CN114046721B - Instrument and method for measuring growth rate of corn filaments on line - Google Patents
Instrument and method for measuring growth rate of corn filaments on line Download PDFInfo
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- CN114046721B CN114046721B CN202111325295.6A CN202111325295A CN114046721B CN 114046721 B CN114046721 B CN 114046721B CN 202111325295 A CN202111325295 A CN 202111325295A CN 114046721 B CN114046721 B CN 114046721B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention belongs to the field of agricultural sensors, and particularly relates to an instrument for measuring the growth rate of corn filaments on line, which comprises: the device comprises a magnetic effect angle sensor shell, a magnetic effect sensor receiving end (2), a magnetic effect sensor magnetic head (3), an encoder calibration belt pulley (4), a connecting shaft (5), a bearing end cover (6), a bearing (7), a GPS antenna (8), a 5V/4W solar cell panel (9), a rack type clamping arm (10), a synchronous belt pulley (11), a synchronous belt (12), a hook code (14), an instrument shell (16), a 1024-wire photoelectric encoder (17), a calibration belt (18), a main control unit (19), a stepping motor (20), a stepping motor shell (21), a magnetic effect angle sensor end cover (22), a support sleeve (23), a tripod (24), an encoder small belt pulley (25) and a stepping motor gear (29); the method effectively realizes continuous and high-precision on-line measurement, and is convenient for scientific research personnel to monitor the growth rate of the corn filament in real time.
Description
Technical Field
The invention belongs to the field of agricultural sensors, and particularly relates to an instrument and a method for measuring the growth rate of corn filaments on line.
Background
The corn has a multi-element structure attribute of 'grain-feed-warp', is an important grain crop in China, and has three key factors of hectare spike number, spike grain number and spike grain weight which influence the corn yield. With the increase of the yield level of the corn, the determinant effect of the grain number of the ear on the yield is more obvious. Kernel abortion in the corn growth process directly affects the improvement of the corn yield. The study shows that the grain number of the ears is in obvious positive correlation with the number of silky florets of the corn ears. For the reason of kernel abortion, the research on the growth and development dynamics of the filaments before pollination is an important research direction.
The existing method for measuring the growth rate of the corn filament mainly comprises the step of timed and manual sampling measurement, and the method has the defects of complex operation and low precision. In order to facilitate research on the growth rule of the corn filaments by scientific researchers, the invention designs an instrument and a method capable of realizing online measurement of the growth rate of the corn filaments in a greenhouse. The instrument can dynamically measure the growth amount of the corn filaments and send the corn filaments to an upper computer in real time, multi-machine management can be realized only by one computer or one mobile phone, and the instrument has a certain application prospect.
Disclosure of Invention
Aiming at the problems, the invention aims to effectively solve the problem of real-time online measurement of the growth rate of the maize silks in the greenhouse and provides an instrument and a method which have simple system structure, stable and reliable work and can accurately measure the growth rate of the maize silks online.
The purpose of the invention is realized by the following technical scheme:
an instrument for on-line measurement of the rate of growth of corn filaments, the instrument comprising: the device comprises a magnetic effect angle sensor shell 1, a magnetic effect sensor receiving end 2, a magnetic effect sensor magnetic head 3, an encoder calibrating belt pulley 4, a connecting shaft 5, a bearing end cover 6, a bearing 7, a GPS antenna 8, a 5V/4W solar cell panel 9, a rack type clamping arm 10, a synchronous belt pulley 11, a synchronous belt 12, a hook code 14, an instrument shell 16, a 1024-line photoelectric encoder 17, a calibrating belt 18, a main control unit 19, a stepping motor 20, a stepping motor shell 21, a magnetic effect angle sensor end cover 22, a supporting sleeve 23, a tripod 24, an encoder small belt pulley 25 and a stepping motor gear 29;
the instrument housing 16 includes a vertical section, an inclined section extending obliquely downward from the top end of the vertical section, and a connecting section located at the intersection of the vertical section and the inclined section; the vertical section, the inclined section and the connecting section are communicated with each other in the inner space;
the magnetic effect angle sensor shell 1 is fixed on the inner side surface of the connecting section of the instrument shell 16; the GPS antenna 8 is fixed at the top end of the instrument shell 16; the 5V/4W solar cell panel 9 is fixed on the upper surface of the inclined section of the instrument shell 16;
the connecting shaft 5 is supported in a bearing hole on the inner side surface of the connecting section of the instrument shell 16 through a bearing 7, and the bearing 7 is axially limited by a bearing end cover 6; a first end of the connection shaft 5 is located outside the instrument housing 16 and at which the magnetic-effect angle sensor head 3 is fixed; the second end of the connecting shaft 5 is positioned in the cavity of the instrument shell 16, and the second end is provided with a synchronous pulley 11;
the receiving end 2 of the magnetic effect angle sensor is connected with the end cover 22 of the magnetic effect angle sensor, and the end cover 22 of the magnetic effect angle sensor is connected with the shell 1 of the magnetic effect angle sensor;
the encoder calibration belt pulley 4 is arranged on the connecting shaft 5 and is positioned between the magnetic head 3 of the magnetic effect angle sensor and the bearing end cover 6; a 1024-wire photoelectric encoder 17 is mounted on a fixing lug on the inner side surface of the vertical section of the instrument housing 16; the small encoder belt wheel 25 of the 1024 linear photoelectric encoder 17 is in transmission with the encoder calibration belt wheel 4 through the calibration belt 18;
the synchronous pulley 11 is positioned inside the instrument shell 16 and fixed at the second end of the connecting shaft 5; the synchronous belt 12 bypasses the synchronous pulley 11 and is meshed with the synchronous pulley 11; correspondingly, the synchronous belt 12 comprises a vertical section of the synchronous belt located inside the vertical section of the instrument housing 16 and a inclined section of the synchronous belt extending outwards from inside the inclined section of the instrument housing 16, and the hook code 14 is hung at the bottom of the vertical section of the synchronous belt; the inclined section of the synchronous belt extends out of the inclined section of the instrument shell 16, and the end part of the inclined section of the synchronous belt is bound and connected with the measured corn silks;
the stepping motor shell 21 is fixed on the instrument shell 16; the stepping motor 20 is arranged in the stepping motor shell 21 and fixed;
the rack-type clamp arm 10 includes an upper arm and a lower arm; the rear ends of the upper and lower arms of the rack type clamping arm 10 are horizontally arranged rack portions; the rack portion is located on the back of the instrument housing 16; the front ends of the upper arm and the lower arm of the rack type clamping arm 10 are rubber clamping blocks which are opposite to each other; the front ends of the upper and lower arms of the rack-type clamping arm 10 are located inside the cavity of the instrument housing 16;
a stepping motor gear 29 is meshed with racks of an upper arm and a lower arm of the rack type clamping arm 10, and a power output shaft of the stepping motor 20 is connected with the stepping motor gear 29; the racks of the upper and lower arms of the rack type clamping arm 10 are driven by the stepping motor 20 to move left and right, so that the rubber clamping blocks at the front ends of the upper and lower arms of the rack type clamping arm 10 are close to or far away from each other;
the main control unit 19 is fixed on the inner side surface of the instrument shell 16;
the instrument housing 16 is supported and positioned by the support sleeve 23; a tripod 24 is connected to the support sleeve 23.
