CN211651576U - Spray fog shape detection device based on thermal infrared imaging - Google Patents
Spray fog shape detection device based on thermal infrared imaging Download PDFInfo
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- CN211651576U CN211651576U CN202020473313.XU CN202020473313U CN211651576U CN 211651576 U CN211651576 U CN 211651576U CN 202020473313 U CN202020473313 U CN 202020473313U CN 211651576 U CN211651576 U CN 211651576U
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Abstract
The utility model provides a spray fog shape detection device based on thermal infrared imaging belongs to agricultural machine technical field, the utility model discloses well spray fog shape acquisition device swing joint in mechanical forearm subassembly front end, mechanical forearm subassembly, mechanical big arm component, imitative chicken neck bone joint shock attenuation strutting arrangement, rotatory and removal base top-down sequence range and swing joint, wherein buzzing alarm, photoelectric alarm and the motor of establishing on each major component are controlled by PLC controller F, the utility model discloses utilize thermal infrared imaging principle, through the measurement to the hot infrared image fog cone angle of spraying, realize the effective accurate detection of plant protection machinery shower nozzle spray fog shape to the working effect of comprehensive evaluation shower nozzle imitates chicken neck bone joint shock attenuation strutting arrangement simultaneously, makes spray fog shape acquisition device can stable work. The device of the utility model is simple in structure, job stabilization, easily operation, the commonality is wide, is applicable to various plant protection spraying machinery and abominable operational environment.
Description
Technical Field
The utility model belongs to the technical field of agricultural machinery, concretely relates to spraying fog shape detection device based on thermal infrared imaging.
Background
With the rapid popularization and development of information technology, the thermal infrared imaging technology is mature day by day and has been widely concerned by agricultural scientists. At present, the thermal infrared imaging technology becomes a hotspot and a difficulty in the field of fine agriculture. Scholars at home and abroad obtain a plurality of research achievements on the thermal infrared imaging technology, and theoretical and technical bases are laid for better exerting the advantages of the thermal infrared imaging technology in agricultural production. The spray head is a key device for liquid medicine atomization of plant protection machinery, the performance of the spray head has important influence on the spray quality, and the spray angle is a main characteristic parameter influencing the atomization effect of the spray head. The method for calculating the spray cone angle before operation and realizing the inspection of the spray shape of the spray head is an important method for ensuring the spray effect, and the current methods for detecting the spray shape of the spray head include a grid direct measurement method and a visual processing method. Visual processing method generally adopts CCD high-speed camera to take a picture in succession to the spraying, but the spraying is mostly colorless transparent liquid working medium, and visual observation method is difficult to realize carrying out accurate measurement to spraying fog shape, simultaneously because the farmland condition is changeable, when overcast and rainy, during the operation of wind and dust weather, the image that high-speed camera obtained is difficult to realize carrying out accurate image processing to the spraying edge, and spraying fog shape difference under the different pressure and the different shower nozzles is great, needs many times to measure the calculation, and the process is loaded down with trivial details. As can be seen from the above, it is difficult to accurately and quantitatively study the shape of the spray with the conventional measurement method, and a novel method is required to measure and observe the shape of the spray.
Therefore, it is necessary to provide a method and a device for detecting the shape of the spray of the spraying apparatus, so as to ensure that the working parameters meet the specified requirements during the operation of the plant protection spraying machine, thereby improving the operation quality.
Disclosure of Invention
An object of the utility model is to provide a spray fog shape detection device and method based on thermal infrared imaging.
The utility model consists of a spray fog-shaped acquisition device A, a mechanical small arm component B, a mechanical big arm component C, a chicken neck bone joint simulation damping support device D, a rotating and moving base E and a PLC (programmable logic controller) F, wherein the spray fog-shaped acquisition device A is positioned at the front end of the mechanical small arm component B, and the mechanical small arm component B, the mechanical big arm component C, the chicken neck bone joint simulation damping support device D and the rotating and moving base E are sequentially arranged from top to bottom; the mounting plate I5 and the mounting plate II 6 of the spray mist shape acquisition device A are arranged between the right plate I21 and the left plate I25 of the mechanical forearm component B and fixedly connected to the middle of an output shaft I9 of the mechanical forearm component B; the connecting sleeve 20 of the small mechanical arm component B is arranged between a right upper plate 32 and a left upper plate 34 of the large mechanical arm component C and fixedly connected to the middle of an output shaft III 30 of the large mechanical arm component C; the left lower plate 37 and the right lower plate 39 of the mechanical big arm assembly C are arranged between the right plate II 48 and the left plate II 50 of the simulated chicken neck bone joint shock absorption supporting device D and are fixedly connected to the middle of an output shaft IV 44 of the simulated chicken neck bone joint shock absorption supporting device D; the lower end of a rotating rod II 60 in the chicken neck-like joint damping and supporting device D is fixedly connected with the upper end of an output shaft V62 in the rotating and moving base E; the buzzer alarm 2 and the photoelectric alarm 4 in the spray mist shape acquisition device A, the motor I8 in the small mechanical arm component B, the motor III 26 in the large mechanical arm component C, the motor IV 42 in the chicken neck-like joint damping support device D, the motor V74, the motor VI 80 and the gyroscope sensor 76 in the rotating and moving base E are all controlled by a PLC (programmable logic controller) F.
The spray mist shape acquisition device A is composed of a thermal infrared imager 1, a buzzer alarm 2, a data transmission line 3, a photoelectric alarm 4, a mounting plate I5 and a mounting plate II 6, wherein the mounting plate I5 is fixedly connected to the left side of the rear end of the thermal infrared imager 1, the mounting plate II 6 is fixedly connected to the right side of the rear end of the thermal infrared imager 1, and the buzzer alarm 2, the data transmission line 3 and the photoelectric alarm 4 are arranged from front to back and fixedly connected to the upper surface of the thermal infrared imager 1.
