CN208736340U - A kind of seed depth sensing system based on magnetic field - Google Patents
A kind of seed depth sensing system based on magnetic field Download PDFInfo
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- CN208736340U CN208736340U CN201821786261.0U CN201821786261U CN208736340U CN 208736340 U CN208736340 U CN 208736340U CN 201821786261 U CN201821786261 U CN 201821786261U CN 208736340 U CN208736340 U CN 208736340U
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Abstract
The utility model relates to agricultural plantation technology field more particularly to a kind of seed depth sensing systems based on magnetic field.System includes host computer and detector, it further include the magnet being arranged with seed with position, the detector includes rack and the single-chip microcontroller installed thereon, motion control board, three-dimensional motion mechanism and data acquisition unit, single-chip microcontroller, motion control board are communicated to connect with host computer, single-chip microcontroller is connect with motion control board both-way communication, and the output end of motion control board is connect with three-dimensional motion mechanism control terminal；The data acquisition unit includes magnetic field strength transducer and range sensor, and two sensors are located on the Motor execution component of three-dimensional motion mechanism, the input terminal connection of two sensors and single-chip microcontroller.Seed depth sensing system provided by the utility model based on magnetic field detects magnetic field strength in soil, to obtain seed actual depth by keeping seed display magnetic.The utility model compares traditional approach, and cost is lower, and detection accuracy is higher.
Description
Technical field
The utility model relates to agricultural plantation technology field more particularly to a kind of it can detect seed actual depth in soil
Seed depth sensing system based on magnetic field.
Background technique
When carrying out agricultural planting, depth of planting decide the sprouting of seed, seedling be unearthed, be unearthed after survive, at
The problems such as growing way and nutrition content after work.In existing seed quality evaluation, depth data is mostly when sowing
Record, data error are big.It is tested and is found by breeding, after more pieces of seeds are sown into soil, the soil weight increases, seed actual depth
It changes correspondingly, depth when germination is not inconsistent with depth of planting.Because soil is visual poor, existing sounding method is mostly after digging out seedling
Detection data, the method damage greatly seedling, influence the observation of stage of development in later period.Therefore it is accurate lossless to be badly in need of a set of energy of exploitation
Detection seed depth system.
In existing research, S.Kiani be equal to 2010 propose using non-contact type ultrasonic sensor to seed units into
Row automatic on-line is deep-controlled, and it is deep to accurately control sowing hole.Li Yuhuan is equal to proposition corn seeding depth in 2016 and intelligently adjusts
Control system, sowing qualification rate are substantially better than mechanical copying device, realize the auto-control of depth of planting, ensure that corn seeding
Depth consistency.But above method cannot all obtain actual depth after seed earthing.Yan Shu etc. is delivered on Chinese Journal of Geophysics
" the investigation depth problem of transient electromagnetic method " text is mentioned using transient electromagnetic probing method depth of exploration, if to kind in text
Son takes some measures, and makes it have magnetism, then it is contemplated that detecting the depth of seed using this method, it is practical effectively to solve seed
The problem of thickness of earth-fill cover detection, realizes Poul Dorset Sheep.
Summary of the invention
To achieve the above object, the utility model provides a kind of seed depth sensing system based on magnetic field, passes through inspection
Magnetic field strength realization is surveyed to the Poul Dorset Sheep of seed depth, the damage to seed is reduced, improves seed test data precision.
The scheme that the utility model uses is as follows:
A kind of seed depth sensing system based on magnetic field, including host computer and detector further include and the same position of seed
The magnet of setting, the detector include rack and the single-chip microcontroller installed thereon, motion control board, three-dimensional motion mechanism and data
Acquisition unit, single-chip microcontroller, motion control board are communicated to connect with host computer, and single-chip microcontroller is connect with motion control board both-way communication,
The output end of motion control board is connect with three-dimensional motion mechanism control terminal；The data acquisition unit includes magnetic field strength transducer
And range sensor, two sensors are located on the Motor execution component of three-dimensional motion mechanism, and Motor execution component synchronizing moving,
Magnetic field strength transducer is for acquiring magnetic field strength in soil, and for acquiring itself distance away from ground, two pass range sensor
The connection of the input terminal of sensor and single-chip microcontroller.
