CN109856687B - Winter bamboo shoot detection equipment and detection system thereof - Google Patents
Winter bamboo shoot detection equipment and detection system thereof Download PDFInfo
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- CN109856687B CN109856687B CN201910241671.XA CN201910241671A CN109856687B CN 109856687 B CN109856687 B CN 109856687B CN 201910241671 A CN201910241671 A CN 201910241671A CN 109856687 B CN109856687 B CN 109856687B
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Abstract
The invention relates to the technical field of agricultural and forestry machinery, in particular to winter bamboo shoot detection equipment and a detection system thereof, wherein the detection equipment comprises: the installation base is used for fixing other structures of the equipment; the detection device is arranged on the mounting base, faces the ground surface when in use, and is used for detecting whether mature winter bamboo shoots exist under the ground surface and sending detection results to the controller; the controller is used for receiving the detection result and controlling the marking device to mark; and the marking device is arranged on the mounting base and used for marking the ground surface of the winter bamboo shoots detected by the detection device under the control of the controller. According to the invention, the detection device, the marking device and the controller are arranged, the controller is used for controlling the marking device to mark the surface of the detected winter bamboo shoots, the marking work is not needed to be stopped manually, the time and labor force of a user are saved, the detection efficiency is improved, and the harvesting cost of the winter bamboo shoots is reduced.
Description
Technical Field
The invention relates to the technical field of agricultural and forestry machinery, in particular to winter bamboo shoot detection equipment and a detection system thereof.
Background
Winter bamboo shoots are bamboo shoots developed from underground stem side buds of moso bamboos before and after winter, and have the characteristics of delicious, crisp and refreshing meat, rich nutrition and the like, so that the phenomenon of supply and demand of winter bamboo shoots in the market every year occurs, and the price of winter bamboo shoots is high. For this reason, since winter bamboo shoots grow underground, an experienced bamboo shoot farmer needs to search for the positions of winter bamboo shoots when picking, and general bamboo shoot farmers comprehensively judge the possible positions of winter bamboo shoots according to factors such as growth vigor and topography of moso bamboo forests, once the exact positions of winter bamboo shoots are searched for errors, a great deal of time and energy are wasted, so how to search for the exact positions of winter bamboo shoots becomes a great problem for the bamboo shoot farmers. And the possible positions of the winter bamboo shoots found by general bamboo shoot farmers are immediately dug or marked by physical methods, so that the working efficiency is reduced, and more winter bamboo shoots cannot be found as much as possible in effective time.
Along with the continuous acceleration of the modernization process in China, intelligent agricultural auxiliary machinery plays a vital role in the development of intelligent agriculture, equipment for detecting the accurate position of winter bamboo shoots also grows, a resistance type detection method is mainly adopted for detecting the underground winter bamboo shoots at present, but probes in the method are easy to damage the winter bamboo shoots and underground stems, the in-situ state of soil is destroyed, the probes are required to be pulled out and plugged back and forth, and after the position of the winter bamboo shoots is detected, the positions of the winter bamboo shoots are required to be marked manually, so that the follow-up digging is convenient, the operation is complex, and the application and popularization are not facilitated.
Therefore, after the position of the winter bamboo shoots is detected, the conventional winter bamboo shoot detection equipment also needs to manually mark the position of the winter bamboo shoots, is complex in operation and needs improvement urgently.
Disclosure of Invention
Based on this, it is necessary to provide a winter bamboo shoot detection apparatus and a detection system thereof, in view of the above-described problems.
In one embodiment, the present invention provides a winter bamboo shoot detection apparatus, the detection apparatus comprising:
a mounting base for securing other structures of the apparatus;
the detection device is arranged on the mounting base, faces the ground surface when in use, and is used for detecting whether mature winter bamboo shoots exist under the ground surface and sending detection results to the controller;
the controller is used for receiving the detection result and controlling the marking device to mark; and
the marking device is arranged on the mounting base and used for marking the ground surface of the winter bamboo shoots detected by the detecting device under the control of the controller.
In one embodiment, the present invention provides a detection system comprising:
the detection device described in the above embodiment is configured to detect whether a mature winter bamboo shoot exists under the ground, and send a detection result to the user terminal;
the user terminal; and the detection device is used for receiving and displaying the detection result, receiving a control instruction of a user, and controlling the detection device to mark the ground surface of the detected mature winter bamboo shoots according to the user instruction.
According to the detection equipment and the detection system, the detection device, the marking device and the controller are arranged, after the detection device detects the winter bamboo shoots ripe under the ground surface, detection information is sent to the controller, the marking device is controlled by the controller to mark the ground surface where the winter bamboo shoots are detected, the marking work is not needed to be stopped manually, the time and labor of a user are saved, the detection efficiency is improved, and the harvesting cost of the winter bamboo shoots is reduced.