The mechanical small arm component B comprises a mounting rack I7, a motor I8, an output shaft I9, a bearing I10, a bearing II 11, an arm block I12, a rotating rod I13, a sleeve 14, an arm block II 15, an output shaft II 16, a bearing III 17, a motor II 18, a mounting rack II 19 and a connecting sleeve 20, wherein the arm block I12 comprises a right plate I21, a rear plate 23 and a left plate I25 which are sequentially and fixedly connected to form a U-shaped plate, the right plate I21 is provided with a hole I22, the left plate I25 is provided with a hole II 24, the arm block I12, the rotating rod I13, the sleeve 14, the arm block II 15, the output shaft II 16 and the motor II 18 are sequentially arranged from front to back, wherein the back of the rear plate 23 in the arm block I12 is fixedly connected with the front end of the output shaft II 16 through the rotating rod I13, the motor II 18 is fixedly connected to the mounting rack II 19, the front end of the mounting rack II 19 is fixedly connected to the back surface of the arm block II 15, the sleeve 14, the rear part of the output shaft II 16 is movably connected with a bearing III 17 arranged in a central hole in the rear surface of the arm block II 15, the rear end of the output shaft II 16 is fixedly connected with the output end of a motor II 18, and a connecting sleeve 20 is fixedly connected below the rear part of the arm block II 15; the left end of the mounting rack I7 is fixedly connected to the lower side of a right plate I21 of the arm block I12, the motor I8 is fixedly connected to the upper side of the mounting rack I7, and the right end of the output shaft I9 is fixedly connected with the output end of the motor I8; the bearing II 11 is fixedly connected in a hole II 24 of a left plate I25 in the arm block I12; the bearing I10 is fixedly connected in a hole I22 of a right plate I21 in the arm block I12; the left end of the output shaft I9 is movably connected with a left plate I25 through a bearing II 11; the nearly right-hand member of output shaft I9 is through bearing I10 and right board I21 swing joint.
The mechanical big arm assembly C consists of a motor III 26, a mounting frame III 27, a bearing IV 28, a bearing V29, an output shaft III 30 and an arm block III 31, wherein the arm block III 31 consists of a right upper plate 32, a left upper plate 34, a middle plate 36, a left lower plate 37 and a right lower plate 39, and the right upper plate 32 and the left upper plate 34 are fixedly connected with the left lower plate 37 and the right lower plate 39 through the middle plate 36; the right upper plate 32 is provided with a hole III 33, the left upper plate 34 is provided with a hole IV 35, the left lower plate 37 is provided with a hole V38, and the right lower plate 39 is provided with a hole VI 40; a bearing IV 28 is fixedly connected in the hole III 33; the bearing V29 is fixedly connected in the hole IV 35; the left end of the mounting rack III 27 is fixedly connected with the right side of the right upper plate 32, the motor III 26 is fixedly connected with the upper side of the mounting rack III 27, and the nearly right end of the output shaft III 30 is movably connected with the right upper plate 32 through a bearing IV 28; the left end of the output shaft III 30 is movably connected with the left upper plate 34 through a bearing V29, and the right end of the output shaft III 30 is fixedly connected with the output end of the motor III 26.
The chicken neck-like bone joint damping support device D consists of a mounting frame IV 41, a motor IV 42, a bearing VI 43, an output shaft IV 44, a bearing VII 45, a damping support upper part 46 and a damping support lower part 47; wherein the upper part 46 of the shock absorption support consists of a right plate II 48, a hole VII 49, a left plate II 50, a hole VIII 51, a connecting seat 52, a support body 53 and a chicken neck-like bone 54; wherein the lower part 47 of the shock absorption support consists of a shock absorption rubber sleeve 55, a support sleeve 56, an imitated chicken neck bone cavity 57, a shock absorption spring 58, a shock absorption damper 59 and a rotating rod II 60; the right plate II 48 and the left plate II 50 are fixedly connected to the left side and the right side of the connecting seat 52 respectively, a hole VII 49 is formed in the right plate II 48, and a hole VIII 51 is formed in the left plate II 50; the bearing VI 43 is fixedly connected in the hole VII 49; the bearing VII 45 is fixedly connected in the hole VIII 51; the left end of the mounting rack IV 41 is fixedly connected to the right side of the right plate II 48, the motor IV 42 is fixedly connected to the upper surface of the mounting rack IV 41, the near right end of the output shaft IV 44 is movably connected with the right plate II 48 through a bearing VI 43, the left end of the output shaft IV 44 is movably connected with the left plate II 50 through a bearing VII 45, and the right end of the output shaft IV 44 is fixedly connected with the output end of the motor IV 42; connecting seat 52, supporter 53, imitative chicken neck bone 54 top-down order rigid coupling, supporting sleeve 56 overlaps in shock-absorbing rubber cover 55, shock-absorbing rubber cover 55 overlaps in supporter 53, imitative chicken neck bone chamber 57 is located supporting sleeve 56 bottom surface, damping 59 and damping spring 58 and imitative chicken neck bone chamber 57 rigid coupling, dwang II 60 rigid coupling in imitative chicken neck bone chamber 57 lower surface, the imitative chicken neck bone chamber 57 of shock mount lower part 47 passes through damping spring 58 and damping 59 and the imitative chicken neck bone 54 swing joint on shock mount upper portion (46).
