CN110525539B - Gibberellic disease data in-situ acquisition vehicle - Google Patents
Gibberellic disease data in-situ acquisition vehicle Download PDFInfo
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- CN110525539B CN110525539B CN201910932401.3A CN201910932401A CN110525539B CN 110525539 B CN110525539 B CN 110525539B CN 201910932401 A CN201910932401 A CN 201910932401A CN 110525539 B CN110525539 B CN 110525539B
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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
Abstract
The invention discloses a gibberellic disease data in-situ acquisition vehicle which comprises a power device, a control device and an in-situ acquisition device, wherein the power device comprises a top plate, a front wheel supporting rod, a front wheel, a walking motor, a power distribution rod, a wheel fixing supporting rod, a frame fixing supporting rod and a rear wheel, the in-situ acquisition device comprises two collectors which are oppositely arranged on the left and the right, the collectors are hung below the top plate and positioned between the wheel fixing supporting rods, a gap for wheat to penetrate through is formed between the two collectors, the control device comprises a remote controller and a control box, the control box is fixed on the top plate, a control chip, a wireless transceiver and a control device battery are installed in the control box, and the control chip is respectively connected with the wireless transceiver and. The invention has the advantages that the invention can travel in the wheat field by remote control, and detect the images of the left and right sides of the wheat ear in situ in the wheat field, and can sample the short wheat ear normally with high sampling precision.
Description
Technical Field
The invention belongs to the technical field of gibberellic disease prevention and control, and particularly relates to a device for acquiring gibberellic disease data by using an optical acquisition device, in particular to a gibberellic disease data in-situ acquisition vehicle.
Background
Scab is a disease commonly occurring in wheat, barley and oat, a pink mould is covered on a diseased plant to cause the grains to be shriveled, and people and livestock can be poisoned after eating the scab which is commonly generated all over the world and mainly distributed in humid and semi-humid areas, particularly in temperate areas with humid and rainy climate. The seedling can be damaged from seedling to ear emergence, and the seedling is mainly withered, stalk-base rot, stalk rot and ear rot, wherein the most serious damage is ear rot. Scab is characterized in that scab is infected by pathogenic bacteria at the heading and flowering stage, firstly attacks on individual spikelets, then expands upwards and downwards along the main spike axis to be adjacent to the spikelets, water stain type light brown disease spots appear in diseased parts, gradually expands to wither yellow, and then generates a pink mildew layer (conidia), so that the brown, yellow and pink discolorations appear in the scab infected wheat ears at different disease stages.
At present, the gibberellic disease detection and examination adopts manual investigation and automatic detection, the manual investigation method is that investigators enter a wheat field and check wheat in a detection area one by one, the workload is large, the number of required people is large, moreover, as the people need to enter the wheat field to walk continuously, snakes can appear in the wheat field, the wheat awns have a stimulation effect on the skin of a human body, and the safety and the comfort of the investigators cannot be well guaranteed and are bitter. The automatic detection is that the ear of wheat in the detection area is directly reaped, the ear of wheat is placed on the optical imaging instrument for sampling, thus the whole wheat field is damaged, the loss is large, and the cost is large because a reaper or a manual reaping is needed.
In addition, there is a patent 201721033365 which discloses a wheat scab detecting device based on hyperspectral imaging, which discloses a device that can photograph wheat ears directly at an angle of 45 ° in the field and then analyze the condition of wheat scab, however, this device has the following problems: 1. the shot has an angle, so that only the upper part of the wheat ear can be shot, and the lower part of the wheat ear cannot be shot due to the shielding of the adjacent wheat ear and the wheat straw, so that a large amount of wheat ears only in the upper half part of the shot exist, and the sample cannot be used. 2. Only one side face of the wheat ear can be shot, and the other side face cannot be shot, so that the device cannot obtain the whole wheat ear pattern of one wheat plant at all, and the device cannot correctly know the condition that only half of the wheat ears are infected with diseases. 3. Because scab can be damaged from seedling to heading, diseases such as seedling withering, stem base rot, stalk rot and ear rot can be caused, therefore, part of wheat which is not heading, namely diseased wheat can be shorter than normal wheat, and the part of wheat which is diseased by scab can not be normally shot, therefore, the wheat ear is directly shot in the field at an angle of 45 degrees, the disease index of the finally obtained wheat scab is lower than the normal value, and the detection is inaccurate.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a gibberellic disease data in-situ collection vehicle which can remotely control a user to walk in a wheat field, detect images of the left side and the right side of a wheat ear in the wheat field in situ, can normally sample the short wheat ear and has high sampling precision.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a gibberellic disease data in-situ collection vehicle, wherein: the power device comprises a top plate, front wheel supporting rods, front wheels, a walking motor, a power distribution rod, wheel fixing supporting rods, a frame fixing supporting rod and rear wheels, wherein the top plate is horizontally arranged, the number of the front wheel supporting rods is two, the upper end of one front wheel supporting rod is fixed at the front end of the left side of the top plate, the lower end of the front wheel supporting rod is connected with one front wheel, the upper end of the other front wheel supporting rod is fixed at the front end of the right side of the top plate, the lower end of the other front wheel supporting rod is connected with the other front wheel, the walking motor is fixedly arranged on the lower surface of the top plate, the front and rear directions of a driving shaft of the walking motor are connected with a first helical gear, the power distribution