The vertical section of the instrument housing 16 is provided with two rectangular through holes for mounting the rack-type clamping arm 10 and four circular through holes for mounting the stepper motor housing 21.
An instrument outer transparent cover 13 is fixed to the outside of the instrument housing 16.
When connecting the tested corn filaments, selecting 20-30 corn filaments with the length difference not more than 5mm, binding the corn filaments into a bundle by using a non-woven medical adhesive tape 28, and then binding and adhering the bound bundle of the corn filaments and the end part of the inclined section of the synchronous belt again by using the medical adhesive tape.
The upper and lower arms of the rack-type clamp arm 10 are each restrained by a clamp arm stop boss 30 located on the back of the housing 16.
The main control unit 19 is electrically connected with the 1024 line photoelectric encoder 17, the magnetic effect sensor receiving end 2, the GPS antenna 8 and the 5V/4W solar cell panel 9.
A method for measuring the growth rate of the corn filaments on line by using the instrument for measuring the growth rate of the corn filaments on line, which comprises the following steps:
s1, automatic calibration of magnetic effect sensor
S1.1, supporting a tripod 24 on the horizontal ground and electrifying an instrument;
s1.2, connecting an encoder calibration belt wheel 4 and an encoder small belt wheel 25 by tensioning a calibration belt 18;
s1.3, manually adjusting the magnetic effect angle sensor to a zero +/-2-degree position; at the zero point position, the measurement value of the magnetic effect angle sensor is 0 degree;
s1.4, the small encoder belt wheel 25 is manually shifted clockwise at a speed of 20-30S for one circle, so that the small encoder belt wheel 25 rotates for 2 circles, and the diameter of the encoder calibrating belt wheel 4 is 2 times of the diameter of a driven wheel of the 1024-line photoelectric encoder 17, so that the magnetic effect angle sensor returns to the zero position after rotating for 1 circle;
s1.5, calculating a constant a in the formula 1 cali And b cali
The main control unit 19 converts the analog output voltage of the magnetic effect angle sensor into a digital value D ads And further calculate the angle value A cal (ii) a Angle value A cal Digital quantity D converted from A/D with main control unit 19 ads There is a linear relationship between:
A cal ＝(D ads -b)/a formula 1
Wherein, A cal Representing the calculated angle value in degrees; d ads The digital quantity obtained by converting the output voltage analog quantity of the magnetic effect angle sensor by the main control unit 19 is shown; a represents D ads And A cal The proportionality coefficient between them, unit is/°; b represents the minimum value of the A/D conversion result of the main control unit 19 in the process of 1 rotation of the magnetic effect angle sensor, namely when the magnetic effect angle sensor is positioned at the zero position, the main control unit 19 converts the conversion result of the output voltage analog quantity of the magnetic effect angle sensor;
the constants a, b in equation 1 are obtained by:
every 256 pulses are generated by the 1024-line photoelectric encoder 17 from the moment that the magnetic effect angle sensor head 3 just rotates to the zero point, and the rotating angle of the encoder is as follows:
360°×(256/1024)＝90°
from the zero position to the end of the calibration, the main control unit 19 performs 4 calculations, respectively:
wherein D is 512 ,D 1024 ,D 1536 ,D 2048 Respectively showing the results of A/D conversion of the output voltage of the main control unit 19 to the magnetic effect angle sensor when 512, 1024, 1536 and 2048 pulses are cumulatively generated in the rotation process of the 1024-line photoelectric encoder 17; d min Representing the A/D conversion value when the magnetic effect angle sensor rotates to the zero point;
constant a obtained by the calculation of the steps i ,b i (i-1, 2,3,4) averaged to give:
in the formula a cali ,b cali The result after one calibration is finished;
s1.6, and comparing the constant a in the formula 1 calculated in the step S1.5 cali And b cali Substituting equation 1 yields:
A cal ＝(D ads -b cali )/a cali equation 6
Finishing the calibration;
s2 measuring growth quantity of corn filament
S2.1, firstly, adjusting the relative position of the support sleeve 23 inserted into the instrument shell 16, and carrying out axial positioning through positioning holes of the support sleeve and the instrument shell; then connecting the supporting sleeve 23 provided with the instrument shell 16 with a bolt at the top end of a tripod 24, and then placing the tripod 24 on stable ground for leveling, adjusting the height and the distance between the instrument and the corn plant;
when the instrument is leveled, the main control unit 19 sends attitude information to the upper computer in real time, the upper computer judges whether the attitude of the instrument can ensure the normal work of the instrument in real time, and when the inclination angle of the instrument is too large, the main control unit 19 sends an alarm;
s2.2, the synchronous belt 12 bypasses the synchronous pulley 11 and is meshed with the synchronous pulley 11; the bottom of the vertical section of the synchronous belt is hung with a hook code 14, and the hook code 14 is hung in the vertical section of the instrument shell 16; the inclined section of the synchronous belt extends out of the inclined section of the instrument shell 16 and is connected with the measured corn silks;
s2.3, in the measurement interval time, the system is in a dormant state, the power supply of the magnetic effect sensor and the screen is turned off to save electric quantity, and meanwhile, the stepping motor 20 drives the rack type clamping arm 10 to move backwards towards the middle to loosen the synchronous belt 12;
s2.4, the main control unit 19 measures the growth amount of the corn filaments once every 10 minutes; when the measurement time is reached, the main control unit 19 stops the sleep, and turns on the magnetic effect angle sensor and the screen;