Drawings
Fig. 1 shows a schematic perspective view of a winter bamboo shoot detection apparatus according to an embodiment of the present invention;
FIG. 2 shows a schematic top view of a mounting base provided in an embodiment of the present invention;
fig. 3 shows a schematic side view structure of a winter bamboo shoot detection device according to an embodiment of the present invention;
FIG. 4 shows a schematic side view of a mounting base provided in an embodiment of the present invention;
FIG. 5 illustrates a control process schematic block diagram provided in an embodiment of the present invention;
FIG. 6 shows a schematic diagram of a control section circuit provided in an embodiment of the present invention;
FIG. 7 shows a schematic diagram of a power supply portion circuit provided in an embodiment of the invention;
FIG. 8 is a schematic diagram showing a front view of a marking device according to an embodiment of the present invention;
FIG. 9 is a schematic diagram showing a rear view of a marking device provided in an embodiment of the present invention;
FIG. 10 is a schematic cross-sectional view of a marking device according to an embodiment of the present invention;
FIG. 11 is a schematic view showing an internal structure of a marking device provided in an embodiment of the present invention;
fig. 12 is a schematic diagram showing a front view structure of a winter bamboo shoot detection apparatus provided in an embodiment of the present invention;
fig. 13 is a schematic diagram showing a rear view structure of a winter bamboo shoot detection apparatus provided in an embodiment of the present invention;
fig. 14 (a) is a schematic structural diagram of a man-machine interaction device according to an embodiment of the present invention;
fig. 14 (b) is a schematic structural diagram of a man-machine interaction device according to an embodiment of the present invention;
FIG. 15 is a schematic side view of a travel wheel according to an embodiment of the present invention;
fig. 16 shows a schematic installation view of a running wheel provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx unit may be referred to as a second xx unit, and similarly, a second xx unit may be referred to as a first xx unit, without departing from the scope of the present application.
Fig. 1 is a schematic perspective view of a winter bamboo shoot detection device according to an embodiment of the present invention, which is described in detail below.
The embodiment of the invention provides winter bamboo shoot detection equipment, which is used for detecting mature winter bamboo shoots and comprises:
a mounting base 3, the mounting base 3 being used to secure other structures of the device;
the detection device 7 is arranged on the mounting base 3, and when the detection device 7 is used, the detection device 7 faces the ground surface and is used for detecting whether mature winter bamboo shoots exist under the ground surface or not and sending detection results to the controller;
the controller 4 is used for receiving the detection result and controlling the marking device 8 to mark; and
the marking device 8 is arranged on the mounting base and is used for marking the ground surface of the winter bamboo shoots detected by the detection device 7 under the control of the controller 4.
FIG. 2 shows a schematic top view of a mounting base provided in an embodiment of the present invention;
fig. 3 shows a schematic side view structure of a winter bamboo shoot detection device according to an embodiment of the present invention;
fig. 4 is a schematic side view of a mounting base according to an embodiment of the present invention, which is described in detail below.
As an embodiment of the invention, as shown in fig. 2, 3 and 4, the mounting base comprises a main body bracket 3-1, a first upper buckle 3-2, a second upper buckle 3-3, a first lower folding bracket 3-4, a second lower folding bracket 3-5, a first lower fixing bracket 3-6, a second lower fixing bracket 3-7, a universal wheel rotation fixing base 3-8 and a main rotation fixing base 3-9, wherein the first upper buckle 3-2 and the second upper buckle 3-3 are symmetrically arranged at the rear upper part of the main body bracket 3-1, the main rotation fixing base 3-9 is arranged at the middle of the first upper buckle 3-2 and the second upper buckle 3-3, the first lower folding bracket 3-4 and the second lower folding bracket 3-5 are symmetrically arranged at the rear lower part, the first lower fixing bracket 3-6 and the second lower fixing bracket 3-7 are symmetrically arranged at the middle lower part, and the universal wheel rotation fixing base 3-8 is arranged at the front lower part; the two sides of the rear end of the main body support 3-1 are symmetrically provided with U-shaped notches, two sides of the inner wall of each U-shaped notch are symmetrically provided with oval notches 3-1-1, basic supports 3-1-2 of a first lower folding support 3-4 and a second lower folding support 3-5 are symmetrically arranged right below two sides of the rear end of the main body support 3-1, the first lower folding support 3-4 and the second lower folding support 3-5 are respectively folded around the basic support 3-1-2 through rotating nuts, the tail ends of the first lower folding support 3-4 and the second lower folding support 3-5 are provided with round holes 3-4-1, and the round holes 3-4-1 are essentially clamping holes for fixing running wheels.
FIG. 5 illustrates a control process schematic block diagram provided in an embodiment of the present invention;
FIG. 6 shows a schematic diagram of a control section circuit provided in an embodiment of the present invention;
fig. 7 shows a schematic diagram of a power supply portion provided in an embodiment of the present invention, which is described in detail below.