rod is positioned at the rear side of the lower surface of the top plate and moves leftwards and rightwards, a second helical gear is fixedly sleeved in the middle of the power, the power distribution rod is fixedly connected with the top plate through the hanging rod, the power distribution rod can rotate relative to the hanging rod, two ends of the power distribution rod are respectively fixed with an upper transmission wheel, two rear wheels are respectively positioned at two sides of the rear end of the collecting vehicle, lower transmission wheels are fixedly sleeved on wheel shafts of the two rear wheels, the upper transmission wheel and the lower transmission wheel on the same side are in transmission connection through transmission belts, two wheel fixing support rods are arranged, the front direction and the rear direction are respectively one on the left and the right, two ends of each wheel fixing support rod are respectively sleeved on a front wheel shaft and a rear wheel shaft, the front wheel shaft and the rear wheel shaft can rotate relative to the wheel fixing support rods, the frame fixing support rods are vertically arranged, the upper ends of the frame fixing support rods are fixedly connected with the top plate, and the lower ends of; the in-situ collecting device comprises two collectors which are oppositely arranged left and right, the collectors are hung below a top plate and are positioned between wheel fixing supporting rods, a gap for wheat to pass through is arranged between the two collectors, each collector comprises a collecting shell, a linear lighting lamp strip, a linear CCD camera, a collector battery and a storage device, one opposite side surfaces of the collecting shells of the two collectors are made of white boards, vertical strip-shaped collecting grooves are formed in the white boards, transparent glass is arranged in the collecting grooves, the linear lighting lamp strip, the linear CCD camera, the collector battery and the storage device are fixedly arranged in the collecting shell, the linear lighting lamp strip and the linear CCD camera are arranged along the transparent glass, light of the linear lighting lamp strip can be emitted through the transparent glass, the linear CCD camera collects optical information through the transparent glass, and the linear CCD camera is respectively connected with the collector battery and the storage device, optical information collected by the linear CCD camera can be sent to a memory for storage, the linear illuminating lamp strips are connected with collector batteries, the collector batteries respectively supply power to the linear CCD camera and the linear illuminating lamp strips, the collecting grooves of the two collectors are staggered front and back, so that light rays emitted by the two linear illuminating lamp strips through corresponding transparent glass are not influenced mutually, a ratchet device is arranged at the front part of each collector, a clamping part is arranged at the lower part of each collector, the ratchet device comprises a ratchet wheel, a combined reinforcing rod and a power motor, the ratchet wheel is vertically arranged at the front part of a collecting shell and comprises a ratchet wheel shaft and a plurality of ratchet wheel teeth fixedly arranged on the ratchet wheel shaft, the ratchet wheel teeth are arranged at intervals along the axial direction of the ratchet wheel shaft, gaps among the ratchet wheel teeth are ratchet wheel gaps, the combined reinforcing rods correspond to the ratchet wheel gaps one by one, and the combined reinforcing rod, the front part of the ratchet wheel reinforcing part and the rear part of the collector reinforcing part are integrally connected, a middle sleeve ring is arranged at the joint of the ratchet wheel reinforcing part and the collector reinforcing part, the front part of the ratchet wheel reinforcing part and the rear part of the collector reinforcing part extend into a ratchet wheel gap and are sleeved on a ratchet wheel shaft, the middle sleeve ring is axially fixed and circumferentially and rotatably matched with the ratchet wheel shaft, the rear part of the ratchet wheel reinforcing part is fixedly connected with the outer surface of a collecting shell, the front end of the collector reinforcing part is a front sleeve ring which can be sleeved on a front wheel supporting rod and fixedly connected with a front wheel supporting rod, the ratchet wheel and the collecting shell are fixed into a whole by a combined reinforcing rod, the ratchet wheel is vertically arranged at the front part of the collecting shell, a power motor is fixed on the collecting shell and is in transmission connection with a wheel shaft of the ratchet wheel, the power motor can drive, the two clamping gears can rotate around a wheel shaft of the clamping gears in tandem and are arranged at the lower part of the collecting shell, the clamping conveying belts are fixed around the two clamping gears, the wheel shaft of one clamping gear is in transmission connection with a power motor, the power motor can drive the clamping gears to rotate, so that the clamping conveying belts rotate, the two ratchet wheels are arranged in parallel left and right and are used for rolling wheat straws and wheat ears between the two collectors, the two clamping conveying belts are close to each other, the outer side surfaces of the clamping conveying belts are wrapped with elastic layers for elastically clamping the wheat straws, the control device comprises a remote controller and a control box, the control box is fixed on the top plate, a control chip, a wireless transceiver and a control device battery are arranged in the control box, the control chip is respectively connected with the wireless transceiver and the control device battery, the remote controller is used for sending wireless instructions, The control device comprises a battery, a walking motor, a linear lighting lamp strip, a linear CCD camera and a power motor which are connected, and the control chip can receive instructions transmitted by the wireless transceiver and control the walking motor, the linear lighting lamp strip, the linear CCD camera and the power motor to operate.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the front wheel supporting rod is connected with the front wheel through the steering motor, the steering motor is fixedly connected with the front wheel supporting rod, a transmission shaft of the steering motor is fixedly connected with a wheel shaft of the front wheel, the transmission shaft of the steering motor can drive the front wheel to rotate in the direction when rotating, the control chip is in signal connection with the steering motor, and the control chip can control the steering motor to operate.
