CN113494904B - Side-tipping sensor for auxiliary fruit picking machine and inclination angle acquisition method - Google Patents
Side-tipping sensor for auxiliary fruit picking machine and inclination angle acquisition method Download PDFInfo
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- CN113494904B CN113494904B CN202110560122.6A CN202110560122A CN113494904B CN 113494904 B CN113494904 B CN 113494904B CN 202110560122 A CN202110560122 A CN 202110560122A CN 113494904 B CN113494904 B CN 113494904B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
Abstract
The invention discloses a side-tipping sensor for a fruit auxiliary picking machine and an inclination angle acquisition method, wherein the side-tipping sensor comprises a shell; a detection cavity is formed in the shell, and a detection ball is placed in the detection cavity; the detection cavity is a spherical cavity, and a plurality of first mounting holes are formed in the wall of the detection cavity; a plurality of first detection assemblies are arranged in the first mounting holes, extend out of the first mounting holes, and extend inwards at first detection ends of the first detection assemblies; the first detection assembly is used for detecting the pressure of the detection ball; under the horizontal static state, the first detection end of each first detection assembly is abutted to the detection ball. The invention can be suitable for auxiliary fruit pickers and is suitable for collecting the side inclination angle and the side inclination direction in a static state so as to be convenient for quick leveling.
Description
Technical Field
The invention relates to the technical field of auxiliary fruit pickers, in particular to a side-tipping sensor and an inclination angle acquisition method for an auxiliary fruit picker.
Background
The auxiliary fruit picking machine is one of important agricultural machines used in fruit picking, and can greatly improve the fruit picking efficiency. Especially fruits growing on trees, such as apples, pears, peaches, etc. The existing full-automatic picking equipment is still immature, and the recognition accuracy rate of ripe fruits is poor. The prior fruit auxiliary picking machine is still used frequently.
The auxiliary fruit picking machine mainly plays a role in providing standing support for picking personnel, conveying fruits from a picking position to the auxiliary picking machine, conveying the fruits to a designated position on the auxiliary picking machine and boxing the fruits, and has a function of classifying and boxing the fruits on some auxiliary picking machines according to the sizes of the fruits.
Because the unevenness on orchard ground is great, and when using, picking personnel's difference in the standing position to and picking personnel's difference in weight, can make the picking machine take place certain slope, if the small-amplitude slope of short time probably does not have great influence, if the slope time is longer, especially take place to slope in fruit direction of delivery's vertical, can lead to fruit to one side removal to paste on the baffle of side, and produce the scraping with it, lead to fruit outward appearance damaged easily. If the anti-rollover device on the truck is directly applied to the auxiliary picking machine, the cost of the auxiliary fruit picking machine can be greatly increased. And since the auxiliary picking machine needs to detect the inclination, which is normally in a stationary state, the adjusting mechanism of the detection and control should be able to operate independently of the chassis of the vehicle. This enables the detection of the roll angle and the roll direction in the stationary state of the auxiliary picking machine. How to design a roll sensor suitable for a fruit auxiliary picking machine and collect a roll angle and a roll direction is one of important problems to be solved urgently in the field.
Disclosure of Invention
The invention aims to provide a side-tipping sensor for a fruit auxiliary picking machine and an inclination angle acquisition method, which are used for solving the defects in the prior art, can be suitable for the fruit auxiliary picking machine, and are suitable for acquiring a side-tipping angle and a side-tipping direction in a static state so as to be convenient for quick leveling.
The invention provides a side-tipping sensor for a fruit auxiliary picking machine, which comprises a shell;
a detection cavity is formed in the shell, and a detection ball is placed in the detection cavity;
the detection cavity is a spherical cavity, and a plurality of first mounting holes are formed in the wall of the detection cavity;
a plurality of first detection assemblies are arranged in the first mounting holes, extend out of the first mounting holes, and extend inwards at first detection ends of the first detection assemblies; the first detection assembly is used for detecting the pressure of the detection ball;
under the horizontal static state, the first detection end of each first detection assembly is abutted to the detection ball.
The roll sensor for a fruit assisted picking machine as described above, wherein optionally the centre lines of the plurality of first sensing assemblies are located in the same plane and, in a horizontal resting state, are distributed in a circumferential array around the vertical centre line of the spherical cavity.
