CN113607647B - Crop growth information sensor self-balancing device and design method thereof - Google Patents
Crop growth information sensor self-balancing device and design method thereof Download PDFInfo
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- CN113607647B CN113607647B CN202110916681.6A CN202110916681A CN113607647B CN 113607647 B CN113607647 B CN 113607647B CN 202110916681 A CN202110916681 A CN 202110916681A CN 113607647 B CN113607647 B CN 113607647B
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- 238000013461 design Methods 0.000 title claims abstract description 27
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- 238000012544 monitoring process Methods 0.000 claims description 6
- 244000038559 crop plants Species 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 description 25
- 240000008042 Zea mays Species 0.000 description 10
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 10
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 10
- 235000005822 corn Nutrition 0.000 description 10
- 241000209140 Triticum Species 0.000 description 9
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating imbalance
- G01M1/36—Compensating imbalance by adjusting position of masses built-in the body to be tested
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
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Abstract
The invention discloses a crop growth information sensor self-balancing device, which is a balancing ring erected on a sensor shell, wherein the balancing ring comprises at least two layers of movably connected concentric connecting rings, two ends of the diameter of an inner ring of an innermost layer are movably connected with the sensor shell, the connecting points of two adjacent connecting rings are positioned on the diameter of an outer connecting ring, and a handle is arranged on the outer wall of an outer ring of the outermost layer; at least one connecting line of connecting points of two adjacent layers is arranged, the connecting lines of the connecting points of the inner ring and the sensor shell are mutually perpendicular in a horizontal plane, and each layer of connecting ring is designed to meet the maximum rotation angleθThe requirement of the maximum pitch angle in the use of the connecting ring is more than or equal to. The invention is arranged on the sensor shell, the handle is held by hand, and the sensor can be automatically adjusted to maintain the balance state. According to different heights of crops to be detected, the maximum rotation angle of the required balance ring is different, and a basis is provided for the size design of the balance ring.
Description
Technical Field
The invention relates to the field of crop growth information, in particular to a crop growth information sensor self-balancing device and a design method thereof.
Background
The upper surface and the lower surface of the crop growth information sensor simultaneously receive sunlight and reflected light of crops, the reflectivity of the crops is obtained, and then the growth information of the crops is obtained through inversion. When monitoring crop reflectivity, require that the receiving surface of reflected light and sunshine be in the horizontality, current sensor is adjusted by artifical observation horizon bar when using, and is time-consuming and inefficiency, and crop growth sensor is integrated on portable equipment more, need to be measured by the manual hand, in measuring process, artifical hardly guarantees that the reflected light is the horizontality all the time with sunshine receiving surface to cause measuring error.
In practical application, different pitching angles are formed when the heights of various crops are different, and a balancing device matched with the sensor in proper size is required to be designed according to the different heights of the crops to be measured so as to meet the measurement use requirement.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a self-balancing device of a crop growth information sensor and a design method thereof, which are used for solving the problems, and aiming at different heights of crops to be tested, a proper size is designed to meet the measurement use requirement of a certain crop, and the design efficiency and the success rate are improved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the self-balancing device is a balancing ring erected on a sensor shell, the balancing ring comprises at least two layers of movably connected concentric connecting rings, two ends of the diameter of an inner ring of an innermost layer are movably connected with the sensor shell, the connecting points of two adjacent connecting rings are positioned on the diameter of an outer connecting ring, and a handle is arranged on the outer wall of an outer ring of the outermost layer; at least one connecting line of connecting points of two adjacent layers of connecting rings is arranged and is mutually perpendicular to the connecting line of the connecting points of the inner ring and the sensor shell in a horizontal plane;
the inner diameter and height of the various layers of attachment rings affect the angle of rotation of the attachment rings that is adjusted to vertically down the central axis of the sensor. When the handle rotates left and right or does pitching motion to exceed the maximum angle, the outer wall of the sensor touches the connecting ring and loses the function of automatically adjusting balance, so that the inner diameter and the height of the balance ring are designed according to the maximum angle required to be adjusted in practical application aiming at the height of the target crop to be detected.
