(2) Introduction to sorting apparatus
As shown in fig. 5, the sorting device comprises a sorting table 1 for sorting, 2 vertical baffles 19 arranged in parallel and an interval adjusting mechanism for driving the vertical baffles to translate so as to adjust the interval between the 2 vertical baffles, and a blanking mechanism is further arranged on the sorting table and used for dropping sorting objects which cannot pass through the baffles to a storage basket;
the sorting table is arranged obliquely (the inclination angle is determined according to specific conditions and is generally 5-15 degrees), so that the sorted objects can conveniently move to the vertical baffle under the action of gravity;
the interval adjusting mechanism is 2 groups, and 2 groups of adjusting mechanisms are used for respectively driving 2 groups of detection modules to mutually approach or separate.
The transmission mechanism is a screw rod, the mounting plate is provided with a screw hole, and the sorting table is provided with a guide mechanism for guiding the mounting plate; the screw rod is inserted into the screw hole, and the motor can drive the mounting plate to transversely move through the screw rod;
the transmission mechanism can also be a synchronous belt transmission mechanism, a synchronous belt is arranged on a synchronous wheel, a sliding block is fixed on the synchronous belt, the sliding block is also fixed on the mounting plate, and the mounting plate can slide along a transverse guide rail under the driving of a motor.
The mounting plate is provided with a spacing detection device; the distance detection device comprises a vertical rod 16, a pull wire 18 and a wire wheel 17; the number of the vertical rods is 2, the vertical rods are respectively arranged on the 2 mounting plates and are marked as a first vertical rod and a second vertical rod; the wire wheel is arranged on the first vertical rod, the pull wire is wound on the wire wheel, and the leading-out end of the pull wire is fixed on the second vertical rod and keeps the pull wire horizontal; the wire wheel is provided with a torsion spring for keeping the pull wire tensioned; the line wheel is also provided with a coded disc, the coded disc and the line wheel coaxially and synchronously rotate, and the coded disc outputs a pulse signal to the MCU (the MCU can convert the change of the displacement of the two vertical rods based on the pulse number so as to calculate the distance between the 2 detection plates at the position). MCU is connected with the display screen, and MCU still is connected with communication module, and communication module is used for transmitting testing result or interval value etc. to server or remote detection terminal, or host computer.
An inclined rod for reinforcing is arranged between the mounting plate and the vertical rod. The vertical rod is prevented from inclining.
A base 11 and an air cylinder 9 are arranged on the sorting table;
the spacing adjusting 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 with the base.
The sorting device is provided with a counter for counting sorting results. The sorting device is provided with a photoelectric detection switch for detecting whether a sorting object exists at the vertical baffle as an opening precondition for the action of the blanking mechanism. The blanking mechanism is driven by an air cylinder, and the air cylinder drives the bottom plate to rotate downwards. Dropping down the sorted objects. The sorting device is provided with a wireless communication module for uploading sorting statistical data to a server.
(3) Stem diameter detection mechanism based on image processing
As shown in fig. 5, the diameter measuring device is a diameter measuring device based on image processing, and the diameter measuring device comprises a rotating platform (115), and a camera (116), a scanning module (117) and a distance measuring module (118) which are arranged on the rotating platform; and an image processing module is arranged in the MCU. Specifically, the scanning module is a radar scanning module for determining the accurate position of the plant, after the accurate position is determined, the distance between the plant and the trolley is tested by adopting a distance measuring module (such as a laser distance measuring module), the distance is used for calibrating a camera, the camera (provided with an LED lighting module at the position of the camera) is used for shooting a photo for light supplement during shooting), the shot photo (namely, an image) is processed by an image processing module, the image processing module determines the object size corresponding to each pixel based on the distance, the plant stem part is separated from the image, the pixels of the stem part are counted, the object size corresponding to each pixel is combined, and the diameter of the stem can be calculated. Specific image segmentation and the like are mature technical means in the field of image processing.
(4) The comprehensive agricultural monitoring comprises data acquisition control and intelligent liquid spraying control;
(a) data acquisition control:
collecting the diameter of the stem of the plant by using an operation vehicle;
collecting data output by a sensor group by using an operation vehicle;
(b) intelligent liquid spraying control:
a plurality of liquid storage units for containing liquid are arranged on the operation vehicle, and the liquid storage units are connected with liquid spraying pipes; the plants are sprayed with liquid by the operating vehicle.
The system of the invention also comprises the following parts:
(I) chuck type diameter detection mechanism for stems
As shown in fig. 6 to 7, the chuck includes a stationary arm 306, a movable arm 307, and a movable arm driving device for driving the movable arm; the front end of the static arm is parallel to the front end of the movable arm; the chuck is provided with a displacement detection device for measuring the distance between the static arm and the movable arm;
data detected by the displacement detection device and the vehicle-mounted camera are sent to the MCU; and the communication module and the storage module are connected with the MCU.
The supporting platform is provided with a vertical telescopic rod, the vertical telescopic rod is provided with a horizontal telescopic rod, the front end part of the horizontal telescopic rod is provided with a chuck, and the vertical telescopic rod and the horizontal telescopic rod are electric mechanisms, so that the chuck can move up and down and front and back, and the walking mechanism is a crawler-type walking mechanism, so that the chuck can freely move in a three-dimensional space, and the diameter of a plant can be conveniently detected.
The diameter D ═ L +2 × c of the plants; c is the fixed width of a single clamping arm, and L is the length detected by the sensor.
The displacement detection device is a pulley-pull rope type displacement detection device. Or a magnetically induced displacement detection device.
The pulley-pull rope type displacement detection device comprises a code wheel, a pulley 310 and a pull rope 311; the coded disc is arranged on the pulley and can coaxially and synchronously rotate along with the coded disc; the pulse signal output by the code disc is connected with the input end of the MCU;
the pulley is arranged on the static arm, one end of the pull rope is wound on the pulley, and the other end of the pull rope is fixed on the movable arm;
or the pulley is arranged on the movable arm, one end of the pull rope is wound on the pulley, and the other end of the pull rope is fixed on the static arm. Preferably, the other end of the pull rope is connected to the pull rope fixing piece. The pull rope fixing piece is fixed on the movable arm or the static arm.
The pulley is provided with a torsion spring to keep a certain tension of the pull rope, so that the measuring accuracy is improved.
A movable end connected with the movable arm is arranged in the sliding rail, and the static arm is fixedly connected with the sliding rail; the movable end is arranged in the groove and can slide along the sliding rail. The sliding rail is arranged to ensure smooth opening and closing of the movable arm.
