CN110849800A - Tree micro-drilling instrument and tree annual ring micro-damage detection system and method - Google Patents
Tree micro-drilling instrument and tree annual ring micro-damage detection system and method Download PDFInfo
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Abstract
The invention discloses a tree micro-drilling instrument and a tree annual ring micro-damage detection system and method, wherein the micro-drilling instrument comprises: a drilling unit and a propulsion unit; the drilling unit is used for performing micropore drilling on the detected trees; the propulsion unit is connected with the drilling unit and used for providing thrust to the drilling unit so that the drilling unit performs micropore drilling on the detected trees. The micro-drilling instrument has the advantages of low cost, portable equipment and simple operation, and does not damage the detected trees.
Description
Technical Field
The invention relates to the technical field of tree annual ring detection, in particular to a tree micro-drilling instrument and a tree annual ring micro-damage detection method.
Background
The occupation amount of forestry resources per capita in China is small, the utilization rate of wood is relatively low, in order to more reasonably utilize the forestry resources, the growth condition needs to be deeply known, and the internal detection and annual ring analysis of trees are very effective methods. The system can monitor the growth of the living standing trees, judge the age of the ancient and famous trees, identify wooden cultural relics and realize the climate reconstruction of the tree growth environment.
At present, the trees or the woods are subjected to internal detection and annual ring analysis, the trees or the woods are sampled by generally adopting a traditional intercepting disc method and a traditional growth cone core drilling method, and the main defect of the method is that the trees or the woods are greatly damaged. Common modern detection methods can be divided into two types, namely a computer tomography method and an ultrasonic method, so that nondestructive detection is realized, but the equipment cost is high, and radiation hazard exists. And the other detection method represented by stress wave detection and vibration detection has low detection resolution, and is difficult to realize accurate identification of tree growth rings.
Disclosure of Invention
The invention aims to provide a tree micro-drilling instrument, a tree annual ring micro-damage detection system and a tree annual ring micro-damage detection method, which are low in cost, high in accuracy, simple to operate and free of damage to detected trees.
In order to achieve the above object, the present invention provides a micro drilling apparatus for trees, comprising: a drilling unit and a propulsion unit;
the drilling unit is used for performing micropore drilling on the detected trees;
the propulsion unit is connected with the drilling unit and used for providing thrust to the drilling unit so that the drilling unit performs micro-hole drilling on the detected trees;
the drilling unit comprises: the device comprises a first motor, a planetary gear reducer, a coupling and a drill point;
the first motor is connected with an input shaft of the planetary gear reducer, and an output shaft of the planetary gear reducer is connected with one end of the drill point through the coupler;
the propulsion unit comprises: the second motor, the sliding base, the motor base, the transmission screw rod, the main guide rail, the rear end cover and the front end cover;
the motor cabinet set up in on the sliding seat, just first motor sets up on the motor cabinet, the sliding seat with drive screw's one end threaded connection just is located on the leading rail, drive screw's one end extends to the second motor and with the output shaft of second motor, drive screw's the other end is smooth curved surface, drive screw's the other end is located in the locating hole on the front end housing, leading rail follows the rear end cap extends to the front end housing, the other end of drill point extends the front end housing, the second motor with the rear end housing is connected and is set up be close to on the leading rail the one end of rear end housing.
Preferably, the drilling unit further comprises: the linear guide rail, the needle head copper sleeve and the drill needle clamp;
the linear guide rail is fixedly arranged between the rear end cover and the front end cover and is connected with the first motor;
an output shaft of the planetary gear reducer is connected with one end of the drill point sequentially through the coupler and the drill point clamp;
the drill bit copper sleeve is fixedly arranged on the other side, opposite to the first motor, of the front end cover, and the drill bit copper sleeve is arranged corresponding to the position, extending out of the front end cover, of the other end of the drill point.
