CN207937871U - A kind of modern agriculture intelligent patrol detection vehicle - Google Patents
A kind of modern agriculture intelligent patrol detection vehicle Download PDFInfo
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- CN207937871U CN207937871U CN201820382132.9U CN201820382132U CN207937871U CN 207937871 U CN207937871 U CN 207937871U CN 201820382132 U CN201820382132 U CN 201820382132U CN 207937871 U CN207937871 U CN 207937871U
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- car body
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Abstract
The utility model discloses a kind of modern agriculture intelligent patrol detection vehicles comprising the guide rail of car body and guiding body movement；The direct current generator being connected with driving wheel is provided on car body, direct current generator is electrically connected by motor driver and orthogonal encoder with the master controller being arranged in car body；The bottom of car body is provided with Hall sensor and magnetic field sensor；It is provided with audible-visual annunciator and mechanical arm on car body, Temperature Humidity Sensor is provided on mechanical arm；The front end of car body is provided with camera and ultrasonic sensor, and camera is electrically connected with the Raspberry Pi computer being arranged in car body；Temperature Humidity Sensor and Raspberry Pi computer are connected with GPRS communication modules respectively；The power module being electrically connected with GPRS communication modules, master controller and Raspberry Pi computer is provided in car body；Multivibrator and permanent magnet are provided on guide rail.The utility model effectively reduces use cost and maintenance cost, and reduces the operation complexity of farmland detection.
Description
Technical field
The utility model is related to farmland detection fields, and in particular to a kind of modern agriculture intelligent patrol detection vehicle.
Background technology
Since 21 century, especially recent years, field irrigation automatic control technology are being constantly progressive, and data acquisition is
The key problem of irrigation control system, foreign countries' development starting in terms of irrigation control is early, and the degree of automation is higher, has formd ratio
More perfect irrigation control system.For example, water-saving irrigation technique is all implemented in the Israel whole nation already, wherein 25% is sprinkling irrigation,
75% is micro drip-irrigation, and all irrigations are controlled by computer, realize different crops because when, because of crop, because of ground water
It is automatically controlled with fertilizer.
The country also makes great progress in terms of the temperature-humidity monitoring of farmland, but starts to walk evening, and relevant device falls behind, personnel
Quality is low, there is a certain distance compared with Foreign Advanced Lerel.At present in the world generally using " based on ZigBee technology
Wireless sensor network " technology, but there are some disadvantages.For example, wireless sensor network data transmission and processing are complex,
The professional technician of higher level is needed to operate, it is difficult to the coverage rate and normal function rate for ensureing sensor, in wide range
Interior laying sensor cost is higher；And some times from different places of China, the crop of season plantation are different, it is therefore desirable to sensing
Device density is also different.Therefore, design one kind can accurately, acquire agricultural land information in real time, cost is relatively low, and adaptability is stronger, is easy to
Study, can complete the equipment being monitored and controlled in real time and system of applying water to farmland, realize that the equipment gesture of Precision Irrigation exists
It must go.
Utility model content
For above-mentioned deficiency in the prior art, a kind of modern agriculture intelligent patrol detection vehicle provided by the utility model solves
Detect problem of high cost complicated for operation in existing farmland.
In order to reach foregoing invention purpose, the technical solution adopted in the utility model is：
There is provided a kind of modern agriculture intelligent patrol detection vehicle comprising the guide rail of car body and guiding body movement；Car body
Bottom front is provided with driving wheel, the bottom rear end of car body is provided with universal wheel, is provided on car body and is connected with driving wheel
Direct current generator, direct current generator are electrically connected by motor driver and orthogonal encoder with the master controller being arranged in car body；Vehicle
The bottom of body is provided with the Hall sensor and magnetic field sensor being electrically connected respectively with master controller；It is provided on car body and master control
The audible-visual annunciator and mechanical arm of device processed electrical connection are provided with Temperature Humidity Sensor on mechanical arm；The front end of car body, which is provided with, to be taken the photograph
As head and ultrasonic sensor, camera is electrically connected with the Raspberry Pi computer being arranged in car body；Ultrasonic sensor and master control
Device electrical connection processed；Temperature Humidity Sensor and Raspberry Pi computer are connected with GPRS communication modules respectively；Be provided in car body with
The power module of GPRS communication modules, master controller and the electrical connection of Raspberry Pi computer；Multivibrator is provided on guide rail
And permanent magnet.