The control chip is a single chip microcomputer, the type of the control chip is MCS-51 type single chip microcomputer, the steering motor is a stepping motor, the power motor is connected with the collector battery and takes power from the collector battery, the walking motor and the steering motor are connected with the control device battery and take power from the control device battery, the collector battery is a lithium battery, and the control device battery is a lithium battery or a lead-acid storage battery.
The side that the collection casing of foretell two collectors was carried on the back mutually all is provided with a plurality of fixed orifices, these fixed orifices are located and gather the casing middle part, vertical arrangement, the roof both sides set up altitude mixture control pole, altitude mixture control pole upper end and roof fixed connection, the lower part is provided with the alignment hole of a plurality of vertical arrangement, it can align with the fixed orifices to align the hole, then pass alignment hole and fixed orifices simultaneously through the bolt, with collector and altitude mixture control pole fixed connection, the alignment hole of co-altitude and co-altitude fixed orifices alignment of co-altitude not are fixed, the fixed altitude that enables the collector changes, thereby adjustment collector height.
The wheel surface of each front wheel and each rear wheel is provided with anti-skid patterns.
The elastic layer wrapped on the outer side surface of the clamping gear is made of rubber materials.
The front lantern ring is a ring-shaped lantern ring, a rubber layer with a certain thickness is arranged on the inner side of the front lantern ring, and the rubber layer is used for enabling the front lantern ring to be in friction fixed fit with the front wheel supporting rod.
The invention has the following advantages:
1. the invention designs a remote control collection vehicle capable of walking in the field, a collector is hoisted on the vehicle, an operator only needs to walk in the field through the remote control collection vehicle at the field side, the wheat ear pattern can be collected, manual collection is not needed, the operator does not need to enter the field, the difficulty of wheat scab data collection can be well reduced, meanwhile, the damage to the wheat field in the collection process is small, and the cost is low.
2. Compared with the existing optical sampling device, the wheat head scab collector disclosed by the invention can directly sample the front sides of the two sides of the wheat head in situ without an inclination angle, so that more complete pattern information can be obtained, and the accuracy of wheat head scab disease sampling is improved.
3. The invention adopts a linear lighting lamp strip and a linear CCD camera for the left and the right collectors, and simultaneously optically samples the wheat between the left and the right collectors, the arrangement can obtain a front image of the wheat with the same length as the linear CCD camera, the distance between the linear CCD camera and the ground can be adjusted by a height adjusting rod, therefore, the collectors can adapt to the heights of the wheat in different periods, the applicability of the collectors is improved, in addition, because the linear CCD camera has a certain length, in the sampling process, the linear CCD camera can obtain the wheat images with different heights, as mentioned in the background technology, because the gibberellic disease can be damaged from seedling to heading, the height of the wheat which is not heading but is infected with the scab can be shorter than that of the normal wheat, and the linear CCD camera can normally shoot the wheat which is infected with the gibberellic disease by obtaining the wheat images with different heights, thereby improving the accuracy of data acquisition of the gibberellic disease.
4. In order to improve the sampling efficiency, the ratchet wheel structure is arranged in front of the collectors, and the wheat in front of the collectors is gathered between the two collectors by the ratchet wheel, so that the sampling width of the collecting vehicle is increased, and the sampling efficiency is improved.
5. The wheat straw detection device is provided with the clamping part, the lower part of the wheat straw is clamped by the clamping conveying belt, and the wheat straw is prevented from falling due to mutual collision of wheat leaves and wheat awns or friction with the collection shell of the collector in the detection process. The wheat clamped with the wheat straw has better stability and does not fall down, the amplitude and the frequency of the front and back shaking of the wheat ear can be reduced to a great extent, and the collection quality of the wheat image is improved.
6. When the device runs in a wheat field, wheat straws and wheat leaves ceaselessly disturb an in-situ acquisition device, and a power device is connected with the in-situ acquisition device only through a height adjusting rod, so that the front end and the rear end of the in-situ acquisition device are easy to shake, and the data acquisition effect is influenced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the connection of the power unit;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a schematic view of a wheel securing strut connecting a front wheel and a rear wheel;
FIG. 5 is a right side view of the left side collector;
FIG. 6 is a left side view of the right side harvester;
FIG. 7 is a cross-sectional view of the collector on the left;
FIG. 8 is a sectional view A-A of FIG. 7;
FIG. 9 is a cross-sectional view B-B of FIG. 7;
fig. 10 is a diagram showing the connection relationship between the rear wheel and the drive belt.