Preferably, the slide base includes: the first sliding body, the second sliding body, the first positioning shaft sleeve and the second positioning shaft sleeve;
the first positioning shaft sleeve and the second positioning shaft sleeve are arranged between the first sliding body and the second sliding body in parallel, and the motor base is connected with the first sliding body and the second sliding body respectively.
Preferably, the length of the drill point is 500mm, the diameter of the body of the drill point is 1.5mm, and the needle head of the drill point is a flat type with a pointed end.
The invention also provides a tree annual ring micro-damage detection system, which comprises:
the micro drilling instrument is used for propelling the drilling unit to perform micro-hole drilling on the detected tree according to the thrust provided by the propelling unit;
the acquisition unit is used for acquiring the current change of the first motor in the process that the drill point penetrates through the detected tree to obtain a first current signal;
the processing unit is used for carrying out conversion filtering processing on the first current signal to obtain a second current signal;
and the calculating unit is used for calculating and analyzing the second current signal to obtain the annual rings of the detected trees.
The invention also provides a tree annual ring micro-damage detection method, which comprises the following steps:
step S1, acquiring the current change of the first motor in the process that the drill point penetrates through the detected tree to obtain a first current signal;
step S2, performing conversion filtering processing on the first current signal to obtain a second current signal;
and step S3, calculating and analyzing the second current signal to obtain the annual rings of the detected trees.
Preferably, the step 2 includes:
step S21, performing analog-to-digital conversion processing on the first current signal to obtain a first sub-signal;
step S22, filtering the first sub-signal to obtain a second sub-signal;
step S23, performing digital-to-analog conversion on the second sub-signal to obtain the second current signal.
Preferably, the step S22 is specifically:
and filtering the first sub-signal through an FIR filter to obtain the second sub-signal.
Preferably, the step S3 is specifically:
drawing a waveform diagram according to the second current signal;
determining the number of peaks or troughs according to the oscillogram;
and determining the annual rings of the detected trees according to the number of the wave crests or the wave troughs.
Preferably, the tree ring to be detected is determined according to the number of the peaks or the troughs, and the specific formula is as follows:
in the formula, Y is the number of the detection tree annual rings, and N is the number of wave crests or wave troughs.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the drilling unit is used as an actuating mechanism for carrying out micropore drilling on the detected trees, and the propelling unit provides corresponding thrust to the drilling unit so that the drilling unit carries out micropore drilling on the detected trees, and the drilling unit has the advantages of simple structure, low cost, easiness in operation, no damage to the detected trees and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block diagram of the tree micro-drilling apparatus of the present invention;
FIG. 2 is a shape diagram of a drill point of the tree micro-drilling instrument of the present invention;
FIG. 3 is an enlarged view of a portion of the structure of the tree micro-drilling apparatus of the present invention;
FIG. 4 is a flow chart of the method for detecting the micro-damage of the tree ring according to the present invention;
FIG. 5 is a flow chart of the filtering process of the present invention;
fig. 6 is a schematic structural view of a tree growth ring micro-damage detection system of the present invention.
Wherein: 1-photoelectric rotary encoder, 2-first motor, 3-planetary gear reducer, 4-coupler, 5-drill clamp, 6-drill, 7-linear guide rail, 8-rear end cover, 9-second motor, 10-first sliding body, 11-first positioning shaft sleeve, 12-second positioning shaft sleeve, 13-motor base, 14-second sliding base, 15-control handle, 16-driving screw, 17-front end cover, 18-switch button, 19-main guide rail, 20-fixing frame and 21-needle copper sleeve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a tree micro-drilling instrument, a tree annual ring micro-damage detection system and a tree annual ring micro-damage detection method, which have the advantages of high precision, low cost, portable equipment, simplicity in operation and no damage to the detection number.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the tree micro-drilling instrument of the invention comprises: a drilling unit and a propulsion unit.
Wherein, the drilling unit is used for carrying out micropore drilling on the detected trees.