In the utility model, host computer and motion control board communications send motion control instruction to motion control board, by it
Control three-dimensional motion mechanism movement.The Motor execution component of three-dimensional motion mechanism is equipped with range sensor, by measuring not altogether
3 points of line at a distance from soil surface, it is ensured that three-dimensional motion mechanism is constant with respect to soil height, to realize three-dimensional motion mechanism
Scanning motion is parallel to tested soil plane.When sowing, every piece of seed and a magnet are contacted with each other and be buried in the earth, magnetic is utilized
Body simulation seeds position.When three-dimensional motion mechanism scanning motion, magnetic field strength transducer is scanned above soil along specified path,
Acquire magnetic field strength date.When each setting measuring point pauses, motion control board sends data acquisition instructions to single-chip microcontroller, makes list
Point position coordinate X, the Y for current field strength data Z and the motion control board output that piece machine acquires magnetic field strength transducer are bound
And store, single-chip microcontroller has stored data reverse control panel and has sent instruction, and it is mobile that motion control board controls three-dimensional motion mechanism
It is scanned to next measuring point.Storing data is transferred to host computer together by single-chip microcontroller, is analyzed by host computer according to field strength data
Seed depth out.
Preferably, the three-dimensional motion mechanism uses Delta parallel mechanism, which includes fixed platform and float flat
Platform, magnetic field strength transducer and range sensor are located at floating platform bottom.
To keep seed display magnetic, outer attached magnet can be, by magnet and the close adjacent merging soil of seed, the magnetic
The preferred magnetic metal balls of body.It is also possible to make seed magnetization by being coated the mode of magnetizing.In seed magnetization technique, Different Crop
Appropriate magnetic field intensity is differed from 1000 Gausses to 6500 Gausses, and common magnetic signal magnetic field intensity is mostly rationally to select within 5000 Gausses
Normal seed germination will not be hindered with the magnetic ball of different magnetic field intensity, therefore needing not worry about such detection mode can be raw to seed
Long development is unfavorable.
Preferably, the magnetic field strength transducer uses gaussmeter.Gaussmeter built-in Hall effect sensor, the sensor
Through 1.5V voltage drive output difference signal, output voltage is good corresponding to the magnetic field strength linearity, and excellent in high-frequency characteristics is used to
Magnetic field strength is measured, precision is high.
Preferably, the single-chip microcontroller uses ATmega328 model, and 23 feet of single-chip microcontroller connect gaussmeter, and the 24 of single-chip microcontroller
Foot connects range sensor, and IO1, IO2, IO3 foot of single-chip microcontroller connect O1, O2, O3 foot of the general output module of motion control board,
XS, XD, YS, YD, ZS, ZD foot of motion control board direction and output of pulse signal module connect three-dimensional motion mechanism.Single-chip microcontroller
It is integrated with signal mode conversion and is transmitted further to after carrying out preliminary treatment to collected data with amplifying circuit, filter circuit
Position machine.
In a variety of detection modes, infrared electro probe method sensor is at high cost, data processing complex；Ultrasonic sensor
It is influenced by soil media, it is difficult to identify that small size target, detection data precision are low.And it is provided by the utility model based on magnetic field
Seed depth sensing system magnetic field strength in soil is detected, so that it is practical deep to obtain seed by keeping seed display magnetic
Degree.In this scenario, magnet is easy to buy, and belongs to nonexpendable item, can repeatedly use, and sensor advantage of lower cost can be real
It is now concisely and efficiently algorithm, relatively above two mode, at low cost, detection accuracy is higher.