Designing the connecting rings of each layer to meet the maximum rotation angleθIs greater than or equal to the requirement of the maximum pitch angle of the connecting ring in use,
，
wherein the method comprises the steps ofrFor the radius of the sensor housing,Rfor the radius of the inner ring of each layer of the connecting ring,hthe distance from the connecting point of each layer of connecting ring and the adjacent inner layer of connecting ring or sensor shell to the bottom edge of the connecting ring.
The invention further improves the technical scheme that the inner ring is movably connected with the sensor shell, and a radial clamping column is arranged on the inner wall of the inner ring and movably clamped with an erection hole arranged on the sensor shell.
According to the technical scheme, the clamping column is cylindrical, and the top of the clamping column is hemispherical. The clamping column is cylindrical, the top of the clamping column is semicircular, and when the sensor sinks under the gravity of the sensor, the contact surface between the clamping column and the erection hole is small, so that the balance ring is sensitive when being erected on the sensor shell, the top of the clamping column is propped against the inner wall of the erection hole when being mutually propped against the erection hole, and the sensor is effectively prevented from swinging for a long time and not entering a stable state due to the oversensitivity.
According to the further improved technical scheme, friction surfaces are arranged on the outer surfaces of the clamping columns and/or the inner surfaces of the erection holes. The friction surfaces are arranged on the inner surface of the clamping column or the outer surface of the erection hole or both, so that the contact friction of the clamping column and the erection hole is increased, and the phenomenon that the sensor swings for a long time and does not enter a stable state due to over sensitivity is further reduced.
According to the technical scheme, the two adjacent connecting rings are movably connected, the inner wall of the outer connecting ring is provided with a pin shaft, the side wall of the inner connecting ring is provided with a connecting hole, and the pin shaft is movably connected in the connecting hole in a penetrating manner. The pin shaft connection has good adjustment sensitivity.
The invention further improves the technical scheme that the connection point of each layer of connection ring and the connection ring of the adjacent inner layer or the sensor shell is positioned at the center of the height of the connection ring. The design and calculation are convenient, and meanwhile, the mechanical strength of the connecting ring is good.
The invention further improves the technical scheme that the height of the connecting ring is 2-50 mm. The structure is smaller and more reasonable while the mechanical strength of the connecting ring is ensured.
According to the further improved technical scheme, the movable connection point of the inner ring and the sensor shell is located in the upper third range of the sensor, so that the sensor can quickly enter a balanced state.
According to a still further improved technical scheme, when the axis of the sensor is vertical and the inner and outer balance rings are horizontal, the axis of the handle is arranged on the extension line of the connecting point of the inner ring and the sensor shell.
The invention also provides a design method of the crop growth information sensor self-balancing device,
(1) Determining the sensor type according to the crop to be detected to obtain the radius of the sensor shellrThe method comprises the steps of carrying out a first treatment on the surface of the Determining the height of the connecting ring according to the requirements of mechanical strength, convenient installation and the likeHThe method comprises the steps of carrying out a first treatment on the surface of the The distance between the connecting point of each layer of connecting ring and the adjacent inner layer of connecting ring or sensor shell and the bottom edge of the connecting ring ish；
(2) Design the inner diameter of the left-right inclined connecting ringR: the maximum pitch angle of the connecting ring generated by the left and right rotation of the handle in use is preset firstlyγAccording toDesign ofRThe value satisfiesθ≥γ；
(3) Design of inner diameter of front-rear inclined connecting ringR: the plant height or canopy height of the crops is as follows in the preset measurementh Crop plant The distance of the sensor above the crops ish Measuring The horizontal distance between the measuring staff and the crops isLThe balance ring handle is connected with the long rod, and the height of the position of the long rod held by the measurer from the ground ish Hand with a handle When the crop is short and the handheld long rod is inclined downwards, the inclination angle of the long rod and the horizontal plane isγ，When the object is high and the hand-held long rod is inclined upwards, the inclination angle of the long rod and the horizontal plane isγ，The method comprises the steps of carrying out a first treatment on the surface of the Thus, the maximum pitch angle in the use of the connecting ring during the monitoring of the shortest plant height and the maximum plant height of the crops is calculatedγAccording to->Design ofRThe value satisfiesθ≥γ；
(4) Comparing the calculated in step (2) with the calculated in step (3)RIf the inner layer is connected withOf ringsRSignificantly smaller than the outer connecting ringRThe design size of each layer of connecting ring meets the requirement, or the inner layer of connecting ring is convenient for installationRCan be properly increased; if the inner layer is connected with the ringRGreater than or slightly less than the outer connecting ringRResulting in failure to install, the outer connecting ring is properly enlargedR。
The invention has the beneficial effects that:
1. the sensor is erected on the sensor shell, the handle is held by hand, the sensor can be automatically adjusted to keep a vertical balance state, the efficiency is extremely high, the upper end face and the lower end face for collecting sunlight and crop reflected light are in a horizontal state, the accuracy of monitoring data of the sensor is improved, and popularization and application of the agricultural information sensor are facilitated.