As an embodiment of the present invention, as shown in fig. 5, 6 and 7, the detection device is a radar detection device, the radar detection device includes a radar transmitter, a radar receiver, a radar transmitting antenna and a radar receiving antenna, the radar transmitter is used for connecting the radar transmitting antenna and the controller, the radar receiver is used for connecting the radar receiving antenna and the controller, the radar transmitting antenna and the radar receiving antenna are attached to the surface of the radar box, the direction faces the ground, the radar transmitter and the radar receiver are electrically connected with the controller through internal wires of the first lower fixed support and the second lower fixed support respectively, as shown in fig. 5, the circuit includes a control part circuit and a power part circuit, the control part circuit includes an STM32F103RCT6 microcontroller 504, a radar detection circuit, a serial screen driving circuit 507, a driving motor driving circuit 508 and a driving motor control circuit 509, the radar detection circuit also comprises a radar transmitting circuit 505 and a radar receiving circuit 506, the power supply part circuit comprises a 12V chargeable power supply circuit 501, a 3.3V switching voltage stabilizing circuit 502 and a 5V switching voltage stabilizing circuit 503, the STM32F103RCT6 microcontroller 504 is electrically connected with the radar transmitting circuit 505 through a serial port USART1 on one hand and the radar receiving circuit 506 through a serial port USART4 on the other hand, and is electrically connected with a serial port screen driving circuit 507 through a serial port USART5, the driving motor driving circuit 508 is electrically connected with the STM32F103RCT6 microcontroller 504 through an I/O port on the one hand and is electrically connected with the driving motor control circuit 509 on the other hand, the 3.3V switching voltage stabilizing circuit 502 is electrically connected with the 12V chargeable power supply circuit 501 on the one hand and the STM32F103RCT6 microcontroller 504 on the other hand, the 5V switching voltage stabilizing circuit 503 is electrically connected with the 12V chargeable power supply circuit 501 on the other hand, on the other hand, the serial port screen driving circuit 507, the driving motor driving circuit 508 and the driving motor control circuit 509 are respectively and electrically connected; as shown IN fig. 6, the STM32F103RCT6 microcontroller 504 is connected to the 1 pin of the radar transmitting circuit 505 through the PA10/USART1_rx pin, connected to the 2 pin of the radar transmitting circuit 505 through the PA9/USART1_tx pin, for realizing controlling the radar transmitting circuit 505 to transmit radar electromagnetic waves, and connected to the 1 pin of the radar receiving circuit 506 through the PC11 pin, connected to the 2 pin of the radar receiving circuit 506 through the PC10 pin, wherein the PC10 pin and the PC11 pin are used as the pins of the extended serial USART4, for realizing controlling the radar receiving circuit 506 to receive part of radar electromagnetic waves reflected, and connected to the 4 pin of the serial screen driving circuit 507 through the PD2 pin, connected to the 5 pin of the serial screen driving circuit 507 through the PC12 pin, respectively connected to the IN1 pin, IN2 pin, IN3 pin, IN4 pin of the driving motor driving circuit 508, respectively connected to the PC9 pin, PC8 pin, PC7 pin, PC6 pin, OUT1 pin 508, OUT2 pin 103 pin 509, OUT3 pin 509, and run 4 pin of the driving circuit, respectively, and further connected to the driving circuit 509, and controlled by the positive and controlled 2 pin of the driving circuit, respectively, of the driving circuit 2 and the driving circuit of the STM3, respectively, and further connected to the driving circuit 2 and the positive and driving circuit and the driving circuit; as shown in fig. 7, the VIN pin of the 3.3V switching regulator circuit 502 is connected to the TAP1 pin of the 12V rechargeable power supply circuit 501 through an R14 resistor, while the VOUT pin of the 3.3V switching regulator circuit 502 is connected to pins corresponding to all 3v3_out of the STM32F103RCT6 microcontroller 504 through an L2 inductor, the VIN pin of the 5V switching regulator circuit 503 is also connected to the TAP1 pin of the 12V rechargeable power supply circuit 501 through an R6 resistor, while the VOUT pin of the 5V switching regulator circuit 503 is connected to pins corresponding to all 5v_out of the serial screen driving circuit 507, the driving motor driving circuit 508 and the driving motor control circuit 509 respectively through an L1 inductor, so as to convert the 12V dc voltage into 3.3V and 5V dc voltages for power supply.
As an embodiment of the invention, the controller 4 is installed in a control box, the control box is in a trapezoid structure so as to be adapted to be fixedly installed on the upper surface of the main body support 3-1, a power module is also installed in the control box, the power module adopts a 12V rechargeable lithium battery, the controller adopts a low-power consumption chip with the model of STM32F103RCT6, two ends of the rear surface of the control box are respectively provided with the equipment power supply general switch 4-2 and the equipment power supply charging interface 4-1, and the control box is fixedly connected with the fixed groove 8-1-1 on the upper surface of the marking shell 8-1.
As an embodiment of the invention, the marking device 8 is arranged below the mounting base and next to the detection device, the marking device 8 is used for marking on the ground, either by inserting a marker on the ground or by painting directly on the ground. As a preferred embodiment of the present invention, the marking device 8 is an automatic paint spraying device, and is controlled by the controller, and when the detecting device detects winter bamboo shoots, the controller directly controls the marking device to spray paint on the ground surface corresponding to the winter bamboo shoots.
According to the embodiment of the invention, the mounting base is arranged for mounting other structures of the detection equipment, the structure is compact, the space is reasonable, a plurality of functional components of the detection equipment can be stably mounted, the detection needle is not required to be inserted into the ground through the radar detection device, the winter bamboo shoots are prevented from being damaged, the marking device is arranged beside the radar device in a cling mode, the marking device is controlled through the controller, after the detection device detects the winter bamboo shoots, the controller can directly control the marking device to spray paint on the ground surface corresponding to the winter bamboo shoots, manual stopping is not required to detect the winter bamboo shoots, the time of workers is saved, the working strength is reduced, the working efficiency is improved, and the cost is reduced for digging the winter bamboo shoots.
FIG. 8 is a schematic diagram showing a front view of a marking device according to an embodiment of the present invention;
FIG. 9 is a schematic diagram showing a rear view of a marking device provided in an embodiment of the present invention;
FIG. 10 is a schematic cross-sectional view of a marking device according to an embodiment of the present invention;
fig. 11 is a schematic diagram showing an internal structure of a marking device according to an embodiment of the present invention, which is described in detail below.