The rotating and moving base E consists of a rotating mechanism G and a moving mechanism H, the rotating mechanism G and the moving mechanism H are fixedly connected in sequence from top to bottom, the rotating mechanism G consists of a main body shell 61, an output shaft V62, a gear I63, a key I64, a mounting seat I65, a bearing VIII 66, a mounting seat II 67, a bearing IX 68, a key II 69, a gear II 70, an output shaft VI 71, a bearing X72, a mounting frame V73 and a motor V74, and the mounting seat I65 is fixedly connected to the rear part of the inner bottom surface of the main body shell 61; the mounting seat II 67 is fixedly connected to the front part of the inner bottom surface of the main body shell 61; the lower end of the output shaft V62 is movably connected with a mounting seat I65 through a bearing VIII 66; a gear I63 is fixedly connected to the lower end of the output shaft V62 through a key I64; the lower end of the output shaft VI 71 is movably connected with a mounting base II 67 through a bearing IX 68; the gear II 70 is fixedly connected to the lower end of the output shaft VI 71 through a key II 69; the gear I63 is meshed with the gear II 70; the upper end of an output shaft VI 71 is fixedly connected with the output end of a motor V74; the upper end of the output shaft VI 71 is movably connected with the front part of the main body shell 61 through a bearing X72; the lower part of the motor V74 is fixedly connected with the upper surface of the front part of the main body shell 61 through a mounting rack V73; the moving mechanism H is composed of a bottom plate 75, a gyroscope sensor 76, a sliding rod I77, a sliding rod II 78, a support plate 79, a motor VI 80, a screw rod 81 and a screw rod nut 82, wherein four corners of the lower surface of the bottom plate 75 are fixedly connected with four ear plates of an ear plate group 83, four holes IX 85 of a hole group 84 are formed in the four ear plates, a hole X86 is formed in the center of the support plate 79, the sliding rod I77 is fixed on the left side of the front surface of the support plate 79, the sliding rod II 78 is fixed on the right side of the front surface of the support plate 79, the screw rod nut 82 is fixedly connected to the center of the lower surface of the bottom plate 75, the gyroscope sensor 76 is fixedly connected to the front part of the upper surface of the bottom plate 75, the sliding; the rear end of a screw 81 passes through a hole X86 on the support plate 79 and is fixedly connected with the output end of the motor VI 80, and the front part of the screw 81 is in threaded connection with a screw nut 82; the lower surface of the main body case 61 in the rotation mechanism G is fixedly connected to the upper surface of the bottom plate 75 in the movement mechanism H.
The cross section of the chicken neck-like bone cavity 57 is formed by a section of regular curve, the lowest point of the bottom surface of the bone cavity is taken as an original point, a straight line passing through the original point and vertically upwards is taken as a Y axis, an axis perpendicular to the Y axis is taken as an X axis, an XOY coordinate system is established, a curve in the cross section is placed in the XOY rectangular coordinate system, and then the equation of the curve is as follows:
Y＝-0.00224X3-0.191X2-3.307X+19.772
wherein X belongs to [10,45] in mm.
A spray mist detection method based on thermal infrared imaging comprises the following steps:
after the spraying work is started, the device of the utility model realizes the collection of the spray fog from different angles and transmits the collected images to the upper computer; the upper computer processes the image, and the preprocessing process comprises the following steps: image labeling, image denoising, binary image conversion, edge extraction and image storage; the upper computer acquires a spray mist image, and the spray quality is measured by taking a spray angle as a first index; the mathematical expression for the fog cone angle α is:
α＝arctan{[(S/π)1/2-(s/π)1/2]/h}
wherein:
s is the area of the bottom surface of the fog cone obtained at the drop height h of the fog drops;
s is the droplet scattering area formed at the nozzle;
h is the drop height of the fog drops;
comparing the obtained spray cone angle with a standard spray fog cone angle to realize the detection of the working state of the spray head;
and comparing the spray cone angles of all the spray heads with each other to realize the detection of the spray consistency.
The utility model discloses a position appearance adjustment process does:
the gyro sensor 76 detects the inclination or pitching of the road surface; the motor I8 drives the device to perform reverse inclination adjustment; the motor II 18 drives the device to perform reverse pitching adjustment; the motor V74 drives the device to reversely swing and adjust.
The beneficial effects of the utility model
The utility model discloses utilize the principle of thermal infrared imaging, through the measurement to the hot infrared image fog cone angle of spraying, realize the effective accurate detection of plant protection machinery shower nozzle spraying fog shape to the working effect of shower nozzle has been evaluated comprehensively, is the important exploration of thermal infrared imaging technique in the plant protection field. Meanwhile, the chicken neck joint-simulated damping support device enables the spray mist acquisition device to work stably. The device simple structure, job stabilization, easily operation, the commonality is wide, is applicable to various plant protection spraying machinery and abominable operational environment.
