CN110525539A - A kind of head blight data in-situ acquisition vehicle - Google Patents
A kind of head blight data in-situ acquisition vehicle Download PDFInfo
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- CN110525539A CN110525539A CN201910932401.3A CN201910932401A CN110525539A CN 110525539 A CN110525539 A CN 110525539A CN 201910932401 A CN201910932401 A CN 201910932401A CN 110525539 A CN110525539 A CN 110525539A
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- 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
- A01G13/00—Protecting plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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Abstract
The invention discloses a kind of head blight data in-situ acquisition vehicles, including power device, control device and original-position collecting device, power device includes top plate, front-wheel strut, front-wheel, movable motor, power feed rod, wheel fixes strut, the fixed strut of vehicle frame and rear-wheel, original-position collecting device includes two collectors that left and right is oppositely arranged, collector is hung in below top plate, between the fixed strut of wheel, there is the gap passed through for wheat between the two collectors, control device includes remote controler and control box, control box is fixed on top plate, control chip is installed in control box, wireless transceiver and control device battery, control chip respectively with wireless transceiver and control device battery.The present invention has and can be walked in wheatland by being remotely controlled, and in wheatland in situ detection wheat wheat head or so two sides image, also can the high advantage of normal sample, sampling precision to the highly shorter wheat head.
Description
Technical field
The invention belongs to the technical fields of head blight prevention and treatment more particularly to a kind of utilization optical pickup to acquire head blight
The device of data is specifically a kind of head blight data in-situ acquisition vehicle.
Background technique
Head blight is a kind of a kind of disease for often sending out Yu little Mai, barley and oat, one layer of covering pink mould on diseased plant,
Cause seed shrivelled, can be poisoned after people and animals are edible, head blight generally occurs in the whole world, is distributed mainly on moist and semi-humid area
It is aggrieved serious that domain, especially weather moisten rainy Temperate Region in China.All can be aggrieved from seedling to heading, mainly cause that seedling is withered, stem foot
Rotten, stalk corruption and fringe are rotten, wherein causing harm, the most serious is fringe corruption.Head blight feature is to be infected in heading flowering period by germ, is first existed
Fall ill on individual small ears, after along main cob extend to neighbouring small ear up and down, there is the water stain filbert scab of shape in sick portion, gradually
It is expanded into withered yellow, rear to generate the mould layer (conidium) of pink, therefore, head blight catches an illness the wheat head can be in different disease periods
There is the discoloration of brown, yellow and pink.
The test of head blight detection at present uses manual research and automatic detection, and manual research method is investigator's entrance
Wheat field is checked that heavy workload, the number needed is more to the wheat of detection zone one by one, and since people will enter wheat
Ground is persistently walked, and be might have class in wheatland and is haunted, and the awn of wheat is to the irritating effect of human skin, the safety of investigator
It is unable to get good guarantee with comfort, it is more arduous.Automatic detection is then the wheat head of direct harvesting detection zone, by wheat
Fringe is placed on optical imagery instrument and samples, and can destroy whole piece wheatland in this way, loss is larger, and need to employ harvester or people
Work harvesting, cost are also larger.
In addition, there is patent 201721033365 to disclose a kind of wheat scab detection device based on high light spectrum image-forming,
Which disclose one kind can directly take pictures to the wheat wheat head in 45° angle in field, then analyzes wheat scab disease
The device of feelings, however, this device has following problems: 1, it takes pictures with angle, therefore wheat head top can only be photographed, and under the wheat head
Portion is blocked due to the adjacent wheat head and straw, and shooting is less than therefore, the wheat heads for having a large amount of only shooting upper halves exist, and cause
Sample is unavailable.2, the one side of the wheat head can only be taken, another side can not take, and therefore, which can not obtain at all
The entire wheat head pattern for obtaining one plant of wheat can not correctly be known the case where catching an illness for the only half of wheat head.3, due to red
Mildew all can be aggrieved from seedling to heading, can cause the illnesss such as withered seedling, brown foot rot, stalk corruption and fringe corruption, therefore, part is not yet eared
The wheat height caught an illness can more normal wheat it is short, this part head blight wheat of catching an illness can not be arrived by normal photographing, therefore, be used
It directly takes pictures to the wheat wheat head in 45° angle in field, finally obtained wheat scab disease index can be lower than normal value,
Detection inaccuracy.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide one kind can pass through remote control
Walk in wheatland, and in wheatland in situ detection wheat wheat head or so two sides image, also can be normal to the highly shorter wheat head
The high a kind of head blight data in-situ acquisition vehicle of sampling, sampling precision.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows:
A kind of head blight data in-situ acquisition vehicle, in which: including power device, control device and original-position collecting device, power
Device include top plate, front-wheel strut, front-wheel, movable motor, power feed rod, the fixed strut of wheel, the fixed strut of vehicle frame and
Rear-wheel, top plate is horizontally disposed, and front-wheel strut has two, wherein a front-wheel strut upper end is fixed on front end on the left of top plate, lower end
It is connect with a front-wheel, another front-wheel strut upper end is fixed on top plate right side front, and lower end is connect with another front-wheel, movable motor
It is fixedly mounted on top plate lower surface, is moved towards before and after the drive shaft of movable motor, the first helical gear, power point are connected in drive shaft