In the winter bamboo shoot detection device provided by the embodiment of the invention, as shown in fig. 8-11, the marking device is an automatic paint spraying device, and comprises:
the upper surface of the fixed shell is provided with a fixed groove for fixing the marking device on the mounting base, and the lower surface of the fixed shell is provided with a nozzle pressing notch;
the paint tank is used for containing paint and is arranged inside the fixed shell through a mounting bracket;
the pressing type nozzle is connected to the paint can and extends out of the fixed shell through a pressing notch on the fixed shell to spray paint towards the ground;
the driving motor is arranged in the fixed shell, and an output rotating shaft of the driving motor is connected with a pressing rod through a screw rod; and
the pressing rod is used for reciprocating along the pressing direction of the pressing type nozzle under the control of the driving motor and pressing the pressing type nozzle so that paint sprayed out of the pressing type nozzle marks the ground surface.
In the embodiment of the invention, the marking device 8 comprises a fixed shell 8-1, a paint can fixing seat 8-2, a paint can 8-3, a pressing nozzle 8-4, a pressing rod 8-5, a screw rod 8-6, a conversion port 8-7, a screw rod shell supporting seat 8-8, a screw rod shell 8-9, a driving motor fixing seat 8-10 and a driving motor 8-11, wherein the upper surface of the marking shell 8-1 is provided with a fixed slot 8-1, the lower surface is provided with a pressing nozzle pressing notch 8-1-2, a screw rod shell supporting seat fixing nut hole 8-1-3 and a driving motor fixing seat fixing nut hole 8-1-4 in sequence from left to right, the left surface is closed, the right surface is closed, one end of the front surface is provided with a rectangular hole, the device is used for disassembling and installing the paint can 8-3, one end of the rear surface is provided with a paint can fixing seat fixing nut hole 8-1-5, all fixing nut holes adopt M4 specifications, the paint adopts degradable paint, the paint can fixing seat 8-2 is fixed on the inner surface of the marking structure shell 8-1 through the paint can fixing seat fixing nut hole 8-1-5, the paint can 8-3 is detachably fixed on the paint can fixing seat 8-2, one end of a bottle mouth of the paint can 8-3 is connected with a push type nozzle 8-4, an injection orifice of the push type nozzle 8-4 is similar to a horn shape and penetrates through the push type nozzle pressing notch 8-1-2, one end of a screw rod 8-6 is connected with an output shaft of a driving motor 8-11 through a rotating interface 8-7, the other end of the screw shell is sleeved with a pressing rod 8-5, threads which are close to the rotating port 8-7 and are in certain distance are meshed with threads of the screw rod, a cylindrical protrusion is arranged right above the end which is close to the rotating port 8-7, in addition, the cylindrical protrusion on the pressing rod 8-5 is matched with a notch formed in one end of the screw rod shell 8-9, the other end of the screw rod shell 8-9 is fixed on a driving motor fixing seat 8-10, a driving motor 8-11 is fixedly arranged on the driving motor fixing seat 8-10, and a screw rod shell supporting seat 8-8 and the driving motor fixing seat 8-10 are fixed on the inner lower surface of the marking structure shell 8-1 through a screw rod shell supporting seat fixing nut hole 8-1-3 and a driving motor fixing seat fixing nut hole 8-1-4 respectively.
According to the embodiment of the invention, the driving motor drives the pressing rod to transversely move to press the pressing nozzle of the paint can, so that paint is controlled to be sprayed out, and the paint can be marked on the ground, so that the structure is simple, and the control is convenient.
Fig. 12 is a schematic diagram showing a front view structure of a winter bamboo shoot detection apparatus provided in an embodiment of the present invention;
fig. 13 is a schematic diagram showing a rear view structure of a winter bamboo shoot detection apparatus provided in an embodiment of the present invention; detailed description is as follows.
The winter bamboo shoot detection equipment provided by the embodiment of the invention further comprises:
the hand-push type handles are arranged at the end parts of the connecting rods, which are far away from the mounting base, and are of two-section structures, and the two sections of the hand-push type handles are symmetrically distributed at two sides of the connecting rods; and
the hand-held handle is arranged at one end of the connecting rod, which is close to the hand-push handle.
In the embodiment of the invention, the handle 1 comprises a hand-push handle and a hand-held handle, and comprises a telescopic button 1-1, a hand-push handle 1-2, a T-shaped fixed shaft 1-3, a hand-held handle 1-4, a telescopic movable rod 1-5, a telescopic buckle 1-6 and a telescopic base rod 1-7, wherein the telescopic button 1-1 is embedded in the upper surface of the hand-push handle 1-2 and is positioned in the middle of the hand-push handle 1-2 and is elastically connected with the telescopic buckle 1-6, and is used for controlling the telescopic buckle 1-6 to stretch, so that the telescopic movable rod 1-5 stretches along the telescopic base rod 1-7, and is similar to a telescopic pull rod of a suitcase, one end of the hand-held handle 1-4 is fixedly connected with the telescopic movable rod 1-5, the other end of the hand-held handle 1-4 is fixedly connected with the T-shaped fixed shaft 1-3, the telescopic movable rod 1-5 is sleeved in the telescopic base rod 1-7, and in addition, and the surfaces of the hand-push handle 1-2 and the hand-held handle 1-4 are sleeved with a sponge.
The handle provided by the embodiment of the invention is provided with the hand pushing type and the hand holding type, is arranged on the mounting base through the telescopic base rod, and can be used for moving winter bamboo shoot detection equipment through hand pushing and holding, so that the use of various different mountain land features is facilitated, the structure is simple, and the use is convenient.
Fig. 14 (a) is a schematic structural diagram of a man-machine interaction device according to an embodiment of the present invention;
fig. 14 (b) is a schematic structural diagram of a man-machine interaction device according to an embodiment of the present invention; detailed description is as follows.
