CN210487645U - Grain moisture on-line measuring system based on robot - Google Patents
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- CN210487645U CN210487645U CN201921419133.7U CN201921419133U CN210487645U CN 210487645 U CN210487645 U CN 210487645U CN 201921419133 U CN201921419133 U CN 201921419133U CN 210487645 U CN210487645 U CN 210487645U
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Abstract
The utility model discloses a grain moisture on-line measuring system based on robot relates to granary management technical field. The detection system comprises a microwave transmitting module, a microwave receiving module and a computer; the microwave transmitting module comprises a microwave transmitter, a first communication module, a first power supply module and a control system, and the microwave receiving module comprises a microwave receiver, a second communication module and a second power supply module. The utility model discloses a robot-based grain moisture online detection system, which realizes large-area detection of the moisture content of grain in a storage environment and real-time detection of the moisture content of grain by arranging a large number of microwave receivers below a granary; the microwave is adopted to act on the grain to be measured to cause the change of the microwave dielectric constant, and through transmission type non-contact measurement, nondestructive detection can be realized, the measurement range of the granary is enlarged, and the precision of measuring the moisture of the granary is improved.
Description
Technical Field
The utility model relates to a granary management technical field, concretely relates to grain moisture on-line measuring system based on robot.
Background
China is a country with a lot of individuals, and natural food problems are related to social stability. Therefore, in the grain industry countries with such large demand, the environment for purchasing and storing grains becomes very important. The water content of the grain not only reflects the grain quality, but also is an important index for whether the grain can be stored safely. The water content of the stored grain in the granary is 10-18% according to the national standard. Generally, other changes of heating, agglomeration, mildewing, insect growth and the like of grains are mostly caused by overhigh water content of the grains, and when the water content of the grains is overlow, the color, planting, edible quality and the like of the grains are influenced. Therefore, detection technologies for timely and comprehensively knowing the moisture content of the grain and knowing the humidity of the grain are not in the future.
At present, the detection methods for detecting the moisture content of grains at home and abroad include a capacitance method, a resistance method, an infrared method, a microwave method and the like. The accuracy and stability of various measurement methods are affected by various factors and are generally used for detecting samples. However, there is no good method for measuring the moisture content of the grain at present in the storage environment of the grain depot, the capacitance method, the resistance method and the like in the storage environment need to sample and measure the moisture content of the grain, and the moisture measurement by the infrared method cannot measure the moisture content of the grain in the deep layer of the grain depot. The microwave method moisture measurement method can realize measurement to a certain degree, the microwave method online nondestructive measurement meets the high requirement of humidity measurement, the water content in the material is represented by the dielectric constant in the microwave electric field, because water is a strong polarization factor, when the microwave passes through the grain, the microwave energy change caused by the moisture is far larger than that of other substances, therefore, the measurement reflects the related physical quantity of the microwave dielectric constant by the change of the microwave related physical quantity of the grain, such as the change of resonant frequency, phase, power and the like, and the water content of the grain can be indirectly measured.
The method for realizing microwave on-line nondestructive detection comprises a transmission type space wave method and a reflection type space wave method. The reflection type microwave moisture measuring device has larger measurement error than a transmission type space wave method at present, and is mostly in an emission and receiving isolation type at present in China, namely, a microwave source and a reflection signal are isolated by a microwave device, namely a processing unit, between the microwave source and a detection tube, and then are independently detected. However, the method can only detect the average water content of the grain in one cylindrical surface, cannot detect the grain in a wide area and a large area, and has the defects of complicated structure, easy noise introduction, high precision requirement, high price cost and the like of a microwave receiving probe, so that the method limits the wide application of the grain bin in large quantities.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model discloses a grain moisture on-line measuring system based on robot, this system carry microwave emitter through the robot and remove on the granary, lay a plurality of microwave receivers below the granary, detect the water content of grain under the storage environment by a large scale, realize the real-time detection of grain moisture. The microwave is adopted to act on the grain to be measured to cause the change of the microwave dielectric constant, and through transmission type non-contact measurement, nondestructive detection can be realized, the measurement range of the granary is enlarged, and the precision of measuring the moisture is improved.