Drawings
FIG. 1 is an isometric view of a spray mist detection device based on thermal infrared imaging
FIG. 2 is an isometric view of a spray mist acquisition device A
FIG. 3 is a cross-sectional view of the mechanical forearm assembly B
FIG. 4 is a side view of the mechanical forearm assembly B
FIG. 5 is an axial view of arm block I12
FIG. 6 is a partial cross-sectional view of a robotic boom assembly C
FIG. 7 is an axial view of arm block II 15
FIG. 8 is a partial view of the upper portion 46 of the biomimetic shock mount
FIG. 9 is an isometric view of the lower portion 47 of the biomimetic shock mount
FIG. 10 is an isometric view of the upper portion 46 of the biomimetic shock mount
FIG. 11 is a schematic structural view of the lower portion 47 of the bionic shock-absorbing support
FIG. 12 is a schematic structural view of a chicken neck bone joint-like shock-absorbing support device D
Fig. 13 is a sectional view of the rotation mechanism G
FIG. 14 is an isometric view of a rotary mechanism G
FIG. 15 is an isometric view of the moving mechanism H
FIG. 16 is an isometric view of the base plate 75
FIG. 17 is an isometric view of a support plate 79, a slide bar I77 and a slide bar II 78
FIG. 18 is a cross-sectional view of a chicken neck bone cavity 57
The spray mist type automatic spraying device comprises a spray mist obtaining device A, a mechanical small arm assembly B, a mechanical large arm assembly D, a chicken neck-like joint damping supporting device E, a rotating and moving base F, a PLC controller G, a rotating mechanism H, a moving mechanism 1, an infrared thermal imager 2, a buzzer alarm 3, a data transmission line 4, a photoelectric alarm 5, a mounting plate I6, a mounting plate II 7, a mounting frame I8, a motor I9, an output shaft I10, a bearing I11, a bearing II 12, an arm block I13, a rotating rod I14, a sleeve 15, an arm block II 16, an output shaft II 17, a bearing III 18, a motor II 19, a mounting frame II 20, a connecting sleeve 21, a right plate I22, a hole I23, a rear plate 24, a hole II 25, a left plate I26, a motor III 27, a mounting frame III 28, a bearing IV 29, a bearing V30, an output shaft III 31, an arm block III 32, a right upper plate 33, a hole 34, a left upper plate 35, a Middle plate 37, left lower plate 38, hole V39, right lower plate 40, hole VI 41, mounting frame IV 42, motor IV 43, bearing VI 44, output shaft IV 45, bearing VII 46, shock-absorbing support upper part 47, shock-absorbing support lower part 48, right plate II 49, hole VII 50, left plate II 51, hole VIII 52, connecting seat 53, supporting body 54, chicken neck simulating bone 55, shock-absorbing rubber sleeve 56, supporting sleeve 57, chicken neck simulating bone cavity 58, shock-absorbing spring 59, shock-absorbing damper 60, rotating rod II 61, main body shell 62, output shaft V63, gear I64, key I65, mounting seat I66, bearing VIII 67, mounting seat II 68, bearing VI 69, key II 70, gear II 71, output shaft VI 72, bearing X73, mounting frame 74, motor V75, base plate 76, gyro sensor 77, sliding rod I78, sliding rod 79, motor VI 81, lead screw 71, bearing VI 72, bearing VI 75, mounting frame V75, motor V75, base plate 76, gyro sensor 77 82. Screw nut 83, ear plate group 84, hole group 85, hole IX 86, hole X
Detailed Description
The present invention will be described with reference to the accompanying drawings.
As shown in fig. 1, the utility model comprises a spray mist acquisition device a, a mechanical small arm component B, a mechanical large arm component C, a chicken neck joint simulation damping support device D, a rotating and moving base E and a PLC controller F, wherein the spray mist acquisition device a is located at the front end of the mechanical small arm component B, and the mechanical small arm component B, the mechanical large arm component C, the chicken neck joint simulation damping support device D, the rotating and moving base E are sequentially arranged from top to bottom; the mounting plate I5 and the mounting plate II 6 of the spray mist shape acquisition device A are arranged between the right plate I21 and the left plate I25 of the mechanical forearm component B and fixedly connected to the middle of an output shaft I9 of the mechanical forearm component B; the connecting sleeve 20 of the small mechanical arm component B is arranged between a right upper plate 32 and a left upper plate 34 of the large mechanical arm component C and fixedly connected to the middle of an output shaft III 30 of the large mechanical arm component C; the left lower plate 37 and the right lower plate 39 of the mechanical big arm assembly C are arranged between the right plate II 48 and the left plate II 50 of the simulated chicken neck bone joint shock absorption supporting device D and are fixedly connected to the middle of an output shaft IV 44 of the simulated chicken neck bone joint shock absorption supporting device D; the lower end of a rotating rod II 60 in the chicken neck-like joint damping and supporting device D is fixedly connected with the upper end of an output shaft V62 in the rotating and moving base E; the buzzer alarm 2 and the photoelectric alarm 4 in the spray mist shape acquisition device A, the motor I8 in the small mechanical arm component B, the motor III 26 in the large mechanical arm component C, the motor IV 42 in the chicken neck-like joint damping support device D, the motor V74, the motor VI 80 and the gyroscope sensor 76 in the rotating and moving base E are all controlled by a PLC (programmable logic controller) F.
As shown in fig. 2, the spray mist acquisition device a is composed of a thermal infrared imager 1, a buzzer alarm 2, a data transmission line 3, a photoelectric alarm 4, a mounting plate i 5 and a mounting plate ii 6, wherein the mounting plate i 5 is fixedly connected to the left side of the rear end of the thermal infrared imager 1, the mounting plate ii 6 is fixedly connected to the right side of the rear end of the thermal infrared imager 1, and the buzzer alarm 2, the data transmission line 3 and the photoelectric alarm 4 are arranged from front to back and fixedly connected to the upper surface of the thermal infrared imager 1.
As shown in fig. 3 to 5, the mechanical forearm assembly B comprises a mounting bracket i 7, a motor i 8, an output shaft i 9, a bearing i 10, a bearing ii 11, an arm block i 12, a rotating rod i 13, a sleeve 14, an arm block ii 15, an output shaft ii 16, a bearing iii 17, a motor ii 18, a mounting bracket ii 19 and a connecting sleeve 20, wherein the arm block i 12 comprises a right plate i 21, a rear plate 23 and a left plate i 25 which are sequentially and fixedly connected to form a U-shaped plate, the right plate i 21 is provided with a hole i 22, the left plate i 25 is provided with a hole ii 24, the arm block i 12, the rotating rod i 13, the sleeve 14, the arm block ii 15, the output shaft ii 16 and the motor ii 18 are sequentially arranged from front to rear, wherein the rear surface of the rear plate 23 in the arm block i 12 is fixedly connected to the front end of the output shaft ii 16 through the rotating rod i 13, the rotating rod ii 18 is fixedly connected to the mounting bracket ii 19, the front end of the mounting bracket ii 19 is fixedly connected to the rear surface of the arm block ii 15, the, the rear part of the output shaft II 16 is movably connected with a bearing III 17 arranged in a central hole in the rear surface of the arm block II 15, the rear end of the output shaft II 16 is fixedly connected with the output end of a motor II 18, and a connecting sleeve 20 is fixedly connected below the rear part of the arm block II 15; the left end of the mounting rack I7 is fixedly connected to the lower side of a right plate I21 of the arm block I12, the motor I8 is fixedly connected to the upper side of the mounting rack I7, and the right end of the output shaft I9 is fixedly connected with the output end of the motor I8; the bearing II 11 is fixedly connected in a hole II 24 of a left plate I25 in the arm block I12; the bearing I10 is fixedly connected in a hole I22 of a right plate I21 in the arm block I12; the left end of the output shaft I9 is movably connected with a left plate I25 through a bearing II 11; the nearly right-hand member of output shaft I9 is through bearing I10 and right board I21 swing joint.