Detailed description of the invention
Fig. 1 is the system control principle drawing of the utility model；
Fig. 2 is the structural schematic diagram of detector；
Fig. 3 is the circuit diagram of single-chip microcontroller；
Fig. 4 is motion control board direction and output of pulse signal module circuit schematic；
Fig. 5 is the general output module circuit diagram of motion control board；
Fig. 6 is motion control board MCU module circuit diagram；
Fig. 7 is motion control board USB transmission module circuit schematic；
In figure, 1, host computer, 2, detector, 21, single-chip microcontroller, 22, motion control board, 23, three-dimensional motion mechanism, 24, number
According to acquisition unit, 25, rack, 26, branch, 27, floating platform, 28, fixed platform, 3, magnetic metal balls.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawing.
A kind of seed depth sensing system based on magnetic field, as shown in Figure 1, 2, including host computer 1, detector 2 and several
Magnetic metal balls 3, magnetic metal balls 3 contact with each other together with seed at seeding time places into the soil, each magnetic metal balls pair
Answer seed position at one.The detector 2 includes rack 25, is equipped with control cabinet (not shown) at the top of rack 25, is controlled
Case is provided with single-chip microcontroller 21 and motion control board 22, and the single-chip microcontroller 21 uses ATmega328 model chip, motion control board 22
Using Mach3 numerical control motion control board.Single-chip microcontroller is communicated by USB data line with host computer, transmits data to it.Host computer is also
By USB data line and motion control board communications, it is sent to it motion control instruction.25 top lower surface of rack is solid by screw
Surely there is three-dimensional motion mechanism 23.The three-dimensional motion mechanism 23 use Delta parallel mechanism, the mechanism include fixed platform 28,
Floating platform 27 and the branch 26 for connecting two platforms, fixed platform are equipped with driving motor, the output end of motion control board and three
The motor connection for tieing up movement mechanism, for controlling its operational process.The data acquisition unit includes gaussmeter and Distance-sensing
Device, the two are installed on 27 bottom of floating platform of three-dimensional motion mechanism, move with floating platform, realize the adjusting of detection position.
For range sensor for measuring distance of the floating platform away from soil surface, the scanning motion to realize three-dimensional motion mechanism is parallel
In soil surface.Gaussmeter is used to measure magnetic field strength in soil, and single-chip microcontroller is by the magnetic field strength date of certain point and its position
Coordinate is stored together, and is concentrated incoming host computer, is analyzed and processed by host computer, obtains seed three-dimensional coordinate.
Physical circuit connection relationship involved in the utility model is as follows: as shown in figure 3,23 feet of single-chip microcontroller ZU1 connect
Gaussmeter U20 acquires magnetic field strength date；24 feet connect range sensor U21, obtain floating platform altitude information.
As shown in figs. 4-7, motion control board include MCU module, USB transmission module, memory module, input/output module and
Power module, wherein input/output module includes general output module, direction and output of pulse signal module again.MCU module is adopted
With AT91SAM7S64 chip U39, OUTPUT0-OUTPUT7 signal wire connection universal output module one end of the chip is general defeated
The module other end is Darlington transistor array U19 out, and O1, O2, O3 foot of the array connect IO1, IO2, IO3 foot of single-chip microcontroller, into
The transmission of row instruction and data.USB_DM, USB_DM signal wire of chip U39 connects USB transmission module, for passing through usb data
Line realizes the communication with host computer.Chip U39 connects direction and output of pulse signal module, Xiang Qi by STEP&DIR signal wire
Send XS, XD, YS, YD, ZS, ZD terminal connection three-dimensional motion mechanism of movement instruction, direction and output of pulse signal module, control
The motor in three directions of X, Y, Z axis processed operates.