The winter bamboo shoot detection equipment provided by the embodiment of the invention further comprises:
the alarm device is connected with the controller, and when the detection device detects mature winter bamboo shoots, the alarm device gives an alarm under the control of the controller; and
and the man-machine interaction device is arranged at one end of the connecting rod, which is close to the hand-push type handle, and is used for displaying the detection result of the radar detection device, receiving a control instruction of a user, and controlling the marking device to mark and/or close an alarm by the controller according to the control instruction.
As one embodiment of the invention, the man-machine interaction device comprises a high-definition liquid crystal display 2-1, a data transmission line interface 2-2, a charging interface 2-3, a display power switch 2-4, a buzzer 2-5 and a display fixing base 2-6, wherein the data transmission line interface 2-2 and the charging interface 2-3 are respectively positioned at two ends of one side of the high-definition liquid crystal display 2-1, the display power switch 2-4 and the buzzer 2-5 are respectively positioned at two ends of the other side of the high-definition liquid crystal display 2-1, a specific internal installation structure is arranged according to general high-definition liquid crystal display equipment and is used for realizing interactive operation and intelligent display of the equipment, in addition, the high-definition liquid crystal display 2-1 is fixed on a basal plane of the display fixing base 2-6, the display fixing base 2-6 is rotatably connected with the end part of the T-shaped fixing shaft 1-3 through a rotary fixing nut so as to realize rotary adjustment of the high-definition liquid crystal display 2-1 relative to the visual angle of a person who diggers, and the display screen of the man-machine interaction device can also display marked winter number, marking range and other data through control of a controller.
As an embodiment of the invention, the alarm device is arranged on the man-machine interaction device, the alarm can be carried out through the flashing of the LED lamp, or the alarm can be carried out through the loudspeaker, when the detection device detects winter bamboo shoots, the display interface of the man-machine interaction interface can display the information of the winter bamboo shoots detected, and the alarm device is matched for alarming, so that a user is reminded of detecting the winter bamboo shoots, and the user can control the alarm to be closed and control the marking device to mark.
According to the embodiment of the invention, the man-machine interaction device is arranged, so that a user can directly control winter bamboo shoot detection equipment through the man-machine interaction device, and the marking process of the marking device is controlled very conveniently and rapidly.
Figure 15 shows a schematic side view of a road wheel provided in an embodiment of the invention,
FIG. 16 illustrates a schematic installation of a travel wheel provided in an embodiment of the present invention; detailed description is as follows.
The winter bamboo shoot detection equipment provided by the embodiment of the invention further comprises a universal wheel and two running wheels, wherein the universal wheel 1 and the running wheels 5 are distributed on the mounting base in a triangular mode, and the heights of the universal wheel and the running wheels ensure that the mounting base is parallel to the ground; the universal wheel is used for adjusting the advancing direction of equipment, the wheel of traveling includes wheel body and the installing support of wheel of traveling, the middle part of installing support with the installation base rotatable coupling, the first end of installing support with the wheel body rotates to be connected, the wheel body can round the installing support with the center of wheel body is the centre of a circle and rotates, the installing support is around when the installation base is rotatory, the wheel of traveling leaves ground, the second end contact ground of installing support, installing support and universal wheel support the installation base, and guarantee the installation base is parallel with ground.
As an embodiment of the present invention, as shown in fig. 15, the running wheel 5 includes a PVC plastic hollow running wheel 5-1, a running wheel folding bearing bracket 5-2, a folding bracket fixing buckle 5-3, the PVC plastic hollow running wheel 5-1 is rotatably connected with the running wheel folding bearing bracket 5-2, and a folding bracket fixing buckle 5-3 is installed and fixed under the running wheel folding bearing bracket 5-2, the inner center of the folding bracket fixing buckle 5-3 is provided with a buckle 5-3-1 adapted to a first lower folding bracket 3-4 and a second lower folding bracket 3-5, and a round hole is formed at the end of the first lower folding bracket 3-5, so that the running wheel 5-1 can be horizontally fixed, the universal wheel 6 is fixedly installed under the main body bracket 3-1 through a universal wheel rotating fixing base 3-8, the front, back, left and right steering of the device can be realized, and the three parts of the universal wheel 6 and the two running wheels can also keep the radar unit 7 and the marking device 8 always parallel to the ground according to the principle of three-point forming, where the two running wheel folding brackets are always kept parallel to the first horizontal bracket 3-3 and the horizontal folding device is kept in a horizontal state and the horizontal state is always kept parallel to the first horizontal and the horizontal state is kept at the horizontal state of the first horizontal and the horizontal state is kept.
According to the embodiment of the invention, the universal wheels and the running wheels are arranged, when the running wheels are put down, the universal wheels and the running wheels can ensure that the installation base is parallel to the ground, a user can advance through the hand-push type handle pushing device, the device is suitable for being used in a relatively flat mountain area, when the running wheels are retracted, the folding support on the installation base and the universal wheels can ensure that the installation base is parallel to the ground, and the user can directly hold the device through the hand-held handle, so that the device is suitable for being used in a relatively complex mountain area.