The propulsion unit is connected with the drilling unit and used for providing thrust to the drilling unit so that the drilling unit performs micropore drilling on the detected trees.
In particular, the drilling unit comprises: the device comprises a first motor 2, a planetary gear reducer, a coupling 4 and a drill point 6.
In this embodiment, the length of the drill 6 is 500mm, the diameter of the body of the drill 6 is 1.5mm, and the tip of the drill 6 is flat with a pointed end (as shown in fig. 2).
The first electric machine 2 is connected with an input shaft of the planetary gear reducer 3, and an output shaft of the planetary gear reducer 3 is connected with one end of the drill point 6 through the coupling 4 (as shown in fig. 3).
Further, the propulsion unit comprises: second motor 9, sliding base, motor cabinet 13, drive screw 16, main guide rail 19, rear end cap 8 and front end cap 17.
As an alternative embodiment, the drilling unit of the invention further comprises: a linear guide 7, a needle copper sleeve 21 and a drill point clamp 5.
The linear guide rail 7 is fixedly arranged between the rear end cover 8 and the front end cover 17 and is connected with the first motor 2.
An output shaft of the planetary gear reducer 3 is connected with one end of the drill point 6 sequentially through the coupler 4 and the drill point clamp 5.
The drill bit copper sleeve is fixedly arranged on the other side, opposite to the first motor 2, of the front end cover 17, and the drill bit copper sleeve is arranged in a position corresponding to the position, extending out of the front end cover 17, of the other end of the drill point 6.
As an alternative embodiment, the sliding base of the present invention includes: the sliding mechanism comprises a first sliding body 10, a second sliding body 14, a first positioning shaft sleeve 11 and a second positioning shaft sleeve 12.
The first positioning shaft sleeve 11 and the second positioning shaft sleeve 12 are arranged in parallel between the first sliding body 10 and the second sliding body 14, and the motor base 13 is connected with the first sliding body 10 and the second sliding body 14 respectively.
As an alternative embodiment, the drilling unit of the invention further comprises: an electro-optical rotary encoder 1.
The photoelectric rotary encoder 1 is connected with the first motor 2 and used for acquiring the working state of the first motor 2.
Specifically, the operating state includes: the speed, direction of rotation and displacement of the first motor 2.
As an alternative embodiment, the drilling unit of the invention further comprises: a holder 20.
The fixing frame 20 is used for keeping the drill point 6 from generating large radian image drilling in the rotating process.
As an optional implementation manner, the micro-drilling apparatus of the present invention further includes: a control handle 15.
The control handle 15 is provided with a switch key 18, and the switch key 18 comprises a forward key and a backward key and is used for manually controlling the first motor 2 and the second motor 9.
When the forward key is pressed, the propulsion unit drives the first motor 2 to move forward to drill; when the backward key is pressed, the pushing unit drives the first motor 2 to backward so that the probe exits from the detected tree to finish drilling.
Specifically, during the drilling process, the first motor 2 rotates forward in the radial direction at a constant speed at a first set speed to drive the drill point 6 to rotate forward at a second set speed, so as to drill the detected tree.
The second motor 9 rotates forward to drive the transmission screw 16 to rotate forward, so that the sliding base slides forward on the main guide rail 19 to drive the first motor 2 to move forward, and the drill point 6 is pushed into the detected tree.
Further, in the backward moving process, the first motor 2 rotates in a radial direction at a constant speed according to a first set speed to drive the drill point 6 to rotate in a reverse direction according to a second set speed.
The second motor 9 rotates reversely to drive the transmission screw 16 to rotate reversely, so that the sliding base slides backwards on the main guide rail 19 to drive the first motor 2 to move backwards, the drill point 6 is withdrawn from the detected tree, and one-time drilling is completed.
As shown in fig. 6, the tree growth ring micro-damage detection system of the present invention comprises: the micro-drilling instrument comprises a micro-drilling instrument, an acquisition unit, a processing unit and a calculation unit.