Further, the model STM32F446 of master controller.
Further, the model TL555 of multivibrator.
Further, the model A3144 of Hall sensor.
Further, the model L298N of motor driver.
Further, the control chip of mechanical arm is TMS320C5000.
Further, the model Siemens MC35i of GPRS communication modules.
Further, Temperature Humidity Sensor include model QDY-TW1 temperature sensor and model FC-28 it is wet
Spend sensor.
The beneficial effects of the utility model are：
1, the utility model can realize whole-process automatic inspection according to the guiding of multivibrator and permanent magnet, save manpower
Resource reduces the workload of patrol officer, reduces a large amount of costs for being laid with sensor of tradition, improves the economic well-being of workers and staff of peasant.
2, the utility model can acquire the temperature humidity data in farmland, and host computer is uploaded to by GPRS communication modules,
It is supported rationally precisely to arrange the irrigation volume of every plant of farmland crops to provide data, realizes Precision Irrigation.Be conducive to improve water money
The utilization rate in source provides more accurately growing environment for crops.
3, the utility model can by farmland image by GPRS communication modules real-time delivery to host computer, realize long-range prison
Control.
4, the utility model is alarmed using ultrasonic sensor detection barrier and by audible-visual annunciator, is carried in time
Awake staff clears object.
5, Temperature Humidity Sensor can be put into soil and taken out automatically by mechanical arm by the utility model, realize movement
Detection effectively reduces sensor and is laid with expense.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the circuit block diagram of the utility model；
Fig. 3 is orthogonal encoder output waveform figure；
Fig. 4 is motor driver system block diagram；
Fig. 5 is walking PID controller system block diagram.
Wherein：1, car body；2, universal wheel；3, driving wheel；4, mechanical arm；5, camera；6, ultrasonic sensor；7, Hall
Sensor；8, magnetic field sensor；9, Temperature Humidity Sensor；10, audible-visual annunciator.
Specific implementation mode
Specific embodiment of the present utility model is described below, in order to facilitate understanding by those skilled in the art
The utility model, it should be apparent that the utility model is not limited to the range of specific implementation mode, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the utility model spirit and scope in,
These variations are it will be apparent that all utilize the innovation and creation of the utility model design in the row of protection.
As depicted in figs. 1 and 2, the modern agriculture intelligent patrol detection vehicle include car body 1 and for guide car body 1 move draw
Guideway, guide rail are arranged in farmland；The bottom front of car body 1 is provided with driving wheel 3, the bottom rear end setting of car body 1
There is universal wheel 2, be provided with the direct current generator being connected with driving wheel 3 on car body 1, direct current generator passes through motor driver and orthogonal
Encoder is electrically connected with the master controller being arranged in car body 1；The bottom of car body 1, which is provided with, to be respectively electrically connected with master controller
Hall sensor 7 and magnetic field sensor 8；The audible-visual annunciator 10 and mechanical arm being electrically connected with master controller are provided on car body 1
4, Temperature Humidity Sensor 9 is provided on mechanical arm 4；The front end of car body 1 is provided with camera 5 and ultrasonic sensor 6, camera
5 are electrically connected with the Raspberry Pi computer being arranged in car body 1；Ultrasonic sensor 6 is electrically connected with master controller；Temperature Humidity Sensor
9 and Raspberry Pi computer be connected respectively with GPRS communication modules；Be provided in car body 1 with GPRS communication modules, master controller and
The power module of Raspberry Pi computer electrical connection；Multivibrator and permanent magnet are provided on guide rail.
In one embodiment of the utility model, the model STM32F446 of master controller.The model of multivibrator
For TL555.The model A3144 of Hall sensor 7.The model L298N of motor driver.The control chip of mechanical arm 4 is
TMS320C5000.The model Siemens MC35i of GPRS communication modules.Temperature Humidity Sensor 9 includes model QDY-TW1
Temperature sensor and model FC-28 humidity sensor.
The master controller of the utility model uses STM32FX, is based on 32 ARM Cortex-M frameworks, has abundant
Peripheral hardware and powerful performance, while mating Driver Library is provided, developer need not go to be familiar with register, accelerate out one by one
Efficiency is sent out, while hardware layer being abstracted, also allows for the transplanting into line program between the MCU of different model.