The reference signs are: the device comprises a power device 1, a top plate 11, a front wheel support rod 12, a steering motor 12a, a front wheel 13, a walking motor 14, a first bevel gear 14a, a power distribution rod 15, a second bevel gear 15a, a suspension rod 15b, an upper transmission wheel 15c, a wheel fixing support rod 16, a frame fixing support rod 17, a rear wheel 18, a lower transmission wheel 18a, a transmission belt 18b, a height adjusting rod 19, a control device 2, a remote controller 21, a control box 22, a control chip 23, a wireless transceiver 24, a control device battery 25, a collector 3, a collecting shell 31, a linear lighting lamp bar 32, a linear CCD camera 33, a collector battery 34, a memory 35, a transparent glass 36, a ratchet device 4, a ratchet wheel 41, a ratchet wheel shaft 41a, ratchet wheel teeth 41b, a ratchet wheel gap 41c, a motor 42, a combined reinforcing rod 43, a ratchet wheel reinforcing part 43a, a collector reinforcing part 43b, a front sleeve 43c, a clamping part 5, A clamp gear 51 and a clamp belt 52.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
The in-situ gibberellic disease data collecting vehicle of the present embodiment, wherein: the power device 1 comprises a top plate 11, front wheel supporting rods 12, front wheels 13, a traveling motor 14, a power distribution rod 15, wheel fixing supporting rods 16, a frame fixing supporting rod 17 and a rear wheel 18, wherein the top plate 11 is horizontally arranged, the number of the front wheel supporting rods 12 is two, the upper end of one front wheel supporting rod 12 is fixed at the front end of the left side of the top plate 11, the lower end of the front wheel supporting rod is connected with one front wheel 13, the upper end of the other front wheel supporting rod 12 is fixed at the front end of the right side of the top plate 11, the lower end of the other front wheel supporting rod is connected with the other front wheel 13, the traveling motor 14 is fixedly arranged on the lower surface of the top plate 11, the front and rear directions of a driving shaft of the traveling motor 14 are connected, a first bevel gear 14a is connected onto the driving shaft, the power distribution rod 15 is positioned on the rear side of the lower surface of the top plate, when a driving shaft of a walking motor 14 rotates, a power distribution rod 15 is driven to rotate by a first bevel gear 14a and a second bevel gear 15a, the power distribution rod 15 is fixedly connected with a top plate 11 by a suspension rod 15b, the power distribution rod 15 can rotate relative to the suspension rod 15b, two upper transmission wheels 15c are respectively fixed at two ends of the power distribution rod 15, two rear wheels 18 are respectively positioned at two sides of the rear end of a collection vehicle, lower transmission wheels 18a are respectively sleeved on wheel shafts of the two rear wheels 18, the upper transmission wheels 15c and the lower transmission wheels 18a at the same side are in transmission connection through a transmission belt 18b, two wheel fixing support rods 16 are respectively arranged, the front direction and the rear direction are respectively one at the left and the right, two ends of the wheel fixing support rod 16 are respectively sleeved on wheel shafts of a front wheel 13 and a rear wheel 18, the wheel shafts of the front wheel 13 and the rear wheel 18 can rotate relative to the wheel fixing support rod, the frame fixing support rod 17 is vertically arranged, the upper end of the frame fixing support rod 17 is fixedly connected with the top plate 11, and the lower end of the frame fixing support rod 17 is fixedly connected with the wheel fixing support rod 16; the in-situ collecting device comprises two collectors 3 which are oppositely arranged left and right, the collectors 3 are hung below a top plate 11 and are positioned between wheel fixing supporting rods 16, a gap for wheat to pass through is formed between the two collectors 3, each collector 3 comprises a collecting shell 31, a linear lighting lamp strip 32, a linear CCD camera 33, a collector battery 34 and a storage 35, one opposite side surfaces of the collecting shells 31 of the two collectors 3 are made of white boards, vertical strip-shaped collecting grooves are formed in the white boards, light-transmitting glass 36 is installed in the collecting grooves, the linear lighting lamp strip 32, the linear CCD camera 33, the collector battery 34 and the storage 35 are fixedly installed in the collecting shell 31, the linear lighting lamp strip 32 and the linear CCD camera 33 are installed along the light-transmitting glass 36, light of the linear lighting lamp strip 32 can be emitted through the light-transmitting glass 36, and the linear CCD camera 33 can collect optical information through the light-transmitting glass 36, the linear CCD camera 33 is respectively connected with the collector battery 34 and the memory 35, the optical information collected by the linear CCD camera 33 can be sent to the memory 35 for storage, the linear lighting lamp strip 32 is connected with the collector battery 34, the collector battery 34 respectively supplies power for the linear CCD camera 33 and the linear lighting lamp strip 32, the collecting grooves of the two collectors 3 are staggered front and back, so that the light rays emitted by the two linear lighting lamp strips 32 through the corresponding transparent glass 36 are not affected mutually, the front part of each collector 3 is provided with the ratchet wheel device 4, the lower part of each