When the winter bamboo shoot detection equipment provided by the invention is used, firstly, whether the appearance of the equipment is good is observed through human eyes, if all the equipment is normal, a main equipment power switch on the rear surface of a control box and a display power switch of a man-machine interaction device are required to be started, then the equipment performs system self-checking, if the equipment is normal, the equipment can be normally used, and if not, the equipment is stopped to be used; when the equipment is determined to be normal, the use mode of the equipment is required to be selected, wherein the use mode of the equipment comprises a hand-push mode and a hand-hold mode, the default use mode of the equipment is required to be described as the hand-push mode, if a bamboo shoot digging person selects the use mode as the hand-push mode, the universal wheel and the two running wheels are horizontally grounded, if the bamboo shoot digging person selects the use mode as the hand-hold mode, only the first lower folding bracket and the second lower folding bracket are required to be respectively taken down from the corresponding folding bracket fixing buckles to be in a vertical state, then the two running wheels are required to be horizontally pulled outwards, the two running wheels can be horizontally moved along the oval notch through the rotary nuts, then the two running wheels are respectively rotated upwards to be correspondingly fixed on the first upper buckle and the second upper buckle, and the equipment is in a hand-hold mode state; next, the person who digs the bamboo shoots needs to judge the topography and topography of the mountain where the winter bamboo shoots are currently located, then a reasonable equipment use mode is selected according to the topography and topography of the mountain, if the mountain is relatively gentle, the hand-push mode of the person who digs the bamboo shoots is recommended to use the equipment, if the mountain is relatively steep, the hand-hold mode of the person who digs the bamboo shoots is recommended to use the equipment, and if the mountain is in the hand-push mode and the hand-hold mode of the equipment which are recommended to be used alternately in a gentle and steep random spreading manner; the radar transmitter in the radar detection device transmits radar electromagnetic waves to the ground through the radar transmitting antenna, the radar electromagnetic waves penetrate through the ground surface and enter the deep soil, once the radar electromagnetic waves meet target objects, the radar electromagnetic waves reflect part of the radar electromagnetic waves and are transmitted to the ground surface, then the radar receiver receives the reflected part of the radar electromagnetic waves to the ground through the radar receiving antenna, the detection work of winter bamboo shoot target objects is completed, then the radar receiver transmits the received part of radar electromagnetic wave information data to the controller, the controller transmits the result to a high-definition crystal display of display equipment for display after processing, operation and analysis, and meanwhile, the buzzer sounds to remind bamboo shoot diggers that winter bamboo shoot target objects exist below at the moment; when a bamboo shoot digging person hears a buzzer, only the current detection work is required to be stopped temporarily, at the moment, the controller sends a forward rotation control command to drive the motor to forward rotate, at the moment, the output shaft of the drive motor forward rotates for a certain number of turns, the screw rod connected with the switching port is driven to forward rotate for the same number of turns, further, a cylindrical bulge on the push rod is driven to advance for a certain distance along the notch of the screw rod shell, at the moment, the push rod forwards generates a pressing force to the paint can nozzle, then the jet orifice of the paint can nozzle horizontally moves along the paint can nozzle pressing notch while the pressing force enables the jet orifice of the paint can nozzle to jet pigment, finally, an obvious mark is generated behind a winter bamboo shoot target object on the ground, the shape is similar to Chinese number one, once the marking work is completed, at the moment, the controller sends a reverse rotation control command to drive the motor to reverse, at the moment, the output shaft of the drive the screw rod connected with the switching port to reverse for the same number of turns, further, the cylindrical bulge on the push rod is driven to retreat for a certain distance along the notch of the screw rod shell, at the stroke, at the moment, the push rod moves backwards to the initial state position along the notch of the paint can, the initial state is restored, and then the jet orifice of the paint can be pressed along the notch of the paint can, and the initial state is also restored to the position of the paint can; when the bamboo shoot digging personnel selects the hand-push mode, the equipment is pushed by the hand-push type handles to slowly run, then the detection marking step is repeated, when the bamboo shoot digging personnel selects the hand-hold mode, the hand-hold type handles are held by only one hand, the small arms of one hand are placed on the inner sides of the hand-push type handles, then the steps are repeated, and when the bamboo shoot digging personnel selects the hand-push mode and the hand-hold mode of the equipment to be alternately used, the operation is carried out only according to the hand-push mode and the hand-hold mode.
The invention provides winter bamboo shoot detection equipment which comprises a detection device, a marking device, a man-machine interaction device, a hand-push type handle, a hand-held handle, a running wheel and other structures, wherein after winter bamboo shoots are detected by the detection device, the man-machine interaction device is controlled by a controller to display and remind a user of detecting the winter bamboo shoots, the user can directly control the marking device on the man-machine interaction device through the controller to mark the ground surface of the detected winter bamboo shoots without stopping detection work manually, the winter bamboo shoot detection equipment is convenient and quick to operate, the working efficiency is improved, and the winter bamboo shoot mining cost is reduced.
The embodiment of the invention also provides a winter bamboo shoot detection system, which comprises the winter bamboo shoot detection equipment disclosed by the embodiment, and is used for detecting whether mature winter bamboo shoots exist under the ground surface and sending detection results to a user terminal; the user terminal is used for receiving and displaying the detection result, receiving a control instruction of a user, and controlling the detection equipment to mark the ground surface of the detected mature winter bamboo shoots according to the user instruction.
In an embodiment of the present invention, the winter bamboo shoot detection device is the winter bamboo shoot detection device in any one of the above embodiments, and further includes an information transmission device capable of performing information interaction with a user terminal, where the user terminal is a mobile intelligent terminal, and may be a mobile phone, a tablet, an intelligent bracelet, or a portable terminal with a communication function, and the user may learn a use condition of the winter bamboo shoot detection device through the user terminal, and control the winter bamboo shoot detection device to perform marking through the user terminal.