The roll sensor for a fruit assisted picker as described above, wherein optionally the first sensing assembly comprises a first sensing lever, a first spring and a first mounting end cap;
the first mounting hole sequentially comprises a first hole and a second hole from outside to inside; the central lines of the first hole and the second hole are positioned on the same straight line, and the diameter of the first hole is larger than that of the second hole;
one end of the first detection rod is provided with the first detection end, and the other end of the first detection rod is provided with a first limiting piece;
the first limiting piece is slidably mounted in the first hole, and the first detection rod penetrates through the second hole;
the first mounting end cover is mounted in the first hole, the first spring is located in the first hole, one end of the first spring abuts against the first mounting end cover, and the other end of the first spring abuts against the first limiting piece.
The roll sensor for the fruit auxiliary picking machine is characterized in that the first detection assembly further comprises a strain gauge, and the strain gauge is mounted at one end, far away from the first detection rod, of the first limiting sheet; the strain gauge is positioned between the first limiting piece and the corresponding first spring;
the strain gage is configured to generate an electrical signal indicative of pressure when subjected to pressure.
The roll sensor for a fruit assisted picking machine as described above, wherein optionally a second detection component is also included;
a second mounting hole is formed in the bottom of the shell, and the center line of the second mounting hole, the vertical center line of the spherical cavity and the center line of the second mounting hole are located on the same straight line in a horizontal static state;
the second mounting hole comprises a third hole and a fourth hole which are sequentially arranged from bottom to top; and the diameter of the third bore is greater than the diameter of the fourth bore;
the second detection assembly comprises a second detection rod, a second spring and a second mounting end cover; a second limiting piece is installed at one end of the second detection rod, the second limiting piece is installed in the third hole in a sliding mode, and the second detection rod is installed in the second installation hole in a sliding mode; the second spring is installed in the third hole, one end of the second spring abuts against the second limiting piece, the other end of the second spring abuts against the second installation end cover, and the second installation end cover is in threaded connection with the third hole;
one end, far away from the second limiting piece, of the second detection rod is an arc surface, and the radius of a circle corresponding to the arc surface is equal to the radius of the spherical cavity;
and under the horizontal static state, the arc surface and the inner wall of the spherical cavity are in smooth transition.
The roll sensor for a fruit assisted picking machine as described above, wherein optionally the number of the first detection assemblies is 6 to 18.
The roll sensor for the fruit auxiliary picking machine as described above, wherein optionally, the roll sensor further comprises an electromagnetic coil, and the electromagnetic coil is fixedly embedded in the bottom of the housing;
the detection ball is made of an iron material, and an antirust coating is plated on the periphery of the detection ball;
the electromagnetic coil is arranged to attract the detection ball in a non-operating state.
The invention also provides an inclination angle acquisition method, which is used for the roll sensor of the auxiliary fruit picking machine;
comprises the following steps;
when in the working state;
acquiring initial parameters; the initial parameters comprise the number of the first detection assemblies, the initial position angle of each first detection assembly and the calibration value of each first detection assembly;
acquiring the detection result of each first detection assembly in real time, and rejecting useless data;
correcting the detection result of each first detection assembly to obtain a corrected first detection value;
and calculating a roll angle and a tilt direction according to the first detection value of each first detection assembly.
The method for acquiring an inclination angle as described above, wherein optionally, data that the first detection value is positive and a number of the corresponding first detection component are obtained;
according to the first detection component number corresponding to the data with the positive first detection value, obtaining an angle value corresponding to each first detection component with the positive first detection value, and performing compensation processing on the angle value and the number;
the two adjacent first detection assemblies with the largest first detection value are numbered as n-1 and n;
the tilt direction is then:
wherein θ is an angle which is bypassed from the position of the first detection component with the number of 0 to the tilt direction in the clockwise direction; m is the mass of the detection ball; g is the acceleration of gravity; f m A force detected for the second sensing assembly; f n The force detected by the first detection assembly numbered n; n is the number of the first detection assemblies; f n - 1 Force detected by the first detection assembly numbered n-1;
and carrying out inverse compensation processing on the inclination direction to obtain an angle value between 0 and 360 degrees.