after the measurement is started, the main control unit 19 firstly controls the stepping motor 20 to drive the rack type clamping arm 10 to move towards two sides in opposite directions so as to clamp the synchronous belt 12; after the synchronous belt 12 is clamped, the main control unit 19 collects the digital quantity corresponding to the output voltage value of the magnetic effect angle sensor once every 15ms for 1000 times in total to obtain the digital quantity D init For measured D init Sequence averaging to obtain
In the formula, D init The main control unit 19A/D converts the voltage value result of the magnetic effect angle sensor for the start moment of the measurement task;
the initial angle θ at the start of measurement can be calculated according to equation 7 init ：
Wherein, a cali ,b cali Parameters obtained by calibrating the magnetic effect angle sensor by using the 1024-line photoelectric encoder 17 in the step S1; the main control unit 19 calculates the initial time angle theta of the magnetic effect angle sensor 17 according to the formula 7 init ；
The main control unit 19 controls the stepping motor 20 to drive the rack type clamping arm 10 to loosen the synchronous belt 12, and the hook code tightens the corn filament;
the main control unit 19 records the A/D conversion result D of the output voltage of the magnetic effect sensor every 15ms t 600 times of recording, and finally converting the result D of the cumulative recording t Taking the average to obtain
The angle value at this time is calculated according to formula 2:
assuming that in a measurement task, the magnetic effect angle sensor makes n jumps from 360 ° to 0 °, the angle measurement at time t is θ t Then, at this time, due to the growth of the corn filament, the hook code 14 drives the synchronous belt wheel 11 to rotate by the angle theta at Expressed as:
θ at ＝θ t -θ init +360n equation 8
θ obtained according to equation 8 at Calculating the growth amount of the corn filaments in the t time period:
wherein l t The growth amount of the corn filament in t time period is shown in mm; r is the pitch circle radius of the synchronous belt pulley 11 and the unit is mm; theta.theta. at The angle for the hook code 14 to drive the synchronous belt wheel 11 to rotate is the unit of degree;
s2.5, finishing single measurement, judging whether all the measurements are finished, and if so, saving data and shutting down; if not, go back to S2.3.
In the step S2.2, when the tested corn filaments are connected, 20-30 corn filaments with the length difference not more than 5mm are selected, bound into a bundle by using a non-woven medical adhesive tape 28, and then the end part of the inclined section of the synchronous belt of the bound flower filament bundle is bound and adhered again by using the medical adhesive tape.
In step S2.3, the pitch circle radius R of the timing pulley 11 is 25 mm.
The invention has the beneficial effects that:
1. the appearance structure and the measuring method of the instrument are innovatively designed, so that continuous and stable measurement can be realized;
2. the mode of combining a high-precision sensor with the Internet of things is adopted, so that continuous and high-precision online measurement is effectively realized, and the growth rate of the corn filaments can be conveniently monitored in real time by scientific research personnel;
3. the method of fusing a magnetic effect angle sensor with a photoelectric encoder is adopted to accurately calibrate the magnetic effect sensor, so that low-cost and high-precision measurement is realized;
4. the rack type clamping arm driven by the stepping motor is designed, so that errors caused by plant swinging during a measurement interval can be effectively reduced.
Drawings
FIG. 1 is a first exploded view of an apparatus for on-line measurement of the growth rate of corn silk according to the present invention;
FIG. 2 is a second exploded view of the apparatus for on-line measurement of the growth rate of corn filaments according to the present invention;
FIG. 3 is a schematic diagram of the apparatus for on-line measurement of the growth rate of corn filaments according to the present invention;
FIG. 4 is a schematic diagram of the connection between the corn silk and the synchronous belt of the apparatus for on-line measurement of the growth rate of the corn silk according to the present invention;
FIG. 5 is an exploded view of the step motor and the rack-and-pinion clamping arm of the apparatus for on-line measurement of the growth rate of corn silk according to the present invention;
FIG. 6 is a schematic diagram illustrating the calibration principle of the apparatus for on-line measuring the growth rate of corn silk according to the present invention;
FIG. 7 is a schematic diagram of angle jump of the apparatus for on-line measurement of the growth rate of corn silk according to the present invention;
FIG. 8 is a schematic view of the rack clamp arm 10;
fig. 9 is a schematic view of the rack clamp arm stop boss 30.
Reference numerals:
1. magnetic effect angle sensor shell 2 and receiving end of magnetic effect angle sensor
3. Magnetic effect angle sensor magnetic head 4, encoder calibration belt pulley
5. Connecting shaft 6 and bearing end cover
7. Bearing 8, GPS antenna
9. 5V/4W solar cell panel 10 and rack type clamping arm
11. Synchronous pulley 12 and synchronous belt
13. Instrument outer transparent cover plate 14 and hook code
15. Positioning bolt 16 and instrument shell
17. 1024-line photoelectric encoder 18 and calibration belt
19. Main control unit 20, stepping motor
21. Stepping motor shell 22 and magnetic effect angle sensor end cover
23. Support sleeve 24, tripod
25. Encoder small belt wheel 26 and magnetic effect angle sensor output line
27. Tested corn filament 28 and non-woven medical adhesive tape
29. Stepping motor gear 30, clamping arm limiting boss
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
The method adopts a mode of measuring the rotation angle of the driving wheel of the instrument to indirectly measure the growth amount of the filaments, and transmits the measured data to the upper computer in real time through a TCP/IP protocol, thereby realizing the real-time measurement of the growth amount and the growth rate of the maize filaments.