2. The invention provides theoretical guidance for the size design of the sensor balancing device because the maximum rotation angle of the required balancing ring is different due to different heights of crops to be tested, improves the design efficiency and success rate, and is beneficial to promoting the design and application of the balancing device.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 shows the maximum angle of rotation of the inner ringθDesigning a calculation schematic diagram;
FIG. 3 is a schematic diagram showing the relationship between the maximum rotation angle of the inner ring and the change of the radius and the height of the inner ring;
FIG. 4 shows the maximum rotation angle of the outer ringθDesigning a calculation schematic diagram;
FIG. 5 is a predicted outer ring maximum pitch angle at the shortest time of the plant to be tested in example 1γ；
FIG. 6 is a graph showing the predicted maximum pitch angle of the outer ring when the plant to be tested is highest in example 1γ；
FIG. 7 is a predicted outer ring maximum pitch angle at the shortest time of the plant to be tested in example 2γ；
FIG. 8 is a graph showing the predicted maximum pitch angle of the outer ring when the plant to be tested is the highest in example 2γ；
FIG. 9 is a predicted outer ring maximum pitch angle at the shortest time of the plant to be tested in example 3γ；
FIG. 10 is an embodiment3, predicting the maximum pitch angle of the outer ring when the plant to be detected is highestγ。
Detailed Description
As shown in fig. 1, the balancing device of the invention is a balancing ring erected on a sensor housing 1, the balancing ring is formed by movably connecting an inner ring and an outer ring, radial cylindrical clamping posts 5 are arranged on the inner walls of two ends of the diameter of the inner ring 2 and movably clamped with erection holes formed in the sensor housing 1, the tops of the clamping posts 5 are hemispherical, and friction surfaces (not shown in the figure) are arranged on the outer surfaces of the clamping posts and/or the inner surfaces of the erection holes. The outer ring 3 and the inner ring 2 are concentric, the outer ring 3 and the inner ring 2 are movably connected on the diameter of the outer ring 3 by adopting a pin shaft 6, namely, the inner wall of the outer ring is provided with a pin shaft 6, the side wall of the inner ring is provided with a connecting hole, the pin shaft is movably connected in the connecting hole in a penetrating way to form movable connection, the connecting line of the connecting point of the inner ring and the sensor shell, the connecting line of the connecting point of the outer ring and the inner ring are mutually perpendicular in a horizontal plane, the connecting point of the outer ring and the inner ring is positioned in the center of the height of the outer ring and the inner ring, the connecting point of the inner ring and the sensor shell is positioned in the center of the height of the inner ring and is positioned in the upper third range of the sensor shell, the outer wall of the outer ring 3 is provided with a handle 4, and when the axis of the sensor is vertical and the inner and outer balanced rings are horizontal, the axis of the handle 4 is positioned on the connecting line of the connecting point of the inner ring and the sensor shell.
