CN111322503A - Scientific research experimental field accurate operation management system and management method - Google Patents

Scientific research experimental field accurate operation management system and management method Download PDF

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Publication number
CN111322503A
CN111322503A CN202010260848.3A CN202010260848A CN111322503A CN 111322503 A CN111322503 A CN 111322503A CN 202010260848 A CN202010260848 A CN 202010260848A CN 111322503 A CN111322503 A CN 111322503A
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CN
China
Prior art keywords
adjusting device
servo motor
scientific research
position adjusting
equipment
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CN202010260848.3A
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Chinese (zh)
Inventor
王平
桂林国
山军建
王劲松
赵健
刘继霞
郭娇
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CROP Research Institute of Ningxia Academy of Agriculture and Forestry Sciences
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CROP Research Institute of Ningxia Academy of Agriculture and Forestry Sciences
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Priority to CN202010260848.3A priority Critical patent/CN111322503A/en
Publication of CN111322503A publication Critical patent/CN111322503A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Abstract

The invention provides a scientific research test field accurate operation management system and a management method, and belongs to the technical field of agricultural science and technology. The test bed is characterized in that field foundation rails are arranged on two sides of the test bed, warp-direction position adjusting devices are installed on the field foundation rails, equipment height adjusting devices are arranged on the warp-direction position adjusting devices, weft-direction position adjusting devices are arranged on the equipment height adjusting devices, and equipment installing assemblies are arranged on the weft-direction position adjusting devices. When a certain specific test field operation is carried out, the operation equipment is arranged on the equipment mounting assembly, and the positions of the warp-direction position adjusting device, the weft-direction position adjusting device and the equipment height adjusting device are adjusted, so that the operation equipment reaches the designated position, and the accurate operation is realized. The system can complete relevant operation of the test field at fixed points, scientific research personnel are not required to enter the test field, the labor intensity of the scientific research personnel is reduced, the randomness and subjectivity of the operation are reduced, the operation accuracy of the test field is improved, and accurate experimental data support is provided for the scientific research personnel.

Description

Scientific research experimental field accurate operation management system and management method
Technical Field
The invention belongs to the technical field of agricultural scientific research, and particularly relates to a scientific research test field accurate operation management system and a management method.
Background
The precision of agricultural scientific research field operation and the standardization of test management are always pursued by each agricultural scientist, and the method is the best way to reduce test errors. In reality, it is often difficult to meet such standards due to various constraints. For example, in breeding work, it is difficult to control the uniformity of the sowing depth of test materials and the uniformity of seed scattering due to the randomness and subjectivity of manual sowing. This may lead to the chance of missing the selection of some materials with excellent genetic characteristics due to the non-uniform seeding quality, thereby lengthening the breeding process. For another example, in a cultivation test, because manual work or ordinary agricultural machinery is adopted for operation, the precision and the uniformity of field operation are difficult to ensure, so that more accurate test data are difficult to obtain, a new technology is finally failed to popularize in time, and the period of agricultural upgrading and transformation is prolonged.
Meanwhile, the agricultural scientific research needs to carry out daily monitoring on the test field, and a large amount of data needs to be collected. At present, most of data acquisition is finished by scientific research personnel in the field, a large amount of data acquisition operation not only increases the labor intensity of the scientific research personnel, but also has poor accuracy of acquired data because of certain randomness of manual operation. Meanwhile, scientific researchers frequently work in the field, so that not only are more pedestrian passages needed to be reserved, but also the original growth environment of a research object is easy to damage, and the precision of the obtained test data is low.
Disclosure of Invention
In view of the above, the invention provides a scientific research test field accurate operation management system, which is used for solving the technical problems of inaccurate field operation of a test field, low field data acquisition accuracy of the test field, high field labor intensity of scientific research personnel and the like in the prior art.
The invention also provides a scientific research experimental field accurate operation management method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a scientific research experimental field accurate operation management system comprises:
the field foundation rails are arranged on two sides of the test field;
the lower end of the warp-direction position adjusting device is mounted on the foundation rail and can run along the foundation rail;
the equipment height adjusting device is arranged on the warp-direction position adjusting device and can vertically lift along the warp-direction position adjusting device;
the weft position adjusting device is arranged on the equipment height adjusting device and can run along the equipment height adjusting device; and an equipment installation component is arranged on the latitudinal position adjusting device and is used for installing functional equipment.
Preferably, a walking pulley and a pulley driving servo motor are arranged at the bottom end of the warp-direction position adjusting device, and the pulley driving servo motor can drive the walking pulley to reciprocate along the field foundation rail.