As shown in fig. 1 and 2, the apparatus for on-line measuring the growth rate of corn silk according to the present invention comprises: the device comprises a magnetic effect angle sensor shell 1, a magnetic effect sensor receiving end 2, a magnetic effect sensor magnetic head 3, an encoder calibration belt pulley 4, a connecting shaft 5, a bearing end cover 6, a bearing 7, a GPS antenna 8, a 5V/4W solar cell panel 9, a rack type clamping arm 10, a synchronous belt pulley 11, a synchronous belt 12, an instrument outer side transparent cover plate 13, a hook code 14, a positioning bolt 15, an instrument shell 16, a 1024-wire photoelectric encoder 17, a calibration belt 18, a main control unit 19, a stepping motor 20, a stepping motor shell 21, a magnetic effect angle sensor end cover 22, a support sleeve 23, a tripod 24 and an encoder small belt pulley 25.
The instrument housing 16 includes a vertical section, an inclined section extending obliquely downward from the top end of the vertical section, and a connecting section located at the intersection of the vertical section and the inclined section. The vertical section, the inclined section and the connecting section are communicated with each other in the inner space.
The vertical section of the instrument housing 16 is provided with two rectangular through holes for mounting the rack-type clamping arm 10 and four circular through holes for mounting the stepper motor housing 21.
The magnetic effect angle sensor housing 1 is fixed to the inner side of the connection section of the instrument housing 16 by means of a screw connection.
The instrument outer transparent cover 13 is fixed to the outside of the instrument housing 16 by bolts. The GPS antenna 8 is fixed to the top of the instrument housing 16. The 5V/4W solar panel 9 is fixed on the upper surface of the inclined section of the instrument housing 16.
The connecting shaft 5 is supported in a bearing hole on the inner side surface of the connecting section of the instrument shell 16 through a bearing 7, and the bearing 7 is axially limited by a bearing end cover 6. A first end of the connection shaft 5 is located outside the instrument case 16 and fixes the magnetic-effect angle sensor head 3 at the first end using an M2 bolt; the second end of the connection shaft 5, which is fitted with a synchronous pulley 11, is located inside the cavity of the instrument housing 16.
The receiving end 2 of the magnetic effect angle sensor is connected with the end cover 22 of the magnetic effect angle sensor through a bolt, the end cover 22 of the magnetic effect angle sensor is connected with the shell 1 of the magnetic effect angle sensor through a bolt, and meanwhile, the output line 26 of the magnetic effect angle sensor is guaranteed to be clamped at a reserved opening of the shell 1 of the magnetic effect angle sensor.
An encoder calibration pulley 4 is mounted on the connecting shaft 5 between the magnetic effect angle sensor head 3 and the bearing end cap 6. A 1024-wire photoelectric encoder 17 is mounted on a fixing lug on the inner side of the vertical section of the instrument housing 16. The small encoder belt wheel 25 of the 1024-line photoelectric encoder 17 is in transmission with the encoder calibration belt wheel 4 through the calibration belt 18.
The timing pulley 11 is located inside the instrument housing 16 and is fixed to the second end of the connecting shaft 5. The timing belt 12 passes around the timing pulley 11 and meshes with the timing pulley 11. Accordingly, the timing belt 12 includes a timing belt vertical section located inside the vertical section of the instrument housing 16 and a timing belt inclined section extending outwardly from inside the inclined section of the instrument housing 16, wherein the hook code 14 is suspended from the bottom of the timing belt vertical section. The inclined section of the synchronous belt extends out of the inclined section of the instrument shell 16, and the end part of the inclined section of the synchronous belt is bound and connected with the measured corn silks.
As shown in figure 4, when connecting the corn filament to be tested, selecting 20-30 corn filaments with the length difference not more than 5mm, binding the corn filaments into a bundle by using a non-woven medical adhesive tape 28, and then binding and adhering the bound bundle of the corn filaments and the end part of the inclined section of the synchronous belt again by using the medical adhesive tape.
The stepping motor housing 21 is fixed to a circular through hole of the instrument housing 16 by means of a bolt connection. The stepping motor 20 is housed in a stepping motor case 21 and fixed.
As shown in fig. 5, 8 and 9, the rack-type clamping arm 10 includes an upper arm and a lower arm. The rear ends of the upper and lower arms of the rack-type clamp arm 10 are horizontally arranged rack portions. The rack portion is located on the back of the instrument housing 16 and is positioned through a rectangular through hole in the instrument housing 16. The front ends of the upper and lower arms of the rack-type clamp arm 10 are rubber clamp blocks facing each other. The front ends of the upper and lower arms of the rack-type clamp arm 10 are located within the cavity of the instrument housing 16. The upper and lower arms of the rack-type clamp arm 10 are each restrained by a clamp arm stop boss 30 located on the back of the housing 16.
A stepping motor gear 29 is engaged with the racks of the upper and lower arms of the rack type clamp arm 10, and a rotation shaft of the stepping motor 20 is connected to the stepping motor gear 29. The racks of the upper and lower arms of the rack clamp arm 10 are moved left and right by the stepping motor 20 so that the rubber clamp blocks of the front ends of the upper and lower arms of the rack clamp arm 10 are moved close to or away from each other. When the stepping motor 20 rotates anticlockwise, the synchronous belt 12 is clamped; when rotated clockwise, the rack clamp arm 10 loosens the clamp on the timing belt 12.