The guiding signal of the utility model guiding rail forms multivibrator, warp using the TL555 chips of CMOS technology
The 20KHZ square-wave signals of variable amplitude are obtained after crossing partial pressure.Magnetic field sensor 8 is for detecting guiding signal and differentiating direction, electricity
Machine driving, DC speed-reducing and orthogonal encoder constitute the drive system of complete set, which uses closed loop PID controller
It is controlled, the final automatic running for realizing routing inspection trolley.
Stopping a train at a target point is realized using the permanent magnet being laterally laid on the detection guiding rail of Hall sensor 7, then master control
Temperature Humidity Sensor 9 is sent in soil according to the preset path of control algolithm by device control machinery arm 4 processed automatically, realizes data
Precisely acquisition.
Tested the speed to direct current generator using increment type Hall orthogonal encoder, output waveform as shown in figure 3, A phases with
90 ° of phase mutual deviation between B phases, direct current generator, which rotates a circle, can obtain 90 pulses (being measured with reducer output shaft), pass through
Pulse number in cooling water of units of measurement time can be obtained DC motor speed, and the phase relation between A phases and B phases, which can be used as, to be sentenced
The disconnected foundation turned to, if A phases advanced 90 ° of B phases when rotating forward, then B phases advanced 90 ° of A phases when inverting.
In STM32MCU, direct current generator is controlled using 4 timers：
A) first timer is responsible for generating PWM wave output, and frequency 10KHz, duty ratio one thousandth resolution ratio passes through
Change the adjusting that duty ratio realizes motor speed.
B) second timer and third timer are respectively configured as input capture pattern, just to two direct current generators in left and right
It hands over encoder pulse to be counted, is counted in the rising edge of A phase pulses, the increase and decrease direction of counter depends on B phase pulses
Level when A phase pulses rise, by read counter value it can be learnt that pulse number, umber of pulse when positive
N=CNT
If reversed, calculation formula is
N=MOD-CNT+1
Wherein MOD is counter reloading value.It is interrupted for timer configuration counter overflow, when counter reversely overflows
Rotating speed is reversed, when MOD setting it is sufficiently large when, positive spilling will not generally occur.
C) the 4th timer is used as cycle interruption timer, and interrupt cycle, 50ms, often entered the service of interruption
Function executes a speed and calculates, and is carried out at the same time a PID and calculates, and is adjusted duty ratio to keep constant airspeed.
As shown in figure 4, anticipated input R (s) is target motor rotating speed, feedback quantity turns motor driver system block diagram for motor
Fast Y (s), control output U (s) are PWM wave duty ratio, and proportional component can improve the time that system rises to stable state, integrate ring
Section can eliminate steady-state error, and differentiation element can eliminate overshoot.
The walking of the utility model includes motor speed PID controller and direction PID controller, and the two collectively forms bicyclic
PID controller, as shown in figure 5, block diagram simplifies output violent change and amplifier section, RdFor anticipated orientation, EdFor direction
Error RsFor goal pace EsFor velocity error, UsIt exports in order to control, YsIt is exported for speed, YdIt is exported for direction, FdIt is anti-for direction
Feedback, FsFor velocity feedback.
By the cascade of two PID controllers, tracking controller is constituted, two PID controller parameters carry out whole respectively
Fixed, rule of thumb, a kind of way that may be used is first by KiAnd KdIt is set as zero, increases KpUntil circuit exports and shakes,
Later again by KpIt is set as the decaying of 1/4 amplitude, then increases KiUntil steady-state error after a certain period of time can be corrected.
It should be noted that for increment type PID algorithm, need to carry out output violent change to increment Delta u (k) to prevent integral saturation, it is right
Control output carries out amplitude limit to ensure the action section of mechanical structure in limit range.
Configuration ADC periodically samples the amplitude of magnetic field induction electromotive force, to sampled data EaAnd EbIt is reflected
It penetrates and handles and be converted to the current absolute position of trolley, i.e. Fd=f (Ea, Eb), it is contemplated that direction Rd=0, i.e. inspection car should be located at
Guiding rail center, if Ed=Rd-Fd≠ 0, then PID controller can change motor speed and direction is corrected so that inspection
Vehicle is according to scheduled rail running.
