CN108718678A - A kind of intelligence sugarcane cutter device - Google Patents
A kind of intelligence sugarcane cutter device Download PDFInfo
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- CN108718678A CN108718678A CN201810502884.9A CN201810502884A CN108718678A CN 108718678 A CN108718678 A CN 108718678A CN 201810502884 A CN201810502884 A CN 201810502884A CN 108718678 A CN108718678 A CN 108718678A
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- sugarcane
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- bar
- cutter device
- cutting machine
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/10—Harvesting of standing crops of sugar cane
-
- 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
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
It is a kind of novel intelligent agricultural machine system for capableing of intelligent recognition sugarcane kind and automatic cutting the invention discloses a kind of intelligent sugarcane cutter device comprising：Control system, picture recognition module, apart from detection module, wireless communication module, drive mechanism, cut structure, Cloud Server and monitoring and control terminal, equipment body is constituted using alloy material, by control system control whole system operation, wireless communication module provides network accessibility, the worm hole of sugarcane kind is identified by picture recognition module, sugarcane bud and sugarcane section, it is aided with and controls cutting accuracy apart from detection module, drive mechanism driving sugarcane bar moves to designated position, then cutting structure cuts the sugarcane kind optimal location identified, finally obtain sugarcane kind.And support scene, remote monitoring and big data analysis that terminal is monitored and controlled, transmission real time execution video to monitoring checks operating status in control terminal for administrative staff.
Description
Technical field
It is a kind of to be capable of the new of intelligent recognition sugarcane kind and automatic cutting the present invention relates to a kind of intelligent sugarcane cutter device
Type Intelligent agricultural machinery system.
Background technology
It is related to rarely having automation cutting planting machinery, existing part sugarcane cutting machine in the agricultural production of cane planting at present
Tool does not have intellectualized technology, is only capable of realizing cutting, None- identified sugarcane sugarcane section, sugarcane bud.
The sugarcane kind used in cane planting needs artificial selecting, cuts kind at present.It needs manually to go whether identification sugarcane infects
Pest and disease damage/have worm hole, and artificial selection sugarcane bud is suitably partly used as sugarcane kind must also avoid sugarcane section when cutting kind, cannot cut and split
Sugarcane kind.
The present invention is in view of the above problems, provide a kind of intelligent sugarcane cutter device, realization agricultural modernization, automation, intelligence
Energyization, in the past by be accomplished manually the seed selection of sugarcane kind, cut and kind transfer to intelligence system identification, cutting, equipment has access network energy
Power is equipped with and terminal is monitored and controlled, and provides big data analysis technology.
Invention content
To achieve the above object, the present invention provides the following technical solutions：A kind of intelligence sugarcane cutter device, can be intelligent
It identifies the sugarcane bud of sugarcane, sugarcane section, worm hole and is cut into sugarcane kind, which is characterized in that it includes control system and by control system
The picture recognition module that is controlled, apart from detection module, wireless communication module, drive mechanism, cutting structure, cloud service
Device, monitoring and control terminal, wherein
Described image identification module carries out Image Acquisition, identification and analysis to sugarcane bar, so as to identify and position sugarcane sugarcane bud,
Sugarcane section and worm hole position；
It is described to be laid on sugarcane bar movement axial line or on the position of alignment sugarcane bar, so as to sugarcane bar apart from detection module
Position measures, and measurement data transfers to control system to handle, and assists and calibrate cutting position；
The wireless communication module transmits real time execution video and arrives to support scene, remote monitoring that terminal is monitored and controlled
Monitoring checks operating status in control terminal for administrative staff；
The drive mechanism to sugarcane bar for being transmitted conveying, to drive sugarcane bar to move to designated position；
The cutting structure can drive cutting machine to move to sugarcane bar position and be cut, and obtain sugarcane kind；
The cloud server for providing equipment management, data storage, instruction issue, video stream pushing and big data analysis work(
Energy；
The monitoring is with control terminal by accessing network connection to cloud server, by server forwarding operating status, control
Order, video flowing carry out system between sugarcane kind smart-cut system and terminal, by network live in real time or long-range
Monitoring and control.
Further, preferably, the main body of the control system is packaged in metal box comprising microcontroller, power supply
Conversion circuit, motor-drive circuit and multicircuit relay circuit, and be connected to access network with wireless communication module.