The movable arm driving device is an electric push-pull rod or an air cylinder. The motorized push-pull rod is preferably a rack-and-pinion mechanism. The motor drives the gear to rotate and drives the rack to move, and the rack is connected with the movable arm.
The diameter D ═ L +2 × c of the plants; c is the fixed width of a single clamping arm, and L is the length detected by the sensor.
The movable arm driving device is an electric push-pull rod or an air cylinder. The motorized push-pull rod is preferably a rack-and-pinion mechanism. The motor drives the gear to rotate and drives the rack to move, and the rack is connected with the movable arm.
(II) Pest detecting device As shown in FIG. 8, the pest detecting device has a wireless communication module for communicating with a master node apparatus (e.g., a data summarization device as an aggregation node); the pest detection device is provided with an air cushion type base 402, a bracket and a solar panel 412; the support is arranged on the air cushion type base, and the solar panel is arranged on the support and supported by the support; a sub-node controller, a temperature and humidity sensor, a water level sensor, a light intensity sensor and a positioning module are integrated on the pest detection device;
an insect collecting bottle 403 is also arranged on the air cushion type base; the bottom of the insect collecting bottle is provided with an insect luring bottom lamp 409, and the top of the insect collecting bottle is provided with an insect luring top lamp 407; the insect collecting bottle is provided with a bent bottle mouth; (to prevent insects from entering and then exiting); the neck of the insect collecting bottle is provided with a photoelectric detection module 408 for detecting whether the insects enter or not and counting the insects entering the bottle body; the insect collecting bottle is fixed by a bottle body fixing plate 406 arranged on the bracket; the temperature and humidity sensor, the water level sensor, the photoelectric detection module, the light intensity sensor and the positioning module are all connected with the sub-node controller. A dissolved oxygen sensor, an air pump and an air adding pipe 401 are integrated on the pest detection device; the air adding pipes are arranged at the bottom of the cushion type base; the dissolved oxygen sensor is connected with the sub-node controller; the air filling pipe is connected with the air pump; the air pump is controlled by the sub-node controller. The bracket comprises a fixed support rod 404 and a top rod 410 driven by a top rod driving mechanism 411; the fixed support rod supports one side of the solar cell panel; the ejector rod supports the other side of the solar cell panel; the ejector pin goes up and down with the inclination of adjusting solar cell panel. The insect collecting bottle is provided with a push-pull type bottom plate, and the push-pull type bottom plate is driven by a push-pull driving module and is used 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 (namely a communication module applicable to a common remote controller). The pest detection device sends the acquired data to the main node equipment, and the main node equipment uploads the data to the monitoring server after collecting the data; the monitoring server or the master node device can send instructions to the pest detection device; a plurality of pest detection devices forming a monitoring network, the pest detection devices communicating directly with the main node apparatus, or, sub-nodes
The device relays communication with the master node device through other pest detection means. The positioning module is a GPS or Beidou module. The pest detection device is provided with a position sensor and a driving mechanism (such as a miniature propeller and the like), and the rotary driving mechanism is used for driving the pest detection device to rotate and walk; the orientation sensor is used for detecting the direction of the pest detection device. The top light of luring the worm is used for attracting the pest of eminence to be close to, and the end light of luring the worm is used for attracting the pest to get into the bottle. And the sub-node controller controls the opening and closing of the top light and the bottom light through the relay module. The pest detection device collects temperature, humidity, water level, position, dissolved oxygen content, illumination and pest data and sends the data to the monitoring server through the main node module, and remote monitoring is achieved. The sub-node controller preferably selects a single chip microcomputer or a DSP; the ZigBee communication module has the working frequency of 800M-2.4 GHz and the communication distance of 100 meters. The pest detection device collects data such as temperature, humidity, illumination and insect quantity on site, and then gathers the data to the main node equipment, and the upper computer is communicated with the main node equipment and used for collecting the data, so that remote monitoring is realized. The fixed support rod is connected with the solar cell panel through a hinge mechanism with a rotating shaft 405, so that the angle can be adjusted conveniently.
(III) as shown in FIG. 10, an automatic liquid spraying apparatus,
the rotating platform driving motor can drive the rotating platform to rotate through the first transmission mechanism; and a spray gun driving motor 1117 is arranged on the rotating platform, and the spray gun driving motor can control the elevation angle of the main spray gun through a second transmission mechanism.
The first transmission mechanism is a gear transmission mechanism. The gear transmission mechanism comprises a first driving gear 1122 installed on the rotating shaft of the rotating platform driving motor and a driven gear 1119 meshed with the first driving gear, the driven gear is arranged on the outer ring of the rotating platform, the driven gear and the rotating platform are coaxially designed as a whole, and therefore the rotating platform driving motor can drive the rotating platform to rotate.
The second transmission mechanism is a pull rope 1116, the upper end of the pull rope is arranged at the rear end of the spray gun, and the lower end of the pull rope is wound on a rotating shaft of the drive motor of the spray gun (or a belt wheel arranged on the rotating shaft).
Because the spray gun is arranged on the spray gun frame and is hinged with the spray gun frame, the front end of the spray gun is downward under the action of gravity, and the elevation angle of the spray gun is completely controlled by the pull rope.
The vehicle-mounted platform is provided with a power lithium battery and a charging module, the charging module is matched with the charging pile, or the charging module is a wireless charging module; the wireless charging module is matched with a wireless charging system arranged on the ground.
The vehicle-mounted platform can realize automatic driving and automatic path planning. The water level state and the like are automatically detected, water is automatically supplemented, and automatic charging is realized.
In addition, a regulator for regulating water quantity is arranged on the spray gun, and the spraying distance can be realized by regulating the water quantity.
(IV) as shown in FIGS. 11-15, a wireless charging module comprising a support platform disposed in the recess 201 and a transmitting coil 214 disposed on the support platform;
the supporting platform comprises a bottom layer movable platform 202, an upper layer movable platform 216 and a lifting mechanism for connecting the bottom layer movable platform and the upper layer movable platform; a longitudinal translation mechanism is arranged on the bottom layer movable platform; the upper layer movable platform is provided with a transverse translation mechanism.
The lifting mechanism is a cylinder type lifting mechanism or a scissor type lifting mechanism 215. The cylinder type lifting mechanism is a push rod type driving mechanism, such as a pneumatic cylinder or a hydraulic cylinder.