collector 3 is provided with the clamping part 5, the ratchet wheel device 4 comprises the ratchet wheel 41, the combined reinforcing rod 43 and the power motor 42, the ratchet wheel 41 is vertically arranged at the front part of the collecting shell 31, the ratchet wheel 41 comprises a ratchet wheel shaft 41a and a plurality of ratchet wheel teeth 41b fixedly arranged on the ratchet wheel shaft 41a, the gap between the ratchet teeth 41b is a ratchet gap 41c, the combined reinforcing rods 43 correspond to the ratchet gaps 41c one by one, each combined reinforcing rod 43 comprises a ratchet reinforcing part 43a, a collector reinforcing part 43b, a middle sleeve ring and a front sleeve ring 43c, the front part of each ratchet reinforcing part 43a is integrally connected with the rear part of each collector reinforcing part 43b, the middle sleeve ring is arranged at the joint of the ratchet reinforcing part 43a and the collector reinforcing part 43b, the front part of each ratchet reinforcing part 43a and the rear part of each collector reinforcing part 43b extend into the corresponding ratchet gap 41c, the middle sleeve ring is sleeved on the ratchet shaft 41a, the middle sleeve ring is axially fixed and circumferentially rotatably matched with the ratchet shaft 41a, the rear part of each ratchet reinforcing part 43a is fixedly connected with the outer surface of the collection shell 31, the front end of each collector reinforcing part 43b is a front sleeve ring 43c, the front sleeve ring 43c can be sleeved on the front wheel supporting rod 12 and fixedly connected with the front wheel supporting rod 12, and the combined rods 43 enable the front wheel supporting rod 12, The ratchet wheel 41 and the collecting shell 31 are fixed into a whole, the power motor 42 is fixed on the collecting shell 31, the power motor 42 is in transmission connection with a wheel shaft of the ratchet wheel 41, the power motor 42 can drive the ratchet wheel 41 to rotate on the wheel shaft of the power motor, the clamping part 5 comprises two clamping gears 51 and a clamping conveyor belt 52, the two clamping gears 51 can rotate around the wheel shaft of the power motor in tandem and are arranged at the lower part of the collecting shell 31, the clamping conveyor belt 52 is fixed on the two clamping gears 51 in a winding manner, the wheel shaft of one clamping gear 51 is in transmission connection with the power motor 42, the power motor 42 can drive the clamping gear 51 to rotate, so that the clamping conveyor belt 52 rotates, the two ratchet wheels 41 are arranged in parallel left and right for winding wheat straws and wheat ears between the two collectors 3, the two clamping conveyor belts 52 are close to each other, the outer side surface of the clamping conveyor belt 52, the control device 2 comprises a remote controller 21 and a control box 22, the control box 22 is fixed on the top plate 11, a control chip 23, a wireless transceiver 24 and a control device battery 25 are installed in the control box 22, the control chip 23 is respectively connected with the wireless transceiver 24 and the control device battery 25, the remote controller 21 is used for sending wireless instructions to the wireless transceiver 24, the control chip 23 is connected with the wireless transceiver 24, the control device battery 25, the walking motor 14, the linear lighting lamp strip 32, the linear CCD camera 33 and the power motor 42, and the control chip 23 can receive the instructions sent by the wireless transceiver 24 and control the walking motor 14, the linear lighting lamp strip 32, the linear CCD camera 33 and the power motor 42 to operate.
In the embodiment, the front wheel strut 12 is connected with the front wheel 13 through a steering motor 12a, the steering motor 12a is fixedly connected with the front wheel strut 12, a transmission shaft of the steering motor 12a is fixedly connected with a wheel shaft of the front wheel 13, the transmission shaft of the steering motor 12a can drive the front wheel 13 to rotate when rotating, the control chip 23 is in signal connection with the steering motor 12a, and the control chip 23 can control the steering motor 12a to operate.
In the embodiment, the control chip 23 is a single chip microcomputer with the model of MCS-51, the steering motor 12a is a stepping motor, the power motor 42 is connected with the collector battery 34 and takes power from the collector battery 34, the walking motor 14 and the steering motor 12a are connected with the control device battery 25 and takes power from the control device battery 25, the collector battery 34 is a lithium battery, and the control device battery 25 is a lithium battery or a lead-acid storage battery.
In the embodiment, the side that collection casing 31 of two collectors 3 carried on the back mutually all is provided with a plurality of fixed orifices, these fixed orifices are located collection casing 31 middle part, vertical arrangement, 11 both sides of roof set up altitude mixture control pole 19, 19 upper ends of altitude mixture control pole and 11 fixed connection of roof, the lower part is provided with the alignment hole of a plurality of vertical arrangement, it can align with the fixed orifices to align the hole, then pass simultaneously through alignment hole and fixed orifices through the bolt, with collector 3 and 19 fixed connection of altitude mixture control pole, the alignment hole of co-altitude and the fixed orifices of co-altitude not align fixedly, the fixed height that enables collector 3 changes, thereby adjustment collector 3 height.