According to the purpose of the utility model, the utility model provides a grain moisture online detection system based on robot, which comprises a microwave transmitting module, a microwave receiving module and a computer; the microwave transmitting module comprises a robot main body, a microwave transmitter, a first communication module, a first power supply module and a control system, wherein the robot main body runs along a track arranged above a granary, the microwave transmitter is arranged below the robot main body, the first communication module is used for wirelessly connecting the microwave transmitting module with a computer, the first power supply module is used for supplying power to the whole microwave transmitting module, the microwave transmitter is driven by the robot main body to move to a preset coordinate position, microwave transmitting is carried out under the control of the control system, and the frequency and the number of microwave signals transmitted by the microwave transmitter are transmitted to the computer through the first communication module.
The microwave receiving module comprises a plurality of microwave receivers which are connected according to a microwave signal receiving sequence and are started periodically, a second communication module for wirelessly connecting the microwave receiving module and a computer, and a second power supply module for supplying power to the whole microwave receiving module; the microwave receiver is arranged below the granary and uniformly distributed along the trend of the track arranged above the granary, receives microwave signals transmitted by the microwave transmitter, and transmits the microwave signals to the computer through the first communication module after primary processing.
And the computer is used for detecting and analyzing the amplitude and the phase of the microwave signal transmitted by the microwave transmitter and the microwave signal transmitted through the grain and received by the microwave receiver to obtain the moisture detection result of the granary.
Preferably, the tracks are a plurality of concentric circular tracks taking the center of the granary as a circular point, a linear track connecting the two concentric circular tracks is arranged between the adjacent concentric circular tracks, and the robot body runs to the adjacent tracks through the linear track between the two adjacent concentric circular tracks after running for one circle along the trend of the concentric circular tracks.
Preferably, the radius of the concentric circular tracks is 0.2-1.5m, the linear tracks are four crossed linear tracks taking the circle center of the concentric circular track as a crossing point, an included angle between every two adjacent linear tracks is 45 degrees, the crossing point of the linear track and the concentric circular track is a preset coordinate position of the microwave emitter for emitting microwave signals, and the microwave receiver is arranged vertically below the crossing point of the concentric circular track and the linear track.
Preferably, the concentric circular tracks are arranged 0.5-1m above the granary.
Preferably, the microwave transmitter comprises a signal generator, a directional coupler, a phase shifter, a modulation amplifier, an attenuator and a horn antenna; the microwave receiver comprises a horn antenna, an isolator, a power amplifier, a detector, a filter, a demodulation demodulator and a processor.
Preferably, the microwave transmitter bell mouth is smaller than the microwave receiver bell mouth.
Preferably, the frequency range of the transmitting signal of the microwave transmitter is 50-600 MHz.
Compared with the prior art, the utility model discloses a grain moisture on-line measuring system's based on robot advantage is:
(1) the detection system moves on the granary through the robot-carried microwave emitter, a large number of microwave receivers are arranged below the granary, the water content of the grains in the storage environment is detected in a large area, and the real-time detection of the grain moisture is realized.
(2) The detection system adopts the microwave to act on the grain to be detected to cause the change of the microwave dielectric constant, and can realize nondestructive detection through transmission type non-contact measurement, thereby enlarging the measurement range of the granary and improving the accuracy of the moisture measurement of the granary.
(3) The detection system is characterized in that the granary is provided with concentric circular tracks, the microwave emitter is driven by the robot body to run along the concentric circular tracks, microwave signals are emitted at preset coordinate positions at the intersection points of the concentric circular tracks and the linear tracks, the arrangement of microwave signal emitting points is regular, the detection range is wide, and the precision of moisture detection in the granary is further improved.
Drawings
For a clear explanation of the embodiments or prior art solutions of the present invention, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for a person skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a track.
Fig. 3 is a schematic view of microwave receiver placement points.
Fig. 4 is a schematic structural diagram of a microwave transmitting module.
Fig. 5 is a schematic view of the present invention.