Preferably, a lifting driving assembly and a lifting driving servo motor are arranged on the warp-direction position adjusting device, the lifting driving assembly is connected with two ends of the equipment height adjusting device in a sliding mode, and the lifting driving servo motor can drive the equipment height adjusting device to lift along the lifting driving assembly.
Preferably, be provided with the slip rack on the equipment height adjusting device, latitudinal direction position control device sliding connection in on the equipment height adjusting device, be provided with slip gear and gear drive servo motor on the latitudinal direction position control device, the slip gear with the meshing of slip rack, gear drive servo motor can drive the slip gear is followed slip rack reciprocating motion.
Preferably, the tip of field foundation track is provided with switches transfer device, switch transfer device including set up perpendicularly in the orbital transfer track of field foundation and slidable connection in transfer the platform on the track, transfer and seted up on the platform and accept the track, accept the track can with the alignment of field foundation track.
Preferably, still be provided with the forced induction subassembly on the latitudinal direction position control device, the forced induction subassembly is used for detecting functional device and latitudinal direction position control device's pressure.
Preferably, the scientific research test field accurate operation management system further comprises a remote control device, the remote control device comprises a central controller and a user terminal, the remote central controller is electrically connected with the pulley driving servo motor, the lifting driving servo motor and the gear driving servo motor, and the user terminal is electrically connected with the central controller; the central controller is used for receiving a control command issued by the user terminal and controlling the pulley driving servo motor, the lifting driving servo motor and the gear driving servo motor to execute the control command.
A scientific research experimental field accurate operation management method comprises the following steps:
a. arranging the scientific research test field accurate operation management system;
b. establishing a test field positioning three-dimensional coordinate;
c. and (3) control instruction generation: the central controller receives control instruction information input by an operator according to actual management requirements, forms a control instruction with three-dimensional coordinate equivalent and outputs the control instruction to the pulley driving servo motor, the lifting driving servo motor and the gear driving servo motor;
d. the control instruction executes: the pulley drives the servo motor, the lifting drive servo motor and the gear drive servo motor execute control instructions, so that the equipment installation assembly reaches a specified position.
Preferably, in the "establishing a plot positioning three-dimensional coordinate", the plot is located in one of the quadrants of the established three-dimensional coordinate.
Preferably, the 'field test precision operation' comprises at least one of crop seeding, crop growth information data acquisition, crop growth environment information data acquisition, crop field management and crop harvesting.
According to the technical scheme, the invention provides a scientific research experimental field accurate operation management system, which has the beneficial effects that: set up the field foundation track in the both sides of experimental field install warp direction position control device on the field foundation track set up equipment height adjusting device on the warp direction position adjusting device set up latitudinal direction position adjusting device on the equipment height adjusting device, be provided with the equipment fixing subassembly on the latitudinal direction position adjusting device. When a certain specific test field operation is carried out, if seeding, sampling, image acquisition, harvesting and the like, equipment required by specific operation is installed on the equipment installation assembly, and the positions of the warp-direction position adjusting device, the weft-direction position adjusting device and the equipment height adjusting device are adjusted, so that the specific operation equipment installed on the equipment installation assembly reaches the specified position or height, and the accurate operation in the field is realized through special equipment required by the operation installed on the equipment installation assembly. Through the accurate operation management system in experimental field, except can realizing the accurate operation in field, can also the automatic acquisition be located the management data of any assigned position in experimental field. The system can remotely control or automatically realize accurate seeding and harvesting of target crops, determine volume weight, soil nutrients, plant height and ear position temperature, spray pesticides, field monitoring and the like of almost all field scientific research programs, does not need scientific research personnel to enter a test field for operation, not only reduces labor intensity of the scientific research personnel, but also reduces data acquisition errors caused by human factors, improves accuracy and uniformity of field test operation, provides accurate experimental data for the scientific research personnel, and lays a foundation for rapid development of agricultural scientific research in China.
The invention also provides a scientific research experimental field accurate operation management method, which has the beneficial effects that: set up in the experimental plot accurate operation management system in experimental plot to establish three-dimensional coordinate system, set up promptly in experimental plot both sides the field base track set up on the field base track warp direction position adjusting device set up on the warp direction position adjusting device equipment height adjusting device set up on the equipment height adjusting device latitudinal direction position adjusting device set up equipment fixing subassembly on the latitudinal direction position adjusting device. When field management operations such as seeding, fertilizing, spraying, information acquisition, image acquisition and the like are required to be carried out in a test field, the seeding equipment, the fertilizing equipment, the spraying equipment, the information acquisition equipment or the image acquisition equipment are arranged on the equipment installation component, scientific research personnel only need to input a control command at a client terminal according to actual needs to control and adjust the positions of the warp-direction position adjusting device, the weft-direction position adjusting device and the equipment height adjusting device, so that the relevant equipment arranged on the equipment installation component reaches a specified position, the interference-free and fixed-point operation is realized, the operation precision is effectively improved, the randomness and the subjectivity existing in the manual operation process are reduced, the frequency of the scientific research personnel entering the test field to carry out the operation is reduced or eliminated, and the labor intensity of the scientific research personnel is reduced, the influence of human factors in the test field management process is reduced, accurate test field management is realized, and more accurate test data support is provided for scientific research personnel.