Further, preferably, the microcontroller is with a certain number of I/O interfaces, PWM generator, communication serial port
STM32 Series of MCU；The power-switching circuit is made of AC-DC Switching Power Supplies and DC-DC voltage reduction modules；Motor drives
Dynamic circuit uses dual H-bridge, the input of single channel maximum 7A, 6.5V ~ 27V Width funtion, light-coupled isolation input signal, band under-voltage protection and quiet
Electric bleed-off circuit；Multicircuit relay uses electromagnetic relay, with light-coupled isolation, large power high voltage with standing triode, signal designation
Lamp supports switching low and high level triggering.
Further, it preferably, the input of the switch power module is 220V, exports as 12V/24V, rated power
360W；Using LM2596S regulators, input is exported in 3.2V ~ 46V DC in 1.25V ~ 35V DC, maximum output
Electric current 3A.
Further, preferably, described image identification module, including camera and image recognition processor, image recognition
Equipped with intelligent image recognizer in processor, using packed by metal casing and it is fixed on above sugarcane bar.
Further, preferably, it is described apart from detection module, it is sensed using laser distance sensor or ultrasonic distance
Device.
Further, preferably, wireless communication module using Wi-Fi communications, ZigBee communication, mobile wireless Network Communication,
RoLa communication in one or more.
Further, preferably, the drive mechanism uses two groups of delivery platforms being made of more transmission shafts by V-type group
It closes, transmission shaft is formed using finishing steel shaft collocation double flute synchronizing wheel and antiskid glue sleeve, and both ends use vertical/horizontal bearing
Seat is fixed, wherein both ends of the drive shaft is fixed on using bearing block in metal frame, and anti-skidding glue-line is cased on transmission shaft, and transmission shaft is oblique
There is synchronizing wheel in upper side, drives operation in the same direction between every two transmission shafts mutually by synchronous belt.Every ten transmission shaft compositions
Side delivery platform, conveying trough are crossed as V-shape structure by two groups of delivery platforms.
Further, preferably, the cutting structure is made of cutting machine and clamping machine, cutting machine uses rectilinear path
Motor driving cutting machine is moved downward along sliding slot, is cut off close to cutting machine is started when sugarcane bar, wherein cutting machine is by direct current
Motor drives, and cutting machine is fixed on sliding block, is transported from rectilinear path motor push rod band movable slider to close, separate sugarcane bar position
It is dynamic, and be aided with fixed sliding groove/bar and stablize cutting machine and sliding block；Clamping machine is made of metal fixture and digital rudder controller, by counting
Word servos control chucking opening size reduces opening so that sugarcane bar is clamped, and digital rudder controller is controlled by pwm signal.
Further, preferably, rectilinear path motor uses aluminum alloy material, built-in direct current generator and limit switch, work
It is direct current 12V, stroke 15cm, speed 6cm/s, thrust 150N to make voltage；Cutting machine uses 775 motors collocation alloy carpenter's saw
Piece, motor operating voltage 12V/24V, power 150W, torque 3KG, saw blade size are outer diameter 180mm, 40 tooth of the number of teeth, thickness
1.4mm, swage set 2.4mm, internal diameter 25.4mm.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention can will in the past by be accomplished manually the seed selection of sugarcane kind, cut and kind will transfer to intelligence system identification, cutting, equipment tool
There is access network capability, is equipped with and terminal is monitored and controlled, and big data analysis technology is provided, realize that the identification sugarcane of automation is
No infection pest and disease damage/have worm hole, and automatically select sugarcane bud and be suitably partly used as sugarcane kind, sugarcane section can be avoided when cutting kind, it will not
It cuts and splits sugarcane kind, improve the accuracy and the degree of automation of sweet cutting.
Description of the drawings
Fig. 1 is the power pack schematic diagram of the present invention；
Fig. 2 is the image recognition section schematic diagram of the present invention；
Fig. 3 is the transfer structure material object schematic diagram of the present invention；
Fig. 4 is the transfer structure partial schematic diagram of the present invention；
Fig. 5 is the cutting structure division schematic diagram of the present invention；
Fig. 6 is the clamp structure partial schematic diagram of the present invention；
Fig. 7 is the control system partial schematic diagram of the present invention；
Fig. 8 is the structural frames schematic diagram of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of intelligence sugarcane cutter device comprising：Control system
System, picture recognition module, apart from detection module, wireless communication module, drive mechanism, cutting structure, Cloud Server and monitoring with
Control terminal, apparatus main body are constituted using alloy material, and by control system control whole system operation, wireless communication module provides
Network accessibility is identified worm hole, sugarcane bud and the sugarcane section of sugarcane kind by picture recognition module, is aided with and is cut apart from detection module control
Cut precision, drive mechanism driving sugarcane bar moves to designated position, then cuts structure to the sugarcane kind optimal location that identifies
It is cut, finally obtains sugarcane kind.