It is located on rear side of top plate lower surface with bar, left and right trend, covers intrinsic second helical gear in the middle part of power feed rod, the first helical gear and the
The occlusion cooperation of two helical gears when the drive shaft turns of movable motor, can pass through the first helical gear and the second helical gear drive power
Feed rod rotation, power feed rod are fixedly connected by sunpender with top plate, and power feed rod can be rotated relative to sunpender, power point
A upper driving wheel is fixed at both ends with bar respectively, and there are two rear-wheels, is located at the rear end sides of collecting vehicle, the wheel of two rear-wheels
Intrinsic lower driving wheel is covered on axis, is sequentially connected between the upper driving wheel and lower driving wheel of the same side by driving belt, wheel
Fixed strut has two, and the both ends of front and back trend, left and right each one, the fixed strut of wheel are respectively fitted over front-wheel wheel shaft and rear axle
On, front-wheel wheel shaft and rear axle can have several relative to the fixed strut rotation of wheel, the fixed strut of vehicle frame, the fixed branch of vehicle frame
Bar is vertically arranged, and the fixed strut upper end of vehicle frame is fixedly connected with top plate, and lower end is fixedly connected with the fixed strut of wheel；In-situ acquisition
Device includes two collectors that left and right is oppositely arranged, and collector is hung in below top plate, is located between the fixed strut of wheel, this two
There is the gap that passes through for wheat, each collector includes acquisition shell, linear lighting lamp bar, linear between a collector
The opposite one side of acquisition shell of CCD camera, collector battery and memory, two collectors is made by blank, and
The acquisition slot of vertical bar shape is offered on blank, acquires in slot and transparent glass is installed, linear lighting lamp bar, is adopted linear CCD camera
Storage battery and memory are fixedly mounted in acquisition shell, and linear lighting lamp bar and linear CCD camera are along saturating
The installation of light glass, so that the lamp light-transmissive transparent glass of linear lighting lamp bar projects, linear CCD phase function penetrates transparent glass
Optical information is acquired, linear CCD camera is connect with collector battery and memory respectively, the optics of linear CCD camera acquisition
Information can be sent to memory storage, and linear lighting lamp bar is connect with collector battery, and collector battery is respectively linear CCD phase
The acquisition slot front and back of machine and the power supply of linear lighting lamp bar, two collectors is staggered, so that two linear lighting lamp bars pass through accordingly
The light that transparent glass projects is independent of each other, and each equal front of collector is equipped with ratchet device, and clamping part, ratchet are installed in lower part
Device includes ratchet, composite reinforcement bar and power motor, and ratchet is vertically installed at acquisition shell front, and ratchet includes a spine
Wheel shaft is fixedly mounted on the hook tooth on ratchet shaft with several, and hook tooth is intervally arranged along ratchet shaft axial direction, ratchet
Gap between tooth is ratchet gap, and composite reinforcement bar and ratchet gap correspond, composite reinforcement bar include ratchet reinforcing portion,
Collector reinforcing portion, middle lantern ring and preceding lantern ring, ratchet reinforcing portion front and collector reinforcing portion rear portion integrally connected, middle lantern ring
It is provided with ratchet reinforcing portion and collector reinforcing portion junction, ratchet reinforcing portion front and collector reinforcing portion rear portion stretch to spine
It takes turns in gap, with middle set ring set on ratchet shaft, middle lantern ring and ratchet shaft axial restraint, circumferential rotatably cooperation, ratchet are reinforced
Portion rear portion is fixedly connected with acquisition housing outer surface, and collector reinforcing portion front end is preceding lantern ring, and preceding lantern ring can be covered in front-wheel strut
Upper to be fixedly connected with front-wheel strut, composite reinforcement bar makes front-wheel strut, ratchet and acquisition shell be fixed as one, and ratchet is vertical
It is mounted on acquisition shell front, power motor is fixed on acquisition shell, and the wheel shaft of power motor and ratchet is sequentially connected, power
Motor can drive ratchet with its own wheel shaft rotation, and clamping part includes two clamping gears, a grip belts, the two folders
Holding gear one in front and one in back can be mounted on acquisition lower part of the housing around itself wheel shaft rotation, and grip belts are wound on two clamping gears
Upper fixation, the wheel shaft and power motor of one of clamping gear are sequentially connected, and power motor can drive clamping tooth wheel to rotate, from
And grip belts are rotated, two ratchets or so are arranged in parallel side by side, acquire for being involved in straw and the wheat head to two
Between device, two grip belts are mutually close to grip belts lateral surface is wrapped with elastic layer, is used for resilient clamp straw, control
Device processed includes remote controler and control box, and control box is fixed on top plate, controls and is equipped with control chip, wireless transceiver in box
And control device battery, control chip is respectively with wireless transceiver and control device battery, and remote controler to wireless for receiving
It sends out device and sends wireless instructions, it is control chip and wireless transceiver, control device battery, movable motor, linear lighting lamp bar, linear
CCD camera and power motor connection, control chip can receive the instruction that wireless transceiver transmits, and control movable motor, line
Property illumination lamp bar, linear CCD camera and power motor running.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
Above-mentioned front-wheel strut is connect by steering motor with front-wheel, and steering motor is fixedly connected with front-wheel strut, steering motor
Transmission shaft be fixedly connected with the wheel shaft of front-wheel, when the rotation of the transmission shaft of steering motor, front-drive direction can be driven, control core
Piece is connect with steering motor signal, and control chip can control steering motor running.