The method for acquiring an inclination angle as described above, wherein optionally, all the first detection values are taken as positive values, and a plurality of adjacent first detection assemblies are taken; calculating a resultant force value of first detection values of the plurality of first detection components;
calculating an inclination angle according to the stress value;
the calculation formula of the inclination angle is as follows:
wherein, K max And K min The first detection value is positive, and the maximum number and the minimum number of the adjacent first detection assemblies after correction are obtained; k is K min To K max An integer in between; alpha is alpha k The included angle between the first detection assembly with the number k and the inclination direction is shown; f k A first detection value of the first detection component with the number k; m is the mass of the detection ball, and g is the gravity acceleration coefficient.
Compared with the prior art, the invention has at least the following beneficial effects:
the detection cavity is arranged into a spherical cavity by arranging the detection cavity, and the detection ball is arranged in the spherical cavity. A plurality of first detection assemblies with central lines positioned in the same plane are arranged on the inner side wall of the spherical cavity and are uniformly distributed; analyzing and calculating a roll direction by using the forces detected by the plurality of first detection components;
in the static state, when the roll occurs, the detection ball tends to roll in the direction of the roll, and further generates pressure corresponding to the first detection assembly, so that the roll angle can be calculated based on the pressure detected by the corresponding first detection assembly.
In the working process, when the fruit auxiliary picking machine is in a working state, namely in an auxiliary picking state, the fruit auxiliary picking machine is in a static state, at the moment, the detection ball can incline to a certain degree or slightly roll when inclined, and the detection ball can be in contact with the first detection assembly to generate pressure on the first detection assembly. The roll angle and the roll direction are calculated using the pressure generated by the first sensing element and the corresponding position of the first sensing element.
Drawings
Fig. 1 is an overall isometric view of a roll sensor for a fruit assisted picker according to the present invention;
FIG. 2 is an assembly view of the housing and the first sensing assembly according to the present invention;
FIG. 3 is a perspective view of FIG. 2;
fig. 4 is a cross-sectional view of a proposed roll sensor for a fruit assisted picker;
FIG. 5 is a schematic view of a mounting plate according to the present invention;
fig. 6 is a schematic structural view of a housing according to the present invention;
FIG. 7 is an isometric view of a second sensing assembly in accordance with the present invention;
fig. 8 is a flowchart illustrating steps of a tilt angle acquisition method according to the present invention.
Description of reference numerals:
1-a shell, 2-a detection cavity, 3-a detection ball, 4-a first mounting hole, 5-a first detection component, 6-a second detection component, 7-a second mounting hole and 8-an electromagnetic coil;
11-mounting plate, 12-bottom shell, 13-top cover;
41-first hole, 42-second hole;
51-a first detection end, 52-a first detection rod, 53-a first spring, 54-a first mounting end cover, 55-a first limiting sheet and 56-a strain gauge;
61-a second detection rod, 62-a second spring, 63-a second mounting end cover and 64-a second limiting sheet;
71-third hole, 72-fourth hole.
Detailed Description
The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
In the case of the example 1, the following examples are given,
referring to fig. 1 to 7, the present invention provides a side-tipping sensor for a fruit auxiliary picking machine, which includes a housing 1; in practice, the housing 1 serves to form the detection chamber 2 and to fix the entire roll sensor.
In practice, for convenience of installation and manufacture, the housing 1 may be composed of three parts: mounting plate 11, bottom case 12 and top cover 13; the mounting plate 11 is provided with a mounting hole, the bottom shell 12 is fixedly mounted on one side of the mounting plate 11, and the mounting hole and the bottom shell can be welded or integrally formed; the bottom shell 12 is provided with a spherical groove, the top of the bottom shell 12 is detachably connected with the top cover 13, and the bottom shell and the top cover can be in threaded connection during specific implementation. The spherical groove and the top cover 13 are matched to form the detection cavity 2.
Specifically, a detection cavity 2 is arranged in the housing 1, and a detection ball 3 is placed in the detection cavity 2. In practice, the diameter of the detection ball 13 is smaller than the maximum depth value of the spherical groove. So that the movement of the detection ball 13 is not interfered by the top cover in the measuring range.