The inner diameter and height of the attachment ring affect the angle of rotation of the attachment ring that is adjusted to vertically down the central axis of the sensor. When the handle rotates left and right to exceed a certain angle, the outer wall of the sensor shell can touch the inner ring, and when the handle does pitching motion to exceed a certain angle, the outer wall of the sensor shell can touch the outer ring, so that the effect of automatic balance adjustment is lost. The handle rotation is kept in a small angle range as far as possible, and the pitching motion of the handle is related to the height of crops. The inner diameter and the height of the balance ring are designed according to the maximum angle which can be adjusted in practical application according to different heights of crops to be observed.
Design the maximum angle of rotation of the inner ringθ 1 As shown in FIG. 2, the cylindrical sensor housing has a radius ofrInner diameter of inner ringR 1 The height of the inner ring is 2h 1 Card with inner ring connected with sensor shellThe central axis of the column is positioned at the center of the height of the inner ring, so the distance from the central axis of the clamping column to the bottom edge of the inner ring ish 1 When the sensor is vertically downward and the inner ring and the outer ring are horizontal, the intersection point of the central axis of the clamping column 5 and the central axis of the sensor isO 1 Point, crossO 1 The horizontal intersection point of the radius of the inner ring inner wall and the inner ring inner wall of the point isA，O 1 Point to pointAThe point distance isR 1 ，O 1 APerpendicular to the central axis of the sensor, the vertical projection point of the lower edge of the inner ring inner wall of the point A is B,O 1 point to pointBThe point distance isl 1 ，O 1 AAnd (3) withO 1 BIncluded angle of (a)a 1 When the inner ring rotates by the maximum angleθ 1 When the inner ring lower edge touches the outer wall of the vertical downward sensor shell, the inner ring lower edge touches the vertical downward sensor shellARotate toA′，BRotate toB′，O 1 Connection line between point and lower edge of inner ringO 1 B′An included angle with the central axis of the sensor isβ 1 ，O 1 AAnd (3) withO 1 A′Included angle of (2)，
；
θ 1 Along with itR 1 、h 1 The variation of (3) is shown in FIG. 3, the inner ring meets both the mechanical strength and the aesthetic requirements, soh 1 Is preferably 1mm to 25mm, provided that the sensorr=40mm，R 1 Ranging from 50mm to 150mm. As can be seen from the figure 3 of the drawings,h 1 adjustable and adjustableθ 1 The range is far smaller thanR 1 Adjustable and adjustableθ 1 The range is thus preferably adjusted in practical designsR 1 To adjust the maximum inclination angle of the inner flat ring, and under the premise of meeting the mechanical strength,h 1 can be suitably reduced.
Design of maximum angle of rotation of outer ringθ 2 As shown in fig. 4, the cylindrical sensor housing has a radius ofrInner diameter of outer ringR 2 The height of the outer ring is 2h 2 The connecting point of the outer ring and the inner ring is positioned at the center of the height of the outer ring and the inner ring, so the distance from the connecting point of the outer ring and the inner ring to the bottom edge of the outer ring ish 2 When the sensor is vertically downward and the inner ring and the outer ring are horizontal, the intersection point of the central axis of the pin shaft 6 of the connecting point of the inner ring and the outer ring and the central axis of the sensor isO 2 Point, crossO 2 The horizontal intersection point of the radius of the inner wall of the outer ring and the inner wall of the outer ring isC，O 2 Point to pointCThe point distance isR 2 ，O 2 CPerpendicular to the central axis of the sensor, the perpendicular projection point of the C point on the lower edge of the inner wall of the outer ring is D,O 2 point to pointDThe point distance isl 2 ，O 2 CAnd (3) withO 2 DIncluded angle of (a)a 2 When the outer ring rotates by the maximum angleθ 2 At this time, the lower edge of the outer ring touches the outer wall of the sensor housing vertically downwardCRotate toC′，DRotate toD′，O 2 Connection line of point and outer ring lower edgeO 2 D′An included angle with the central axis of the sensor isβ 2 ，O 2 CAnd (3) withO 2 C′Included angle of (2)The same as the design of the inner ring,
；
in the design of the balance ring, the requirement is thatθ 2 Is larger than the maximum inclination angle of the balance ring in practical application. If it isθ 2 The angle is not large enough, the inner diameter of the outer ring can be increasedR 2 Or reducing the height from the connection point of the outer ring and the inner ring to the bottom edge of the outer ringh 2 But due to reduction inh 2 The mechanical strength of the balance ring is reduced and can be increasedθ 2 Is small, so it is preferable to increase the inner diameter of the outer ringR 2 。
In practical application, when the connecting line of the two connecting points of the inner ring and the outer ring is perpendicular to the central axis of the handle,θ 2 a maximum tilt angle of the long rod connected with the handle in the application is greater than or equal to; when the connecting line of the two connecting points of the inner ring and the outer ring is parallel to the central axis of the handle,θ 1 the maximum inclination of the long rod connected with the handle in application is greater than or equal to.