The longitudinal translation mechanism comprises a guide rail 205 and a first rack rail 206 arranged at the bottom of the recess;
the number of the guide rails is 2; the rack rail is one, and the rack rail and the guide rail are arranged in parallel;
a plurality of travelling wheels 209 capable of rolling on the guide rails are arranged at the bottom of the bottom layer movable platform; the number of the walking wheels is 4, and one side of the walking wheels is 2.
The front end of the bottom layer movable platform is provided with a first motor 203; a gear 207 is arranged on a rotating shaft of the first motor, and the gear is meshed with the first rack rail; when the first motor rotates, the bottom layer movable platform can be driven to longitudinally (front and back) translate along the first rack rail.
The transverse translation mechanism comprises a second rack rail 211 and a second motor; the second rack rail is transversely arranged, and the left end or the right end of the upper movable platform of the second motor is arranged; and a gear meshed with the second rack rail is arranged on a rotating shaft of the second motor, and when the second motor rotates, the upper movable platform can be driven to transversely (leftwards and rightwards) translate along the second rack rail.
The rotating shafts of the first motor and the second motor are both provided with a code disc 208. The code wheel is used for detecting the number of turns of the motor rotation, so that the displacement of the platform in advancing can be converted.
An electrically movable cover 219 is provided at the opening of the recess. The electric driving means motor driving or electric signal control hydraulic cylinder or air cylinder driving.
The movable cover plate is 2, a push rod for driving the movable cover plate is arranged in the concave part, and the upper end of the push rod is connected with the movable cover plate ground.
The opening of the depressed part is also provided with a pressure-proof mechanism 210, and when the movable cover plate is unfolded, the pressure-proof mechanism can support the movable cover plate.
The pressure-proof mechanism is in a square frame shape. Stainless steel or cast iron is adopted, and the strength is high.
The wireless charging system for the automobile further comprises a control unit, wherein the control unit comprises an MCU, and the transverse translation mechanism and the longitudinal translation mechanism are controlled by the MCU; the MCU is also connected with a communication module.
The wireless charging system of the automobile is arranged on the parking space, an electric control parking space lock controlled by the MCU is also arranged on the wireless charging system of the automobile, and the wireless charging system of the automobile is combined with the shared parking space; the mobile cover plate is provided with an identification code used for interacting with the mobile phone, the identification code is a two-dimensional code or a bar code or a character string, and the intelligent mobile phone can be associated with the parking spot lock and the parking spot by scanning the code or inputting the character string; and the charging data is fed back to the mobile phone, so that the parking and charging are jointly charged.
The communication module is used for being connected with a remote server and also used for being communicated with an automobile based on Bluetooth or wifi or being controlled by a mobile phone (such as a mobile phone APP).
In addition, the limit switch and the code disc output signals to the MCU;
the first motor and the second motor are both stepping motors.
The first rack rail is located between the 2 rails.
The rear end of the bottom layer movable platform is provided with a limit switch 204; the front end of the motor is provided with a limit switch 204. The limit switch acts to indicate that the front or the rear is in place, and the motor stops rotating, so that the safe operation of the whole equipment is guaranteed.
The bottom movable platform is provided with a lead with a connecting plug 213. The wire is used for connecting and obtaining commercial power, thereby supplying power for the transmitting coil.
The bottom layer movable platform is also provided with an MCU and a single-phase bridge type rectification and inversion circuit; the single-phase bridge type rectification and inversion circuit comprises a rectifier bridge and an inverter bridge, wherein the rectifier bridge adopts 4 power diodes, the inverter adopts 4 IGBTs, the connection mode is the 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 with the commercial power, and the output side of the rectifier bridge is connected with the transmitting coil through the inverter; the rectifier bridge is used for changing alternating current into direct current, and the inverter is used for changing direct current into alternating current of different frequencies, changes the frequency in order to improve charge efficiency.
The display screen is arranged in the concave part, is connected with the MCU and is used for field debugging and displaying field state data in real time.
And the automobile end is provided with a constant-current charging circuit for efficiently charging the lithium battery.
An inductor for inducing the automobile above is arranged at the opening of the concave part, such as an ultrasonic or photoelectric sensor; and the automatic charging is realized.
As shown in fig. 6, the charging system further includes a brightness adjusting circuit for adjusting the brightness of the display screen (the display screen is located in the cab of the vehicle-mounted platform); the brightness adjusting circuit comprises an MCU, an LED lamp string, a triode, a potentiometer Rx and an A/D converter; the triode is an NPN type triode; a knob switch is arranged above a fixing frame of the display screen and is coaxially connected with the potentiometer Rx;
the potentiometer Rx and the first resistor R1 are connected in series to form a voltage division branch, one end of the voltage division branch is connected with the positive electrode Vcc of the power supply, and the other end of the voltage division branch is grounded; the connection point of the potentiometer Rx and the first resistor R1 is connected with the input end of the A/D converter; the output end of the A/D converter is connected with the data input port of the MCU;
the LED lamp string comprises a plurality of LED lamps which are connected in series; the anode of the LED lamp string is connected with the anode Vcc of the power supply; the negative electrode of the LED lamp string is connected with the C electrode of the triode, and the E electrode of the triode is grounded through a second resistor R2; the B pole of the triode is connected with the output end of the MCU. The power supply positive pole Vcc is 5V, and the A/D converter is an 8-bit serial output type converter.
Sixthly, as shown in fig. 17, the constant current charging circuit comprises a constant voltage driving chip and a current feedback circuit;
(1) the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded;
the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-;
(2) the current feedback circuit comprises resistors R1, R2 and R5 and a reference voltage end VREF +;
the reference voltage end VREF + is grounded through resistors R1, R2 and R5 which are sequentially connected in series;
the connecting point of the resistor R5 and the resistor R2 is a negative output end VOUT < - >;
the connection point of the resistors R1 and R2 is connected with the feedback terminal FB of the constant voltage driving chip.
The constant current charging circuit also comprises a voltage feedback circuit;
the voltage feedback circuit comprises resistors R3 and R4 and a diode D1;
the resistors R3 and R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the resistors R3 and R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected to the feedback terminal FB of the constant voltage driving chip.
Seventh, as shown in fig. 19-27, the system further includes a multi-functional aerial vehicle for work area monitoring, including a cradle 32, a rotor, a base plate 29, a pan-tilt 33, legs 28, and a camera 70;