The main control unit 19 is fixed to the inner side of the instrument housing 16 by a screw connection. The main control unit 19 is electrically connected with the 1024 line photoelectric encoder 17, the magnetic effect sensor receiving end 2, the GPS antenna 8 and the 5V/4W solar panel 9.
FIG. 3 is a schematic diagram of the apparatus for on-line measurement of the growth rate of corn silk according to the present invention. The instrument shell 16 is supported and positioned by the support sleeve 23, and the instrument shell 16 is connected and limited with the support sleeve 23 by the positioning bolt 15. The tripod 24 is connected to the support sleeve 23 by means of a bottom screw thread.
The magnetic effect angle sensor is used for measuring the rotation angle value of the synchronous pulley 11 in a period of time. The stepping motor 20 functions to drive the rack clamp arm 10 to clamp the timing belt 12. The 1024-line photoelectric encoder 17 functions to calibrate the magnetic-effect angle sensor.
A method for measuring the growth rate of the corn silk on line by using the instrument for measuring the growth rate of the corn silk on line comprises the following steps:
s1, automatic calibration of magnetic effect sensor
S1.1, supporting a tripod 24 on the horizontal ground and electrifying an instrument;
s1.2, connecting an encoder calibration belt wheel 4 and an encoder small belt wheel 25 by tensioning a calibration belt 18;
s1.3, manually adjusting the magnetic effect angle sensor to a zero +/-2-degree position; in the zero position, the measurement value of the magnetic effect angle sensor is 0 °.
S1.4, the small encoder belt wheel 25 is manually shifted clockwise at a speed of 20-30S for one circle, so that the small encoder belt wheel 25 rotates for 2 circles, and the diameter of the encoder calibrating belt wheel 4 is 2 times of the diameter of a driven wheel of the 1024-line photoelectric encoder 17, so that the magnetic effect angle sensor returns to the zero position after rotating for 1 circle;
the magnetic effect angle sensor is a device for detecting an angle by using a hall effect, and has the advantage of no sliding friction, but is sensitive to a change in the distance between the magnetic head 3 of the magnetic effect angle sensor and the receiving end 2 of the magnetic effect angle sensor. Under the same angle condition, when the distance between the magnetic head 3 of the magnetic effect angle sensor and the receiving end 2 of the magnetic effect angle sensor changes, the angle value measured by the receiving end 2 of the magnetic effect angle sensor changes.
S1.5, calculating a constant a in the formula 1 cali And b cali
The main control unit 19 converts the analog output voltage of the magnetic effect angle sensor into a digital value D ads And further calculate the angle value A cal . The magnetic field intensity of the magnetic head of the magnetic effect angle sensor, the distance between the magnetic head 3 of the magnetic effect angle sensor and the receiving end 2 of the magnetic effect angle sensor and the environmental magnetic field are all constant, and the calculated angle value A cal Digital quantity D converted from A/D with main control unit 19 ads There is a linear relationship between:
A cal ＝(D ads -b)/a formula 1
Wherein A is cal Representing the calculated angle value in degrees; d ads The digital quantity obtained by converting the output voltage analog quantity of the magnetic effect angle sensor by the main control unit 19 is shown; a represents D ads And A cal The proportionality coefficient between them, unit is/°; b denotes a magnetic effect angle sensorIn the process of rotating for 1 circle, the main control unit 19 converts the conversion result of the output voltage analog quantity of the magnetic effect angle sensor when the main control unit 19 has the minimum value of the A/D conversion result, that is, the magnetic effect angle sensor is located at the zero position.
In actual use, there are many factors that affect the measurement accuracy of the instrument, including: the magnetic field intensity of the magnetic head 3 of the magnetic effect angle sensor can be weakened along with time, the distance between the magnetic head 3 of the magnetic effect angle sensor and the receiving end 2 of the magnetic effect angle sensor changes, and the environmental magnetic field interference, when external conditions change, constants a and b in formula 1 and formula 2 can change to some extent, so that the phenomenon that the angle value is inaccurate to be measured is caused, and the accuracy of an instrument is influenced. In order to solve the problem, the invention adopts a mode of combining the magnetic effect angle sensor and the 1024 line photoelectric encoder 17 to carry out measurement, wherein the magnetic effect angle sensor is used for real-time measurement, the 1024 line photoelectric encoder 17 is used for calibrating the magnetic effect angle sensor, and the constants a and b in the formula 1 are updated before each use, so that the measurement precision is ensured.
The 1024-line photoelectric encoder 17 has the advantages that the angle measurement value of the photoelectric encoder is not easily interfered by an environmental magnetic field, so that the 1024-line photoelectric encoder 17 is adopted to calibrate the magnetic effect angle sensor, and low-cost and high-precision measurement is realized. The calibration principle is shown in fig. 6.
In FIG. 1, the diameter ratio of the encoder calibration pulley 4 to the encoder small pulley 25 is 2:1, when calibrating the magnetic effect sensor, the synchronous pulley 11 needs to be slowly rotated manually, and when the magnetic head 3 of the magnetic effect sensor rotates through a zero point, the A/D conversion value of the output voltage of the angle sensor is D min The corresponding angle is 0 deg., as shown in fig. 6. When the 1024 line photoelectric encoder 17 rotates 256 pulses each time from the time when the magnetic head 3 of the magnetic effect angle sensor just rotates the zero point, the corresponding rotating angle is as follows:
360°×(256/1024)＝90°
since the transmission ratio between the 1024-line photoelectric encoder 17 and the encoder small belt wheel 25 is 1:2, the 1024-line photoelectric encoder 17 rotates 45 degrees corresponding to 256 pulses per rotation.