Drawings
Fig. 1 is a schematic structural diagram of a test field precision work management system.
FIG. 2 is a schematic structural diagram of a precise operation management system for a test field.
Fig. 3 is a partially enlarged view of a portion B shown in fig. 2.
Fig. 4 is a partially enlarged view of a portion a shown in fig. 1.
Fig. 5 is a control schematic diagram of the test field precision work management system.
Fig. 6 is a schematic diagram of a central controller function module.
In the figure: the test field accurate operation management system 10, the test field 20, the field foundation rail 100, the switching transfer device 110, the transfer rail 111, the transfer platform 112, the receiving rail 113, the warp direction position adjusting device 200, the walking pulley 210, the pulley driving servo motor 220, the equipment height adjusting device 300, the lifting driving component 310, the lifting driving servo motor 320, the weft direction position adjusting device 400, the sliding rack 410, the sliding gear 420, the gear driving servo motor 430, the equipment installation component 500, the remote control device 600, the central controller 610, the instruction receiving module 611, the instruction processing module 612, the pre-positioning module 613, the pre-positioning execution unit 6131, the sensor position acquisition unit 6132, the first comparison unit 6133, the accurate positioning module 614, the accurate positioning execution unit 6141, the distance data receiving unit 6142, the second comparison unit 6143, the storage module 615, the displacement direction judging module 616, the displacement direction judging module 6133, The system comprises a user terminal 620, an equipment positioning device 700, a warp direction position acquisition unit 710, a warp direction position induction sensor 711, a warp direction distance sensor 712, a warp direction distance measuring obstacle 713, a weft direction position acquisition unit 720, a weft direction position induction sensor 721, a weft direction distance sensor 722, a weft direction distance measuring obstacle 723 and an altitude position acquisition unit 730.
Detailed Description
The technical scheme and the technical effect of the invention are further elaborated in the following by combining the drawings of the invention.
Referring to fig. 1 and 2, a system 10 for managing precise operations of a test field includes: the field foundation rail 100, the warp-direction position adjusting device 200, the equipment height adjusting device 300 and at least one weft-direction position adjusting device 400 are arranged on two sides of the test field 20. The lower end of the warp-direction position adjusting device 200 is mounted on the foundation rail 100 and can run along the foundation rail 100. The device height adjusting device 300 is disposed on the warp-wise position adjusting device 200 and can vertically lift and lower along the warp-wise position adjusting device 200. The latitudinal position adjustment device 400 is mounted on the device height adjustment device 300 and can run along the height adjustment device 300. And the latitudinal position adjusting device 400 is provided with an equipment installation component 500, and the equipment installation component 500 is used for installing functional equipment.
The functional equipment comprises but is not limited to seeding equipment, fertilizing equipment, spraying equipment, information acquisition equipment (such as temperature and humidity detection equipment, sampling equipment and the like) or image acquisition equipment. The functional device and the device installation assembly 500 can be connected in all connection modes which are convenient to detach, such as bolts, nuts, buckles, binding and the like.
When a specific test field operation is performed, the functional devices required for the specific operation are mounted on the device mounting assembly, and the positions of the warp-direction position adjusting device 200, the weft-direction position adjusting device 400 and the device height adjusting device 300 are adjusted, so that the functional devices required for the specific operation mounted on the device mounting assembly 500 reach the designated positions and stay at the designated heights, and thus, the precise operation is realized. Through the scientific research test field accurate operation management system 10, can remote control or automatic realize accurate seeding, the results of target crop, survey the unit weight, soil nutrient, the height of plant, ear of grain position temperature, spraying pesticide, almost all field scientific research procedures such as field control, need not scientific research personnel and get into the operation in the test field, this has not only reduced scientific research personnel's intensity of labour, has still reduced the data acquisition error that causes because the human factor, has improved the precision, the unity of field test operation, provides accurate experimental data for scientific research personnel, lays the foundation for the rapid development of china's agricultural scientific research.