Above-mentioned control chip is single-chip microcontroller, and model MCS-51 type single-chip microcontroller, steering motor is stepper motor, power electric
Machine connect with collector battery and connect simultaneously from collector battery electricity-taking, movable motor and steering motor with control device battery
From control device battery electricity-taking, collector battery is lithium battery, and control device battery is lithium battery or lead-acid accumulator.
The opposite one side of acquisition shell of two above-mentioned collectors is provided with several fixation holes, these fixation holes
Positioned at acquisition housing central section, vertical array, height regulating rod, height regulating rod upper end and the fixed company of top plate is arranged in top plate two sides
Connect, lower part is provided with several vertically disposed alignment holes, alignment Kong Nengyu fixation hole alignment, then by bolt also cross
It is aligned hole and fixation hole, collector is fixedly connected with height regulating rod, the fixation in the alignment hole and different height of different height
Hole alignment is fixed, and the fixed height of collector can be made to change, so as to adjust collector height.
The wheel face of above-mentioned each front wheels and rear wheels is all provided with anti-skid design.
The elastic layer that the lateral surface of above-mentioned clamping gear is wrapped up in is rubber material production.
Above-mentioned preceding lantern ring is shape lantern ring, is provided on the inside of the ring of preceding lantern ring with certain thickness rubber layer, the rubber
Layer frictionally secures cooperation for lantern ring before making and front-wheel strut.
The invention has the following advantages that
1, the present invention devises a kind of remote control collecting vehicle that can be walked in field, onboard lifts collector, operator only needs
It is walked by remote control device collecting vehicle in Tanaka on field side, wheat wheat head pattern can be acquired, acquired without artificial, without
Operator enters Tanaka, can reduce the difficulty of wheat scab data acquisition well, meanwhile, collection process damages wheat field
Small, cost is relatively low.
2, wheat scab collector of the invention includes the two symmetrical collectors in left and right, and two collectors are provided with
The linear lighting lamp bar and linear CCD camera of sampling, can acquire the image of a wheat head two sides simultaneously, to obtain one plant
The complete information of the wheat head, compared to existing optical sampling device, direct in-situ of the present invention does not have the positive surface sample in wheat head two sides
There is tilt angle, therefore more complete drawing information can be obtained, to improve the accuracy of wheat scab state of an illness sampling.
3, two collectors in present invention left and right are all made of linear lighting lamp bar and linear CCD camera, while acquiring in left and right
Optical sampling is carried out to wheat between device, such setting can obtain wheat direct picture identical with linear CCD camera length,
The distance that linear CCD camera length is liftoff can be adjusted by height regulating rod, therefore, when collector is adapted to different
The wheat height of phase, improves the applicability of collector, further, since linear CCD camera has certain length, is sampling
Cheng Zhong, linear CCD camera can obtain the wheat image of different height, as described in background technique, since head blight is from children
Seedling all can be aggrieved to heading, the part not yet heading i.e. wheat height caught an illness can more normal wheat it is short, and linear CCD camera passes through
The wheat image for obtaining different height arrives this part head blight wheat of catching an illness by normal photographing, to improve head blight
The accuracy of data acquisition.
4, to improve sampling efficiency, ratchet structure is arranged in the present invention in front of collector, will be in front of collector using ratchet
Wheat be all brought between two collectors, to increase the sampling width of collecting vehicle, improve sampling efficiency.
5, the present invention devises clamping part, clamps straw lower part by grip belts, prevent in detection process straw because
Mai Ye, the awn of wheat mutually collide or acquire shell friction with collector and lodge.The wheat stability for being jammed straw is more preferable, does not fall
Volt, and amplitude and frequency that the wheat head sways forwards and backwards can be largely reduced, improve the acquisition quality of wheat image.