The part names represented by the numbers or letters in the drawings are:
1-a microwave transmitting module; 11-a first communication module; 12-a microwave emitter; 13-a first power supply module; 14-a control system; 15-a robot body; 2-predetermined coordinate position; 3-concentric circular tracks; 4-a linear track; 5-a microwave receiver; 6-granary; 7-computer.
Detailed Description
The following description briefly describes embodiments of the present invention with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
Fig. 1-5 show preferred embodiments of the invention, which have been dissected in detail from different perspectives, respectively.
Fig. 1-5 show a robot-based grain moisture online detection system, which includes a microwave transmitting module 1, a microwave receiving module, and a computer 7.
The microwave transmitting module 1 comprises a robot main body 15 running along a track arranged above the grain bin 6, a microwave transmitter 12 arranged below the robot main body 15, a first communication module 11 used for wirelessly connecting the microwave transmitting module 1 with the computer 7, a first power supply module 13 used for supplying power to the whole microwave transmitting module 1 and a control system 14. The microwave emitter 12 is driven by the robot main body 15 to move to the predetermined coordinate position 2, emits microwaves under the control of the control system 14, and transmits the frequency and the number of the emitted microwave signals to the computer 7 through the first communication module 11.
The first power module 13 is electrically connected with the control system 14, the microwave emitter 12 and the first communication module 11 respectively to complete power supply of the whole device. The first communication module 11 is electrically connected with the microwave transmitter 12 and the control system 14 respectively, and completes the functions of receiving and communicating the robot position information and the microwave transmitting information. The control system 14 is electrically connected with the microwave emitter 12, and by inputting a control command to the control system 14, the robot main body 15 moves to the preset position coordinate position 2, and the microwave emitting switch is turned on and off to enable the microwave source in the microwave emitter 12 to emit microwave signals with fixed frequency and quantity.
The tracks are a plurality of concentric circular tracks 3 which are arranged 0.5-1m above the granary 6 and take the center of the granary 6 as a round point, and the tracks are arranged above the granary 6 for a certain distance, so that the microwave emitter 12 is in a proper position when emitting microwaves, otherwise, the direction of emitting microwave signals is influenced. Meanwhile, there is no metal object between the microwave emitter 12 and the grain bin 6 because the microwave is reflected for metal objects, but almost passes through but is not absorbed for glass, plastic and porcelain, and is absorbed for water, food and other microwaves. The microwave emitter 12 is loaded below the robot main body 15, so that no obstacles exist in the horn mouth emitting direction of the microwave emitter 12, and the loss of the waveguide is reduced. A linear track 4 for connecting the two concentric circular tracks 3 is arranged between the two adjacent concentric circular tracks 3, and the robot main body 15 travels to the adjacent tracks through the linear track 4 between the two adjacent concentric circular tracks 3 after traveling for one circle along the concentric circular tracks 3.
The radius of the concentric circular tracks 3 is 0.2-1.5m, the linear tracks 4 are four crossed linear tracks 4 taking the circle center of the concentric circular tracks 3 as a crossing point, the included angle between every two adjacent linear tracks 4 is 45 degrees, the crossing point of the linear tracks 4 and the concentric circular tracks 3 is a preset coordinate position 2 for the microwave emitter 12 to emit microwave signals, and the microwave receiver 5 is arranged vertically below the crossing point of the concentric circular tracks 3 and the linear tracks 4. The included angle between the number of the linear tracks 4 and two adjacent linear tracks 4 and the radius of the concentric circular track 3 are determined according to the size of the actual area of the grain pile and the precision requirement to be measured. In the specific detection process, the robot main body 15 turns from the initial point to the inner circle through the linear track 4 according to the set running route, and the original route returns after the straight track is moved to the initial point.