In the embodiment, the tread of each of the front wheels 13 and the rear wheels 18 is provided with a non-slip pattern.
In the embodiment, the elastic layer wrapped on the outer side surface of the clamping gear 51 is made of a rubber material.
The front collar 43C is a C-shaped collar, and a rubber layer having a certain thickness is provided inside the ring of the front collar 43C, and the rubber layer is used to make the front collar 43C and the front wheel strut 12 in friction fit.
According to the invention, the power motor 42 is fixed on the acquisition shell 31, as shown in fig. 7, a transmission shaft of the power motor 42 is connected with a vertical shaft, the vertical shaft vertically penetrates through the acquisition shell 31, a group of transmission belt structures are sleeved at the upper end and the lower end of the vertical shaft and are used for connecting the ratchet wheel 41 with the vertical shaft in a transmission way, when the transmission shaft of the power motor 42 rotates, the ratchet wheel 41 can rotate along with the vertical shaft, the vertical shaft also penetrates through the axis of one clamping gear 51 and is meshed and matched with the clamping gear 51, when the transmission shaft of the power motor 42 rotates, the clamping gear 51 can rotate along with the vertical shaft, and therefore, the ratchet wheel 41 and the clamping part 5 can share one power motor 42. The ratchet wheel 41 is rotatably and fixedly connected with the collector body 31 through a clamping rod, and as can be seen from fig. 5 and 6, the front end of the clamping rod is sleeved on the ratchet wheel, the shaft at the corresponding position of the ratchet wheel is provided with a recess, and the clamping rod is clamped in the recess, so that the ratchet wheel is fixed in the vertical direction and can relatively rotate around the clamping rod.
The device of the invention is used as follows: taking wheat scab data acquisition as an example, a collector battery 34 and a control device battery 25 are charged in advance, then a scab data in-situ acquisition vehicle is conveyed to a detection area, a remote controller 21 is used for remotely controlling the control chip 23 to enable the control chip 23 to send out an instruction, a walking motor 14 is operated, the walking motor 14 drives a first bevel gear 14a to rotate, the first bevel gear 14a is meshed with a second bevel gear 15a to enable a power distribution rod 15 to rotate, the power distribution rod 15 transmits power to a rear wheel 18 through an upper driving wheel 15c, a lower driving wheel 18a and a driving belt 18b to enable the acquisition vehicle to start, after the acquisition vehicle enters the wheat detection area, the remote controller 21 controls the operation of a steering motor 12a to control the starting direction of the acquisition vehicle, the remote controller 21 simultaneously controls a linear lighting lamp bar 32, a linear CCD camera 33 and a power motor 42 to start, the power motor 42 drives a ratchet wheel 41 to rotate inwards, the wheat in front of the collection vehicle is drawn between two collectors 3, a clamping part 5 below the collectors 3 is driven by a power motor 42 to synchronously rotate, the wheat straw between the collectors 3 is clamped, the wheat straw is conveyed from the front of the collectors 3 to the rear of the collectors 3, a linear lighting lamp bar 32 illuminates the space between the two collectors 3, the two linear lighting lamp bars 32 respectively capture optical signals on the left side of the wheat and the right side of the wheat to form optical images of the left side and the right side of the wheat, the images are stored in a memory 35, an operator is remotely controlled at the field side without entering a wheat field during the traveling of the collection vehicle, when the collection vehicle travels to the edge of a detection area, the operator controls the collection vehicle to turn, so that the collection vehicle returns to collect the images of the adjacent wheat until all the images to be collected are collected, the operator will gather the car and retrieve. The linear CCD camera 33 can collect wheat straw and wheat ear images, the images can identify wheat ears through image recognition software in the later processing, the wheat straws are removed, and workers judge whether the wheat is infected with gibberellic disease or not and the disease level of the infected gibberellic disease according to brown, yellow and pink areas and forms in the wheat ear images.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (5)
1. A gibberellic disease data in-situ acquisition vehicle is characterized in that: comprises a power device (1), a control device (2) and an in-situ acquisition device, wherein the power device (1) comprises a top plate (11), two front wheel supporting rods (12), two front wheels (13), a walking motor (14), a power distribution rod (15), two wheel fixing supporting rods (16), a frame fixing supporting rod (17) and a rear wheel (18), the top plate (11) is horizontally arranged, the number of the front wheel supporting rods (12) is two, the upper end of one front wheel supporting rod (12) is fixed at the front end of the left side of the top plate (11), the lower end of the front wheel supporting rod is connected with one front wheel (13), the upper end of the other front wheel supporting rod (12) is fixed at the front end of the right side of the top plate (11), the lower end of the other front wheel supporting rod is connected with the other front wheel (13), the walking motor (14) is fixedly arranged on the lower surface of the top plate (11), the, the power distribution rod (15) is positioned at the rear side of the lower surface of the top plate (11) and runs left and right, a second