the rotor and the holder are arranged on the bracket;
the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder;
the supporting legs are fixed at the bottom of the bottom plate;
the camera includes a body 77 and a compound lens 72; a CCD sensor 76 is arranged in the machine body, and a photoelectric transmitting and receiving device 75 for lens alignment is arranged on the machine body;
the composite lens is provided with a rotating shaft 73; 4 sub-lenses 71 are integrated in the compound lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet 74 matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body. The photoelectric transmitting and receiving device and the light reflection sheet can be a plurality of sets, preferably 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor, so that the alignment precision is higher.
4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the legs include an upper leg 81, a lower leg 84 and a foot peg 86; the lower end of the upper leg is provided with a guide groove; 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 inner wall at the innermost end) of the guide groove and the top end of the guide rod; the lower end of the lower leg is provided with a foot peg 86. The outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve 85 with internal threads, and the lower end of the sleeve is provided with a backing ring 87. The chassis is also provided with a gyroscope and a wireless communication module. The gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to the ground receiving end equipment. The bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm 21 and an inner arm 22; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch 25; the lock catch is provided with a pin 52 with a barb 53; the number of the lock catches is multiple; a plurality of groups of jacks 24 for pins to pass through are arranged at the inner end of the outer arm and the outer end of the inner arm; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part 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, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing part 7; the lock catch has a housing 51; the shell comprises an outer shell 511, a pressing block 512 and a pressure spring 513; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin, and the pressure spring is sleeved at the root of the pin. The inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each set of jacks on the inner arm includes 2 jacks. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; preferred values are 0.25 and 0.3. The backing ring is made of rubber, and the foot nails are made of stainless steel.
Another aircraft is shown in fig. 27, in which the support is a hexagonal star-shaped support composed of 6 transverse struts with the same length; each angular position of the hexagonal star-shaped support is provided with a rotor wing. The rotor comprises a main rotor and an auxiliary rotor;
the outer end part 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, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor is a ducted fan and is fixed to the bottom of the outer arm by a ducted fan fixing member 27. Furthermore, each cross position of the hexagram-shaped support is provided with a rotor wing, and the cross position is a position corresponding to X cross formed by the adjacent transverse struts; such an aircraft would have 12 or 12 sets of rotors. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.25 or 0.3.
The aircraft has the following outstanding characteristics:
the aircraft camera adopts a switched composite lens of a self-lens, 4 lenses with different focal lengths are integrated in the composite lens and are used for shooting pictures with different visual angles on a target object, and the flexibility is good; the photoelectric transmitting and receiving device arranged on the camera and the light reflection sheet arranged on the lens are used for aligning the sub-lens with the CCD sensor, the combined type lens is driven by the stepping motor, the alignment precision is high, and the sub-lens is convenient to switch. The camera has the excellent quality of a fixed focus head and also has the flexibility of changing the focal length, so the camera has good practicability.
Adopting a hexagonal star-shaped rotor wing; the novel hexagram-shaped support is adopted, the stability of the support is good, each rotor wing is located at an angular position, each angular position is located at a vertex of a triangle and is supported by 2 supporting rods, and due to the stability of the triangle, the vertex cannot have any offset or drift in flight, so that the support has great stability advantages relative to a regular hexagon support or a cross-shaped support or other supports. In addition, the arrangement mode of 6 rotors has better aerodynamic configuration than the arrangement mode of 2-4 rotors, and in conclusion, the six-rotor aircraft has ingenious structure and good stability.
(eighth), as shown in fig. 28 to 29, the current detection and relay control circuit (also referred to as an overcurrent detection and protection circuit) of the electric device (drive motor) is explained as follows:
the working principle is as follows: the current transformer generates mutual inductance current by inserting a field alternating current wire into the current transformer (or a coil), the larger the field power consumption is, the larger the mutual inductance current is, the smaller the field power consumption is, and the smaller the mutual inductance current is, so that a signal waveform can be output by using a voltage comparator, and a Main Controller (MCU) can acquire field current size information by self-contained AD acquisition, thereby achieving the detection effect. In the circuit design, alternating current mutual inductance current is converted into direct current through four rectifier diodes, two output signals are provided, one is analog quantity, and the output signals are output by VOUT and output to an MCU; and the direct control relay is used for switching off and switching on the power supply of the motor at the high and low levels of TTL.
Description of the circuit:
vin is obtained from an output signal of the current transformer through a bridge rectifier; the comparator compares Vin with reference voltage Vref, and if Vin is greater than Vref, the comparator outputs low level to control the relay to be disconnected.
In addition, Vin enters an ADC port (namely, a port with an A/D conversion function) of the MCU after being amplified by the amplifier;
because the signal is weak, an amplifier with adjustable amplification factor is designed; the specific circuit connection and working principle are as follows:
the output end Vin of the bridge rectifier is a signal end, the signal end is connected with the inverting input end of the operational amplifier LM393 through a resistor R0, the homodromous input end of the operational amplifier LM393 is grounded through a resistor R0, the homodromous input end of the operational amplifier LM393 is also connected with 4 input channels of the 4-out-of-one selector through 4 resistors R01-R04 respectively, the output channel of the 4-out-of-one selector is connected with the output end Vout of the operational amplifier LM393, and the Vout is connected with the ADC end of the MCU;
in addition, 2 output ports of the MCU are respectively connected with a channel selection end A and a channel selection end B of a 4-selection selector;
calculation formula of Vout and Vin:
vout ═ Vin, (Rx + R0)/R0; wherein Rx ═ R01, R02, R03, or R04; determining which resistance to select based on the gate terminal AB; and R01, R02, R03 and R04 are each different; preferred R04-5-R03-25-R02-100-R01; r01-5 × R0. can conveniently achieve span and precision switching.
The detection device is an optical detection device, and specifically comprises the steps of pushing the reaction tube into a darkroom of the detection device, detecting the color and the like of the reaction tube through illumination, or taking a picture for analysis and processing to obtain a final detection result, specifically the prior art.