The microwave receiving module comprises a plurality of microwave receivers 5 which are connected according to a microwave signal receiving sequence and are started periodically, a second communication module for wirelessly connecting the microwave receiving module with a computer 7, and a second power supply module for supplying power to the whole microwave receiving module. Microwave receivers 5 are arranged below a granary 6 and are uniformly distributed along the track direction arranged above the granary 6, line track sections formed by connecting position points where all microwave receivers 5 are placed are parallel to the walking track of a robot main body 15 on the granary 6, straight lines connected with a horn mouth of a microwave emitter 12 and the horn mouth of the microwave receiver 5 in the vertical direction are perpendicular to each other, namely perpendicular to emitted microwave signals, position coordinates of each microwave receiver 5 are arranged in advance and stored in a robot control system 14, and when the robot main body 15 runs right above, the control system 14 controls the microwave emitter 12 to emit microwaves. The microwave receiver 5 receives the microwave signal transmitted by the microwave transmitter 12, and transmits the microwave signal to the computer 7 through the first communication module 11 after the microwave signal is subjected to primary processing. Specifically, the number of microwave receivers 5 is determined according to the size of the actual area of the grain bin 6 and the accuracy requirement to be measured.
The utility model discloses in mentioned microwave emitter 12, microwave receiver 5, control system 14, communication module and power module all belong to the equipment commonly used in this field, its structure, principle do not do here and describe repeatedly. The selected model is not limited, and the corresponding function can be met.
And the computer 7 is used for detecting and analyzing the amplitude and the phase of the microwave signal transmitted by the microwave transmitter 12 and the microwave signal transmitted through the grain received by the microwave receiver 5 to obtain the moisture detection result of the granary 6. The computer 7 stores the calibration quantitative value or curve of the humidity condition of the common grain, the condition parameters causing the heating, the mildewing and the like of the grain in advance, compares the input values, and then calculates to obtain the humidity value of the grain to process the grain. When the change of the transmitting power of microwave emitter 12 changes or air humidity etc. influences the signal parameter analysis of microwave receiver 5 received signal, utilize the instrument to revise the data of moisture operation in real time to sampling microwave receiver 5 microwave signal, can improve like this the utility model discloses the device is to the influence that detects the moisture precision.
Further, the microwave transmitter 12 includes a signal generator, a directional coupler, a phase shifter, a modulation amplifier, an attenuator, and a horn antenna. The microwave receiver 5 includes a horn antenna, an isolator, a power amplifier, a detector, a filter, a demodulator, and a processor.
The signal generator is a synthesized signal generator. The frequency accuracy and stability of the common signal generator are not high enough, the frequency coverage range is not wide enough, and the frequency of the sinusoidal signal provided by the sinusoidal signal generator is far from meeting the requirement even if the frequency is very accurate. However, the synthesized signal generator (frequency synthesizer or frequency synthesizer) can be used as a frequency source with high accuracy and stability because the output level and the operating frequency range can be adjusted and the output frequency can be modulated densely.
The required signal frequency range is 50-600MHz, the signal frequency can be calculated by a standard frequency signal generated by a transistor oscillator through a direct synthesis method through a series of frequency multipliers, frequency dividers, frequency mixers, filters and the like, and the signal frequency required by the system is synthesized and output; the desired frequency can also be obtained by an indirect synthesis method, i.e., a phase-locked synthesis method, using a phase comparator, a loop filter, and a voltage-controlled oscillator of a phase-locked loop. Meanwhile, the synthesized signal generator has an internal modulation oscillator, a modulation amplifier, a monitor, an attenuator, an output device, and the like.
The antenna is a small-caliber horn antenna for transmitting and receiving electromagnetic waves, and the power of the transmitter and the installation position of the antenna are limited because the radiation is only needed to be carried out in a certain direction. The antenna is in order to launch transmitter output signal to the space effectively, because work is in the microwave frequency channel, the antenna volume is much littleer, and supporting mechanism is also very simple, installs the antenna and satisfies the demand of radiation direction simultaneously below the robot, avoids the barrier to appear in the radiation direction. The feeder between the transmitter and the antenna is relatively expensive and so selecting a good feeder reduces the investment cost. The microwave transmission adopts a foam medium cable feeder commonly used in many places, and the performance can meet the requirement because the foam medium cable feeder does not need pressurization and moisture removal.