6, when device is walked in wheatland, straw, Mai Yehui ceaselessly generate disturbance to original-position collecting device, only pass through height
Power device is connect by degree adjusting rod with original-position collecting device, be will lead to original-position collecting device rear and front end and is easy to produce shaking,
To influencing data collection effect, the present invention devises composite reinforcement rod structure, by composite reinforcement bar by front-wheel strut, ratchet
And acquisition shell is fixed as one, and can largely improve the stable connection between power device and original-position collecting device
Property, to resist the ability that external force disturbs original-position collecting device, composite reinforcement rod structure when improving device and walking in wheatland
Cooperate with height regulating rod, keeps formation between power device and original-position collecting device double fixed, guarantee power device is adopted in situ
The stability of acquisition means.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the connection relationship diagram of power device；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the schematic diagram of the fixed strut connection front wheels and rear wheels of wheel；
Fig. 5 is the right side view of the collector in left side；
Fig. 6 is the left side view of the collector on right side；
Fig. 7 is the cross-sectional view of the collector in left side；
Fig. 8 is the A-A cross-sectional view of Fig. 7；
Fig. 9 is the B-B cross-sectional view of Fig. 7；
Figure 10 is the annexation figure of rear-wheel and driving belt.
Appended drawing reference are as follows: power device 1, top plate 11, front-wheel strut 12, steering motor 12a, front-wheel 13, movable motor 14,
The fixed strut 16 of first helical gear 14a, power feed rod 15, the second helical gear 15a, sunpender 15b, upper driving wheel 15c, wheel,
Vehicle frame fixes strut 17, rear-wheel 18, lower driving wheel 18a, driving belt 18b, height regulating rod 19, control device 2, remote controler
21, box 22, control chip 23, wireless transceiver 24, control device battery 25, collector 3, acquisition shell 31, linear photograph are controlled
Bright lamp item 32, linear CCD camera 33, collector battery 34, memory 35, transparent glass 36, ratchet device 4, ratchet 41, ratchet
Axis 41a, hook tooth 41b, ratchet gap 41c, power motor 42, composite reinforcement bar 43, ratchet reinforcing portion 43a, collector are reinforced
Portion 43b, preceding lantern ring 43c, clamping part 5, clamping gear 51, grip belts 52.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
A kind of head blight data in-situ acquisition vehicle of the present embodiment, in which: including power device 1, control device 2 and original
Position acquisition device, power device 1 include top plate 11, front-wheel strut 12, front-wheel 13, movable motor 14, power feed rod 15, wheel
The fixed strut 17 of fixed strut 16, vehicle frame and rear-wheel 18, top plate 11 is horizontally disposed, and front-wheel strut 12 has two, wherein one
12 upper end of front-wheel strut is fixed on 11 left side front end of top plate, and lower end is connect with a front-wheel 13, and another 12 upper end of front-wheel strut is solid
It is scheduled on 11 right side front of top plate, lower end is connect with another front-wheel 13, and movable motor 14 is fixedly mounted on 11 lower surface of top plate, walking
It is moved towards before and after the drive shaft of motor 14, is connected with the first helical gear 14a in drive shaft, power feed rod 15 is located at 11 following table of top plate
On rear side of face, left and right is moved towards, and covers intrinsic second helical gear 15a, the first helical gear 14a and the second helical gear in the middle part of power feed rod 15
15a occlusion cooperation when the drive shaft turns of movable motor 14, can be driven by the first helical gear 14a and the second helical gear 15a and be moved
Power feed rod 15 rotates, and power feed rod 15 is fixedly connected by sunpender 15b with top plate 11, and power feed rod 15 can be relative to hanging
A upper driving wheel 15c is fixed at bar 15b rotation, the both ends of power feed rod 15 respectively, and there are two rear-wheels 18, is located at collecting vehicle
Rear end sides, cover intrinsic lower driving wheel 18a, the upper driving wheel 15c and underdrive of the same side on the wheel shaft of two rear-wheels 18
It is sequentially connected between wheel 18a by driving belt 18b, the fixed strut 16 of wheel has two, and front and back is moved towards, left and right each one, wheel
The both ends of fixed strut 16 are respectively fitted on 18 wheel shaft of 13 wheel shaft of front-wheel and rear-wheel, and 13 wheel shaft of front-wheel and 18 wheel shaft of rear-wheel can be opposite
It is rotated in the fixed strut 16 of wheel, the fixed strut 17 of vehicle frame has several, and the fixed strut 17 of vehicle frame is vertically arranged, the fixed branch of vehicle frame
17 upper end of bar is fixedly connected with top plate 11, and lower end is fixedly connected with the fixed strut 16 of wheel；Original-position collecting device includes left and right phase
To two collectors 3 of setting, collector 3 is hung in 11 lower section of top plate, is located between the fixed strut 16 of wheel, the two collectors