According to the winter bamboo shoot detection system, a user can obtain the working state of winter bamboo shoot detection equipment through the user terminal, the number of detected winter bamboo shoots is known, and management is facilitated.
According to the embodiment of the invention, the detection of various complicated winter bamboo shoot mountains can be realized through the interactive operation of the hand-push type handle and the hand-held type handle, the labor intensity of bamboo shoot digging personnel is effectively reduced, the convenience and the high efficiency are realized, the working efficiency is also improved, and in addition, the telescopic buttons in the handle can control the telescopic movable rod to stretch, so that the equipment provided by the invention is suitable for different crowds, and the popularization and the application are more facilitated; through setting up universal wheel and running wheel, when the running wheel put down, universal wheel and running wheel can guarantee that the installation base is parallel with ground, and the user can advance through hand propelled handle thrust unit, is fit for using in flatter mountain region, and when the running wheel was packed up, folding support and universal wheel on the installation base can guarantee that the installation base is parallel with ground, and the user can directly hold equipment through handheld handle, is fit for using in comparatively complicated mountain region, and equipment remains parallel with ground throughout, can effectively reduce the error of manual operation, improves radar detection's degree of accuracy; the marking device can realize the obvious marking of the position of winter bamboo shoots detected by the radar, is convenient for the subsequent digging and taking work of bamboo shoot digging personnel, avoids the special marking operation to simplify the working flow, and more importantly, the marking device can realize the full-automatic control by utilizing a unique and ingenious mechanical structural design, does not need the manual intervention control, improves the intelligent degree of the winter bamboo shoot marking device, simultaneously adopts the green pollution-free degradable paint, does not need the manual intervention marking, is free to detach and replace, and is convenient to carry.
The winter bamboo shoot detection equipment provided by the embodiment of the invention has the advantages that the whole mechanical structure design is ingenious, the detection and marking precision of the equipment is improved through combination with the mathematical principle, the thought structure is novel, the application range of the bamboo shoot digging agricultural auxiliary machinery is greatly improved, the intelligent agricultural auxiliary machinery equipment in intelligent agriculture is energized, the market application prospect is wide, and the application and development of the bamboo shoot digging agricultural auxiliary machinery are greatly realized.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (5)
1. A winter bamboo shoot detection apparatus, the apparatus comprising:
a mounting base for securing other structures of the apparatus;
the detection device is arranged on the mounting base, faces the ground surface when in use, and is used for detecting whether mature winter bamboo shoots exist under the ground surface and sending detection results to the controller;
the controller is used for receiving the detection result and controlling the marking device to mark; and
the marking device is arranged on the mounting base and is used for marking the ground surface of the winter bamboo shoots detected by the detection device under the control of the controller;
the marking device is an automatic paint spraying device, comprising:
the upper surface of the fixed shell is provided with a fixed groove for fixing the marking device on the mounting base, and the lower surface of the fixed shell is provided with a nozzle pressing notch;
the paint tank is used for containing paint and is arranged inside the fixed shell through a mounting bracket;
the pressing type nozzle is connected to the paint can and extends out of the fixed shell through a pressing notch on the fixed shell to spray paint towards the ground;
the driving motor is arranged in the fixed shell, and an output rotating shaft of the driving motor is connected with a pressing rod through a screw rod; and
the pressing rod is used for reciprocating along the pressing direction of the pressing nozzle under the control of the driving motor
Moving, pressing the pressing nozzle to make the pressing nozzle spray paint to mark the ground surface;
further comprises:
the hand-push type handles are arranged at the end parts of the connecting rods, which are far away from the mounting base, and are of two-section structures, and the two sections of the hand-push type handles are symmetrically distributed at two sides of the connecting rods; and
the hand-held handle is arranged at one end, close to the hand-push handle, of the connecting rod;
the connecting rod is a telescopic rod and comprises a telescopic base rod and a telescopic movable rod, the telescopic base rod is connected with the telescopic movable rod through a telescopic buckle, a telescopic button is arranged on the hand-push type handle, and the telescopic button is elastically connected with the telescopic buckle and used for controlling the telescopic buckle to stretch;
further comprises:
the alarm device is connected with the controller, and when the detection device detects mature winter bamboo shoots, the alarm device gives an alarm under the control of the controller; and
the man-machine interaction device is arranged at one end of the connecting rod, which is close to the hand-push type handle, and is used for displaying the detection result of the detection device, receiving a control instruction of a user, and controlling the marking device to mark and/or close an alarm by the controller according to the control instruction;