In a detection period, the microwave emitter 12 and the microwave receiver 5 are turned off according to the set control program sequence, and the rest microwave receivers 5 are turned off. The microwave transmitting horn mouth is opposite to the microwave receiving horn mouth and is smaller than the microwave receiving horn mouth so as to ensure the receiving and detecting effects. The microwave source comprises an isolator which can absorb unmatched reflection signals, and aims to ensure the stable work of a signal source, and the microwave signal source starts to generate microwave signals which sequentially pass through the first signal processing unit: isolator, directional coupler, phase shifter and attenuator, and the output is transmitted to the microwave emitter 12 for emission.
The microwave receiver 5 receives the attenuated microwave signal transmitted by the microwave transmitter 12, receives the attenuated microwave signal through the horn antenna, and sequentially passes through the second signal processing unit: the isolator and the power amplifier adjust the output microwave power for amplification, the signal is detected by the detector and then transmitted to the signal processor through the filter and the demodulator for processing A/D conversion to obtain corresponding current and voltage signals of the received signal, and then the signals are transmitted to the computer by the second communication module through data acquisition, the microwave transmitter 12 and the microwave receiver 5 are in wireless communication through the communication module, and grain humidity is obtained through analysis and real-time monitoring.
The specific principle of microwave detection of the moisture content is as follows: in a microwave electric field, because water is a strong polar molecule, the polarization degree is far greater than that of other substances under the action of an electric field with the same frequency and the same intensity, when the microwave electric field is applied, on one hand, water molecules can absorb energy from the electric field and convert the energy into potential energy of the water molecules for storage, and the characteristic is represented as phase shift of a microwave signal, on the other hand, because the relaxation principle is that the water molecules are inert, the oriented polarization motion has a time lag relative to the change of an external electric field, and the effect causes the water molecules to be lost and is represented as attenuation of the microwave signal. As shown in formula (1):
ε＝ε'-iε″ (1)。
where ε is characterized as the dielectric constant of water, ε 'represents the stored energy of a water molecule, and ε' represents the energy lost by a water molecule due to relaxation. The loss factor epsilon 'of water in the microwave frequency range is equal to about 40, and the loss factor epsilon' of water in the microwave frequency range is less than 1; the real part of the dielectric constant for water is also very large, ε' is equal to about 64, and the medium is typically less than 10. It is due to the microwave properties of water that changes in physical quantities, such as power attenuation, phase change, resonant frequency, etc., are related by the dielectric constant when detecting the moisture content of grain. Humidity can be obtained using the research formula of Kraszewski:
A＝(dt)＝aM+b (2)。
H/(dt)＝cM+d (3)。
in the formula, a, b, c and d are regression coefficients of specific grains. And (3) connecting the equations (2) and (3) to obtain the moisture content of the grain, namely a humidity equation:
M＝(dA-bH)/(aH-cA) (4)。
the humidity M is a function of the attenuation and phase shift of the measured microwaves, independent of the density, as shown by equation (4).
The standard error of the applied H/A is 0.22%.
To sum up, the utility model discloses a grain moisture on-line measuring system based on robot carries microwave emitter through the robot and removes on the granary, lays a large amount of microwave receivers through the granary below, realizes the water content of grain under the large tracts of land detection storage environment, realizes the real-time detection of grain moisture. The microwave is adopted to act on the grain to be measured to cause the change of the microwave dielectric constant, and through transmission type non-contact measurement, nondestructive detection can be realized, the measurement range of the granary is enlarged, and the accuracy of the moisture measurement of the granary is improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A robot-based grain moisture online detection system is characterized by comprising a microwave transmitting module (1), a microwave receiving module and a computer (7); the microwave transmitting module (1) comprises a robot main body (15) running along a track arranged above the granary (6), a microwave transmitter (12) arranged below the robot main body (15), a first communication module (11) used for wirelessly connecting the microwave transmitting module (1) with the computer (7), a first power supply module (13) used for supplying power to the whole microwave transmitting module (1) and a control system (14), wherein the microwave transmitter (12) is driven by the robot main body (15) to move to a preset coordinate position (2), performs microwave transmission under the control of the control system (14), and transmits the frequency and the number of microwave signals transmitted by the microwave transmitter to the computer (7) through the first communication module (11);
the microwave receiving module comprises a plurality of microwave receivers (5) which are connected according to a microwave signal receiving sequence and are started periodically, a second communication module for wirelessly connecting the microwave receiving module with a computer (7) and a second power supply module for supplying power to the whole microwave receiving module; the microwave receivers (5) are arranged below the granary (6) and are uniformly distributed along the track direction arranged above the granary (6), and the microwave receivers (5) receive microwave signals transmitted by the microwave transmitters (12), are subjected to preliminary treatment and then are transmitted to the computer (7) through the first communication module (11);
and the computer (7) is used for detecting and analyzing the amplitude and the phase of the microwave signal transmitted by the microwave transmitter (12) and the microwave signal transmitted through the grain and received by the microwave receiver (5) to obtain the moisture detection result of the granary (6).