As shown in fig. 6 to 11, the mechanical big arm assembly C is composed of a motor iii 26, a mounting bracket iii 27, a bearing iv 28, a bearing v 29, an output shaft iii 30, and an arm block iii 31, wherein the arm block iii 31 is composed of a right upper plate 32, a left upper plate 34, a middle plate 36, a left lower plate 37, and a right lower plate 39, and the right upper plate 32 and the left upper plate 34 are fixedly connected with the left lower plate 37 and the right lower plate 39 through the middle plate 36; the right upper plate 32 is provided with a hole III 33, the left upper plate 34 is provided with a hole IV 35, the left lower plate 37 is provided with a hole V38, and the right lower plate 39 is provided with a hole VI 40; a bearing IV 28 is fixedly connected in the hole III 33; the bearing V29 is fixedly connected in the hole IV 35; the left end of the mounting rack III 27 is fixedly connected with the right side of the right upper plate 32, the motor III 26 is fixedly connected with the upper side of the mounting rack III 27, and the nearly right end of the output shaft III 30 is movably connected with the right upper plate 32 through a bearing IV 28; the left end of the output shaft III 30 is movably connected with the left upper plate 34 through a bearing V29, and the right end of the output shaft III 30 is fixedly connected with the output end of the motor III 26.
As shown in fig. 12, the chicken neck-like bone joint damping and supporting device D comprises a mounting frame iv 41, a motor iv 42, a bearing vi 43, an output shaft iv 44, a bearing vii 45, a damping support upper part 46 and a damping support lower part 47; wherein the upper part 46 of the shock absorption support consists of a right plate II 48, a hole VII 49, a left plate II 50, a hole VIII 51, a connecting seat 52, a support body 53 and a chicken neck-like bone 54; wherein the lower part 47 of the shock absorption support consists of a shock absorption rubber sleeve 55, a support sleeve 56, an imitated chicken neck bone cavity 57, a shock absorption spring 58, a shock absorption damper 59 and a rotating rod II 60; the right plate II 48 and the left plate II 50 are fixedly connected to the left side and the right side of the connecting seat 52 respectively, a hole VII 49 is formed in the right plate II 48, and a hole VIII 51 is formed in the left plate II 50; the bearing VI 43 is fixedly connected in the hole VII 49; the bearing VII 45 is fixedly connected in the hole VIII 51; the left end of the mounting rack IV 41 is fixedly connected to the right side of the right plate II 48, the motor IV 42 is fixedly connected to the upper surface of the mounting rack IV 41, the near right end of the output shaft IV 44 is movably connected with the right plate II 48 through a bearing VI 43, the left end of the output shaft IV 44 is movably connected with the left plate II 50 through a bearing VII 45, and the right end of the output shaft IV 44 is fixedly connected with the output end of the motor IV 42; connecting seat 52, supporter 53, imitative chicken neck bone 54 top-down order rigid coupling, supporting sleeve 56 overlaps in shock-absorbing rubber cover 55, shock-absorbing rubber cover 55 overlaps in supporter 53, imitative chicken neck bone chamber 57 is located supporting sleeve 56 bottom surface, damping 59 and damping spring 58 and imitative chicken neck bone chamber 57 rigid coupling, dwang II 60 rigid coupling in imitative chicken neck bone chamber 57 lower surface, the imitative chicken neck bone chamber 57 of shock mount lower part 47 passes through damping spring 58 and damping 59 and the imitative chicken neck bone 54 swing joint on shock mount upper portion (46).
As shown in fig. 13 to 17, the rotating and moving base E is composed of a rotating mechanism G and a moving mechanism H, the rotating mechanism G and the moving mechanism H are fixedly connected in sequence from top to bottom, the rotating mechanism G is composed of a main body housing 61, an output shaft v 62, a gear i 63, a key i 64, a mounting seat i 65, a bearing viii 66, a mounting seat ii 67, a bearing ix 68, a key ii 69, a gear ii 70, an output shaft vi 71, a bearing x 72, a mounting seat v 73 and a motor v 74, and the mounting seat i 65 is fixedly connected to the rear portion of the inner bottom surface of the main body housing 61; the mounting seat II 67 is fixedly connected to the front part of the inner bottom surface of the main body shell 61; the lower end of the output shaft V62 is movably connected with a mounting seat I65 through a bearing VIII 66; a gear I63 is fixedly connected to the lower end of the output shaft V62 through a key I64; the lower end of the output shaft VI 71 is movably connected with a mounting base II 67 through a bearing IX 68; the gear II 70 is fixedly connected to the lower end of the output shaft VI 71 through a key II 69; the gear I63 is meshed with the gear II 70; the upper end of an output shaft VI 71 is fixedly connected with the output end of a motor V74; the upper end of the output shaft VI 71 is movably connected with the front part of the main body shell 61 through a bearing X72; the lower part of the motor V74 is fixedly connected with the upper surface of the front part of the main body shell 61 through a mounting rack V73; the moving mechanism H is composed of a bottom plate 75, a gyroscope sensor 76, a sliding rod I77, a sliding rod II 78, a support plate 79, a motor VI 80, a screw rod 81 and a screw rod nut 82, wherein four corners of the lower surface of the bottom plate 75 are fixedly connected with four ear plates of an ear plate group 83, four holes IX 85 of a hole group 84 are formed in the four ear plates, a hole X86 is formed in the center of the support plate 79, the sliding rod I77 is fixed on the left side of the front surface of the support plate 79, the sliding rod II 78 is fixed on the right side of the front surface of the support plate 79, the screw rod nut 82 is fixedly connected to the center of the lower surface of the bottom plate 75, the gyroscope sensor 76 is fixedly connected to the front part of the upper surface of the bottom plate 75, the sliding; the rear end of a screw 81 passes through a hole X86 on the support plate 79 and is fixedly connected with the output end of the motor VI 80, and the front part of the screw 81 is in threaded connection with a screw nut 82; the lower surface of the main body case 61 in the rotation mechanism G is fixedly connected to the upper surface of the bottom plate 75 in the movement mechanism H.