The invention compiles that the sensor is of a common size,r、Randhtables under different combinations are shown in Table 1 and can be referred to in designing the balancing device.
TABLE 1 differentr、R、hIn the case ofθ
Example 1
Crop sensors are used to monitor wheat and,rthe balancing ring is made of metal (such as stainless steel or aluminum alloy), two layers of connecting rings are used, according to the requirements of beautiful appearance and mechanical strength,h 1 =h 2 the connecting line of two connecting points of the inner ring and the outer ring is vertical to the central axis of the handle, the time range from the growth of crops to the harvesting of the crops to the plant height of 1cm is measured by using a sensor, the handle of the outer ring of the balancing device is fixed on a long rod, a measurer holds the long rod to measure, the height of the position of the long rod held by the measurer to the ground is 90cm, the horizontal distance between the measurer and the crops is 100cm, the rotation of the long rod is not more than 30 degrees, and the plant height is 1cm to the measurement before sealingThe sensor is 20cm above the canopy when measuring, and 50cm above the canopy when measuring after sealing. In order to improve the adaptability of the balancing ring in practical work, it is assumed that the maximum height of the wheat is 150cm.
First, designing the inner diameter of the inner ringR 1 . Because the rotation of the long rod is not more than 30 DEG, theR 1 So long as the design of (1) is satisfiedθ 1 ≥30 degrees. Calculated by the method of the present invention or as can be seen from Table 1, whenR 1 When the value of =25mm,θ 1 =33° > 30 °, satisfying the need.
And secondly, determining the minimum size of the inner diameter of the outer ring to meet the measurement requirement when the plant height is 1 cm. When measuring wheat with the height of 1cm, the schematic diagram of fig. 5 is combined, and the included angle between the long rod and the horizontal plane is formedγThe calculation method of (2) is as follows:ABis the plant height, equal to 1cm,Cthe point is the sensor position and,BCthe length of the fiber is 20cm,Fthe point is the standing position of the measuring person,AFto measure the horizontal distance of a person from the crop at 100cm,DFto hold the long rod at a height of 90cm from the ground,CE∥AFand is also provided withCE=AFThen. Calculated by the method of the present invention or as can be seen from Table 1, whenR 2 When the value of the ratio is =30mm,θ 2 =44°＞γmeeting the requirements.
And thirdly, determining the minimum size of the inner diameter of the outer ring to meet the measurement requirement of the maximum plant height of the wheat. When measuring 150cm high wheat, referring to FIG. 6, the angle between the long rod and the horizontal planeγThe calculation method of (2) is as follows:ABis the plant height, equal to 150cm,Cthe point is the sensor position and,BCthe length of the fiber is 50cm,Fthe point is the standing position of the measuring person,AFto measure the horizontal distance of a person from the crop at 100cm,DFto hold the long rod at a height of 90cm from the ground,DE∥AFand is also provided withDE=AFThen. Calculated by the method of the present invention or as can be seen from Table 1When (when)R 2 When the value of the ratio is =35 mm,θ 2 =52°＞γmeeting the requirements.