The detection cavity 2 is a spherical cavity, and a plurality of first mounting holes 4 are formed in the wall of the detection cavity 2; a plurality of first detection assemblies 5 are arranged in the first mounting hole 4, the first detection assemblies 5 extend out of the first mounting hole 4, and first detection ends 51 of the first detection assemblies 5 extend inwards; the first detecting component 5 is used for detecting the pressure applied by the detecting ball 3. The detection result of the first detecting component 5 is an important parameter for calculating the roll angle and the roll direction. On the other hand, the distribution and the corresponding direction of the first detecting member 5 are another important parameters for calculating the roll angle and the roll direction. In the horizontal stationary state, the first detection end 51 of each of the first detection elements 5 abuts against the detection ball 3.
In specific implementation, in order to obtain the azimuth corresponding to each first detection assembly 5, it may be considered to number each first detection assembly 5 and record the angle corresponding to each number. For example, in one case, the first detecting member 5 is designated by a number 0 in the most forward direction, and sequentially designated by numbers 1, 2,3,4 \8230; N-1 in the clockwise direction; wherein the first detecting member 5 of No. 0 is also used as the nth number, which is calculated and used in the case where the first detecting members 5 are uniformly distributed, which is further described in detail in embodiment 2; this particular distribution is not further described.
During calculation, two adjacent first detection assemblies 5 with the largest detection result are obtained, the included angle relationship between the inclination direction and the two corresponding first detection assemblies 5 is calculated according to the two detection results, the smaller serial number of the two adjacent first detection assemblies 5 is used as a reference angle, when the serial numbers of the two adjacent first detection assemblies 5 are N-1 and 0, the first detection assembly 5 with the serial number of N-1 is used as the reference angle, and the reference angle and the included angle relationship are calculated to obtain the angle of the inclination direction rotating clockwise relative to the front, so that the inclination direction can be calculated. In the present application, the tilt direction refers to an angle that is rotated from the front in the clockwise direction to the direction in which the tilt angle is maximum.
In order to further detect the roll angle, the roll angle in this application refers to an angle corresponding to the maximum value of the downward inclination angle of the mounting plate 11 about any point.
When the tilt direction is determined, the resultant force of the plurality of first detecting elements 5 applied to the detection ball is calculated, and the roll angle is calculated based on the resultant force.
In particular, a second detection assembly 6 is also included; more specifically, the bottom of the shell 1 is provided with a second mounting hole 7, and in a horizontal static state, the center line of the second mounting hole 7 and the vertical center line of the spherical cavity are positioned on the same straight line as the center line of the second mounting hole 7; the second mounting hole 7 comprises a third hole 71 and a fourth hole 72 which are arranged from bottom to top in sequence; and the diameter of the third hole 71 is larger than the diameter of the fourth hole 72; the second detection assembly 6 comprises a second detection rod 61, a second spring 62 and a second mounting end cover 63; a second limiting sheet 64 is mounted at one end of the second detection rod 61, the second limiting sheet 64 is slidably mounted in the third hole 71, and the second detection rod 61 is slidably mounted in the second mounting hole 7; the second spring 62 is installed in the third hole 71, one end of the second spring 62 abuts against the second limiting piece 64, the other end of the second spring 62 abuts against the second installation end cover 63, and the second installation end cover 63 is in threaded connection with the third hole 71; one end of the second detection rod 61, which is far away from the second limiting sheet 64, is an arc surface, and the radius of a circle corresponding to the arc surface is equal to the radius of the spherical cavity; and under the horizontal static state, the arc surface and the inner wall of the spherical cavity are in smooth transition. In specific implementation, the area corresponding to the arc surface should satisfy: and in the maximum measurement range, the bottoms of the detection balls are all contacted with the circular arc surface.
In specific use, the roll angle is calculated according to the resultant force of the first detection assembly 5 and the detection result of the second detection assembly 6. In the specific calculation process, the calculation formula thereof may refer to the calculation formula of the tilt angle in embodiment 2.