For example, when sowing seeds in a test field, a rake apparatus for leveling the ground of the test field may be connected to the apparatus mounting assembly 500, and the radial position adjusting device 200 may be driven to level the test field along the moving direction of the radial position adjusting device 200. Then the seeding equipment that the installation component 500 changes the installation is used for the seeding, like automatic disseminator etc. the drive warp direction position control device 200 equipment height adjusting device 300 reaches latitudinal direction position adjusting device 400 drives seeding equipment and removes above experimental field, realizes the accurate seeding operation of printing formula, and accurate control seeding interval, row spacing and seeding depth provide effectual data support for selecting the seedling, growing seedlings.
Preferably, a pressure sensing assembly is further arranged on the latitudinal position adjusting device 400, and the pressure sensing assembly is used for detecting the pressure of the functional equipment and the latitudinal position adjusting device 400. In particular, in the sowing operation or the fertilizing operation, the depth of sowing or fertilizing has a serious influence on the observation of the emergence rate of seedlings, the growth state of the seedlings at the seedling stage, the fertility state of fertilizers, and the like. Set up the forced induction subassembly detects and when control seeding or fertilization, feeds back after seeding or fertilizer injection equipment inserts ground latitudinal direction position control device's reaction force to accurate control seeding or the degree of depth of fertilization reduce because seeding or the depth of fertilization difference, lead to data such as seedling unearthed data, seedling growth state, the fertility state of fertilizer to appear the deviation. Particularly, in the process of breeding the good varieties, the sowing or fertilizing depth is accurately controlled, so that the situation that the seedlings of the good varieties emerge late due to the deep sowing positions of the seeds of the good varieties or the seedlings of the bad varieties emerge early to cause the judgment deviation of scientific researchers, the breeding period is prolonged, and even the seeds of the good varieties are directly eliminated possibly can be effectively prevented.
For another example, when crop growth data, environmental temperature and humidity data, crop image data, and the like in a test field need to be acquired, the data acquisition device is installed on the device installation assembly 500, and the warp-direction position adjustment device 200, the device height adjustment device 300, and the weft-direction position adjustment device 400 are driven, so that the data acquisition device acquires data after reaching a predetermined position, and the acquired data can be remotely transmitted to a user terminal such as a computer and a collection terminal. On one hand, scientific research personnel are prevented from entering the test field for data acquisition at high frequency to influence the growth of crops, on the other hand, the subjectivity and the randomness of manual data acquisition of the scientific research personnel are overcome, the uniform acquisition of all field test data at fixed points and at fixed time is realized, and the accuracy of all test data is ensured to the maximum extent.
For another example, when fertilizing or spraying, a fertilizing or spraying operation device is installed on the device installation assembly 500, and different fertilizers are applied according to the characteristics of different crops in different areas of the test field, so as to research the requirements of different crops on the fertilizers. Alternatively, crops in a test field are subjected to regional site-directed fertilization or pesticide spraying to study the effect of different fertilizers or pesticides on crop growth.
For another example, the overall harvesting in a large scale can be achieved by mounting the harvesting equipment on the equipment mounting assembly 500 and driving the longitudinal position adjusting device 200. The positions of the warp-direction position adjusting device 200, the equipment height adjusting device 300 and the weft-direction position adjusting device 400 can be adjusted to selectively harvest early-maturing strains in a certain cell crop or an ear row area in a test field, and data analysis such as seed weighing and volume weight measurement is carried out in the field and is directly sent to a database of scientific research personnel through remote control.
Referring to fig. 3, in an embodiment, a traveling pulley 210 and a pulley driving servo motor 220 are disposed at the bottom end of the longitudinal position adjusting device 200, and the pulley driving servo motor 220 can drive the traveling pulley 210 to reciprocate along the roadbed track 100. For example, the radial position adjusting device 200 is a frame body spanning two foundation rails 100, or two support columns respectively disposed on the foundation rails 100, and a support column stabilizing device is disposed at a connection point of the support columns and the foundation rails 100.
The warp-wise position adjusting device 200 is provided with a lifting driving assembly 310 and a lifting driving servo motor 320, the lifting driving assembly 310 is connected with two ends of the equipment height adjusting device 300 in a sliding manner, and the lifting driving servo motor 320 can drive the equipment height adjusting device 300 to lift along the lifting driving assembly 310. For example, the lifting driving component 310 is clamped on the column of the warp-wise position adjusting device 200, or the lifting driving component 310 is a lead screw disposed on the warp-wise position adjusting device 200, the device height adjusting device 300 is connected to the lifting driving component 310, and the lifting driving servo motor 320 rotates to drive the lifting driving component 310 to rotate, so as to drive the device height adjusting device 300 to lift along the lifting driving component 310. For example, the device height adjusting apparatus 300 is a device mounting platform that can be lifted along the warp position adjusting apparatus 200, and cables, control devices, and related circuits can be integrated.