There is the gap passed through for wheat, each collector 3 includes acquisition shell 31, linear lighting lamp bar 32, linear CCD between 3
Camera 33, collector battery 34 and memory 35, the opposite one side of the acquisition shell 31 of two collectors 3 is by blank system
Make, and offer the acquisition slot of vertical bar shape on blank, acquires and transparent glass 36 is installed in slot, it is linear lighting lamp bar 32, linear
CCD camera 33, collector battery 34 and memory 35 are fixedly mounted in acquisition shell 31, and 32 He of linear lighting lamp bar
Linear CCD camera 33 is installed along transparent glass 36, so that the lamp light-transmissive transparent glass 36 of linear lighting lamp bar 32 is penetrated
Out, linear CCD camera 33 can through transparent glass 36 acquire optical information, linear CCD camera 33 respectively with collector battery 34
And memory 35 connects, the optical information that linear CCD camera 33 acquires can be sent to the storage of memory 35, linear lighting lamp bar
32 connect with collector battery 34, and collector battery 34 is respectively that linear CCD camera 33 and linear lighting lamp bar 32 are powered, and two
It is staggered before and after the acquisition slot of collector 3, so that two linear lighting lamp bars 32 are mutual by the light that corresponding transparent glass 36 projects
Do not influence, the equal front of each collector 3 is equipped with ratchet device 4, and clamping part 5 is installed in lower part, ratchet device 4 include ratchet 41,
Composite reinforcement bar 43 and power motor 42, ratchet 41 are vertically installed at acquisition 31 front of shell, and ratchet 41 includes a ratchet
Axis 41a is fixedly mounted on the hook tooth 41b on ratchet shaft 41a with several, and hook tooth 41b is along ratchet shaft 41a axial direction
It being intervally arranged, the gap between hook tooth 41b is ratchet gap 41c, and composite reinforcement bar 43 and ratchet gap 41c are corresponded,
Composite reinforcement bar 43 includes ratchet reinforcing portion 43a, collector reinforcing portion 43b, middle lantern ring and preceding lantern ring 43c, ratchet reinforcing portion
The front 43a and the rear portion collector reinforcing portion 43b integrally connected, middle lantern ring are provided with ratchet reinforcing portion 43a and collector reinforcing portion
The junction 43b, the ratchet front reinforcing portion 43a and the rear portion collector reinforcing portion 43b stretch in the 41c of ratchet gap, with middle lantern ring
Cover on ratchet shaft 41a, middle lantern ring and ratchet shaft 41a axial restraint, circumferential rotatably cooperation, the ratchet rear portion reinforcing portion 43a with
Acquisition 31 outer surface of shell is fixedly connected, and the collector front end reinforcing portion 43b is preceding lantern ring 43c, and preceding lantern ring 43c can be covered in front-wheel branch
It is fixedly connected on bar 12 with front-wheel strut 12, composite reinforcement bar 43 keeps front-wheel strut 12, ratchet 41 and acquisition shell 31 fixed
It is integrated, power motor 42 is fixed on acquisition shell 31, and the wheel shaft of power motor 42 and ratchet 41 is sequentially connected, power motor
42 can drive ratchet 41 with its own wheel shaft rotation, and clamping part 5 includes two clamping gears, 51, grip belts 52, this
Two clamping gears 51 one in front and one in back can be mounted on acquisition 31 lower part of shell around itself wheel shaft rotation, and grip belts 52 are wound on
Fixed on two clamping gears 51, the wheel shaft and power motor 42 of one of clamping gear 51 are sequentially connected, power motor 42
Clamping tooth wheel 51 can be driven to rotate, so that grip belts 52 be made to rotate, two ratchets 41 or so are arranged in parallel side by side, are used for
Straw and the wheat head are involved between two collectors 3, two grip belts 52 are mutually close to 52 lateral surface of grip belts
It is wrapped with elastic layer, is used for resilient clamp straw, control device 2 includes remote controler 21 and control box 22, and control box 22 is fixed on top
It on plate 11, controls and control chip 23, wireless transceiver 24 and control device battery 25 is installed in box 22, control chip 23 divides
Not with wireless transceiver 24 and control device battery 25, remote controler 21 is for sending wireless instructions, control to wireless transceiver 24
Coremaking piece 23 and wireless transceiver 24, control device battery 25, movable motor 14, linear lighting lamp bar 32, linear CCD camera 33
And power motor 42 connects, control chip 23 can receive the instruction that wireless transceiver 24 transmits, and control movable motor 14, line
Property illumination lamp bar 32, linear CCD camera 33 and power motor 42 operate.
In embodiment, front-wheel strut 12 is connect by steering motor 12a with front-wheel 13, steering motor 12a and front-wheel strut
12 are fixedly connected, and the transmission shaft of steering motor 12a is fixedly connected with the wheel shaft of front-wheel 13, the transmission shaft rotation of steering motor 12a
When, 13 rotation direction of front-wheel can be driven, control chip 23 is connect with steering motor 12a signal, and control chip 23 can control steering
Motor 12a running.