The course of work of the utility model is as follows:
When sowing, every piece of seed and a magnetic metal balls are contacted with each other and be sown into soil, magnetic metal balls mould is utilized
Quasi- seed position.Host computer sends scan instruction to motion control board, and motion control board controls three-dimensional motion mechanism movement, drives
Data acquisition unit motion scan.In scanning, need so that data acquisition unit is constant with respect to the height of soil surface, i.e. three-dimensional
The scanning motion of movement mechanism is parallel to tested soil surface, and three-dimensional motion mechanism can be accomplished in that in tested soil
Measurement not collinear three points above earth plane domain, by range sensor make this not collinear three points and soil surface apart from identical,
It determines that a plane theorem acquires soil plane space analytic equation by 3 points, plane equation parameter is passed to host computer, is passed through
Host computer revises accordingly motion control board flat scanning program, and three-dimensional motion mechanism scanning motion is made to be parallel to tested soil
Earth plane.Later, gaussmeter is swept above the soil for being embedded with magnetic metal balls along specified path under three-dimensional motion mechanism drive
It retouches, when each setting measuring point pauses, motion control board sends data acquisition instructions to single-chip microcontroller, measures single-chip microcontroller by Gauss
Coordinate X, Y that the current field strength data Z obtained is transmitted with motion control board bind and store.
Control for single-chip microcontroller record coordinate, mode are as follows: when gaussmeter one measuring point of every arrival, making motion control board
Change delivery outlet level state, triggering single-chip microcontroller records coordinate X, Y.After single-chip microcontroller has executed certain coordinate record order, Xiang Yun
Dynamic control panel sends the level signal that scanning motion can carry out next time, and motion control board control is completed to scan next time.Specifically
The method of operation are as follows: when operation, gaussmeter moves a step in the every fortune of X-direction, if single-chip microcontroller receives the X of motion control board O1 mouthfuls of sending
Axis signal, then X axis coordinate adds 1, if single-chip microcontroller is not received by the X-axis signal of O1 mouthfuls of motion control board sendings, continues waiting for
The X-axis signal of O1 mouthfuls of motion control board sendings.Gaussmeter moves a step in the every fortune of Y direction, if single-chip microcontroller receives motion control
The Y-axis signal of O2 mouthfuls of plate sendings, then X axis coordinate is reset after Y axis coordinate adds 1, if single-chip microcontroller is not received by motion control board O2
The Y-axis signal that mouth issues then continues waiting for the Y-axis signals of 2 mouthfuls of motion control board sendings.If single-chip microcontroller receives motion control board
The scanning motion end signal of 3 mouthfuls of sendings, then EP (end of program), if single-chip microcontroller is not received by sweeping for O3 mouthfuls of motion control board sendings
Movement end signal is retouched, then waits the X-axis signal of O1 mouthfuls of motion control board sendings.
The data of field strength in groups and coordinate data concentration of single-chip microcontroller storage upload to host computer, stored by host computer,
Analysis and processing, obtain the three-dimensional coordinate of seed.Detailed process is as follows:
Step 1: data processing.
Step 101 is that environment is avoided to influence measurement result, is measured respectively with the pole N of distance change, the pole S and without magnet three
The field strength data of kind of situation, when finding out no magnet field strength average value and the pole N, S field strength with distance change practical matched curve.
After step 102, single pass, after the collection point array smoothing denoising containing X, Y coordinates and magnetic field strength Z
Matrix is converted to, again fine sampling.
Step 2: distinguishing magnet posture.
Step 201 asks maximum field strength point and minimum point respectively, will most be worth and a little make the difference with average value, and obtain variable a
And b.
Step 202, setting threshold values j to judgment matrix curved surface feature, if | a | > j and | b | > j, be in bimodal shape, the pole N/S
Inclination is put, and step 4 is executed；If | a | > j or | b | > j, be in unimodal shape, the pole N/S vertical display, execute step 3.
Step 3: when the vertical display of the pole N/S.
Step 301 determines the pole N, the pole S: unimodal extreme value a, b and average value when no magnetic field being compared, are then N greater than average value
Pole is upward；Then be less than average value the pole S upward.
Step 302 asks coordinate X, Y: the row, column value of most value point in a matrix is as X, Y coordinates.
Step 303 seeks coordinate Z: most value point Z is magnetic field strength, measures carry it into field strength-apart from matched curve in advance
Acquire magnet depth coordinate Z.
Step 4: when the inclination of the pole N/S is put.
Step 401 sets A as field strength maximum of points, and B is field strength minimum point, and O is the friendship of straight line AB and mean value horizontal plane
Point, c1Subpoint for point A in mean value horizontal plane, C2It is point B in the subpoint of mean value horizontal plane, then Δ AC1O、ΔBC2O is phase
Like right angled triangle.