In particular, in view of the ease of production and manufacture, as well as the accuracy of measurement, the center lines of a plurality of first detection assemblies 5 are located in the same plane and, in the horizontal rest state, are distributed in a circumferential array around the vertical center line of the spherical cavity. In this way, the forces detected by the first detecting members 5 are located in the same plane, facilitating the measurement of the first detecting members 5 and the calculation of the roll direction. When the plurality of first detection assemblies 5 are distributed in a circumferential array around the vertical center line of the spherical cavity, the angular position of each first detection assembly 5 does not need to be recorded and checked, and the angular position of each first detection assembly 5 does not need to be added in a calculation program. The angle corresponding to the first detecting member 5 can be judged according to the number. This embodiment 2 is also shown, and will not be described in detail here.
Specifically, in order to realize the detection of the force, the first detection assembly 5 includes a first detection rod 52, a first spring 53 and a first mounting end cap 54; the first mounting hole 4 comprises a first hole 41 and a second hole 42 in sequence along the direction from outside to inside; the center lines of the first hole 41 and the second hole 42 are positioned on the same straight line, and the diameter of the first hole 41 is larger than that of the second hole 42; one end of the first detection rod 52 is provided with the first detection end 51, and the other end of the first detection rod 52 is provided with a first limiting piece 55; the first limiting piece 55 is slidably mounted in the first hole 41, and the first detection rod 52 passes through the second hole 42; the first mounting end cap 54 is mounted in the first hole 41, the first spring 53 is located in the first hole 41, and one end of the first spring abuts against the first mounting end cap 54, and the other end of the first spring abuts against the first limiting piece 55. When the first detecting device is used, the first limiting piece 55 is used for limiting the position of the first detecting rod 52, and the first spring 53 is arranged, so that a certain moving space is provided for the first detecting rod 52 when being pressed, the detecting ball can generate pressure corresponding to all the related first detecting rods 52, and the first detecting components 5 are pressed, so that the calculation of the inclination angle and the inclination direction is realized. In a specific use, one end of the first detecting rod 52 close to the detecting ball, that is, the inner end of the first detecting rod 52, is a convex cambered surface structure.
In specific implementation, the first detecting component 5 further includes a strain gauge 56, and the strain gauge 56 is installed at one end of the first limiting sheet 55 far away from the first detecting rod 52; the strain gauge 56 is located between the first limiting sheet 55 and the corresponding first spring 53; the strain gage 56 is configured to generate an electrical signal indicative of pressure when subjected to the pressure. The magnitude of the pressure value can be obtained by detecting the strength of the electric signal, which belongs to the prior art and can be realized by technicians in the field, is not a key of the application, and is not described herein again.
In a specific implementation, the number of the first detecting assemblies 5 is 6 to 18. Wherein, the number of the first detecting components 5 is preferably 8 or 12.
In the case where the vehicle is driven, the vehicle is disturbed by the occurrence of a bump on the ground, acceleration or deceleration during driving, and the like, and the roll detection and control are not required during driving. Of course, if the control during driving is required, an acceleration sensor may be added, and during calculation, after the factor of the force corresponding to the acceleration is eliminated, the roll calculation is performed according to the above method, but obviously, the production cost is increased, and the roll detection in the driving condition is not necessary for the agricultural machine at all. Thus, the proposed roll sensor is fully adaptable to fruit assisted pickers by travelling at rest or at a very low speed under picking work.
When the side-rolling collection is not carried out in the driving state, in order to eliminate possible interference signals in the driving state and detect the abrasion caused by the shaking of the ball; the invention is further improved: the electromagnetic coil 8 is fixedly embedded at the bottom of the shell 1; the detection ball 3 is made of an iron material, and an anti-rust coating is plated on the periphery of the detection ball 3; the electromagnetic coil 8 is arranged to attract the detection ball 3 in a non-operating state. The non-working state referred to herein means a non-picking working state. In use, when entering the picking mode, the solenoid 8 is switched off to allow the sensing ball to roll freely within the sensing chamber 2. And then can detect the gradient through detecting the ball.
When the installation plate is specifically implemented, the bottom of the installation plate 11 is provided with a first limiting protrusion and a second limiting protrusion, and the length direction of the first limiting protrusion is perpendicular to that of the second limiting protrusion. The auxiliary fruit picking machine is provided with a first groove matched with the first limiting protrusion and a second groove matched with the second limiting protrusion, so that the sensor can be accurately positioned after installation, furthermore, after the installation is finished, it is ensured that the mounting plate 11 is parallel to a chassis of the fruit picking machine, and in another implementation mode, the mounting plate 11 is parallel to a conveyor belt of the fruit picking machine during installation in consideration of the fact that the sensor is finally required to reflect the levelness of the conveyor belt on the fruit picking machine.