In embodiment, control chip 23 is single-chip microcontroller, and model MCS-51 type single-chip microcontroller, steering motor 12a is stepping electricity
Machine, power motor 42 connect with collector battery 34 and take electricity, movable motor 14 and steering motor 12a from collector battery 34
It is connect with control device battery 25 and takes electricity from control device battery 25, collector battery 34 is lithium battery, control device battery
25 be lithium battery or lead-acid accumulator.
In embodiment, the opposite one side of acquisition shell 31 of two collectors 3 is provided with several fixation holes, these
Fixed hole position is in 31 middle part of acquisition shell, and vertical array, height regulating rod 19,19 upper end of height regulating rod is arranged in 11 two sides of top plate
It is fixedly connected with top plate 11, lower part is provided with several vertically disposed alignment holes, then alignment Kong Nengyu fixation hole alignment is led to
Bolt is crossed also cross alignment hole and fixation hole, collector 3 is fixedly connected with height regulating rod 19, the alignment hole of different height
It is aligned fixation with the fixation hole of different height, the fixed height of collector 3 can be made to change, so as to adjust 3 height of collector.
In embodiment, the wheel face of each front-wheel 13 and rear-wheel 18 is all provided with anti-skid design.
In embodiment, the elastic layer that the lateral surface of clamping gear 51 is wrapped up in is rubber material production.
Preceding lantern ring 43c is C-shaped lantern ring, is provided on the inside of the ring of preceding lantern ring 43c with certain thickness rubber layer, the rubber
Layer frictionally secures cooperation for lantern ring 43c before making and front-wheel strut 12.
Power motor 42 of the present invention is fixed on acquisition shell 31, as shown in fig. 7, the transmission axis connection one of power motor 42
Root vertical axes, vertical axes vertically run through acquisition shell 31, this vertical axes top and bottom has all covered one group of transmission belt structure,
Transmission belt structure is used to get up on ratchet 41 and vertical axes transmission connection, when the transmission shaft rotation of power motor 42,
Ratchet 41 can rotate with it, and vertical axes also extend through the axle center of one of clamping gear 51, and sting with the clamping gear 51
Cooperation is closed, when the transmission shaft of power motor 42 rotates, clamping gear 51 can be rotated with it, therefore, ratchet 41 and folder
It holds portion 5 and shares a power motor 42.Ratchet 41 acquires shell 31 by a supporting rod and collector and rotatably fixes
Connection, for the front end sleeve of supporting rod on ratchet, the axis of the corresponding position of ratchet has recess as can be known from Fig. 5 and Fig. 6, clamping
In bar cramp to recess, to make ratchet in the vertical direction and be fixed, ratchet can be opposite around supporting rod rotation.
The device of the invention application method is as follows: being in advance collector battery 34 by taking the acquisition of wheat scab data as an example
It is charged with control device battery 25, head blight data in-situ acquisition vehicle is then transported to detection zone, it is distant by remote controler 21
Control control chip 23 makes to control the sending instruction of chip 23, and movable motor 14 operates, and movable motor 14 drives the first helical gear 14a
Rotation, the first helical gear 14a are engaged with the second helical gear 15a, so that power feed rod 15 be made to rotate, power feed rod 15 leads to again
It crosses upper driving wheel 15c, lower driving wheel 18a and driving belt 18b and power is transferred to rear-wheel 18, so that collecting vehicle be made to start, adopt
After collection vehicle opens wheat detection zone, remote controler 21 controls the running of steering motor 12a, so that control collecting vehicle starts direction,
Remote controler 21 controls linear headlamp item 32, linear CCD camera 33 and power motor 42 simultaneously and starts, and power motor 42 drives
Ratchet 41 rotates inward, and the wheat in front of collecting vehicle is involved in the clamping part 5 between two collectors 3, and below collector 3
It is also rotated synchronously under the drive of power motor 42, the wheat straw between collector 3 is clamped, and by wheat straw from acquisition
3 front of device is conveyed to 3 rear portion of collector, and linear lighting lamp bar 32 illuminates the space between two collectors 3, two lines
Property illumination lamp bar 32 optical signalling capture is carried out to the right side in the left side of wheat and wheat respectively, form wheat left and right side
Then optical imagery stores the image into memory 35, in collecting vehicle walking process, operator is remotely controlled on field side and fills
It sets, does not need to enter wheatland, when collecting vehicle walking to detection area edge, operator controls collecting vehicle and turns to, and returns collecting vehicle
Head acquires the image of adjacent wheat, until all images to be acquired all have acquired, operator recycles collecting vehicle.Linearly
CCD camera 33 can acquire the straw and wheat head image of wheat, these images can identify wheat by knowing figure software in post-processing
Fringe rejects straw, staff according in wheat head image brown, yellow and pink region and form judge wheat
Whether head blight, and contaminated head blight state of an illness grade are contaminated.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (7)