The cross section of the chicken neck-like bone cavity 57 is formed by a section of regular curve, the lowest point of the bottom surface of the bone cavity is taken as an original point, a straight line passing through the original point and vertically upwards is taken as a Y axis, an axis perpendicular to the Y axis is taken as an X axis, an XOY coordinate system is established, a curve in the cross section is placed in the XOY rectangular coordinate system, and then the equation of the curve is as follows:
Y＝-0.00224X3-0.191X2-3.307X+19.772
wherein X belongs to [10,45] in mm.
A spray mist detection method based on thermal infrared imaging comprises the following steps:
after the spraying work is started, the device of the utility model realizes the collection of the spray fog from different angles and transmits the collected images to the upper computer; the upper computer processes the image, and the preprocessing process comprises the following steps: image labeling, image denoising, binary image conversion, edge extraction and image storage; the upper computer acquires a spray mist image, and the spray quality is measured by taking a spray angle as a first index; the mathematical expression for the fog cone angle α is:
α＝arctan{[(S/π)1/2-(s/π)1/2]/h}
wherein:
s is the area of the bottom surface of the fog cone obtained at the drop height h of the fog drops;
s is the droplet scattering area formed at the nozzle;
h is the drop height of the fog drops;
comparing the obtained spray cone angle with a standard spray fog cone angle to realize the detection of the working state of the spray head;
and comparing the spray cone angles of all the spray heads with each other to realize the detection of the spray consistency.
The utility model discloses a position appearance adjustment process does:
the gyro sensor 76 detects the inclination or pitching of the road surface; the motor I8 drives the device to perform reverse inclination adjustment; the motor II 18 drives the device to perform reverse pitching adjustment; the motor V74 drives the device to reversely swing and adjust.
The utility model discloses can carry on any agricultural plant protection mechanical equipment.
And (4) leading the spray shape of the standard spray head into the system as a standard before the spray head working performance evaluation machine works. After the machine works, the thermal infrared image acquisition instrument respectively acquires the spray fog shape of the spray head on the plant protection machine from different angles, and the spray fog shape is compared with the spray fog shape of the standard spray head after the image software processing, so that the working effect of the spray head is obtained.
And in the working process of the machine for evaluating the spraying consistency, the thermal infrared imager collects the spraying fog shapes of all nozzles carried on the machine, guides the spraying fog shapes into image processing software of an upper computer, performs image processing and calculates the fog cone angle. And judging whether the spraying effects of all the nozzles are consistent or not by using the fog cone angle as an index.
Bionic damping device machine walking is in the field, jolts and the vibrations of machine itself have the shock attenuation effect to the road surface, and the bone cavity structure of imitative chicken neck bone joint design has good shock attenuation effect, and the spring and the attenuator of adoption can effectively alleviate the vibrations of vertical direction and damage equipment, and lead core rubber ring is as a flexible shock-absorbing material, can effectively dilute circumference vibrations, has improved the life of being suitable for of equipment greatly.
When the bionic attitude adjusting device machine operates under the road condition with large fluctuation, the attitude adjusting device can adjust the attitude of the lens of the imager according to the change of the road surface angle, so that the tester is always stable. The gyroscope sensor detects the inclination angle of the device and transmits a signal to the PLC controller, and the PLC controller controls the direct current servo motor to rotate according to the angle information to drive the mechanical arm to realize reverse adjustment, so that the thermal imager always keeps the same posture to collect the spray fog shape.
Claims (7)
1. A spray fog shape detection device based on thermal infrared imaging is characterized by comprising a spray fog shape acquisition device (A), a mechanical small arm component (B), a mechanical large arm component (C), a chicken neck-like bone joint damping support device (D), a rotating and moving base (E) and a PLC (programmable logic controller) (F), wherein the spray fog shape acquisition device (A) is positioned at the front end of the mechanical small arm component (B), and the mechanical small arm component (B), the mechanical large arm component (C), the chicken neck-like bone joint damping support device (D) and the rotating and moving base (E) are sequentially arranged from top to bottom; the mounting plate I (5) and the mounting plate II (6) of the spray mist shape acquisition device (A) are arranged between the right plate I (21) and the left plate I (25) of the mechanical small arm component (B) and fixedly connected to the middle of the output shaft I (9) of the mechanical small arm component (B); the connecting sleeve (20) of the small mechanical arm assembly (B) is arranged between a right upper plate (32) and a left upper plate (34) of the large mechanical arm assembly (C) and is fixedly connected to the middle of an output shaft III (30) of the large mechanical arm assembly (C); a left lower plate (37) and a right lower plate (39) of the mechanical big arm assembly (C) are arranged between a right plate II (48) and a left plate II (50) of the chicken neck-like joint shock absorption supporting device (D) and fixedly connected to the middle of an output shaft IV (44) of the chicken neck-like joint shock absorption supporting device (D); the lower end of a rotary rod II (60) in the chicken neck-like joint damping and supporting device (D) is fixedly connected with the upper end of an output shaft V (62) in the rotating and moving base (E); the device comprises a buzzer alarm (2) and a photoelectric alarm (4) in a spray mist shape acquisition device (A), a motor I (8) in a mechanical small arm component (B), a motor III (26) in a mechanical big arm component (C), a motor IV (42) in a simulated chicken neck joint shock absorption supporting device (D), a motor V (74), a motor VI (80) and a gyroscope sensor (76) in a rotary and movable base (E) which are controlled by a PLC (F).