In specific implementation, the distance from the center line of the first detection assembly 5 to the lowest position of the detection cavity 2 is equal to the radius of the detection ball; the radius of the detection ball is one half to three quarters of the radius of the detection cavity 2.
Example 2
Referring to fig. 8, this embodiment proposes an inclination angle collecting method for the roll sensor of the auxiliary fruit picking machine in embodiment 1.
Specifically, the method comprises the following steps;
when in the working state; the working state referred to herein is a state in which the picking machine is located in the orchard and is assisting the worker in picking, and may be stationary or slowly moving.
Acquiring initial parameters; the initial parameters include the number of the first detecting elements 5, the initial position angle of each first detecting element 5, and the calibration value of each first detecting element 5, and specifically, the initial position angle referred to herein is an angle rotated from the front in the clockwise direction to the first detecting element 5. The first detecting elements 5 are initial values determined in calibration, that is, values corresponding to the first detecting elements 5 when the mounting plate 11 is in a horizontal position by adjusting the fruit-assisted picking machine.
Acquiring the detection result of each first detection assembly 5 in real time, and rejecting useless data; in practice, the elimination of the unnecessary data means that the data on the first detection unit 5 is not generated by the pressure. For example, it may be the data generated by the first detecting member 5 directly opposite to the first detecting member 5 generating the largest data and the data adjacent thereto. Among the detection results, the detection result equal to the corresponding calibration value may be deleted.
Furthermore, the detection result of each first detection assembly 5 is corrected to obtain a corrected first detection value; that is, the detection result of each first detection unit 5 is corrected. The calculation result is more accurate. The roll angle and the tilt direction are calculated based on the first detection value of each of the first detection units 5.
In particular implementation, the calibration value can be obtained and recorded during calibration or calibration.
For the calculation of the roll angle and the tilt direction, the following is specified:
acquiring data with positive first detection values and the number of a corresponding first detection assembly 5; in particular, the numbering of the first detecting elements 5 is carried out as in example 1.
According to the first detection assembly 5 number corresponding to the data with the positive first detection value, obtaining the angle value corresponding to the first detection assembly 5 with the positive first detection value, and performing compensation processing on the angle value and the number; the compensation processing for the angle value and the number means that when the inclination direction is between the first detection unit 5 with the number N-1 and the first detection unit 5 with the number 0, the number 0 is written as N, and when the position angle corresponding to the number 0 is written as 360 degrees.
The two adjacent first detection assemblies 5 with the largest first detection value are numbered as n-1 and n; in the specific calculation, the tilt direction is located between the two adjacent first detection assemblies 5. And the inclined direction is as follows:
wherein θ is an angle that is bypassed from the position of the first detection assembly 5 numbered 0 to the tilt direction in the clockwise direction; m is the mass of the detection ball 3; g is the acceleration of gravity; f m The force detected by the second detecting member 6; f n The force detected by the first detection member 5 numbered n; n is the number of first detection assemblies 5; f n-1 Force detected by the first detection member 5 numbered n-1;
and carrying out inverse compensation processing on the inclination direction to obtain an angle value between 0 and 360 degrees. In practice, if the angle and number compensation process is already performed, the inverse compensation process is performed here. And the angle value after the inverse compensation processing is the inclination direction.
After the inclination direction is determined, all the first detection values are taken as positive and a plurality of adjacent first detection components 5 are taken; a resultant force value of the first detection values of the plurality of first detection members 5 is calculated. Since the sensing ball may simultaneously press the plurality of first sensing members 5 and generate a pressure.
Calculating an inclination angle according to the stress value; thus, the tilt angle can be measured.
The calculation formula of the inclination angle is as follows:
wherein, K max And K min The first detection value is positive, and the maximum number and the minimum number after the correction of the adjacent first detection components 5 are obtained; k is K min To K max An integer in between; alpha is alpha k Is the included angle between the first detection component 5 with the number k and the inclination direction; f k A first detection value of the first detection component 5 numbered k; m is the mass of the detection ball 3, and g is the gravitational acceleration coefficient.