The control system is to be integrated with STM32 Series Controllers, motor-drive circuit, multicircuit relay, channel radio
The integrated circuit board of letter module, power module.Control system is packaged in metal-back, is placed on front panel.Control system is set
There is input/output interface, for external direct current generator, rectilinear path motor, picture recognition module, external apart from detection module, and
It is 24V direct currents to have power inlet, input power, and 24V direct currents are converted into 5V, 3.3V power supply by built-in power conversion circuit
Power supply is provided for each device in system.STM32 Series Controllers carry PWM generator, and pwm signal controls electric drive electricity
Road, motor-drive circuit output are connected on direct current generator, can regulate and control motor speed and direction by PWM.STM32 Series Controllers
I/O interface is connected on multicircuit relay, and multicircuit relay controls the operation of direct current generator.
The picture recognition module comprising：Camera and image recognition processor, camera are directed at sugarcane bar and clap
According to/video recording, the image collected carries out intelligent recognition by image recognition processor, and the intelligence carried in image recognition processor is known
Other algorithm can acquire, identify worm hole, sugarcane bud and the sugarcane section of sugarcane, calculate optimal cutling scheme, defeated eventually by serial communication
Go out cutting instruction to control system.
It is described to be deployed in concentric or be aligned on the position of sugarcane bar with sugarcane bar apart from detection module, use laser
Ranging technology measures sugarcane bar position, and measurement data transfers to control system to handle, and assists and calibrate cutting position.
The wireless communication module accesses internet using 4G communication modules, to support that terminal is monitored and controlled
Scene, remote monitoring, transmission real time execution video to monitoring check operating status in control terminal for administrative staff.
The drive mechanism is made of the driving groove of V-type two groups of transmission level-crossings, and transmission plane is by more drive links
Composition, drive link synchronize driving in the same direction using synchronizing wheel/synchronous belt, and drive link surface is covered with anti-skidding glue-line to prevent cunning.It is each to pass
The drive link power of dynamic plane is driven by one or more direct current generators.
The cutting structure is made of rectilinear path motor, fixed sliding groove/bar and cutting machine.Rectilinear path motor
Fixed sliding groove/the bar of collocation drives cutting machine to move to sugarcane bar position and is cut, and cutting machine is driven using direct current generator.
The Cloud Server, be carry proprietary server software and database network server, provide equipment management,
Data storage, instruction issue, video stream pushing and big data analysis function.
The monitoring and control terminal is the handheld terminal specially designed or be mounted with the mobile phone at given client end,
Tablet or computer platform, terminal are ordered by accessing network connection to private server by server forwarding operating status, control
It enables, video flowing is between sugarcane kind smart-cut system and terminal.
Whole system is inputted by 220V alternating currents, is 24V DC power supplies by Switching Power Supply step-down rectifier, is passed through power cord
It is connected to the integrated circuit board power interface of control system.
The operation principle and process of the present invention is described in detail below.
（1）As shown in Figure 1, being electrically accessed 220V voltages 1 from city, it is connected to 2 input terminal of Switching Power Supply, 2 output end of Switching Power Supply
It is connected to the multichannel voltage reduction module 3 of master board, multichannel voltage reduction module 3 provides 3.3V, 5V and 24V operating voltage for whole system.
Wherein 3.3V and 5V is provided for microcontroller 4, multicircuit relay 5, apart from the components such as detection module 6 and picture recognition module 7
Operating voltage, 24V is driving shaft motor 8, cutting machine 9, rectilinear path motor 10 provide operating voltage.
（2）As shown in Fig. 2, camera 11, which is directed at sugarcane bar, carries out Image Acquisition, be identified by picture recognition module 7 and
It analyzes, dedicated image recognition algorithm 12 is used in picture recognition module 7, can identify and position the sugarcane bud, sugarcane section and worm of sugarcane
Hole calculates optimal cutling scheme after analysis, sends instructions to microcontroller 4 by serial ports 13, instruction format is such as：20,
26,31,40 }, meaning is that the centimeters of the 20th, 26,31 and 40 are respectively cut.
（3）As shown in figure 3, sugarcane bar 32 by being sent into transfer structure of the invention above.