bevel gear (15a) is fixedly sleeved in the middle of the power distribution rod (15), the first bevel gear (14a) and the second bevel gear (15a) are in meshed fit, when a driving shaft of the walking motor (14) rotates, the power distribution rod (15) can be driven to rotate through the first bevel gear (14a) and the second bevel gear (15a), the power distribution rod (15) is fixedly connected with the top plate (11) through a hanging rod (15b), the power distribution rod (15) can rotate relative to the hanging rod (15b), two ends of the power distribution rod (15) are respectively fixed with an upper transmission wheel (15c), two rear wheels (18) are respectively positioned at two sides of the rear end of the collection vehicle, lower transmission wheels (18a) are fixedly sleeved on wheel shafts of the two rear wheels (18), the upper driving wheel (15c) and the lower driving wheel (18a) on the same side are in transmission connection through a driving belt (18b), the number of the wheel fixing support rods (16) is two, the direction of the wheel fixing support rods is front and back, the number of the wheel fixing support rods is left and right, two ends of each wheel fixing support rod (16) are respectively sleeved on a wheel shaft of a front wheel (13) and a wheel shaft of a rear wheel (18), the wheel shafts of the front wheel (13) and the rear wheel (18) can rotate relative to the wheel fixing support rods (16), the number of the frame fixing support rods (17) is multiple, the frame fixing support rods (17) are vertically arranged, the upper ends of the frame fixing support rods (17) are fixedly connected with the top plate (11), and the lower ends of the frame fixing; the in-situ collection device comprises two collectors (3) which are oppositely arranged left and right, the collectors (3) are hung below a top plate (11) and are positioned between wheel fixing supporting rods (16), a gap for wheat to pass through is formed between the two collectors (3), each collector (3) comprises a collection shell (31), a linear lighting lamp strip (32), a linear CCD camera (33), a collector battery (34) and a storage (35), one side surface, opposite to the collection shells (31), of the two collectors (3) is made of a white board, a vertical strip-shaped collection groove is formed in the white board, transparent glass (36) is installed in the collection groove, the linear lighting lamp strip (32), the linear CCD camera (33), the collector battery (34) and the storage (35) are fixedly installed in the collection shell (31), and the linear lighting lamp strip (32) and the linear CCD camera (33) are installed along the transparent glass (36), make the light of linear illumination lamp strip (32) can penetrate through printing opacity glass (36) and jet out, linear CCD camera (33) can penetrate through printing opacity glass (36) and gather optical information, linear CCD camera (33) be connected with collector battery (34) and memory (35) respectively, the optical information that linear CCD camera (33) were gathered can be sent to memory (35) and be stored, linear illumination lamp strip (32) be connected with collector battery (34), collector battery (34) are linear CCD camera (33) and linear illumination lamp strip (32) power supply respectively, stagger around the collection groove of two collectors (3), make two linear illumination lamp strip (32) do not influence through the light that corresponding printing opacity glass (36) jetted out each other, ratchet (4) are all installed to every collector (3), ratchet clamping part (5) are installed to lower part, ratchet (4) include ratchet (41), The combined reinforcing rod (43) and the power motor (42) are vertically arranged at the front part of the collecting shell (31), the ratchet wheel (41) comprises a ratchet shaft (41a) and a plurality of ratchet teeth (41b) fixedly arranged on the ratchet shaft (41a), the ratchet teeth (41b) are arranged at intervals along the axial direction of the ratchet shaft (41a), gaps among the ratchet teeth (41b) are ratchet wheel gaps (41c), the combined reinforcing rod (43) corresponds to the ratchet wheel gaps (41c) one by one, the combined reinforcing rod (43) comprises a ratchet wheel reinforcing part (43a), a collector reinforcing part (43b), a middle sleeve ring and a front sleeve ring (43c), the front part of the ratchet wheel reinforcing part (43a) is integrally connected with the rear part of the collector reinforcing part (43b), and the middle sleeve ring is arranged at the joint of the ratchet wheel reinforcing part (43a) and the collector reinforcing part (43b), the front part of the ratchet wheel reinforcing part (43a) and the rear part of the collector reinforcing part (43b) extend into a ratchet wheel gap (41c), a middle sleeve ring is sleeved on the ratchet wheel shaft (41a), the middle sleeve ring is axially fixed with the ratchet wheel shaft (41a) and can be circumferentially and rotatably matched with the ratchet wheel shaft, the rear part of the ratchet wheel reinforcing part (43a) is fixedly connected with the outer surface of the collection shell (31), the front end of the collector reinforcing part (43b) is a front sleeve ring (43c), the front sleeve ring (43c) can be sleeved on the front wheel support rod (12) and is fixedly connected with the front wheel support rod (12), the combined reinforcing rod (43) enables the front wheel support rod (12), the ratchet wheel (41) and the collection shell (31) to be fixed into a whole, the power motor (42) is fixed on the collection shell (31), the power motor (42) is in transmission connection with the wheel shaft of the ratchet wheel (41), and the power motor (42) can drive the ratchet wheel (41) to rotate by the wheel shaft, the wheat straw collecting device is characterized in that