Be provided with slip rack 410 on the equipment height adjusting device 300, latitudinal direction position adjusting device 400 sliding connection in on the equipment height adjusting device 300, be provided with sliding gear 420 and gear drive servo motor 430 on the latitudinal direction position adjusting device 400, sliding gear 420 with slip rack 410 meshing, gear drive servo motor 430 can drive sliding gear 420 follows slip rack 410 reciprocating motion.
Choose for use pulley drive servo motor 220, lift drive servo motor 320 with gear drive servo motor 430 is as actuating mechanism, control that can be accurate warp direction position control device 200, equipment height adjusting device 300 and latitudinal direction position adjusting device 400's position improves the precision of test field operation and management.
Referring to fig. 4, in another embodiment, when the width of the test field is too wide, a plurality of the foundation rails 100 may be uniformly arranged in the test field, and the distance between two adjacent foundation rails 100 is equal. The end of the field foundation rail 100 is provided with a switching transfer device 110, the switching transfer device 110 includes a transfer rail 111 vertically arranged on the field foundation rail 100 and a transfer platform 112 slidably connected to the transfer rail 111, the transfer platform 112 is provided with a receiving rail 113, and the receiving rail 113 can be aligned with the field foundation rail 100. When the width of the test field is too wide, the test field is divided into a plurality of strip-shaped blocks along the width direction, the field base rails 100 are respectively arranged on two sides of each strip-shaped block, and the warp-direction position adjusting devices 200 are installed on the two adjacent field base rails 100 to prevent the warp-direction position adjusting devices 200 from being too large in span, so that the equipment operation difficulty is increased, and the capital cost is increased.
When the position of the equipment installation assembly 500 is located outside a designated area during operation or management in a test field, the warp-direction position adjustment device 200 is moved onto the switching and transferring device 110, and the warp-direction position adjustment device 200 is pushed along the transfer rail 111, so that the whole test field accurate operation management system 10 is transferred to the designated area, and operation and management of the test field with a large span are realized.
Referring to fig. 5, in another preferred embodiment, the precise work management system 10 further includes a remote control device 600, the remote control device 600 includes a central controller 610 and a user terminal 620, the central controller 610 is electrically connected to the pulley driving servo motor 220, the lifting driving servo motor 320 and the gear driving servo motor 430, and the user terminal 620 is electrically connected to the central controller 610. The central controller 610 is configured to receive a control instruction issued by the user terminal 620, and control the pulley driving servo motor 220, the lifting driving servo motor 320, and the gear driving servo motor 430 to execute the control instruction. The scientific research personnel are in user terminal input control command, user terminal include but not limited to PC end and mobile terminal, and control command is three-dimensional position information, with remote control pulley drive servo motor 220 lift drive servo motor 320 with gear drive servo motor 430 action, drive install in accurate operation equipment or for experimental field management equipment facilities on equipment fixing component 500 arrive predetermined regional operation, further reduce scientific research personnel's intensity of labour, reduce the frequency that scientific research personnel got into the operation in the experimental field.
Referring to fig. 6, in another embodiment, in order to further improve the control precision and reduce the positioning errors of the pulley driving servo motor 220, the lifting driving servo motor 320 and the gear driving servo motor 430, the precise test field operation management system 10 further includes an apparatus positioning device 700, the apparatus positioning device 700 includes a warp position obtaining unit 710, a weft position obtaining unit 720 and a height position obtaining unit 730, the warp position obtaining unit 710 is disposed on the warp position adjusting device 200 and is used for obtaining warp position information of the test field operation or management apparatus, the weft position obtaining unit 720 is disposed on the apparatus mounting assembly 500 and is used for obtaining weft position information of the sowing or information collecting apparatus, the height position obtaining unit 730 is disposed on the apparatus height adjusting device 300 or the apparatus mounting assembly 500, used for acquiring the height position information of the sowing or information acquisition equipment.
For example, a plurality of warp direction position sensing sensors 711 are disposed on the track 100, and the distances between two adjacent warp direction position sensing sensors 711 are equal. The warp-direction position acquiring unit 710 includes a warp-direction distance sensor 712 and a warp-direction distance measuring barrier 713 that are disposed on the warp-direction position adjusting device 200, and the warp-direction distance measuring barrier 713 is mounted on the foundation rail 100 and can run along the foundation rail 100. The distance between two adjacent meridional position sensing sensors 711 is less than or equal to the maximum range of the meridional distance sensor 712.