1. a kind of head blight data in-situ acquisition vehicle, it is characterized in that: including that power device (1), control device (2) and original position are adopted
Acquisition means, the power device (1) include top plate (11), front-wheel strut (12), front-wheel (13), movable motor (14), power
Feed rod (15), wheel fixed strut (16), vehicle frame fixed strut (17) and rear-wheel (18), the top plate (11) level are set
It sets, front-wheel strut (12) has two, wherein front-wheel strut (12) upper end is fixed on front end on the left of top plate (11), lower end and one
Front-wheel (13) connection, another front-wheel strut (12) upper end are fixed on top plate (11) right side front, lower end and another front-wheel (13)
Connection, the movable motor (14) are fixedly mounted on top plate (11) lower surface, move towards before and after the drive shaft of movable motor (14),
It is connected in drive shaft the first helical gear (14a), the power feed rod (15) is located on rear side of top plate (11) lower surface, left and right
Trend, power feed rod (15) middle part cover intrinsic second helical gear (15a), first helical gear (14a) and the second helical teeth
(15a) occlusion cooperation is taken turns, when the drive shaft turns of the movable motor (14), the first helical gear (14a) and second can be passed through
Helical gear (15a) drives power feed rod (15) rotation, and the power feed rod (15) passes through sunpender (15b) and top plate (11)
It is fixedly connected, the power feed rod (15) can be rotated relative to sunpender (15b), the both ends of the power feed rod (15)
It fixes respectively a upper driving wheel (15c), there are two the rear-wheels (18), the rear end sides of collecting vehicle is located at, after two
It takes turns and is covered intrinsic lower driving wheel (18a) on the wheel shaft of (18), between the upper driving wheel (15c) and lower driving wheel (18a) of the same side
It is sequentially connected by driving belt (18b), the wheel fixed strut (16) has two, and front and back is moved towards, left and right each one, wheel
The both ends of fixed strut (16) are respectively fitted on front-wheel (13) wheel shaft and rear-wheel (18) wheel shaft, and the front-wheel (13) wheel shaft is with after
Several can be had relative to wheel fixed strut (16) rotation, the vehicle frame fixed strut (17) by taking turns (18) wheel shaft, and vehicle frame is solid
Determine strut (17) to be vertically arranged, fixed strut (17) upper end of vehicle frame is fixedly connected with top plate (11), lower end and the fixed strut of wheel
(16) it is fixedly connected；The original-position collecting device includes two collectors (3) that left and right is oppositely arranged, and collector (3) is hung in
Below top plate (11), it is located between wheel fixed strut (16), has between passing through for wheat between the two collectors (3)
Gap, each collector (3) include acquisition shell (31), linear lighting lamp bar (32), linear CCD camera (33), collector electricity
Pond (34) and memory (35), the one side that the acquisition shell (31) of two collectors (3) is opposite are made by blank, and white
The acquisition slot of vertical bar shape is offered on plate, is acquired and is equipped with transparent glass (36) in slot, the linear lighting lamp bar (32), line
Property CCD camera (33), collector battery (34) and memory (35) be fixedly mounted in acquisition shell (31), and linear shine
Bright lamp item (32) and linear CCD camera (33) are installed along transparent glass (36), so that the light of linear lighting lamp bar (32)
It can be projected through transparent glass (36), linear CCD camera (33) can acquire optical information, the line through transparent glass (36)
Property CCD camera (33) connect respectively with collector battery (34) and memory (35), linear CCD camera (33) acquisition optics
Information can be sent to memory (35) storage, and the linear lighting lamp bar (32) is connect with collector battery (34), collector
Battery (34) is respectively linear CCD camera (33) and linear lighting lamp bar (32) power supply, the acquisition slot front and back of two collectors (3)
It is staggered, so that two linear lighting lamp bars (32) are independent of each other by the light that corresponding transparent glass (36) projects, each acquisition
Device (3) front be equipped with ratchet device (4), lower part install clamping part (5), the ratchet device (4) include ratchet (41),
Composite reinforcement bar (43) and power motor (42), the ratchet (41) are vertically installed at acquisition shell (31) front, ratchet
(41) include a ratchet shaft (41a) and several are fixedly mounted on the hook tooth (41b) on ratchet shaft (41a), the spine
The gear teeth (41b) are intervally arranged along ratchet shaft (41a) axial direction, and the gap between hook tooth (41b) is ratchet gap
(41c), the composite reinforcement bar (43) and ratchet gap (41c) are corresponded, and composite reinforcement bar (43) includes that ratchet is reinforced
Portion (43a), collector reinforcing portion (43b), middle lantern ring and preceding lantern ring (43c), the ratchet reinforcing portion front (43a) and are adopted
The rear portion storage reinforcing portion (43b) integrally connected, middle lantern ring are provided with ratchet reinforcing portion (43a) and collector reinforcing portion (43b) even
Place is met, the ratchet reinforcing portion front (43a) and the rear portion collector reinforcing portion (43b) stretch in ratchet gap (41c), with middle lantern ring