Claims (1)

1. A data acquisition and monitoring system based on the Internet of things is characterized in that a plurality of plant growing areas (112) for growing plants and at least one operating vehicle (110) for executing detection operation and liquid spraying operation are arranged in an operating area (109); arranging an RFID card in a plant planting area;
the operation vehicle is provided with an MCU, a plant data acquisition module and a liquid spraying module; the operation vehicle is also provided with an RFID reader-writer;
the liquid spraying module comprises a plurality of liquid storage units (105) and at least one liquid spraying pipe, the liquid spraying pipe is communicated with the liquid storage units through a liquid spraying control switch, and the liquid spraying control switch is controlled by the MCU;
a liquid pumping mechanism for pumping liquid in the liquid storage unit to the liquid spraying pipe is arranged on the operation vehicle or in the liquid storage unit;
a liquid supplementing area for supplementing liquid for the operation vehicle is arranged in the operation area; the liquid storage unit is connected with a liquid supplementing pipe, and a liquid supplementing switch controlled by the MCU is arranged on the liquid supplementing pipe;
the number of the liquid storage units is 9, and at least 2 liquid storage units have the same size; a communicating pipe is arranged between at least one group of adjacent liquid storage units, an electric control valve controlled by an MCU is arranged on the communicating pipe, all the liquid storage units can be grouped through the electric control valve, each group comprises a plurality of adjacent liquid storage units, and the plurality of liquid storage units in each group are communicated with each other;
the liquid storage units are arranged in multiple rows and multiple columns, a communicating pipe is arranged between every two adjacent liquid storage units, and an electric control valve (such as 3 x 3 arrangement) controlled by an MCU is arranged on the communicating pipe; the liquid spraying main pipe is communicated with the liquid spraying pipe;
a branch type liquid inlet main pipe (106) is arranged behind the liquid storage module, the liquid inlet main pipe is connected with each liquid storage unit through a unit liquid inlet pipe, and an electric control valve controlled by an MCU is arranged on the unit liquid inlet pipe; a liquid inlet main pipe and a main liquid inlet pipe;
all the liquid storage units form a liquid storage module, a surrounding type 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 a unit liquid outlet pipe, and an electric control valve (a1-a9) controlled by an MCU is arranged on the unit liquid outlet pipe; the liquid spraying main pipe is communicated with the liquid spraying pipe; by adopting the mode, the length of the unit liquid outlet pipe can be minimized, and the layout is easy; 2 liquid outlet pipes are arranged, one is normally used, and the other is used as redundancy for standby;
a branch type liquid inlet main pipe is arranged behind the liquid storage module and is connected with each liquid storage unit through a unit liquid inlet pipe, and an electric control valve b1-b9 controlled by an MCU is arranged on the unit liquid inlet pipe; the liquid inlet main pipe is communicated with a main liquid inlet pipe (liquid supplementing pipe), 2 liquid supplementing pipes are arranged, one liquid supplementing pipe is normally used, and the other liquid supplementing pipe is used as redundancy for standby;
if the number of the liquid is 3, the volume ratio is as follows: 1:1: 1; can be divided into three groups according to the following: (I) m1, M4 and M7 are connected into a group, (II) M2, M5 and M8 are connected into a group, (III) M3, M6 and M9 are connected into a group, and the three groups respectively store different liquids;
or if the number of the liquid is 6, and the volume ratio is as follows: 1:1:1:1:1: 4; m5, M6, M8 and M9 form a group, and each of the rest of M1-M4 and M5 is used independently and can form 6 groups for use;
the plant growing areas are arranged in multiple rows and multiple columns or in an annular array, a working position (111) for parking of an operation vehicle is arranged on the side edge of each plant growing area, the area does not interfere with plant growth, and a sensor, such as a proximity sensor, is arranged in the area and used for identification of the operation vehicle;
a unmanned module is integrated on the operation vehicle; automatic navigation, automatic implementation of liquid supplementing, liquid spraying, detection and charging operations;
the plant data acquisition module is a diameter measuring device for acquiring the diameter of a plant stem;
the diameter measuring device is a chuck type diameter measuring device;
the diameter measuring device is based on image processing and comprises a rotating platform (115), and a camera (116), a scanning module (117) and a distance measuring module (118) which are arranged on the rotating platform; an image processing module is arranged in the MCU;
the scanning module is a radar scanning module and is used for determining the accurate position of a plant, after the accurate position is determined, the distance between the plant and the trolley is tested by adopting a laser ranging module, the distance is used for calibrating a camera, the camera takes a picture, the taken picture is processed by an image processing module, the image processing module determines the size of an object corresponding to each pixel based on the distance, a stem part of the plant is separated from the image, the pixels of the stem part are counted, and the diameter of the stem is calculated by combining the size of the object corresponding to each pixel;
the operation vehicle is provided with a wireless communication module and a positioning module;
the wireless communication module is used for uploading the acquired data to the monitoring server;
the positioning module can be a Beidou or GPS positioning module or a special indoor positioning module, and the wireless communication module is a 3G, 4G or 5G communication module or a WiFi communication module;
a charging area used for charging the operation vehicle is arranged in the operation area, and the operation vehicle is driven by a battery;
the system also comprises a multifunctional aerial photography aircraft for monitoring the operation area, wherein the multifunctional aerial photography aircraft comprises a bracket, a rotor wing, a bottom plate, a holder 33, supporting legs and a camera;
the rotor and the holder are arranged on the bracket;
the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder;
the supporting legs are fixed at the bottom of the bottom plate;