It should be noted that, when two adjacent first detection assemblies 5 with the largest first detection values are obtained, the obtaining method includes taking the four first detection assemblies 5 with the largest first detection values, if the four values are different, taking the largest two of the four first detection assemblies, if the largest value has one, the two values are equal and are located on two sides of the first detection assembly 5 corresponding to the largest value, and the position angles of the first detection assembly 5 corresponding to the largest value in the tilting directions are the same. In other cases, the maximum two values are taken directly and calculated as described above.
When the automatic leveling device is used specifically, the automatic leveling device can be used together with a chassis with a leveling function, and an automatic adjusting structure can be arranged at the support legs of the conveying device, so that a conveying belt on the conveying device is in a horizontal state.
The present invention has been described in detail with reference to the embodiments shown in the drawings, and it is therefore intended that the present invention not be limited to the exact forms and details shown and described, but that various changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (7)
1. A roll sensor for a fruit assisted picker, characterized by comprising, a housing (1);
a detection cavity (2) is formed in the shell (1), and a detection ball (3) is placed in the detection cavity (2);
the detection cavity (2) is a spherical cavity, and a plurality of first mounting holes (4) are formed in the wall of the detection cavity (2);
a plurality of first detection assemblies (5) are arranged in the first mounting hole (4), the first detection assemblies (5) extend out of the first mounting hole (4), and first detection ends (51) of the first detection assemblies (5) extend inwards; the first detection component (5) is used for detecting the pressure applied by the detection ball (3);
in a horizontal static state, a first detection end (51) of each first detection assembly (5) is abutted with the detection ball (3);
the roll sensor is in a detection process and comprises the following steps;
when in the working state;
acquiring initial parameters; the initial parameters comprise the number of the first detection assemblies (5), the initial position angle of each first detection assembly (5) and the calibration value of each first detection assembly (5);
acquiring the detection result of each first detection assembly (5) in real time, and rejecting useless data;
correcting the detection result of each first detection assembly (5) to obtain a corrected first detection value;
calculating a roll angle and a tilt direction according to the first detection value corrected by each first detection assembly (5);
acquiring data with positive first detection values and the number of a first detection assembly (5) corresponding to the data;
according to the number of the first detection component (5) corresponding to the data with the positive first detection value, obtaining the angle value corresponding to the first detection component (5) with the positive first detection value, and performing compensation processing on the angle value and the number;
two adjacent first detection assemblies (5) with the largest first detection value are numbered as n-1 and n;
the tilt direction is then:
wherein theta is an angle which is bypassed from the position of the first detection component (5) with the number of 0 to the inclination direction in the clockwise direction; m is the mass of the detection ball (3); g is the acceleration of gravity; f m A force detected for the second detection member (6); f n A force detected by a first detecting element (5) numbered n; n is the number of the first detection assemblies (5); f n-1 A force detected by a first detection assembly (5) numbered n-1;
carrying out inverse compensation processing on the inclination direction to obtain an angle value between 0 and 360 degrees;
taking all the first detection values as positive and a plurality of adjacent first detection components (5); calculating a resultant force value of the first detection values of the plurality of first detection components (5);
calculating an inclination angle according to the stress value;
the calculation formula of the inclination angle is as follows:
wherein, K max And K min The maximum number and the minimum number of the first detection components (5) which have positive first detection values and are adjacent to each other after correction; k is K min To K max An integer in between; alpha is alpha k Is an included angle between the first detection component (5) with the number k and the inclination direction; f k A first detection value of the first detection component (5) with the number k; m is the mass of the detection ball (3), and g is the gravity acceleration coefficient.
2. The roll sensor for a fruit assisted picking machine according to claim 1, characterized in that the centre lines of a plurality of the first detection assemblies (5) are located in the same plane and, in a horizontal rest condition, are distributed in a circumferential array around the vertical centre line of the spherical cavity.