Mechanical arm configuration is set to shoulder rotation, pitching, ancon pitching, wrist pitching, rotation, J1 axis (up and down motion Z axis)
Ball screw+linear guides+high speed, high resolution servo motor may be used；Harmonic wave may be used in J2 axis (swing arm rotation Y-axis)
Speed reducer+high speed, high resolution servo motor；Planetary reducer+high speed, high resolution may be used in J4 axis (end rotation X axis)
Servo motor.
This inspection car detects whether there are obstacles on path in the process of moving, by ultrasonic sensor 6, if in the presence of
Signal then is sent to master controller, main controller controls audible-visual annunciator 10 works, and related personnel is reminded to clear up barrier in time.
This intelligent patrol detection vehicle often covers about 2300 yuan of cost, each inspection car at least can with 3.6 mu of farmlands of inspection, if using
The wireless sensor system of the current international practice, need input more than 30,000 yuan, therefore this crusing robot effectively reduce use cost and
Maintenance cost, and reduce the operation complexity of farmland detection.
Claims (8)
1. a kind of modern agriculture intelligent patrol detection vehicle, it is characterised in that：Guide rail including car body and the guiding body movement；
The bottom front of the car body is provided with driving wheel, and the bottom rear end of the car body is provided with universal wheel, is arranged on the car body
There are the direct current generator being connected with the driving wheel, the direct current generator to exist with setting by motor driver and orthogonal encoder
Master controller electrical connection in the car body；The bottom of the car body is provided with the Hall being electrically connected respectively with the master controller
Sensor and magnetic field sensor；The audible-visual annunciator and mechanical arm being electrically connected with the master controller are provided on the car body,
It is provided with Temperature Humidity Sensor on the mechanical arm；The front end of the car body is provided with camera and ultrasonic sensor, described
Camera is electrically connected with the Raspberry Pi computer being arranged in the car body；The ultrasonic sensor is electrically connected with master controller；
The Temperature Humidity Sensor and Raspberry Pi computer are connected with GPRS communication modules respectively；Be provided in the car body with it is described
The power module of GPRS communication modules, master controller and the electrical connection of Raspberry Pi computer；It is provided with multi-resonant on the guide rail
Swing device and permanent magnet.
2. modern agriculture intelligent patrol detection vehicle according to claim 1, it is characterised in that：The model of the master controller
STM32F446。
3. modern agriculture intelligent patrol detection vehicle according to claim 1, it is characterised in that：The model of the multivibrator
TL555。
4. modern agriculture intelligent patrol detection vehicle according to claim 1, it is characterised in that：The model of the Hall sensor
A3144。
5. modern agriculture intelligent patrol detection vehicle according to claim 1, it is characterised in that：The model of the motor driver
L298N。
6. modern agriculture intelligent patrol detection vehicle according to claim 1, it is characterised in that：The control chip of the mechanical arm is
TMS320C5000。
7. modern agriculture intelligent patrol detection vehicle according to claim 1, it is characterised in that：The model of the GPRS communication modules
For Siemens MC35i.
8. modern agriculture intelligent patrol detection vehicle according to claim 1, it is characterised in that：The Temperature Humidity Sensor includes type
Number for QDY-TW1 temperature sensor and model FC-28 humidity sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820382132.9U CN207937871U (en) | 2018-03-20 | 2018-03-20 | A kind of modern agriculture intelligent patrol detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820382132.9U CN207937871U (en) | 2018-03-20 | 2018-03-20 | A kind of modern agriculture intelligent patrol detection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207937871U true CN207937871U (en) | 2018-10-02 |
Family
ID=63655662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820382132.9U Expired - Fee Related CN207937871U (en) | 2018-03-20 | 2018-03-20 | A kind of modern agriculture intelligent patrol detection vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN207937871U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845771A (en) * | 2019-04-29 | 2020-10-30 | 百度（美国）有限责任公司 | Data collection automation system |
| CN113206982A (en) * | 2021-04-21 | 2021-08-03 | 安徽工程大学 | Inspection system and inspection method for agricultural greenhouse environment detection |
-
2018
- 2018-03-20 CN CN201820382132.9U patent/CN207937871U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845771A (en) * | 2019-04-29 | 2020-10-30 | 百度（美国）有限责任公司 | Data collection automation system |
| CN113206982A (en) * | 2021-04-21 | 2021-08-03 | 安徽工程大学 | Inspection system and inspection method for agricultural greenhouse environment detection |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181002 Termination date: 20190320 |
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| CF01 | Termination of patent right due to non-payment of annual fee |