the clamping part (5) comprises two clamping gears (51) and a clamping conveyor belt (52), the two clamping gears (51) can rotate around the wheel shafts of the clamping gears in tandem and are arranged at the lower part of the collecting shell (31), the clamping conveyor belt (52) is fixed on the two clamping gears (51) in a winding mode, the wheel shaft of one clamping gear (51) is in transmission connection with a power motor (42), the power motor (42) can drive the clamping gears (51) to rotate, so that the clamping conveyor belt (52) rotates, two ratchet wheels (41) are parallelly arranged left and right and are used for winding wheat straws and wheat ears between the two collectors (3), the two clamping conveyor belts (52) are close to each other, the outer side surfaces of the clamping conveyor belts (52) are wrapped with elastic layers for elastically clamping the wheat straws, the control device (2) comprises a remote controller (21) and a control box (22), the control box (22) is fixed on the top plate (11), a control chip (23), a wireless transceiver (24) and a control device battery (25) are installed in the control box (22), the control chip (23) is respectively connected with the wireless transceiver (24) and the control device battery (25), the remote controller (21) is used for sending wireless instructions to the wireless transceiver (24), the control chip (23) is connected with the wireless transceiver (24), the control device battery (25), the walking motor (14), the linear lighting lamp strip (32), the linear CCD camera (33) and the power motor (42), and the control chip (23) can receive the instructions sent by the wireless transceiver (24) and control the walking motor (14), the linear lighting lamp strip (32), the linear CCD camera (33) and the power motor (42) to operate; the wheat scab collector directly samples the front sides of the two sides of a wheat ear in situ without an inclination angle so as to obtain more complete wheat ear and wheat straw pattern information and pattern information of wheat which is shorter than normal wheat and is not stripped but is infected with scab, wheat straw and wheat ear images collected by a linear CCD camera (33) identify the wheat ear through image recognition software, the wheat straw is removed, whether the wheat is infected with the scab or not and the disease grade of the scab are judged according to brown, yellow and pink areas and forms in the wheat ear images, a front wheel support rod (12) is connected with a front wheel (13) through a steering motor (12a), the steering motor (12a) is fixedly connected with the front wheel support rod (12), a transmission shaft of the steering motor (12a) is fixedly connected with a wheel shaft of the front wheel (13), when the transmission shaft of the steering motor (12a) rotates, the front wheel (13) can be driven to rotate, the control chip (23) is in signal connection with the steering motor (12a), the control chip (23) can control the steering motor (12a) to operate, the control chip (23) is a single chip microcomputer, the model is an MCS-51 type single chip microcomputer, the steering motor (12a) is a stepping motor, the power motor (42) is connected with the collector battery (34) and takes electricity from the collector battery (34), the walking motor (14) and the steering motor (12a) are connected with the control device battery (25) and take electricity from the control device battery (25), the collector battery (34) is a lithium battery, and the control device battery (25) is a lithium battery or a lead-acid storage battery.
2. The gibberellic disease data in-situ collection vehicle of claim 1, wherein: the side that collection casing (31) carried on the back mutually of two collectors (3) all is provided with a plurality of fixed orifices, and these fixed orifices are located collection casing (31) middle part, vertical arrangement, roof (11) both sides set up altitude mixture control pole (19), altitude mixture control pole (19) upper end and roof (11) fixed connection, the lower part is provided with the hole of aliging of a plurality of vertical arrangement, the hole of aliging can align with the fixed orifices, then pass through the bolt simultaneously and align hole and fixed orifices, with collector (3) and altitude mixture control pole (19) fixed connection, the hole of aliging of co-altitude is aligned fixedly with the fixed orifices of co-altitude not, enables the fixed altitude variation of collector (3) to adjustment collector (3) height.
3. The gibberellic disease data in-situ collection vehicle of claim 2, wherein: the wheel surface of each front wheel (13) and each rear wheel (18) is provided with anti-skid patterns.
4. The gibberellic disease data in-situ collection vehicle of claim 3, wherein: the elastic layer wrapped on the outer side surface of the clamping gear (51) is made of rubber materials.
5. The gibberellic disease data in-situ collection vehicle of claim 3, wherein: the front lantern ring (43C) is a C-shaped lantern ring, a rubber layer with a certain thickness is arranged on the inner side of the front lantern ring (43C), and the rubber layer is used for enabling the front lantern ring (43C) to be in friction fixed fit with the front wheel strut (12).
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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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| CN110525539B true CN110525539B (en) | 2020-06-09 |
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| CN111486900A (en) * | 2020-05-22 | 2020-08-04 | 信阳农林学院 | Wheat scab detection device |
| CN112115988B (en) * | 2020-09-03 | 2024-02-02 | 中国农业大学 | Wheat ear counting method and device and self-walking trolley |
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