Taking the second step and the third step into consideration, determiningR 2 =35 mm, determined by the first stepR 1 To facilitate the installation of the inner and outer rings, the inner diameter of the inner ring may also be increased appropriately.
Example 2:
the horizontal distance between the measuring person and the crop was 200cm, and the other conditions were the same as in example 1.
First, designing the inner diameter of the inner ringR 1 . Because the rotation of the long rod is not more than 30 DEG, theR 1 So long as the design of (1) is satisfiedθ 1 ≥30°And (3) obtaining the product. Calculated by the method of the present invention or as can be seen from Table 1, whenR 1 When the value of =25mm,θ 1 =33°＞30°meeting the requirements.
And secondly, determining the minimum size of the inner diameter of the outer ring to meet the measurement requirement when the plant height is 1 cm. When measuring wheat with the height of 1cm, referring to fig. 7, the calculation method of the included angle gamma between the long rod and the horizontal plane is as follows:ABis the plant height, equal to 1cm,Cthe point is the sensor position and,BCthe length of the fiber is 20cm,Fthe point is the standing position of the measuring person,AFto measure the horizontal distance of a person from the crop to 200cm,DFto hold the long rod at a height of 90cm from the ground,CE∥AFand is also provided withCE=AFThen. Calculated by the method of the present invention or as can be seen from Table 1, whenR 2 When the value of =25mm,θ 2 =33°＞γmeeting the requirements.
And thirdly, determining the minimum size of the inner diameter of the outer ring to meet the measurement requirement of the maximum plant height of the wheat. When measuring 150cm high wheat, referring to FIG. 8, the angle between the long rod and the horizontal planeγThe calculation method of (2) is as follows:ABis the plant height, equal to 150cm,Cthe point is the sensor position and,BCthe length of the fiber is 50cm,Fthe point is the standing position of the measuring person,AFto measure the horizontal distance of a person from the crop to 200cm,DFto hold the long rod at a height of 90cm from the ground,DE∥AFand is also provided withDE=AFThen. Calculated by the method of the present invention or as can be seen from Table 1, whenR 2 When the value of =25mm,θ 2 =33°＞γmeeting the requirements.
Taking the second step and the third step into consideration, determiningR 2 =25 mm, determined by the first stepR 1 =25 mm, but the inner diameter of the outer ring must be larger than the outer diameter of the inner ring, so the inner diameter of the outer ring needs to be increased appropriately in order to facilitate the installation of the inner and outer rings.
Example 3:
crop sensors for monitoring corn, the sensorsrThe balance ring has two layers, is made of plastic or nylon, and is made of nylon, according to the requirements of attractive appearance and mechanical strength,h 1 =h 2 =3mm. Considering variety factors and management conditions, in order to improve the applicability of the balancing device, the maximum plant height of corn is assumed to be 300cm, after corn sealing, the sensor is positioned at a position 50cm above a corn canopy during measurement, the horizontal distance between a measurer and the corn is 300cm, and when the plant height of the corn is 1cm after seedling emergence to the position 20cm above the corn during measurement before sealing, the horizontal distance between the measurer and the corn is 100cm. The outer ring of the balancing device is provided with a handle, the handle is fixed on the long rod, a measurer holds the long rod to measure, the height between the position of holding the long rod and the ground is 90cm, the connecting line of two fixed points of the inner ring and the outer ring is perpendicular to the central axis of the handle, and the rotation of the handle is not more than 30 degrees.
First, designing the inner diameter of the inner ringR 1 . Because the rotation of the long rod is not more than 30 DEG, theR 1 So long as the design of (1) is satisfiedθ 1 ≥ 30°And (3) obtaining the product. Calculated by the method of the present invention or as can be seen from Table 1, whenR 1 When the value of =50mm,θ 1 =34°＞30°meeting the requirements.