the camera comprises a camera body and a compound lens; a CCD sensor is arranged in the machine body, and a photoelectric transmitting and receiving device for lens alignment is arranged on the machine body;
the composite lens is provided with a rotating shaft; 4 sub-lenses are integrated in the composite lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body; the photoelectric transmitting and receiving device and the light reflection sheet are 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of the photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor, so the alignment precision is higher;
4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the supporting legs comprise upper supporting legs, lower supporting legs and foot nails; the lower end of the upper leg is provided with a guide groove; the upper end of the lower support leg is provided with a guide rod; the guide rod is inserted in the guide groove; a spring is arranged in the guide groove; the spring is arranged between the top wall of the guide groove and the top end of the guide rod; the lower end part of the lower supporting leg is provided with a foot nail; the outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve with internal threads, and the lower end of the sleeve is provided with a backing ring; the chassis is also provided with a gyroscope and a wireless communication module; the gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to ground receiving end equipment; the bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm and an inner arm; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch; the lock catch is provided with a pin with an agnail; the number of the lock catches is multiple; the inner end part of the outer arm and the outer end part of the inner arm are both provided with a plurality of groups of jacks for the pins to pass through; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor and an auxiliary cantilever; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing piece; the lock catch is provided with a shell; the shell comprises an outer shell, a pressing block and a pressure spring; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin and sleeved at the root of the pin; the inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each group of jacks on the inner arm comprises 2 jacks; the ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; the backing ring is made of rubber, and the foot nails are made of stainless steel;
the system also comprises a sorting device, the sorting device comprises a sorting table for sorting, 2 vertical baffles arranged in parallel and a spacing adjusting mechanism for driving the vertical baffles to translate so as to adjust the spacing between the 2 vertical baffles, and the sorting table is also provided with a blanking mechanism for dropping sorting objects which cannot pass through the baffles to the storage basket;
the sorting table is arranged obliquely, the inclination angle is 5-15 degrees, and the sorting objects can conveniently move to the vertical baffle under the action of gravity;
the distance adjusting mechanisms are 2 groups, and the 2 groups of adjusting mechanisms are used for respectively driving the 2 groups of detection modules to mutually approach or separate;
the transmission mechanism is a screw rod, the mounting plate is provided with a screw hole, and the sorting table is provided with a guide mechanism for guiding the mounting plate; the screw rod is inserted into the screw hole, and the motor can drive the mounting plate to transversely move through the screw rod;
the transmission mechanism can also be a synchronous belt transmission mechanism, a synchronous belt is arranged on a synchronous wheel, a sliding block is fixed on the synchronous belt, the sliding block is also fixed on the mounting plate, and the mounting plate can slide along a transverse guide rail under the driving of a motor;
the mounting plate is provided with a spacing detection device; the distance detection device comprises a vertical rod, a stay wire and a wire wheel; the number of the vertical rods is 2, the vertical rods are respectively arranged on the 2 mounting plates and are marked as a first vertical rod and a second vertical rod; the wire wheel is arranged on the first vertical rod, the pull wire is wound on the wire wheel, and the leading-out end of the pull wire is fixed on the second vertical rod and keeps the pull wire horizontal; the wire wheel is provided with a torsion spring for keeping the pull wire tensioned; the coded disc and the wire wheel coaxially and synchronously rotate, the coded disc outputs a pulse signal to the MCU, and the MCU converts the change of the displacement of the two vertical rods based on the pulse number so as to calculate the distance between the 2 detection pieces; the MCU is connected with a display screen and a communication module, and the communication module is used for transmitting the detection result, the distance value and the like to a server or a remote detection terminal or an upper computer;
an inclined rod for reinforcing is arranged between the mounting plate and the vertical rod to prevent the vertical rod from inclining;
a base and an air cylinder are arranged on the sorting table;
the spacing adjusting mechanism is arranged on the base; the sorting table is also provided with a guide rail for guiding the movement of the base;
a piston rod of the cylinder is connected with the base;
a counter is arranged at the sorting device and used for counting sorting results; a photoelectric detection switch is arranged at the sorting device and used for detecting whether a sorting object exists at the vertical baffle as the starting premise of the action of the blanking mechanism; the blanking mechanism is driven by an air cylinder, and the air cylinder drives the bottom plate to rotate downwards; the sorting object falls down, and a wireless communication module is arranged at the sorting device and used for uploading sorting statistical data to a server;
the detection is implemented by adopting the operation vehicle through the following steps:
step 1: driving the mobile detection vehicle to move to the plant to be detected;
step 2: data acquisition: the data acquisition comprises the following steps:
(1) detecting the diameter of the plant to be detected by adopting a chuck type diameter detection device;
(2) collecting information on an RFID card at a plant by adopting an RFID reader-writer;
and step 3: the mobile detection vehicle sends the acquired data to the data acquisition platform through the wireless communication module;
the driving mobile detection vehicle is also provided with a telescopic probe for detecting the temperature and the humidity of the soil, and the probe is provided with a temperature and humidity sensor;