A plurality of latitudinal position induction sensors 721 are arranged on the equipment height adjusting device 300, and the distance between every two adjacent latitudinal position induction sensors 721 is equal. The latitudinal position acquisition unit 720 comprises a latitudinal distance sensor 722 and a latitudinal distance measuring barrier 723 which are arranged on the equipment installation component 500, wherein the latitudinal distance measuring barrier 723 is installed on the equipment height adjusting device 300 and can run along the equipment height adjusting device 300. The distance between two adjacent latitudinal position sensing sensors 721 is less than or equal to the maximum measurement range of the latitudinal distance sensor 722.
In a preferred embodiment, the meridional position sensing sensor 711 includes a device position sensing sensor that can only be triggered by the meridional position adjustment device 200 and a meridional distance measuring obstacle position sensing sensor that can only be triggered by the meridional distance measuring obstacle 713. Latitudinal direction position inductive sensor 721 includes equipment fixing component position inductive sensor and latitudinal direction range finding barrier position inductive sensor, equipment fixing component position inductive sensor only can by equipment fixing component 500 triggers, latitudinal direction range finding barrier position inductive sensor only can by latitudinal direction range finding barrier 723 triggers.
The device position induction sensor warp direction range finding barrier position induction sensor equipment fixing component position induction sensor with weft direction range finding barrier position induction sensor can be pressure sensor, photoelectric sensing switch, vibration sensor etc. can acquire the sensor of state change information.
In a preferred embodiment, the central controller 610 further includes an instruction receiving module 611, an instruction processing module 612, a pre-positioning module 613, and a precise positioning module 614.
The instruction receiving module 611 is electrically connected to the user terminal 620, and the instruction receiving module 611 receives the position instruction information input by the user terminal 620 and outputs the position instruction information to the instruction processing module 612.
The instruction processing module 611 receives the position instruction information, obtains longitude data, latitude data and altitude data in the position instruction information, and processes the altitude data, the longitude data and the latitude data to form an altitude fine control instruction H0Longitude precontrol command N0Fine control instruction L of longitude0Latitude precontrol instruction M0And a latitude precise control instruction K0And pre-control the longitude by N0And latitude precontrol instruction M0Output to the pre-positioning module 613, and output the height fine control instruction H0Fine control instruction L of longitude0And a latitude precise control instruction K0Output to the position determination module 614.
The pre-positioning module 613 includes a pre-positioning execution unit 6131, a sensor bit sub-acquisition unit 6132, and a first comparison unit 6133.
The pre-positioning execution unit 6131 is electrically connected to the driving mechanism of the warp position adjustment device 200, the driving mechanism of the warp distance sensor 712, the driving mechanism of the warp distance measurement obstacle 713, the weft distance sensor 722, and the driving mechanism of the weft distance measurement obstacle 723. The pre-positioning execution unit 6131 receives the longitude pre-control instruction N0And latitude precontrol instruction M0And respectively controls the driving mechanism of the warp direction position adjusting device 200, the driving mechanism of the warp direction distance sensor 712, the driving mechanism of the warp direction distance measuring barrier 713, the weft direction distance sensor 722 and the driving mechanism of the weft direction distance measuring barrier 723 to be started. The pre-positioning execution unit 6131 further receives a stop signal fed back by the first comparison unit 6133, and controls the driving mechanism of the warp position adjustment device 200, the driving mechanism of the warp distance sensor 712, the driving mechanism of the warp distance measurement obstacle 713, the weft distance sensor 722 and the driving mechanism of the weft distance measurement obstacle 723 to stop operating, respectively. The pre-positioning execution unit 6131 further forms a precise positioning start signal after the driving mechanism of the warp position adjustment device 200, the driving mechanism of the warp distance sensor 712, the driving mechanism of the warp distance measurement obstacle 713, the weft distance sensor 722 and the driving mechanism of the weft distance measurement obstacle 723 stop operating, and outputs the precise positioning start signal to the precise positioning module.
The sensor level acquisition unit 6132 is electrically connected to the warp position sensor 711 and the weft position sensor 721, and the sensor level acquisition unit 6132 acquires level information N of the warp position sensor 711 triggered by the warp position adjusting device 2001And the bit order information N of the meridional position sensing sensor 711 triggered by the meridional ranging barrier 7132And N is1And N2Output to the first comparing unit 6133. The sensor position number acquiring unit further acquires the position number of the latitudinal position sensing sensor 721 triggered by the latitudinal position adjusting device 400Information M1And the position information M of the latitudinal position sensing sensor 721 triggered by the latitudinal ranging barrier 7232And M is1And M2Output to the first comparing unit 6133.