From the zero position to the end of the calibration, the main control unit 19 performs 4 calculations, respectively:
wherein D is 512 ,D 1024 ,D 1536 ,D 2048 Respectively showing the results of A/D conversion of the output voltage of the main control unit 19 to the magnetic effect angle sensor when 512, 1024, 1536 and 2048 pulses are cumulatively generated in the rotation process of the 1024-line photoelectric encoder 17; d min Representing the a/D conversion value of the magnetic effect angle sensor when it is rotated through zero.
Constant a obtained by the calculation of the steps i ,b i (i ═ 1,2,3,4) was averaged to give:
in the formula a cali ,b cali The result after one calibration is finished;
s1.6, and comparing the constant a in the formula 1 calculated in the step S1.5 cali And b cali Substituting equation 1 yields:
A cal ＝(D ads -b cali )/a cali equation 6
And finishing the calibration.
S2 measuring growth quantity of corn filament
S2.1, firstly, adjusting the relative position of the support sleeve 23 inserted into the instrument shell 16, and carrying out axial positioning through positioning holes of the support sleeve and the instrument shell; then connecting the supporting sleeve 23 provided with the instrument shell 16 with a bolt at the top end of a tripod 24, and then placing the tripod 24 on stable ground for leveling, adjusting the height and the distance between the instrument and the corn plant;
when the instrument is leveled, the main control unit 19 sends attitude information to the upper computer in real time, the upper computer judges whether the attitude of the instrument can ensure the normal work of the instrument in real time, and when the inclination angle of the instrument is too large, the main control unit 19 sends an alarm;
s2.2, the synchronous belt 12 bypasses the synchronous belt wheel 11 and is meshed with the synchronous belt wheel 11; the bottom of the vertical section of the synchronous belt is hung with a hook code 14, and the hook code 14 is hung in the vertical section of the instrument shell 16; the inclined section of the synchronous belt extends out of the inclined section of the instrument shell 16 and is connected with the measured corn silks;
s2.3, in the measurement interval time, the system is in a dormant state, the power supply of the magnetic effect sensor and the screen is turned off to save electric quantity, and meanwhile, the stepping motor 20 drives the rack type clamping arm 10 to move backwards towards the middle to loosen the synchronous belt 12;
s2.4, the main control unit 19 measures the growth amount of the corn filament every 10 minutes. When the measurement time is reached, the main control unit 19 stops the sleep, and turns on the magnetic effect sensor and the screen;
after the measurement is started, the main control unit 19 firstly controls the stepping motor 20 to drive the rack type clamping arm 10 to move towards two sides in opposite directions so as to clamp the synchronous belt 12; after the synchronous belt 12 is clamped, the main control unit 19 collects the digital quantity corresponding to the output voltage value of the magnetic effect angle sensor once every 15ms for 1000 times in total to obtain the digital quantity D init For measured D init Sequence averaging to obtain
In the formula, D init The main control unit 19A/D converts the result of the voltage value of the magnetic effect angle sensor for the moment when the measurement task starts;
the initial angle θ at the start of measurement can be calculated according to equation 7 init ：
Wherein, a cali ,b cali Parameters obtained by calibrating the magnetic effect angle sensor by using the 1024-line photoelectric encoder 17 in the step S1; the main control unit 19 calculates the initial time angle theta of the magnetic effect angle sensor 17 according to the formula 7 init 。
The main control unit 19 controls the stepping motor 20 to drive the rack type clamping arm 10 to loosen the synchronous belt 12, and the hook code tightens the corn filament;
the main control unit 19 records the A/D conversion result D of the output voltage of the magnetic effect sensor every 15ms t 600 times of recording, and finally converting the result D of the cumulative recording t Taking the average to obtain
The angle value at this time can be calculated according to formula 2:
the magnetic effect angle sensor itself has a zero position, and when the sensor rotates clockwise, the sensor jumps from 360 degrees to 0 degrees at the position, which is inevitably generated in the measurement process of the corn silks, so that the main control unit 19 is required to correctly process and record the jumping situation of the magnetic effect angle sensor.
Assuming that in a measurement task, the magnetic effect angle sensor makes n jumps from 360 ° to 0 °, the angle measurement at time t is θ t Then, at this time, due to the growth of the corn filament, the hook code 14 drives the synchronous belt wheel 11 to rotate by the angle theta at Expressed as:
θ at ＝θ t -θ init +360n equation 8
θ obtained according to equation 8 at The value can be calculated as follows:
wherein l t The growth amount of the corn filament in t time period is shown in mm; r is the pitch circle radius of the synchronous belt pulley 11 and the unit is mm; theta at The angle through which the hook code 14 rotates the synchronous pulley 11 is expressed in degrees.
S2.5, finishing single measurement, judging whether all the measurements are finished, and if so, saving data and shutting down; if not, go back to S2.3.
Theta obtained from the above calculation at The value can be calculated as follows:
wherein l t The growth amount of the corn filament in t time period is shown in mm; r is the pitch circle radius of the synchronous belt pulley 11 and the unit is mm; theta at The angle through which the hook code 14 rotates the synchronous pulley 11 is expressed in degrees.