Second, determining the minimum size of the inner diameter of the outer ring toMeets the measurement requirement when the plant height is 1 cm. When measuring corn with the height of 1cm, the included angle between the long rod and the horizontal plane is shown in the figure 9γThe calculation method of (2) is as follows:ABis the plant height, equal to 1cm,Cthe point is the sensor position and,BCthe length of the fiber is 20cm,Fthe point is the standing position of the measuring person,AFto measure the horizontal distance of a person from the crop at 100cm,DFto hold the long rod at a height of 90cm from the ground,CE∥AFand is also provided withCE=AFThen. Calculated by the method of the present invention or as can be seen from Table 1, whenR 2 When the value of the ratio is =55mm,θ 2 =40°＞γmeeting the requirements.
And thirdly, determining the minimum size of the inner diameter of the outer ring to meet the measurement requirement of the maximum plant height of the corn. When measuring 150cm high wheat, referring to FIG. 10, the angle between the long rod and the horizontal planeγThe calculation method of (2) is as follows:ABis the plant height, equal to 300cm,Cthe point is the sensor position and,BCthe length of the fiber is 50cm,Fthe point is the standing position of the measuring person,AFto measure a horizontal distance of 300cm from the person to the crop,DFto hold the long rod at a height of 90cm from the ground,DE∥AFand is also provided withDE=AFThen. Calculated by the method of the present invention or as can be seen from Table 1, whenR 2 When the value of the ratio is =60 mm,θ 2 =45°＞γmeeting the requirements.
Taking the second step and the third step into consideration, determiningR 2 =60 mm, determined by the first stepR 1 To facilitate the installation of the inner and outer rings, the inner diameter of the inner ring may be increased appropriately.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (8)
1. A crop growth information sensor self-balancing device, characterized in that: the balancing device is a balancing ring erected on the sensor shell (1), the balancing ring comprises at least two layers of movably connected concentric connecting rings, two ends of the diameter of an inner ring (2) of the innermost layer are movably connected with the sensor shell (1), the connecting points of two adjacent connecting rings are positioned on the diameter of an outer connecting ring, and a handle (4) is arranged on the outer wall of an outer ring (3) of the outermost layer; at least one connecting line of connecting points of two adjacent layers of connecting rings is arranged and is mutually perpendicular to the connecting line of the connecting points of the inner ring and the sensor shell in a horizontal plane; the inner ring is movably connected with the sensor shell, a radial clamping column (5) is arranged on the inner wall of the inner ring and is movably clamped with an erection hole arranged on the sensor shell; the movable connection of the two adjacent connecting rings is that the inner wall of the outer connecting ring is provided with a pin shaft (6), the side wall of the inner connecting ring is provided with a connecting hole, and the pin shaft is movably connected in the connecting hole in a penetrating way;
each layer of connecting ring is designed to meet the requirement that the maximum rotation angle theta is larger than or equal to the maximum pitch angle of the connecting ring in use,
wherein R is the radius of the sensor shell, R is the radius of the inner ring of each layer of connecting ring, h is the distance between each layer of connecting ring and the adjacent inner layer of connecting ring or the connecting point of the sensor shell and the bottom edge of the connecting ring;
the design method of the self-balancing device comprises the following steps:
(1) Determining the model of the sensor according to the crop to be detected, and obtaining the radius r of the sensor shell; determining the height H of the connecting ring according to the requirements of mechanical strength, convenience in installation and the like; the distance from the connecting point of each layer of connecting ring and the adjacent inner layer of connecting ring or sensor shell to the bottom edge of the connecting ring is h;
(2) Designing the inner diameter R of the left-right inclined connecting ring: the maximum pitch angle gamma and root of the connecting ring generated by the left and right rotation of the handle in use are preset firstlyAccording toDesigning the R value to meet theta not less than gamma;
(3) Designing the inner diameter R of the front-back inclined connecting ring: the plant height or canopy height of the crops is h in the preset measurement Crop plant The distance of the sensor above the crops is h Measuring The horizontal distance between the measuring staff and the crops is L, the balance ring handle is connected with the long rod, and the height of the position of the measuring staff holding the long rod from the ground is h Hand with a handle When the crop is short and the long rod is held to be inclined downwards for measurement, the inclination angle of the long rod and the horizontal plane is gamma,when the crop is high and the hand-held long rod is inclined upwards, the inclination angle of the long rod and the horizontal plane is gamma and/or +>The maximum pitch angle gamma of the connecting ring in use during monitoring of the shortest plant height and the maximum plant height of the crops is calculated according to ∈>Designing the R value to meet theta not less than gamma;
(4) Comparing the R calculated in the step (2) with the R calculated in the step (3), if the R of the inner connecting ring is obviously smaller than the R of the outer connecting ring, the design size of each layer of connecting ring meets the requirement, or the R of the inner connecting ring can be properly increased for convenient installation; if the R of the inner connecting ring is equal to or slightly smaller than the R of the outer connecting ring, so that the outer connecting ring cannot be mounted, the R of the outer connecting ring is properly increased.