2. The thermal infrared imaging-based spray fog detection device according to claim 1, wherein the spray fog acquisition device (A) is composed of a thermal infrared imager (1), a buzzer alarm (2), a data transmission line (3), a photoelectric alarm (4), a mounting plate I (5) and a mounting plate II (6), the mounting plate I (5) is fixedly connected to the left side of the rear end of the thermal infrared imager (1), the mounting plate II (6) is fixedly connected to the right side of the rear end of the thermal infrared imager (1), the buzzer alarm (2), the data transmission line (3) and the photoelectric alarm (4) are arranged from front to back and fixedly connected to the upper surface of the thermal infrared imager (1).
3. The spray mist detection device based on thermal infrared imaging is characterized in that the mechanical small arm component (B) consists of a mounting rack I (7), a motor I (8), an output shaft I (9), a bearing I (10), a bearing II (11), an arm block I (12), a rotating rod I (13), a sleeve (14), an arm block II (15), an output shaft II (16), a bearing III (17), a motor II (18), a mounting rack II (19) and a connecting sleeve (20), wherein the arm block I (12) consists of a right plate I (21), a rear plate (23) and a left plate I (25) which are fixedly connected into a U-shaped plate in sequence, the right plate I (21) is provided with a hole I (22), the left plate I (25) is provided with a hole II (24), the arm block I (12), the rotating rod I (13), the sleeve (14), the arm block II (15), the output shaft II (16) and the motor II (18) are sequentially arranged from front to back, the rear surface of a rear plate (23) in an arm block I (12) is fixedly connected with the front end of an output shaft II (16) through a rotating rod I (13), a motor II (18) is fixedly connected onto a mounting rack II (19), the front end of the mounting rack II (19) is fixedly connected to the rear surface of the arm block II (15), a sleeve (14) is fixedly connected to the front surface of the arm block II (15) and sleeved on the rotating rod I (13), the rear part of the output shaft II (16) is movably connected with a bearing III (17) arranged in a central hole in the rear surface of the arm block II (15), the rear end of the output shaft II (16) is fixedly connected with the output end of the motor II (18), and a connecting sleeve (20) is fixedly connected below the rear part of the arm block II; the left end of the mounting rack I (7) is fixedly connected to the lower side of a right plate I (21) of the arm block I (12), the motor I (8) is fixedly connected to the upper side of the mounting rack I (7), and the right end of the output shaft I (9) is fixedly connected with the output end of the motor I (8); the bearing II (11) is fixedly connected in a hole II (24) of a left plate I (25) in the arm block I (12); the bearing I (10) is fixedly connected in a hole I (22) of a right plate I (21) in the arm block I (12); the left end of the output shaft I (9) is movably connected with the left plate I (25) through a bearing II (11), and the near right end of the output shaft I (9) is movably connected with the right plate I (21) through a bearing I (10).
4. The thermal infrared imaging-based spray mist detection device according to claim 1, wherein the mechanical big arm assembly (C) is composed of a motor III (26), a mounting frame III (27), a bearing IV (28), a bearing V (29), an output shaft III (30) and an arm block III (31), wherein the arm block III (31) is composed of a right upper plate (32), a left upper plate (34), a middle plate (36), a left lower plate (37) and a right lower plate (39), and the right upper plate (32) and the left upper plate (34) are fixedly connected with the left lower plate (37) and the right lower plate (39) through the middle plate (36); the right upper plate (32) is provided with a hole III (33), the left upper plate (34) is provided with a hole IV (35), the left lower plate (37) is provided with a hole V (38), and the right lower plate (39) is provided with a hole VI (40); a bearing IV (28) is fixedly connected in the hole III (33); the bearing V (29) is fixedly connected in the hole IV (35); the left end of the mounting rack III (27) is fixedly connected with the right side of the right upper plate (32), the motor III (26) is fixedly connected onto the mounting rack III (27), the nearly right end of the output shaft III (30) is movably connected with the right upper plate (32) through a bearing IV (28), the left end of the output shaft III (30) is movably connected with the left upper plate (34) through a bearing V (29), and the right end of the output shaft III (30) is fixedly connected with the output end of the motor III (26).