Step 402 asks most value point and magnet distance: bringing field intensity value a, b of two most value point A, B into field strength-distance and is fitted
Curve acquires line segment OA, OB length.
Step 403 asks coordinate X, Y: by similar triangles theorem simultaneous equationsSolve X, Y.
Step 404 asks coordinate Z: right angled triangle Δ AC1In O, by Pythagorean theorem solution formula AC1 2+OC1 2=AO2, obtain Z
Coordinate.
The data handling procedure that the above host computer carries out uses the prior art, and the improvement of the utility model is to detect system
The hardware configuration of system is not related to the improvement of data processing method.
Claims (5)
1. a kind of seed depth sensing system based on magnetic field, including host computer and detector, it is characterised in that: further include and plant
The magnet that son is arranged with position, the detector include rack and the single-chip microcontroller installed thereon, motion control board, three-dimensional motion machine
Structure and data acquisition unit, single-chip microcontroller, motion control board are communicated to connect with host computer, single-chip microcontroller and motion control board two-way
News connection, the output end of motion control board are connect with three-dimensional motion mechanism control terminal；The data acquisition unit includes that magnetic field is strong
Degree sensor and range sensor, two sensors are located on the Motor execution component of three-dimensional motion mechanism, with Motor execution component
Synchronizing moving, magnetic field strength transducer is for acquiring magnetic field strength in soil, and range sensor is for acquiring itself away from ground
The input terminal of distance, two sensors and single-chip microcontroller connects.
2. the seed depth sensing system according to claim 1 based on magnetic field, it is characterised in that: the three-dimensional motion machine
Structure uses Delta parallel mechanism, which includes fixed platform and floating platform, magnetic field strength transducer and range sensor position
In floating platform bottom.
3. the seed depth sensing system according to claim 1 based on magnetic field, it is characterised in that: the magnet is magnetism
Metal ball.
4. the seed depth sensing system according to claim 1 based on magnetic field, it is characterised in that: the magnetic field strength passes
Sensor uses gaussmeter.
5. the seed depth sensing system according to claim 4 based on magnetic field, it is characterised in that: the single-chip microcontroller uses
ATmega328 model, the 23 feet connection gaussmeter of single-chip microcontroller, the 24 feet connection range sensor of single-chip microcontroller, the IO1 of single-chip microcontroller,
IO2, IO3 foot connect O1, O2, O3 foot of the general output module of motion control board, motion control board direction and output of pulse signal
XS, XD, YS, YD, ZS, ZD foot of module connect three-dimensional motion mechanism.
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| CN201821786261.0U CN208736340U (en) | 2018-10-31 | 2018-10-31 | A kind of seed depth sensing system based on magnetic field |
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| CN201821786261.0U CN208736340U (en) | 2018-10-31 | 2018-10-31 | A kind of seed depth sensing system based on magnetic field |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459408A (en) * | 2022-02-09 | 2022-05-10 | 洛阳智能农业装备研究院有限公司 | Intelligent sowing uniformity detection device and detection method thereof |
| CN116172540A (en) * | 2023-04-28 | 2023-05-30 | 长春市鑫睿商贸有限公司 | Method for detecting magnetic localizer in tissue focus and method for using detection device thereof |
-
2018
- 2018-10-31 CN CN201821786261.0U patent/CN208736340U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459408A (en) * | 2022-02-09 | 2022-05-10 | 洛阳智能农业装备研究院有限公司 | Intelligent sowing uniformity detection device and detection method thereof |
| CN116172540A (en) * | 2023-04-28 | 2023-05-30 | 长春市鑫睿商贸有限公司 | Method for detecting magnetic localizer in tissue focus and method for using detection device thereof |
| CN116172540B (en) * | 2023-04-28 | 2023-07-04 | 长春市鑫睿商贸有限公司 | Method for detecting magnetic localizer in tissue focus and method for using detection device thereof |
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