2. A crop growth information sensor self-balancing device according to claim 1, characterized in that: the clamping column (5) is cylindrical, and the top of the clamping column is hemispherical.
3. A crop growth information sensor self-balancing device according to claim 1, characterized in that: and friction surfaces are arranged on the outer surfaces of the clamping columns and/or the inner surfaces of the erection holes.
4. A crop growth information sensor self-balancing device according to claim 1, characterized in that: the connection point of each layer of connection ring and the connection ring of the adjacent inner layer or the sensor shell is positioned at the center of the height of the connection ring.
5. A crop growth information sensor self-balancing device according to claim 1, characterized in that: the height of the connecting ring is 2-50 mm.
6. A crop growth information sensor self-balancing device according to claim 1, characterized in that: the movable connection point of the inner ring and the sensor shell is positioned in the upper third range of the sensor.
7. A crop growth information sensor self-balancing device according to claim 1, characterized in that: the handle axis is on the line of extension of the connection line of the inner ring to the sensor housing connection point when the axis of the sensor is vertical and the inner and outer balance rings are horizontal.
8. A method of designing a self-balancing device as claimed in claim 1, wherein:
(1) Determining the model of the sensor according to the crop to be detected, and obtaining the radius r of the sensor shell; determining the height H of the connecting ring according to the requirements of mechanical strength, convenience in installation and the like; the distance from the connecting point of each layer of connecting ring and the adjacent inner layer of connecting ring or sensor shell to the bottom edge of the connecting ring is h;
(2) Designing the inner diameter R of the left-right inclined connecting ring: the maximum pitch angle gamma of the connecting ring generated by the left and right rotation of the handle in use is preset firstly according toDesigning the R value to meet theta not less than gamma;
(3) Designing the inner diameter R of the front-back inclined connecting ring: the plant height or canopy height of the crops is h in the preset measurement Crop plant The sensor is arranged on the cropsThe upper distance is h Measuring The horizontal distance between the measuring staff and the crops is L, the balance ring handle is connected with the long rod, and the height of the position of the measuring staff holding the long rod from the ground is h Hand with a handle When the crop is short and the long rod is held to be inclined downwards for measurement, the inclination angle of the long rod and the horizontal plane is gamma,when the crop is high and the hand-held long rod is inclined upwards, the inclination angle of the long rod and the horizontal plane is gamma and/or +>The maximum pitch angle gamma of the connecting ring in use during monitoring of the shortest plant height and the maximum plant height of the crops is calculated according to ∈>Designing the R value to meet theta not less than gamma;
(4) Comparing the R calculated in the step (2) with the R calculated in the step (3), if the R of the inner connecting ring is obviously smaller than the R of the outer connecting ring, the design size of each layer of connecting ring meets the requirement, or the R of the inner connecting ring can be properly increased for convenient installation; if the R of the inner connecting ring is equal to or slightly smaller than the R of the outer connecting ring, so that the outer connecting ring cannot be mounted, the R of the outer connecting ring is properly increased.
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