the data monitoring platform and the plurality of mobile detection terminals can form a detection system; the mobile detection terminal is in wireless communication connection with the data monitoring platform;
the mobile detection terminal can be communicated with a plurality of fixed detection terminals arranged in soil, and can be used as a mobile data sink node;
a temperature and humidity sensor is arranged on the fixed detection terminal; the fixed detection terminal is in wired or wireless communication connection with the data monitoring platform;
the mobile detection terminal is provided with an electric walking mechanism and a lithium battery; the lithium battery is used for driving the electric walking mechanism and also used for supplying power to detection equipment arranged on the mobile detection terminal;
the monitoring area is a square area; the square area is divided into a plurality of square sub-areas according to the length and the width; each subarea is at least provided with a charging platform; each subarea is provided with at least one mobile detection terminal;
a convergence terminal for converging detection data is arranged in each subarea; the convergence terminal is in communication connection with the monitoring platform; the mobile detection terminal is in wireless communication connection with the convergence terminal;
the monitoring system further includes an aircraft having a camera; when the aircraft lands on the wireless charging platform, the wireless charging platform can wirelessly charge the aircraft, the aircraft is also provided with a liquid storage tank and a spraying mechanism, and the aircraft is used for spraying pesticides and acquiring monitoring images or videos of large scenes;
a pest detection device is arranged at the fixed detection terminal;
in addition, an ID card is arranged on part or all of the plants, and an RFID reader-writer is arranged on the mobile detection terminal and used for reading information on the ID card, including variety and seed date, and writing related information into the ID card;
or, some or all of the plants are provided with ID codes, and the mobile detection terminal is provided with a code scanning device;
therefore, the corresponding plant information can be maintained in the monitoring platform;
the soil is provided with a spraying pipeline for realizing humidity control, the monitoring area is provided with an automatic window opening and closing device and a lighting device for illumination control, the monitoring area is provided with an air temperature regulator for realizing temperature control, and the spraying pipeline, the automatic window opening and closing device, the lighting device and the air temperature regulator are controlled by a monitoring platform;
the mobile detection terminal is also provided with a spraying device for spraying special liquid, such as liquid fertilizer;
the mobile detection terminal can walk on the ground and can be clamped on an automobile through a channel; a camera support rod is arranged on the vehicle-mounted platform, and a camera is arranged at the top end of the camera support rod; the control end of the camera is connected with the MCU, image data collected by the camera is transmitted to a memory connected with the MCU, and the image data is displayed on a display screen connected with the MCU;
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 solar cell panel is arranged on the vehicle-mounted platform and charges the battery through the charging circuit;
the vehicle-mounted platform is provided with a wireless charging circuit for charging a battery, the battery is a power lithium battery, and when the vehicle-mounted platform is positioned on a wireless charging parking space, a wireless charging system on the wireless parking space charges the power lithium battery;
the method comprises the following detection and control steps:
collecting and controlling temperature, humidity and illumination parameters;
the fixed detection terminal collects temperature, humidity and illumination parameters and returns the temperature, humidity and illumination parameters to the data monitoring platform;
the data monitoring platform realizes temperature, humidity and illumination control;
detecting the diameter of the plant based on a mobile detection terminal;
the intelligent operation vehicle collects diameter data of plants, the obtained diameter data are returned to the data monitoring platform, background workers are assisted by the positioning device and the camera on the mobile detection terminal, walk on the basis of the wireless intelligent operation vehicle, and accurately clamp the stem part of the plants under the assistance of the vehicle-mounted camera to obtain the diameter data; and associating the data with a specific plant ID;
monitoring image acquisition based on an aircraft;
the aircraft flies according to a preset flight route or is controlled by a background operator to fly, so that images or videos are collected;
(4) pest control based on aircraft;
acquiring pest and disease damage data through a pest detection device arranged at a fixed detection terminal, and if the data exceeds a preset threshold value, starting an aircraft to spray pesticide in a certain area or adjacent areas where pest and disease damage occurs; the specific flight path is automatically planned or controlled by a background operator;
in addition, still include:
(5) controlling charging;
when the aircraft and the mobile detection terminal are on the charging platform, the wireless charging device is started to wirelessly charge the aircraft and the mobile detection terminal;
the temperature control is that the data monitoring platform starts or closes the air conditioner and sets the temperature of the air conditioner;
the humidity control means that the soil humidity is kept within a preset range by controlling the spraying system according to the monitoring platform;
illumination control, if the illumination is lower than a certain threshold value, starting illumination or opening a window; otherwise, if the illumination is higher than a certain threshold value, the illumination is closed or the window is closed;
by the control, crops can grow in the most suitable environment;
(6) the camera for detecting the diameter also adopts a composite camera with a plurality of sub-lenses, and the sub-lenses can be automatically switched to adjust the focal length.
CN201810474438.1A 2018-05-17 2018-05-17 Data acquisition and monitoring system based on Internet of things Expired - Fee Related CN108693807B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810474438.1A CN108693807B (en) 2018-05-17 2018-05-17 Data acquisition and monitoring system based on Internet of things