It covers on ratchet shaft (41a), middle lantern ring and ratchet shaft (41a) axial restraint, circumferential rotatably cooperation, the ratchet reinforcing portion
The rear portion (43a) is fixedly connected with acquisition shell (31) outer surface, and the collector reinforcing portion front end (43b) is preceding lantern ring (43c), protheca
Ring (43c), which can be covered, to be fixedly connected on front-wheel strut (12) with front-wheel strut (12), and the composite reinforcement bar (43) makes front-wheel
Strut (12), ratchet (41) and acquisition shell (31) are fixed as one, and the power motor (42) is fixed on acquisition shell
(31) on, the wheel shaft of power motor (42) and ratchet (41) is sequentially connected, and the power motor (42) can drive ratchet (41)
With its own wheel shaft rotation, the clamping part (5) includes two clamping gears (51), a grip belts (52), this two
A clamping gear (51) one in front and one in back can be mounted on acquisition shell (31) lower part, grip belts (52) around itself wheel shaft rotation
Fixed, the wheel shaft of one of clamping gear (51) and power motor (42) transmission connection are wound on two clamping gears (51),
The power motor (42) can drive clamping tooth wheel (51) to rotate, so that grip belts (52) are rotated, two ratchets
(41) left and right is arranged in parallel side by side, for being involved in straw and the wheat head between two collectors (3), two grip belts
(52) mutually close to grip belts (52) lateral surface is wrapped with elastic layer, is used for resilient clamp straw, the control device
It (2) include remote controler (21) and control box (22), the control box (22) is fixed on top plate (11), peace in control box (22)
Equipped with control chip (23), wireless transceiver (24) and control device battery (25), the control chip (23) respectively with
Wireless transceiver (24) and control device battery (25), the remote controler (21) are used to send nothing to wireless transceiver (24)
Line, it is the control chip (23) and wireless transceiver (24), control device battery (25), movable motor (14), linear
Wireless transceiver can be received by illuminating lamp bar (32), linear CCD camera (33) and power motor (42) connection, control chip (23)
(24) instruction transmitted, and control movable motor (14), linear lighting lamp bar (32), linear CCD camera (33) and power electric
Machine (42) running.
2. a kind of head blight data in-situ acquisition vehicle according to claim 1, it is characterized in that: the front-wheel strut (12)
It is connect by steering motor (12a) with front-wheel (13), the steering motor (12a) is fixedly connected with front-wheel strut (12), is turned
It is fixedly connected to the transmission shaft of motor (12a) with the wheel shaft of front-wheel (13), the transmission shaft rotation of the steering motor (12a)
When, front-wheel (13) rotation direction can be driven, the control chip (23) is connect with steering motor (12a) signal, the control
Coremaking piece (23) can control steering motor (12a) running.
3. a kind of head blight data in-situ acquisition vehicle according to claim 2, it is characterized in that: the control chip (23)
For single-chip microcontroller, model MCS-51 type single-chip microcontroller, the steering motor (12a) is stepper motor, the power motor
(42) it is connect with collector battery (34) and takes electricity, movable motor (14) and steering motor (12a) from collector battery (34)
It being connect with control device battery (25) and takes electricity from control device battery (25), the collector battery (34) is lithium battery,
The control device battery (25) is lithium battery or lead-acid accumulator.
4. a kind of head blight data in-situ acquisition vehicle according to claim 3, it is characterized in that: two collector (3) are adopted
The opposite one side of collection shell (31) is provided with several fixation holes, these fixed hole positions erect in the middle part of acquisition shell (31)
To arrangement, height regulating rod (19) are arranged in the top plate (11) two sides, the height regulating rod (19) upper end and top plate
(11) it is fixedly connected, lower part is provided with several vertically disposed alignment holes, and the alignment Kong Nengyu fixation hole is aligned, then
By bolt also cross alignment hole and fixation hole, collector (3) is fixedly connected with height regulating rod (19), different height
It is aligned hole and is aligned fixation with the fixation hole of different height, the fixed height of collector (3) can be made to change, so as to adjust collector
(3) height.
5. a kind of head blight data in-situ acquisition vehicle according to claim 4, it is characterized in that: each front-wheel (13) and rear-wheel
(18) wheel face is all provided with anti-skid design.
6. a kind of head blight data in-situ acquisition vehicle according to claim 5, it is characterized in that: the clamping gear (51)
The elastic layer wrapped up in of lateral surface be rubber material production.
7. a kind of head blight data in-situ acquisition vehicle according to claim 5, it is characterized in that: the preceding lantern ring (43c)
Ring inside for C-shaped lantern ring, preceding lantern ring (43c) is provided with certain thickness rubber layer, and the rubber layer is for making preceding lantern ring
(43c) and front-wheel strut (12) frictionally secures cooperation.
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| CN201910932401.3A CN110525539B (en) | 2019-09-29 | 2019-09-29 | Gibberellic disease data in-situ acquisition vehicle |
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