2. The robot-based grain moisture online detection system according to claim 1, wherein the tracks are a plurality of concentric circular tracks (3) taking the center of the granary (6) as a circular point, a linear track (4) connecting two concentric circular tracks (3) is arranged between every two adjacent concentric circular tracks (3), and the robot body (15) runs to the adjacent tracks through the linear track (4) between every two adjacent concentric circular tracks (3) after running for one circle along the trend of the concentric circular tracks (3).
3. The robot-based grain moisture online detection system according to claim 2, wherein the radius of the concentric circular tracks (3) is 0.2-1.5m, the linear tracks (4) are four crossed linear tracks (4) taking the circle centers of the concentric circular tracks (3) as intersection points, the included angle between every two adjacent linear tracks (4) is 45 degrees, the intersection point of the linear track (4) and the concentric circular track (3) is the preset coordinate position (2) where the microwave emitter (12) emits the microwave signal, and the microwave receiver (5) is arranged vertically below the intersection point of the concentric circular track (3) and the linear track (4).
4. The robot-based grain moisture online detection system according to claim 2, wherein the concentric circular tracks (3) are arranged 0.5-1m above the grain bin (6).
5. The robot-based grain moisture online detection system according to claim 1, wherein the microwave transmitter (12) comprises a signal generator, a directional coupler, a phase shifter, a modulation amplifier, an attenuator and a horn antenna; the microwave receiver (5) comprises a horn antenna, an isolator, a power amplifier, a detector, a filter, a demodulation demodulator and a processor.
6. The robot-based grain moisture online detection system according to claim 5, wherein the horn mouth of the microwave transmitter (12) is smaller than that of the microwave receiver (5).
7. The robot-based grain moisture online detection system according to claim 1, wherein the frequency range of the transmission signal of the microwave transmitter (12) is 50-600 MHz.
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| CN201921419133.7U CN210487645U (en) | 2019-08-29 | 2019-08-29 | Grain moisture on-line measuring system based on robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505024A (en) * | 2020-06-08 | 2020-08-07 | 中国电子科技集团公司第四十八研究所 | Moisture content composite detection device and detection method based on microwave technology |
| CN111707679A (en) * | 2020-06-24 | 2020-09-25 | 哈尔滨理工大学 | Grain bin corn water content detection method based on X wave band |
| CN114518386A (en) * | 2022-01-07 | 2022-05-20 | 安徽科杰粮保仓储设备有限公司 | Device is examined soon to grain food quality index |
-
2019
- 2019-08-29 CN CN201921419133.7U patent/CN210487645U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505024A (en) * | 2020-06-08 | 2020-08-07 | 中国电子科技集团公司第四十八研究所 | Moisture content composite detection device and detection method based on microwave technology |
| CN111707679A (en) * | 2020-06-24 | 2020-09-25 | 哈尔滨理工大学 | Grain bin corn water content detection method based on X wave band |
| CN114518386A (en) * | 2022-01-07 | 2022-05-20 | 安徽科杰粮保仓储设备有限公司 | Device is examined soon to grain food quality index |
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