The micro-drilling instrument is used for propelling the drilling unit to drill micropores on the detected trees according to the thrust provided by the propelling unit.
The collecting unit obtains a first current signal by detecting the current change of the first motor 2 in the process that the drill point 6 penetrates through the tree through a precise sampling resistor.
In this embodiment, the acquisition unit employs an INA282 type chip.
The processing unit is used for carrying out conversion filtering processing on the first current signal to obtain a second current signal.
And the calculating unit is used for calculating and analyzing the second current signal to obtain the annual rings of the detected trees.
As an optional implementation, the detection system further includes: the device comprises a control unit, a motor driving unit, a communication unit, a human-computer interaction unit and a power supply unit.
The human-computer interaction unit is used for remotely sending a control instruction;
the control unit controls the motor driving unit to drive the first motor 2 and the second motor 9 according to the control instruction, meanwhile, the control unit obtains the working state of the first motor 2 through the photoelectric rotary encoder 1, and the human-computer interaction unit displays the working state of the first motor 2.
The communication unit is respectively connected with the acquisition unit and the processing unit and is used for sending the first current signal to the processing unit.
The power supply unit is respectively connected with the control unit, the motor driving unit, the human-computer interaction unit, the communication unit and the acquisition unit and is used for providing electric energy for the control unit, the motor driving unit, the human-computer interaction unit, the communication unit and the acquisition unit.
Preferably, in the present invention, the communication unit may be replaced with a memory card, and the first current signal is stored and guided to the processing unit through the memory card.
As shown in fig. 4, the method for detecting the micro-damage of the tree ring comprises the following steps:
step S1, obtaining a current change of the first motor 2 during the process of the drill point 6 passing through the detected tree, and obtaining a first current signal.
Step S2, performing transform filtering processing on the first current signal to obtain a second current signal.
And step S3, calculating and analyzing the second current signal to obtain the annual rings of the detected trees.
The step S1 specifically includes:
and pressing the forward key, starting the micro drilling instrument to perform micro-hole drilling on the detected tree at the moment, and acquiring the armature current of the first motor 2 in real time through the acquisition unit to obtain the first current signal.
As an alternative embodiment, step 2 of the present invention includes:
step S21, performing analog-to-digital conversion on the first current signal to obtain a first sub-signal.
And step S22, performing filtering processing on the first sub-signal to obtain a second sub-signal.
Step S23, performing digital-to-analog conversion on the second sub-signal to obtain the second current signal.
In this embodiment, a Finite Impulse Response (FIR) filter is selected to perform filtering processing on the first sub-signal.
As shown in fig. 5, as an alternative embodiment, step S22 of the present invention includes:
in step S2221, a filtered sampling frequency is determined.
Since the filter sampling frequency should not be less than twice the highest frequency of the signal, the cutoff frequency of the current inner loop needs to be determined.
The open loop transfer function of the current inner loop is as follows:
wherein: kIFor open loop gain, s is a complex variable, TSIs a time constant.
The closed loop transfer function is:
wherein:
in addition, because the electrode driver of the present invention adopts a Pulse Width Modulation (PWM) converter, and the switching frequency of the PWM converter is 2000Hz, the following steps: t iss0.0005s, obtained by a reduced order approximation of the higher order system:
thus, the cutoff frequency of the current inner loop is:
the filtering sampling frequency is:
fs＝2fc＝2000Hz。
in step S222, the maximum attenuation of the pass band and the minimum attenuation of the stop band are determined.
Since the smaller the passband attenuation, the more complete the effective signal retention, the passband maximum attenuation is determined as:
Rp＝-1dB。
since the minimum attenuation of the stop band is-40 dB, i.e. the attenuation of the high-frequency interference signal is 1% of the original attenuation, the influence of the attenuation on data analysis can be basically ignored, and therefore, the minimum attenuation of the stop band is determined as follows:
Rs＝-40dB。
in step S223, the passband cut-off frequency and the stopband start frequency are determined.