5. The spray fog detection device based on thermal infrared imaging is characterized in that the chicken neck bone joint simulation shock absorption supporting device (D) consists of an installation frame IV (41), a motor IV (42), a bearing VI (43), an output shaft IV (44), a bearing VII (45), a shock absorption support upper part (46) and a shock absorption support lower part (47), wherein the shock absorption support upper part (46) consists of a right plate II (48), a hole VII (49), a left plate II (50), a hole VIII (51), a connecting seat (52), a supporting body (53) and a chicken neck bone simulation (54), the shock absorption support lower part (47) consists of a shock absorption rubber sleeve (55), a supporting sleeve (56), a chicken neck bone simulation cavity (57), a shock absorption spring (58), a shock absorption damper (59) and a rotating rod II (60), the right plate II (48) and the left plate II (50) are fixedly connected to the left side and the right side of the connecting seat (52) respectively, a hole VII (49) is formed in the right plate II (48), a hole VIII (51) is formed in the left plate II (50), and the bearing VI (43) is fixedly connected into the hole VII (49); the bearing VII (45) is fixedly connected in the hole VIII (51); the left end of the mounting rack IV (41) is fixedly connected to the right side of the right plate II (48), the motor IV (42) is fixedly connected to the upper surface of the mounting rack IV (41), the near right end of the output shaft IV (44) is movably connected with the right plate II (48) through a bearing VI (43), the left end of the output shaft IV (44) is movably connected with the left plate II (50) through a bearing VII (45), and the right end of the output shaft IV (44) is fixedly connected with the output end of the motor IV (42); connecting seat (52), supporter (53), imitative chicken neck bone (54) top-down order rigid coupling, support sleeve (56) cover in shock attenuation rubber sleeve (55), shock attenuation rubber sleeve (55) cover in supporter (53), imitative chicken neck bone chamber (57) are located support sleeve (56) bottom surface, shock attenuation damping (59) and damping spring (58) and imitative chicken neck bone chamber (57) rigid coupling, dwang II (60) rigid coupling is in imitative chicken neck bone chamber (57) lower surface, imitative chicken neck bone chamber (57) of shock mount lower part (47) are through damping spring (58) and damping (59) and the imitative chicken neck bone (54) swing joint of shock mount upper portion (46).
6. The spray fog detection device based on thermal infrared imaging as claimed in claim 1, wherein the rotating and moving base (E) is composed of a rotating mechanism (G) and a moving mechanism (H), the rotating mechanism (G) and the moving mechanism (H) are fixedly connected in sequence from top to bottom, the rotating mechanism (G) is composed of a main body housing (61), an output shaft V (62), a gear I (63), a key I (64), a mounting seat I (65), a bearing VIII (66), a mounting seat II (67), a bearing IX (68), a key II (69), a gear II (70), an output shaft VI (71), a bearing X (72), a mounting seat V (73) and a motor V (74), the mounting seat I (65) is fixedly connected to the rear portion of the inner bottom surface of the main body housing (61), the mounting seat II (67) is fixedly connected to the front portion of the inner bottom surface of the main body housing (61), the lower end of the output shaft V (62) is movably connected with the mounting seat I (66) through the bearing I (65), a gear I (63) is fixedly connected to the lower end of the output shaft V (62) through a key I (64); the lower end of an output shaft VI (71) is movably connected with a mounting base II (67) through a bearing IX (68), and a gear II (70) is fixedly connected to the lower end of the output shaft VI (71) close to the lower end through a key II (69); the gear I (63) is meshed with the gear II (70); the upper end of an output shaft VI (71) is fixedly connected with the output end of a motor V (74), and the upper end of the output shaft VI (71) close to the upper end is movably connected with the front part of the main body shell (61) through a bearing X (72); the lower surface of a motor V (74) is fixedly connected to the upper surface of the front part of a main body shell (61) through a mounting frame V (73), a moving mechanism (H) consists of a bottom plate (75), a gyroscope sensor (76), a sliding rod I (77), a sliding rod II (78), a supporting plate (79), a motor VI (80), a screw rod (81) and a screw nut (82), wherein four corners of the lower surface of the bottom plate (75) are fixedly connected with four ear plates of an ear plate group (83), four holes IX (85) of a hole group (84) are arranged on the four ear plates, a hole X (86) is arranged at the center of the supporting plate (79), the sliding rod I (77) is fixed on the left side of the front surface of the supporting plate (79), the sliding rod II (78) is fixed on the right side of the front surface of the supporting plate (79), the screw nut (82) is fixedly connected to the center of the lower surface of the bottom plate (75), the gyroscope sensor (76) is fixedly connected, the sliding rod II (78) is in sliding connection with the two holes on the right side of the hole group (84); the rear end of a screw rod (81) penetrates through a hole X (86) on a support plate (79) and is fixedly connected with the output end of a motor VI (80), and the front part of the screw rod (81) is in threaded connection with a screw rod nut (82); the lower surface of the main body shell (61) in the rotating mechanism (G) is fixedly connected with the upper surface of the middle bottom plate (75) in the moving mechanism (H).
7. The thermal infrared imaging-based spray mist detection device as claimed in claim 5, wherein the cross section of the chicken neck-like bone cavity (57) is formed by a section of regular curve, the lowest point of the bottom surface of the bone cavity is taken as an origin, a straight line passing through the origin and vertically upwards is taken as a Y axis, an axis perpendicular to the Y axis is taken as an X axis, an XOY coordinate system is established, and the curve in the cross section is placed in the XOY rectangular coordinate system, so that the equation of the curve is as follows:
Y＝-0.00224X3-0.191X2-3.307X+19.772
wherein: x belongs to [10,45] in mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020473313.XU CN211651576U (en) | 2020-04-03 | 2020-04-03 | Spray fog shape detection device based on thermal infrared imaging |
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|---|---|---|---|
| CN202020473313.XU CN211651576U (en) | 2020-04-03 | 2020-04-03 | Spray fog shape detection device based on thermal infrared imaging |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111256645A (en) * | 2020-04-03 | 2020-06-09 | 吉林大学 | Spray fog shape detection device and method based on thermal infrared imaging |
| CN111256645B (en) * | 2020-04-03 | 2024-07-09 | 吉林大学 | Spray mist detection device and method based on thermal infrared imaging |
-
2020
- 2020-04-03 CN CN202020473313.XU patent/CN211651576U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111256645A (en) * | 2020-04-03 | 2020-06-09 | 吉林大学 | Spray fog shape detection device and method based on thermal infrared imaging |
| CN111256645B (en) * | 2020-04-03 | 2024-07-09 | 吉林大学 | Spray mist detection device and method based on thermal infrared imaging |
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