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810474438.1A CN108693807B (en) 2018-05-17 2018-05-17 Data acquisition and monitoring system based on Internet of things

Publications (2)

Publication Number Publication Date
CN108693807A CN108693807A (en) 2018-10-23
CN108693807B true CN108693807B (en) 2021-06-22

Family

ID=63847690

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810474438.1A Expired - Fee Related CN108693807B (en) 2018-05-17 2018-05-17 Data acquisition and monitoring system based on Internet of things

Country Status (1)

Country Link
CN (1) CN108693807B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109116386A (en) * 2018-10-25 2019-01-01 南京北宇新通科技有限公司 A kind of Beidou fishing boat lifeboat positioning device
CN110072206B (en) * 2019-04-09 2022-05-24 深圳大学 Unmanned aerial vehicle-Internet of things data acquisition method and system based on optimal energy efficiency
CN110087204B (en) * 2019-04-09 2022-05-24 深圳大学 Unmanned aerial vehicle-Internet of things data acquisition method and system based on parameter adjustment
CN110160512B (en) * 2019-05-31 2021-02-12 易达云图(深圳)科技有限公司 Intelligent indoor navigation system for Internet of things
CN110594553A (en) * 2019-08-23 2019-12-20 国家电网有限公司 Mobile monitoring device for transformer substation
CN111587733A (en) * 2020-06-19 2020-08-28 中道农林股份有限公司 System for promoting rapid growth of rubber trees
CN111798653A (en) * 2020-07-03 2020-10-20 山东省计算中心（国家超级计算济南中心） Data acquisition method and device
CN112150302B (en) * 2020-10-09 2023-08-08 安徽佳农智能科技有限公司 Wisdom agricultural monitoring devices based on 5G
AU2021368143A1 (en) * 2020-10-26 2023-06-15 Precision Planting Llc Nozzle light assembly

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102721404A (en) * 2012-06-07 2012-10-10 南京航空航天大学 Non-contact distance measurement device using digital camera and measurement method
CN104834313A (en) * 2015-05-15 2015-08-12 济南大学 RFID-based greenhouse intelligent medicine spraying robot and method
CN105993862A (en) * 2016-05-24 2016-10-12 江苏大学 System and method for automatic spray irrigation based on water migration
CN107938579A (en) * 2017-12-04 2018-04-20 宋仲华 A kind of multifunctional vehicle mounted sprinkling system
CN108012825A (en) * 2017-12-04 2018-05-11 长沙修恒信息科技有限公司 One kind automation hydrojet control method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104414415B (en) * 2013-08-29 2017-03-01 王陈梓 Automatically controlled Wound-rotor type curtain
CN207188224U (en) * 2017-08-21 2018-04-06 深圳市鸿泰祥进出口有限公司 A kind of automatic sorting mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102721404A (en) * 2012-06-07 2012-10-10 南京航空航天大学 Non-contact distance measurement device using digital camera and measurement method
CN104834313A (en) * 2015-05-15 2015-08-12 济南大学 RFID-based greenhouse intelligent medicine spraying robot and method
CN105993862A (en) * 2016-05-24 2016-10-12 江苏大学 System and method for automatic spray irrigation based on water migration
CN107938579A (en) * 2017-12-04 2018-04-20 宋仲华 A kind of multifunctional vehicle mounted sprinkling system
CN108012825A (en) * 2017-12-04 2018-05-11 长沙修恒信息科技有限公司 One kind automation hydrojet control method

Also Published As

Publication number Publication date
CN108693807A (en) 2018-10-23

Similar Documents

Publication Publication Date Title
CN108693807B (en) Data acquisition and monitoring system based on Internet of things
CN108549441A (en) A kind of integrated agriculture monitoring method based on Internet of Things Yu intelligent operation vehicle
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
CN108052084A (en) A kind of agricultural monitoring system based on Internet of Things
CN108112457A (en) A kind of plant detection method based on Multifunctional mobile detection vehicle
CN203433329U (en) Intelligent greenhouse Internet-of-Things remote monitoring device
CN108132654A (en) A kind of agriculture multinode monitoring method based on Internet of Things
CN108845608A (en) Potted plant crop Intelligence Supervisory System of Greenhouse based on robot
CN204480094U (en) Agricultural environment test rod
CN205983216U (en) Agricultural information acquisition robot of new forms of energy
CN108132655A (en) A kind of Multifunctional mobile detection device for farmland
CN109298741A (en) Smart greenhouse environment cruising inspection system
CN112189646A (en) Greenhouse intelligent plant protection device and method based on crop phenotype machine vision discrimination
CN107873510A (en) A kind of automatic pollination machine of apple tree based on binocular vision technology
CN108225234B (en) Standing tree size detection device based on angle sensor
CN108204797B (en) Standing tree size detection method based on angle sensor
CN114868505B (en) Intelligent liquid manure control cabinet
CN210503198U (en) Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box
CN108225163B (en) Forest area comprehensive information monitoring system based on ring type stumpage size measurement terminal
CN108154671B (en) Forest area comprehensive information monitoring method and system based on Internet of things
CN208029841U (en) A kind of automatic pollination machine of apple tree based on binocular vision technology
CN108181856B (en) Forest area comprehensive information monitoring method and system based on Internet of things
CN108278962B (en) Forest area comprehensive information monitoring system based on ring type standing tree size measuring terminal
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
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20210622

CF01 Termination of patent right due to non-payment of annual fee