Claims (8)
1. An instrument for measuring the growth rate of corn filaments on line, which is characterized in that: the apparatus comprises: the device comprises a magnetic effect angle sensor shell (1), a magnetic effect angle sensor receiving end (2), a magnetic effect angle sensor magnetic head (3), an encoder calibration belt pulley (4), a connecting shaft (5), a bearing end cover (6), a bearing (7), a GPS antenna (8), a 5V/4W solar cell panel (9), a rack type clamping arm (10), a synchronous belt pulley (11), a synchronous belt (12), a hook code (14), an instrument shell (16), a 1024-wire photoelectric encoder (17), a calibration belt (18), a main control unit (19), a stepping motor (20), a stepping motor shell (21), a magnetic effect angle sensor end cover (22), a support sleeve (23), a tripod (24), an encoder small belt pulley (25) and a stepping motor gear (29);
the instrument shell (16) comprises a vertical section, an inclined section and a connecting section, wherein the inclined section extends from the top end of the vertical section to the lower part in an inclined mode, and the connecting section is positioned at the intersection part of the vertical section and the inclined section; the vertical section, the inclined section and the connecting section are communicated with each other in the inner space;
the magnetic effect angle sensor shell (1) is fixed on the inner side surface of the connecting section of the instrument shell (16); the GPS antenna (8) is fixed at the top end of the instrument shell (16); the 5V/4W solar cell panel (9) is fixed on the upper surface of the inclined section of the instrument shell (16);
the connecting shaft (5) is supported in a bearing hole on the inner side surface of the connecting section of the instrument shell (16) through a bearing (7), and the bearing (7) is axially limited by a bearing end cover (6); the first end of the connecting shaft (5) is positioned outside the instrument shell (16), and the magnetic effect angle sensor magnetic head (3) is fixed at the first end; the second end of the connecting shaft (5) is positioned in the cavity of the instrument shell (16), and the second end is provided with a synchronous pulley (11);
the receiving end (2) of the magnetic effect angle sensor is connected with an end cover (22) of the magnetic effect angle sensor, and the end cover (22) of the magnetic effect angle sensor is connected with the shell (1) of the magnetic effect angle sensor;
the encoder calibration belt pulley (4) is arranged on the connecting shaft (5) and is positioned between the magnetic head (3) of the magnetic effect angle sensor and the bearing end cover (6); a 1024-line photoelectric encoder (17) is arranged on a fixed lug on the inner side surface of the vertical section of the instrument shell (16); a small encoder belt wheel (25) of the 1024-line photoelectric encoder (17) is in transmission with the encoder calibration belt wheel (4) through a calibration belt (18);
the synchronous pulley (11) is positioned in the instrument shell (16) and fixed at the second end of the connecting shaft (5); the synchronous belt (12) bypasses the synchronous belt wheel (11) and is meshed with the synchronous belt wheel (11); correspondingly, the synchronous belt (12) comprises a vertical synchronous belt section positioned inside the vertical section of the instrument shell (16) and a inclined synchronous belt section extending outwards from the inside of the inclined section of the instrument shell (16), and the hook code (14) is hung at the bottom of the vertical synchronous belt section; the inclined section of the synchronous belt extends out of the inclined section of the instrument shell (16), and the end part of the inclined section of the synchronous belt is bound and connected with the measured corn silks;
the stepping motor shell (21) is fixed on the instrument shell (16); the stepping motor (20) is arranged in the stepping motor shell (21) and fixed;
the rack type clamping arm (10) comprises an upper arm and a lower arm; the rear ends of the upper arm and the lower arm of the rack type clamping arm (10) are rack parts which are horizontally arranged; the rack portion is located on the back of the instrument housing (16); the front ends of the upper arm and the lower arm of the rack type clamping arm (10) are rubber clamping blocks which are opposite to each other; the front ends of the upper arm and the lower arm of the rack-type clamping arm (10) are positioned in the cavity of the instrument shell (16);
a stepping motor gear (29) is meshed with racks of an upper arm and a lower arm of the rack type clamping arm (10), and a power output shaft of the stepping motor (20) is connected with the stepping motor gear (29); racks of an upper arm and a lower arm of the rack type clamping arm (10) are driven by a stepping motor (20) to move left and right, so that rubber clamping blocks at the front ends of the upper arm and the lower arm of the rack type clamping arm (10) are close to or far away from each other;
the main control unit (19) is fixed on the inner side surface of the instrument shell (16);
the instrument shell (16) is supported and positioned by a support sleeve (23); the tripod (24) is connected to the support sleeve (23).
2. The apparatus for on-line measurement of the growth rate of corn silk according to claim 1, wherein: the vertical section of the instrument housing (16) is provided with two rectangular through holes for mounting the rack-type clamping arm (10) and four circular through holes for mounting the stepping motor housing (21).
3. The apparatus for on-line measurement of the growth rate of corn silk according to claim 1, wherein: an instrument outer transparent cover (13) is fixed to the outside of the instrument housing (16).
4. The apparatus for on-line measurement of the growth rate of corn silk according to claim 1, wherein: when connecting the tested corn filaments, selecting 20-30 corn filaments with the length difference not more than 5mm, binding the corn filaments into a bundle by using a non-woven medical adhesive tape (28), and then binding and adhering the bound filament bundle and the end part of the inclined section of the synchronous belt by using the medical adhesive tape again.
5. The apparatus for on-line measurement of the growth rate of corn silk according to claim 1, wherein: the upper and lower arms of the rack-type clamping arm (10) are each restrained by a clamping arm stop boss (30) located on the back of the housing (16).
6. The apparatus for on-line measurement of the growth rate of corn silk according to claim 1, wherein: the main control unit (19) is electrically connected with the 1024-wire photoelectric encoder (17), the magnetic effect angle sensor receiving end (2), the GPS antenna (8) and the 5V/4W solar cell panel (9).