Performing fourier transform on the first sub-signal to obtain a spectrum of the first sub-signal, and analyzing the spectrum to obtain a passband cutoff frequency:
f1＝2Hz。
starting frequency of stop band:
f2＝3Hz。
in step S224, a suitable window function is selected.
According to the window function characteristics of the FIR filter, the higher the minimum attenuation of the stop band is, the wider the transition band is, the higher the required filter order is, and in order to make the filter order as low as possible, the Hanning window is selected for designing the FIR filter. The Hanning window is suitable for non-periodic continuous signals, can be regarded as the sum of frequency spectrums of 3 rectangular time windows, and can eliminate high-frequency interference and energy leakage so as to enable energy to be concentrated. The window function is:
wherein: n is the filter order, N belongs to
The frequency response is:
WHan(ejω)＝WHan(ω)e-j(N-1)ω/2。
wherein: j is the complex unit, ω is the angular frequency, and N is the filter order.
And filtering the first sub-signal according to the filtering sampling frequency, the passband cut-off frequency, the stopband starting frequency and the response frequency to obtain the second sub-signal.
As an optional implementation manner, step S3 in the present invention specifically includes:
and drawing a waveform diagram according to the second current signal.
And determining the number of peaks or troughs according to the oscillogram.
And determining the annual rings of the detected trees according to the number of the wave crests or the wave troughs.
Wherein the determining the number of peaks or troughs according to the waveform map specifically comprises:
according to the density difference between the early wood and the late wood of the tree and the linear proportional relation between the torque and the current of the first motor 2, when the drill point 6 contacts with the early wood of the tree, the resistance is relatively small, the armature current value is relatively small, and when the drill point contacts with the late wood, the resistance is relatively large, and the armature current value is relatively large. Therefore, in the oscillogram, the peak part corresponds to the late wood part of the annual ring of the detected tree, and the valley part corresponds to the early wood part of the annual ring of the detected tree; every time the wave crests and the wave troughs appear alternately, the tree annual ring detection device corresponds to one wheel of the tree annual ring detection device.
Further, the tree ring of the detected tree is determined according to the number of the peaks or the troughs, and the specific formula is as follows:
in the formula, Y is the number of the rounds of the annual rings of the trees, and N is the number of wave crests or wave troughs.
When the micro drilling instrument provided by the invention drills the detected trees, only one tiny micropore is formed for the detected trees, the detected trees are not damaged, and meanwhile, the detection system and the detection method provided by the invention can determine tree growth rings with high precision, so that the micro drilling instrument has the advantages of simple structure, low cost, portable equipment and simplicity in operation.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A tree micro-drilling apparatus, characterized in that, the micro-drilling apparatus includes: a drilling unit and a propulsion unit;
the drilling unit is used for performing micropore drilling on the detected trees;
the propulsion unit is connected with the drilling unit and used for providing thrust to the drilling unit so that the drilling unit performs micro-hole drilling on the detected trees;
the drilling unit comprises: the device comprises a first motor, a planetary gear reducer, a coupling and a drill point;
the first motor is connected with an input shaft of the planetary gear reducer, and an output shaft of the planetary gear reducer is connected with one end of the drill point through the coupler;
the propulsion unit comprises: the second motor, the sliding base, the motor base, the transmission screw rod, the main guide rail, the rear end cover and the front end cover;
the motor cabinet set up in on the sliding seat, just first motor sets up on the motor cabinet, the sliding seat with drive screw's one end threaded connection just is located on the leading rail, drive screw's one end extends to the second motor and with the output shaft of second motor, drive screw's the other end is smooth curved surface, drive screw's the other end is located in the locating hole on the front end housing, leading rail follows the rear end cap extends to the front end housing, the other end of drill point extends the front end housing, the second motor with the rear end housing is connected and is set up be close to on the leading rail the one end of rear end housing.