（4）：As shown in figure 4, the transfer structure of the present invention is by driving shaft motor 8, synchronous belt 14, transmission shaft 15, skid-proof rubber
The compositions such as layer 16.15 both ends of transmission shaft are fixed on using bearing block 17 in metal frame 18, and anti-skidding glue-line 16 is cased on transmission shaft 15,
Increase the frictional force to sugarcane bar, there is synchronizing wheel in 15 oblique upper side of transmission shaft, passes through synchronous belt between every two transmission shafts 15
14 drive mutually operation in the same direction.Every ten transmission shafts 15 form side delivery platform, and conveying trough is crossed as V by two groups of delivery platforms
Font structure.
（5）：As shown in figure 5, the cutting structure of the present invention is by rectilinear path motor 10, cutting machine 9, fixed sliding groove/bar
19 equal compositions.Cutting machine 9 is driven by direct current generator 20, and cutting machine 8 is fixed on sliding block 21, by 21 band of rectilinear path motor push rod
Movable slider 22 is moved to close, separate sugarcane bar position, and is aided with fixed sliding groove/bar 19 and is stablized cutting machine 9 and sliding block 21.Folder
Mechanical structure is held as shown in fig. 6, being made of metal fixture 33 and digital rudder controller 34.After sugarcane bar is transferred to designated position, by
Digital rudder controller drives clamping machine to clamp sugarcane bar, then controls the cutting of cutting machine downlink.
（6）：As shown in fig. 7, after microcontroller 4 obtains instruction, while the location information for receiving range sensor 7 carries out in fact
When calibrate, microcontroller PWM port 23 send pwm signal to motor drive 24, motor driving 24 control driving shaft motors 8 fortune
Dynamic, driving shaft motor 8 can drive all transmission shafts 15 of side delivery platform by synchronous belt 14.Conveying trough moves sugarcane bar
To after designated position, microcontroller I/O port 25 provides signal control rectilinear path motor 10 and pushes cutting machine 9 toward sugarcane bar direction
Movement, cutting machine 9 is close to the work of cutting machine 9 is started to cut off sugarcane bar when sugarcane bar.
（7）：Microcontroller 4 is connected by serial ports 13 with wireless communication module 26, and wireless communication module 26 accesses network 27
It is connected to cloud server 28, cloud server 28 carries the fortune that private server software 29 and database 30 upload the present invention
Row information is handled and is stored.Operation information as cut sugarcane type, source place, whereabouts, quantity, real time execution video
Deng.And be connected by network 26 with control terminal 31 with monitoring, repeater system operation information and reception terminal control instruct and under
It is dealt into the device of the invention.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of intelligence sugarcane cutter device, is capable of the sugarcane bud of intelligent recognition sugarcane, sugarcane section, worm hole and is cut into sugarcane kind,
It is characterized in that comprising control system and the picture recognition module controlled by control system, apart from detection module, wireless
Communication module, drive mechanism, cutting structure, cloud server, monitoring and control terminal, wherein
Described image identification module carries out Image Acquisition, identification and analysis to sugarcane bar, so as to identify and position sugarcane sugarcane bud,
Sugarcane section and worm hole position；
It is described to be laid on sugarcane bar movement axial line or on the position of alignment sugarcane bar, so as to sugarcane bar apart from detection module
Position measures, and measurement data transfers to control system to handle, and assists and calibrate cutting position；
The wireless communication module transmits real time execution video and arrives to support scene, remote monitoring that terminal is monitored and controlled
Monitoring checks operating status in control terminal for administrative staff；
The drive mechanism to sugarcane bar for being transmitted conveying, to drive sugarcane bar to move to designated position；
The cutting structure can drive cutting machine to move to sugarcane bar position and be cut, and obtain sugarcane kind；
The cloud server for providing equipment management, data storage, instruction issue, video stream pushing and big data analysis work(
Energy；
The monitoring is with control terminal by accessing network connection to cloud server, by server forwarding operating status, control
Order, video flowing carry out system between sugarcane kind smart-cut system and terminal, by network live in real time or long-range
Monitoring and control.
2. a kind of intelligent sugarcane cutter device according to claim 1, it is characterised in that：The main body of the control system is sealed
Loaded in metal box comprising microcontroller, power-switching circuit, motor-drive circuit and multicircuit relay circuit, and with nothing
Line communication module is connected to access network.