The first comparing unit 6133 obtains a longitude precontrol instruction N0And N1And N2And N is1And N2Are each independently of N0Making a comparison when N1+1=N0Then, a warp position adjusting device stop signal is formed and fed back to the preregistration execution unit 6131. When N is present2=N0Then, a longitudinal ranging obstacle stop signal is formed and fed back to the preregistration execution unit 6131. The first comparing unit 6133 further obtains a latitude precontrol instruction M0And M1And M2And M is1And M2Are respectively connected with M0Making a comparison when M1+1=M0Then, a stop signal of the latitudinal position adjustment device 400 is generated and fed back to the pre-positioning execution unit 6131. When M is2=M0Then, a latitudinal distance measurement obstacle stop signal is formed and fed back to the pre-positioning execution unit 6131.
The fine positioning module 614 includes a fine positioning execution unit 6141, a distance data receiving unit 6142, and a second comparison unit 6143.
The precise positioning execution unit 6141 is electrically connected to the driving mechanism of the warp-wise position adjusting device 200, the driving mechanism of the weft-wise position adjusting device 400 and the driving mechanism of the equipment height adjusting device 300, and the precise positioning execution unit 6141 acquires a precise positioning starting signal and controls the driving mechanism of the warp-wise position adjusting device 200, the driving mechanism of the weft-wise position adjusting device 400 and the driving mechanism of the equipment height adjusting device 300 to be started; the precise positioning execution unit 6141 further receives a stop signal fed back by the second comparison unit 6143, and controls the driving mechanism of the warp-direction position adjustment device 200, the driving mechanism of the weft-direction position adjustment device 400, and the driving mechanism of the device height adjustment device 300 to stop operating respectively.
The distance data receiving unit 6142 is electrically connected to the warp distance sensor 712, the weft distance sensor 722 and the height position acquiring unit 730. The distance data receiving unit 6142 receives the warp direction distance data L acquired by the warp direction distance sensor 712, the weft direction distance data K acquired by the weft direction distance sensor 722, and the height data H acquired by the height position acquiring unit 730, and outputs the data to the second comparing unit 6143.
The second comparing unit 6143 receives the precise longitude control instruction L0And meridional distance data L, and comparing when L = LOThen, forming a warp direction position adjusting device stop signal; the second comparing unit 6143 also receives a latitude precise control command K0And weft distance data K, and comparing when K = KOAnd then forming a stop signal of the latitudinal position adjusting device. The second comparing unit 6143 also receives a height fine control instruction H0And height data H, and comparing when H = HOAt this time, the device height adjusting means 300 stop signal is formed.
The processing process of the altitude data, the longitude data and the latitude data is as follows:
processing the height data: reserving height data obtained from position instruction information as a height fine control instruction H0。
Processing of longitude data: taking the obtained longitude data and a preset fixed distance constant as a quotient, and reserving an integer part of a quotient result as a longitude pre-control instruction N0(ii) a The obtained longitude data and a longitude pre-control instruction N are obtained0Subtracting the product of the fixed distance constant to obtain a result as a fine control instruction L of longitude0(ii) a When L is0When the longitude is not less than 0, the obtained longitude data is subjected to quotient of a preset fixed distance constant, and the quotient value is subjected to difference of 1 to serve as a longitude pre-control instruction N0。
Processing latitude data: the obtained latitude data and a preset fixed distance constant are subjected to quotient, and the integer part of the quotient result is reserved and used as a longitude pre-control instruction M0(ii) a The obtained longitude data and a longitude pre-control instruction M are obtained0Subtracting the product of the fixed distance constant to obtain a result which is used as a fine control instruction K of longitude0(ii) a When K is0When =0, will obtainTaking the longitude data and a preset fixed distance constant as a quotient, and taking the quotient value and 1 as a longitude pre-control instruction M0。
Further, the central controller 610 further includes a storage module 615 and a displacement direction determination module 616.
The storage module 615 is used for obtaining a longitude precontrol instruction N of the latest action0And latitude precontrol instruction M0And stored as the longitude displacement direction judgment reference information N0 ’And latitude displacement direction judgment reference information M0 ’。
The displacement direction determination module 616 obtains a longitude precontrol command N0And longitude displacement direction judgment reference information N0 ’And comparing; when N is present0＞N0 ’A longitude positive displacement signal is formed and output to the pre-positioning module 613. When N is present0＜N0 ’A longitude reverse shift signal is formed and output to the pre-positioning module 613. When N is present0=N0 ’Then, a longitude rest signal is formed and output to the pre-positioning module 613. The displacement direction determination module 616 further obtains a latitude precontrol instruction M0Latitude displacement direction judgment reference information M0 ’And comparing; when M is0＞M0 ’A latitude positive displacement signal is formed and output to the pre-positioning module 613. When M is0＜M0 ’A latitude reverse shift signal is formed and output to the pre-positioning module 613. When M is0=M0 ’Then, a latitude still signal is formed and outputted to the pre-positioning module 613.