3. The roll sensor for a fruit assisted picker according to claim 1, wherein the first detection assembly (5) comprises a first detection lever (52), a first spring (53) and a first mounting end cap (54);
the first mounting hole (4) comprises a first hole (41) and a second hole (42) in sequence along the direction from outside to inside; the center lines of the first hole (41) and the second hole (42) are positioned on the same straight line, and the diameter of the first hole (41) is larger than that of the second hole (42);
one end of the first detection rod (52) is provided with the first detection end (51), and the other end of the first detection rod (52) is provided with a first limiting piece (55);
the first limiting sheet (55) is installed in the first hole (41) in a sliding mode, and the first detection rod (52) penetrates through the second hole (42);
the first mounting end cover (54) is mounted in the first hole (41), the first spring (53) is located in the first hole (41), one end of the first spring abuts against the first mounting end cover (54), and the other end of the first spring abuts against the first limiting piece (55).
4. The roll sensor for a fruit assisted picker according to claim 3, wherein the first detection assembly (5) further comprises a strain gauge (56), the strain gauge (56) being mounted at an end of the first stopper piece (55) remote from the first detection lever (52); the strain gauge (56) is positioned between the first limiting sheet (55) and the corresponding first spring (53);
the strain gauge (56) is configured to generate an electrical signal indicative of pressure when subjected to pressure.
5. The roll sensor for a fruit auxiliary picking machine according to claim 1, characterized by further comprising a second detection assembly (6);
a second mounting hole (7) is formed in the bottom of the shell (1), and the center line of the second mounting hole (7) and the vertical center line of the spherical cavity are located on the same straight line with the center line of the second mounting hole (7) in a horizontal static state;
the second mounting hole (7) comprises a third hole (71) and a fourth hole (72) which are sequentially arranged from bottom to top; and the diameter of the third hole (71) is larger than the diameter of the fourth hole (72);
the second detection assembly (6) comprises a second detection rod (61), a second spring (62) and a second mounting end cover (63); one end of the second detection rod (61) is provided with a second limiting sheet (64), the second limiting sheet (64) is slidably mounted in the third hole (71), and the second detection rod (61) is slidably mounted in the second mounting hole (7); the second spring (62) is installed in the third hole (71), one end of the second spring (62) abuts against the second limiting sheet (64), the other end of the second spring (62) abuts against the second installation end cover (63), and the second installation end cover (63) is in threaded connection with the third hole (71);
one end, far away from the second limiting sheet (64), of the second detection rod (61) is an arc surface, and the radius of a circle corresponding to the arc surface is equal to that of the spherical cavity;
and under the horizontal static state, the arc surface and the inner wall of the spherical cavity are in smooth transition.
6. A roll sensor for a fruit auxiliary picking machine according to any of the claims 1-5 characterized in that the number of the first detection assemblies (5) is 6 to 18.
7. A roll sensor for a fruit auxiliary picking machine according to any of the claims 1-5 characterized in that it further comprises a solenoid coil (8), said solenoid coil (8) being fixedly embedded in the bottom of the housing (1);
the detection ball (3) is made of an iron material, and an anti-rust coating is plated on the periphery of the detection ball (3);
the electromagnetic coil (8) is arranged to attract the detection ball (3) in a non-operating state.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110560122.6A CN113494904B (en) | 2021-05-21 | 2021-05-21 | Side-tipping sensor for auxiliary fruit picking machine and inclination angle acquisition method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110560122.6A CN113494904B (en) | 2021-05-21 | 2021-05-21 | Side-tipping sensor for auxiliary fruit picking machine and inclination angle acquisition method |
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| CN113494904A CN113494904A (en) | 2021-10-12 |
| CN113494904B true CN113494904B (en) | 2023-01-31 |
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Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2284294B1 (en) * | 2003-10-31 | 2009-04-16 | Zumex, Maquinas Y Elementos, S.A. | EXPRESSING MACHINE FOR REDUCED SIZE CITRIC FRUITS. |
| CN104429357A (en) * | 2014-11-17 | 2015-03-25 | 苏州市职业大学 | Fruit picker |
| CN207096012U (en) * | 2017-08-24 | 2018-03-13 | 温州一鼎仪器制造有限公司 | Portable fruit hardometer |
| CN111112097B (en) * | 2019-12-24 | 2020-12-29 | 浙江大学 | Method for adjusting pose of spherical fruit |
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