2. The tree micro boring machine of claim 1, wherein the boring unit further comprises: the linear guide rail, the needle head copper sleeve and the drill needle clamp;
the linear guide rail is fixedly arranged between the rear end cover and the front end cover and is connected with the first motor;
an output shaft of the planetary gear reducer is connected with one end of the drill point sequentially through the coupler and the drill point clamp;
the drill bit copper sleeve is fixedly arranged on the other side, opposite to the first motor, of the front end cover, and the drill bit copper sleeve is arranged corresponding to the position, extending out of the front end cover, of the other end of the drill point.
3. The tree micro-drilling apparatus of claim 1, wherein the sliding base comprises: the first sliding body, the second sliding body, the first positioning shaft sleeve and the second positioning shaft sleeve;
the first positioning shaft sleeve and the second positioning shaft sleeve are arranged between the first sliding body and the second sliding body in parallel, and the motor base is connected with the first sliding body and the second sliding body respectively.
4. The micro drilling apparatus for trees according to claim 1, wherein the length of the drill point is 500mm, the diameter of the body of the drill point is 1.5mm, and the tip of the drill point is flat with a pointed end.
5. A tree annual ring micro-damage detection system, characterized in that the detection system comprises a micro-drilling instrument according to any one of claims 1-4, and is used for propelling the drilling unit to perform micro-hole drilling on the detected tree according to the thrust provided by the propelling unit;
the acquisition unit is used for acquiring the current change of the first motor in the process that the drill point penetrates through the detected tree to obtain a first current signal;
the processing unit is used for carrying out conversion filtering processing on the first current signal to obtain a second current signal;
and the calculating unit is used for calculating and analyzing the second current signal to obtain the annual rings of the detected trees.
6. A tree annual ring micro-damage detection method applied to the micro-drilling instrument of any one of claims 1 to 4, wherein the method comprises the following steps:
step S1, acquiring the current change of the first motor in the process that the drill point penetrates through the detected tree to obtain a first current signal;
step S2, performing conversion filtering processing on the first current signal to obtain a second current signal;
and step S3, calculating and analyzing the second current signal to obtain the annual rings of the detected trees.
7. The method for detecting the micro-damage of the annual rings of the trees as claimed in claim 6, wherein the step 2 comprises:
step S21, performing analog-to-digital conversion processing on the first current signal to obtain a first sub-signal;
step S22, filtering the first sub-signal to obtain a second sub-signal;
step S23, performing digital-to-analog conversion on the second sub-signal to obtain the second current signal.
8. The method for detecting the micro-damage of the tree ring according to claim 7, wherein the step S22 is specifically as follows:
and filtering the first sub-signal through an FIR filter to obtain the second sub-signal.
9. The method for detecting the micro-damage of the tree ring according to claim 6, wherein the step S3 is specifically as follows:
drawing a waveform diagram according to the second current signal;
determining the number of peaks or troughs according to the oscillogram;
and determining the annual rings of the detected trees according to the number of the wave crests or the wave troughs.
10. The method according to claim 9, wherein the tree ring is determined according to the number of the peaks or the troughs by the following formula:
in the formula, Y is the number of the rounds of the annual rings of the trees, and N is the number of wave crests or wave troughs.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112098325A (en) * | 2020-09-18 | 2020-12-18 | 广州新标农业科技有限公司 | Forestry intelligent measuring device |
| CN113155725A (en) * | 2021-03-02 | 2021-07-23 | 信阳师范学院 | Tree micro-drilling resistance instrument and method for evaluating wood quality by using same |
| CN113237593A (en) * | 2021-06-17 | 2021-08-10 | 中国林业科学研究院资源信息研究所 | Tree micro-drilling resistance instrument and method for evaluating wood quality by using same |
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| CN113237593B (en) * | 2021-06-17 | 2023-01-24 | 中国林业科学研究院资源信息研究所 | Tree micro-drilling resistance instrument and method for evaluating wood quality by using same |
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