7. A method for on-line measuring the growth rate of the corn silk by using the instrument for on-line measuring the growth rate of the corn silk as claimed in any one of claims 1 to 6, wherein the instrument comprises the following steps: the method comprises the following steps:
s1, automatic calibration of magnetic effect sensor
S1.1, supporting a tripod (24) on the horizontal ground and electrifying an instrument;
s1.2, connecting an encoder calibration belt wheel (4) and an encoder small belt wheel (25) by tensioning a calibration belt (18);
s1.3, manually adjusting the magnetic effect angle sensor to a zero +/-2-degree position; at the zero point position, the measurement value of the magnetic effect angle sensor is 0 degree;
s1.4, the small encoder belt wheel (25) is manually shifted clockwise at a speed of 20-30S for one circle, so that the small encoder belt wheel (25) rotates for 2 circles, and the diameter of the encoder calibration belt wheel (4) is 2 times of the diameter of a driven wheel of a 1024-line photoelectric encoder (17), so that the magnetic effect angle sensor returns to a zero position after rotating for 1 circle;
s1.5, calculating a constant a cali And b cali
The main control unit (19) converts the analog quantity of the output voltage of the magnetic effect angle sensor into a digital quantity D ads And further calculate the angle value A cal (ii) a Angle value A cal Digital quantity D converted from A/D with the main control unit (19) ads There is a linear relationship between:
A cal ＝(D ads -b)/a formula 1
Wherein A is cal Representing the calculated angle value in degrees; d ads The digital quantity obtained by converting the output voltage analog quantity of the magnetic effect angle sensor by the main control unit (19) is shown; a represents D ads And A cal The proportionality coefficient between them, unit is/°; b represents the minimum value of the A/D conversion result of the main control unit (19) in the process of 1 rotation of the magnetic effect angle sensor, namely when the magnetic head (3) of the magnetic effect angle sensor is positioned at the zero position, the main control unit (19) converts the conversion result of the output voltage analog quantity of the magnetic effect angle sensor;
the constants a, b in equation 1 are obtained by:
every 1024 pulses are generated by the 1024 line photoelectric encoder (17) from the moment that the magnetic head (3) of the magnetic effect angle sensor just rotates over the zero point of the magnetic effect angle sensor, and the rotating angle of the encoder is as follows:
360°×(256/1024)＝90°
from the zero position to the end of the calibration, the main control unit (19) performs 4 calculations, respectively:
wherein D is 512 ,D 1024 ,D 1536 ,D 2048 Respectively showing the result of A/D conversion of the output voltage of the magnetic effect angle sensor by the main control unit (19) when 512, 1024, 1536 and 2048 pulses are generated in an accumulated way in the rotating process of the 1024-line photoelectric encoder (17); d min Representing the A/D conversion value when the magnetic effect angle sensor rotates through a zero point;
constant a obtained by the calculation of the steps i ,b i I is 1,2,3,4, and averaging yields:
in the formula a cali ,b cali The result after one calibration is finished;
s1.6, constant a calculated in step S1.5 cali And b cali Substituting equation 1 yields:
A cal ＝(D ads -b cali )/a cali equation 6
Finishing the calibration;
s2 measuring growth quantity of corn filament
S2.1, firstly, adjusting the relative position of the support sleeve (23) inserted into the instrument shell (16), and carrying out axial positioning through positioning holes of the support sleeve and the instrument shell; then connecting a supporting sleeve (23) provided with an instrument shell (16) with a bolt at the top end of a tripod (24), and then placing the tripod (24) on the stable ground for leveling, adjusting the height and the distance between the instrument and the corn plant;
when the instrument is leveled, the main control unit (19) sends attitude information to the upper computer in real time, the upper computer judges whether the attitude of the instrument can ensure the normal work of the instrument in real time, and when the inclination angle of the instrument is too large, the main control unit (19) gives an alarm;
s2.2, the synchronous belt (12) bypasses the synchronous belt wheel (11) and is meshed with the synchronous belt wheel (11); a hook code (14) is hung at the bottom of the vertical section of the synchronous belt, and the hook code (14) is hung in the vertical section of the instrument shell (16); the inclined section of the synchronous belt extends out of the inclined section of the instrument shell (16) and is connected with the measured corn filament;
s2.3, in the measurement interval time, the system is in a dormant state, the power supply of the magnetic effect sensor and the screen is turned off to save electric quantity, and meanwhile, the stepping motor (20) drives the rack type clamping arm (10) to move backwards towards the middle to release the synchronous belt (12);
s2.4, the main control unit (19) measures the growth amount of the corn filament every 10 minutes; when the measurement time is reached, the main control unit (19) stops sleeping and turns on the magnetic effect angle sensor and the screen;
after the measurement is started, the main control unit (19) firstly controls the stepping motor (20) to drive the rack type clamping arm (10) to move towards the two sides in opposite directions so as to clamp the synchronous belt (12); after the synchronous belt (12) is clamped, the main control unit (19) collects digital quantity corresponding to the output voltage value of the magnetic effect angle sensor once every 15ms for 1000 times in total to obtain digital quantity D init For measured D init Sequence averaging to obtain
In the formula, D init A/D conversion of the voltage value result of the magnetic effect angle sensor by the main control unit (19) for the moment when the measurement task starts;
the initial angle θ at the start of measurement can be calculated according to equation 7 init ：
Wherein, a cali ,b cali Parameters obtained by calibrating the magnetic effect angle sensor by using a 1024-wire photoelectric encoder (17) in the step S1; the main control unit (19) calculates the initial time angle theta of the magnetic head (3) of the magnetic effect angle sensor according to the formula 7 init ；
The main control unit (19) controls the stepping motor (20) to drive the rack type clamping arm (10) to loosen the synchronous belt (12), and the corn filament is tensioned by hooking the code;
the main control unit (19) records the A/D conversion result D of the output voltage of the magnetic effect sensor once every 15ms t 600 times of recording, and finally converting the result D of the cumulative recording t Taking the average to obtain
The angle value at this time is calculated according to formula 2:
assuming that in a measurement task, the magnetic effect angle sensor makes n jumps from 360 ° to 0 °, the angle measurement at time t is θ t Then, at the moment, as the corn filaments grow, the hook code (14) drives the synchronous belt wheel (11) to rotate by an angle theta at Expressed as:
θ at ＝θ t -θ init +360n equation 8
θ obtained according to equation 8 at Calculating the growth amount of the corn filaments in the t time period:
wherein l t The growth amount of the corn filament in t time period is in mm; r is the pitch circle radius of the synchronous belt wheel (11) and the unit is mm; theta at The angle for the hook code (14) to drive the synchronous belt wheel (11) to rotate is the unit of degree;
s2.5, finishing single measurement, judging whether all the measurements are finished, and if so, saving data and shutting down; if not, go back to S2.3.
8. The method of claim 7, wherein:
in step S2.3, the pitch circle radius R of the synchronous pulley (11) is 25 mm.
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