In another embodiment, a method for managing precise operations of a test field includes the following steps:
a. the test field precision work management system 10 as described above is provided.
b. And establishing a test field positioning three-dimensional coordinate. Preferably, the test field is located in one of the quadrants of the established three-dimensional coordinates.
c. And (3) control instruction generation: the central controller receives control instruction information input by an operator according to actual management requirements, forms a control instruction with three-dimensional coordinate equivalent, and outputs the control instruction to the pulley driving servo motor, the lifting driving servo motor and the gear driving servo motor.
d. The control instruction executes: the pulley driving servo motor 220, the lifting driving servo motor 320 and the gear driving servo motor 430 execute control instructions to enable the equipment installation component to reach a designated position.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (10)

1. The utility model provides an accurate operation management system in scientific research experimental plot which characterized in that includes:
the field foundation rails are arranged on two sides of the test field;
the lower end of the warp-direction position adjusting device is mounted on the foundation rail and can run along the foundation rail;
the equipment height adjusting device is arranged on the warp-direction position adjusting device and can vertically lift along the warp-direction position adjusting device;
the weft position adjusting device is arranged on the equipment height adjusting device and can run along the equipment height adjusting device; and an equipment installation component is arranged on the latitudinal position adjusting device and is used for installing functional equipment.
2. The scientific research test field accurate operation management system according to claim 1, wherein a traveling pulley and a pulley driving servo motor are arranged at the bottom end of the radial position adjusting device, and the pulley driving servo motor can drive the traveling pulley to reciprocate along the field base rail.
3. The scientific research experimental field accurate operation management system according to claim 2, wherein a lifting driving assembly and a lifting driving servo motor are arranged on the radial position adjusting device, the lifting driving assembly is slidably connected with two ends of the equipment height adjusting device, and the lifting driving servo motor can drive the equipment height adjusting device to lift along the lifting driving assembly.
4. The scientific research test field accurate operation management system according to claim 3, wherein a sliding rack is arranged on the equipment height adjusting device, the latitudinal position adjusting device is connected to the equipment height adjusting device in a sliding mode, a sliding gear and a gear driving servo motor are arranged on the latitudinal position adjusting device, the sliding gear is meshed with the sliding rack, and the gear driving servo motor can drive the sliding gear to reciprocate along the sliding rack.
5. The scientific research test field accurate operation management system according to any one of claims 1 to 4, wherein a switching transfer device is arranged at an end of the field base track, the switching transfer device comprises a transfer track vertically arranged on the field base track and a transfer platform slidably connected to the transfer track, a receiving track is arranged on the transfer platform, and the receiving track can be aligned with the field base track.
6. The scientific research test field accurate operation management system according to any one of claims 1 to 4, wherein a pressure sensing assembly is further arranged on the latitudinal position adjusting device and used for detecting the pressure of the functional equipment and the latitudinal position adjusting device.
7. The scientific research test field accurate operation management system according to claim 4, further comprising a remote control device, wherein the remote control device comprises a central controller and a user terminal, the remote central controller is electrically connected with the pulley driving servo motor, the lifting driving servo motor and the gear driving servo motor, and the user terminal is electrically connected with the central controller; the central controller is used for receiving a control command issued by the user terminal and controlling the pulley driving servo motor, the lifting driving servo motor and the gear driving servo motor to execute the control command.
8. A scientific research experimental field accurate operation management method is characterized by comprising the following steps:
a. setting the scientific research test field accurate operation management system according to claim 7;
b. establishing a test field positioning three-dimensional coordinate;
c. and (3) control instruction generation: the central controller receives control instruction information input by an operator according to actual management requirements, forms a control instruction with three-dimensional coordinate equivalent and outputs the control instruction to the pulley driving servo motor, the lifting driving servo motor and the gear driving servo motor;
d. the control instruction executes: the pulley drives the servo motor, the lifting drive servo motor and the gear drive servo motor execute control instructions, so that the equipment installation assembly reaches a specified position.
9. The scientific research test field accurate operation management method according to claim 8, wherein in the establishing of the test field positioning three-dimensional coordinates, the test field is located in one quadrant of the established three-dimensional coordinates.
10. The scientific research experimental field accurate operation management method according to claim 8, wherein the 'experimental field accurate operation' includes at least one of crop seeding, crop growth information data acquisition, crop growth environment information data acquisition, crop field management and crop harvest.
CN202010260848.3A 2020-04-03 2020-04-03 Scientific research experimental field accurate operation management system and management method Pending CN111322503A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112097839A (en) * 2020-09-29 2020-12-18 广西壮族自治区农业科学院 Field information acquisition device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112097839A (en) * 2020-09-29 2020-12-18 广西壮族自治区农业科学院 Field information acquisition device

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