3. a kind of intelligent sugarcane cutter device according to claim 2, it is characterised in that：The microcontroller is with one
The I/O interface of fixed number amount, the STM32 Series of MCU of PWM generator, communication serial port；The power-switching circuit is by AC-DC
Switching Power Supply and DC-DC voltage reduction modules composition；Motor-drive circuit uses dual H-bridge, single channel maximum 7A, 6.5V ~ 27V Width funtion defeated
Enter, light-coupled isolation input signal, band under-voltage protection and electrostatic leakage circuit；Multicircuit relay uses electromagnetic relay, carries light
Coupling isolation, large power high voltage with standing triode, signal lamp support switching low and high level triggering.
4. a kind of intelligent sugarcane cutter device according to claim 3, it is characterised in that：The switch power module it is defeated
Enter for 220V, exports as 12V/24V, rated power 360W；Using LM2596S regulators, input in 3.2V ~ 46V
DC is exported in 1.25V ~ 35V DC, maximum output current 3A.
5. a kind of intelligent sugarcane cutter device according to claim 1, it is characterised in that：Described image identification module, packet
It includes camera and image recognition processor, equipped with intelligent image recognizer in image recognition processor, uses metal shell
It encapsulates and is fixed on above sugarcane bar.
6. a kind of intelligent sugarcane cutter device according to claim 1, it is characterised in that：It is described apart from detection module, adopt
With laser distance sensor or ultrasonic distance sensor.
7. a kind of intelligent sugarcane cutter device according to claim 1, it is characterised in that：Wireless communication module uses Wi-
Fi communications, ZigBee communication, mobile wireless Network Communication, RoLa communication in one or more.
8. a kind of intelligent sugarcane cutter device according to claim 1, it is characterised in that：The drive mechanism uses two groups
The delivery platform being made of more transmission shafts is composed by V-type, transmission shaft using finishing steel shaft collocation double flute synchronizing wheel and
Antiskid glue sleeve forms, and both ends are fixed using vertical/horizontal bearing block, wherein both ends of the drive shaft is fixed on metal using bearing block
Anti-skidding glue-line is cased on frame, on transmission shaft, there is synchronizing wheel in transmission shaft oblique upper side, passes through synchronous belt between every two transmission shafts
Operation in the same direction is driven mutually,
Every ten transmission shafts form side delivery platform, and conveying trough is crossed as V-shape structure by two groups of delivery platforms.
9. a kind of intelligent sugarcane cutter device according to claim 1, it is characterised in that：The cutting structure is by cutting machine
It is formed with clamping machine, cutting machine is moved downward using rectilinear path motor driving cutting machine along sliding slot, is opened when close to sugarcane bar
Dynamic cutting machine is cut off, wherein cutting machine is driven by direct current generator, and cutting machine is fixed on sliding block, by rectilinear path motor
Push rod band movable slider is moved to close, separate sugarcane bar position, and is aided with fixed sliding groove/bar and is stablized cutting machine and sliding block；Folder
It holds machinery to be made of metal fixture and digital rudder controller, chucking opening size is controlled by digital rudder controller, reduce opening so that sugarcane is clamped
Bar, digital rudder controller are controlled by pwm signal.
10. a kind of intelligent sugarcane cutter device according to claim 1, it is characterised in that：Rectilinear path motor uses aluminium
Alloy material, built-in direct current generator and limit switch, operating voltage are direct current 12V, stroke 15cm, speed 6cm/s, thrust
150N；Cutting machine uses 775 motors collocation alloy woodworking saw blade, motor operating voltage 12V/24V, power 150W, torque
3KG, saw blade size are outer diameter 180mm, 40 tooth of the number of teeth, thickness 1.4mm, swage set 2.4mm, internal diameter 25.4mm.
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| CN201810502884.9A CN108718678A (en) | 2018-05-23 | 2018-05-23 | A kind of intelligence sugarcane cutter device |
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| CN112140170A (en) * | 2020-09-03 | 2020-12-29 | 中粮屯河崇左糖业有限公司 | Sugarcane seed cutting device capable of being intelligently regulated |
| CN113679082A (en) * | 2021-06-24 | 2021-11-23 | 中国烟草总公司郑州烟草研究院 | Intelligent cigar cutting method and device |
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| CN114714418A (en) * | 2021-11-15 | 2022-07-08 | 广西民族大学 | Intelligent sugarcane efficient seed pre-cutting closed-loop control method and system |
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| CN114714418A (en) * | 2021-11-15 | 2022-07-08 | 广西民族大学 | Intelligent sugarcane efficient seed pre-cutting closed-loop control method and system |
| CN114714408A (en) * | 2022-05-18 | 2022-07-08 | 云南省农业科学院甘蔗研究所 | Automatic seed cutting machine for single buds of sugarcane |
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