the detection device is a radar detection device, the radar detection device comprises a radar transmitter, a radar receiver, a radar transmitting antenna and a radar receiving antenna, the radar transmitter is used for connecting the radar transmitting antenna and a controller, the radar receiver is used for connecting the radar receiving antenna and the controller, the radar transmitting antenna and the radar receiving antenna are attached to the surface of the radar box body, the direction faces the ground, the radar transmitter and the radar receiver are respectively electrically connected with the controller through internal wiring of a first lower fixed bracket and a second lower fixed bracket, the circuit comprises a control part circuit and a power part circuit, the control part circuit comprises an STM32F103RCT6 microcontroller, a radar detection circuit, a serial screen driving circuit, a driving motor driving circuit and a driving motor control circuit, wherein the radar detection circuit also comprises a radar transmitting circuit and a radar receiving circuit, the power supply part circuit comprises a 12V rechargeable power supply circuit, a 3.3V switching voltage stabilizing circuit and a 5V switching voltage stabilizing circuit, wherein the STM32F103RCT6 microcontroller is electrically connected with the radar transmitting circuit through a serial port USART1 on one hand, is electrically connected with the radar receiving circuit through a serial port USART4 on the other hand, and is further electrically connected with a serial port screen driving circuit through a serial port USART5, the driving motor driving circuit is electrically connected with the STM32F103RCT6 microcontroller through an I/O port on the one hand, is electrically connected with the driving motor control circuit on the other hand, the 3.3V switching voltage stabilizing circuit is electrically connected with the 12V rechargeable power supply circuit on the one hand, is electrically connected with the STM32F103RCT6 microcontroller on the other hand, and the 5V switching voltage stabilizing circuit is electrically connected with the 12V rechargeable power supply circuit on the one hand, the other hand, the driving motor driving circuit, the driving motor and the driving circuit of the serial port screen driving circuit respectively, the driving motor control circuit is electrically connected; the STM32F103RCT6 microcontroller is connected with the 1 pin of the radar transmitting circuit through the PA10/USART1_RX pin, is connected with the 2 pin of the radar transmitting circuit through the PA9/USART1_TX pin, and is used for controlling the radar transmitting circuit to transmit radar electromagnetic waves, is connected with the 1 pin of the radar receiving circuit through the PC11 pin, is connected with the 2 pin of the radar receiving circuit through the PC10 pin, wherein the PC10 pin and the PC11 pin are used as pins of an expansion serial USART4, and are used for controlling the radar receiving circuit to receive part of the radar electromagnetic waves reflected, and are also connected with the 4 pin of the serial screen driving circuit through the PD2 pin, and are connected with the 5 pin of the serial screen driving circuit through the PC12 pin, and are respectively connected with the PC9 pin, the PC8 pin, the PC7 pin and the PC6 pin of the STM32F103RCT6 microcontroller, and are respectively connected with the OUT1 pin, OUT2 pin, OUT3 pin and OUT4 pin of the driving motor driving circuit, and are respectively connected with the 2 pin, OUT3 pin, the driving circuit and the STM32 RCT 103RCT6 driving circuit, and are further used for controlling the forward and backward rotation of the STM 32; the VIN pin of the 3.3V switching voltage stabilizing circuit is connected with the TAP1 pin of the 12V chargeable power supply circuit through an R14 resistor, meanwhile, the VOUT pin of the 3.3V switching voltage stabilizing circuit is connected with pins corresponding to all 3V3_OUT of the STM32F103RCT6 microcontroller through an L2 inductor, the VIN pin of the 5V switching voltage stabilizing circuit is also connected with the TAP1 pin of the 12V chargeable power supply circuit through an R6 resistor, and meanwhile, the VOUT pin of the 5V switching voltage stabilizing circuit is respectively connected with pins corresponding to all 5V_OUT of the driving motor driving circuit and the driving motor control circuit of the serial screen driving circuit through an L1 inductor so as to convert 12V direct current voltage into 3.3V and 5V direct current voltage for power supply;
the controller is arranged in the control box, the control box is of a trapezoid structure and is fixedly arranged on the upper surface of the main body support in an adapting mode, a power module is further arranged in the control box, the power module is a 12V rechargeable lithium battery, the controller is a low-power consumption chip with the model STM32F103RCT6, a device power main switch and a device power charging interface are respectively arranged at two ends of the rear surface of the control box, and the control box is fixedly connected with a fixed groove on the upper surface of the marking shell;
the marking device is arranged below the mounting base and is arranged next to the detecting device, the marking device is used for marking on the ground, the marking device is an automatic paint spraying device and is controlled by the controller, and after the detecting device detects winter bamboo shoots, the controller can directly control the marking device to spray paint on the ground surface corresponding to the winter bamboo shoots.
2. The winter bamboo shoot detection apparatus of claim 1, wherein the man-machine interaction device is rotatably mounted at the other end of the hand-held handle and is rotatable about the hand-held handle.
3. The winter bamboo shoot detection apparatus as claimed in claim 1, further comprising a universal wheel and two traveling wheels, wherein the universal wheel and the traveling wheels are arranged in a triangular distribution on the installation base, and the heights of the universal wheel and the traveling wheels ensure that the installation base is parallel to the ground; the universal wheel is used for adjusting the advancing direction of the equipment.
4. A winter bamboo shoot detection apparatus as claimed in claim 3, wherein the travelling wheel includes a wheel body and a mounting bracket, the middle of the mounting bracket is rotatably connected to the mounting base, a first end of the mounting bracket is rotatably connected to the wheel body, the wheel body is rotatable about the mounting bracket about the center of the wheel body, the travelling wheel is separated from the ground when the mounting bracket is rotated about the mounting base, a second end of the mounting bracket contacts the ground, and the mounting bracket and the universal wheel support the mounting base and ensure that the mounting base is parallel to the ground.
5. A detection system, comprising:
the detection apparatus as claimed in any one of claims 1 to 4, for detecting the presence of mature winter bamboo shoots under the ground and transmitting the detection result to the user terminal;
the user terminal; and the detection device is used for receiving and displaying the detection result, receiving a control instruction of a user, and controlling the detection device to mark the ground surface of the detected mature winter bamboo shoots according to the user instruction.
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| CN111665496B (en) * | 2020-05-26 | 2023-02-24 | 广西电网有限责任公司南宁供电局 | Underground cable path detection device based on 3D ground penetrating radar |
| CN113997992A (en) * | 2021-09-14 | 2022-02-01 | 广西电网有限责任公司南宁供电局 | Electromagnetic wave ground penetrating radar car convenient to location cable |
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