CN219392026U - Visual identification equipment for automatically identifying readings of organic matter test paper by using farmland head - Google Patents

Abstract

The utility model discloses visual recognition equipment for automatically recognizing readings of organic matter test paper on a farmland, which comprises a carrying trolley, wherein an organic matter tester is arranged on the carrying trolley, and an automatic detection mechanism is arranged on the carrying trolley; the automatic detection mechanism symmetrically has three linear degrees of freedom respectively, drives the electric clamping jaw to clamp test paper, samples the external field environment in a mode of motion of a bionic human arm, and is arranged in the organic matter tester for detection; the upper part of the carrying trolley is provided with a test paper storage cavity; according to the utility model, through mechanical linkage and mutual coordination among the automatic detection mechanisms, the self-propelled quantitative detection is adopted in the actual application process, and the manual sampling-detection-information transmission complete set of automatic working flow of workers is simulated in a bionic driving mode, so that the analysis can be accurately and quantitatively carried out without manual operation, and the actual use requirements and the practical requirements of the manual operation are effectively met.

Description

Visual identification equipment for automatically identifying readings of organic matter test paper by using farmland head

Technical Field

The utility model relates to the technical field of farmland operation, in particular to visual identification equipment for automatically identifying readings of organic matter test paper by a farmland head.

Background

The soil organic matter content of farmland is an important index for evaluating soil fertility, and detection of the soil organic matter content has important significance for estimating the soil organic carbon reserves. The existing soil organic matter detection method mainly comprises a remote sensing inversion method;

the remote sensing inversion method has the remarkable advantages that the method can develop the study of space-time change of soil organic matters in regional scale by utilizing the established multi-factor model, so that the method becomes the development trend of soil organic matter detection. However, the existing remote sensing inversion method can only manually collect different positions of the farmland through workers in a long-distance and high-strength fixed-point manner and detect organic matters, and cannot realize accurate, rapid and quantitative analysis of soil organic matters, so that a plurality of limitations are brought to soil quality investigation.

Therefore, a visual recognition device for automatically recognizing readings of organic matter test paper by the farmland head is provided.

Disclosure of Invention

In view of the foregoing, embodiments of the present utility model wish to provide a visual recognition device for automatically recognizing readings of organic matter test paper in a field, so as to solve or alleviate technical problems in the prior art, and at least provide a beneficial choice;

the technical scheme of the embodiment of the utility model is realized as follows: the visual identification equipment for automatically identifying the readings of the organic matter test paper comprises a carrying trolley, wherein an organic matter tester is arranged on the carrying trolley, and an automatic detection mechanism is arranged on the carrying trolley;

the automatic detection mechanism is symmetrical and has three linear degrees of freedom respectively, drives the electric clamping jaw to clamp test paper, samples the external field environment in a mode of motion of a bionic human arm, and is arranged in the organic matter tester for detection.

As a further preferred aspect of the present utility model: the upper part of the carrying trolley is provided with a test paper storage cavity for storing an organic matter tester.

As a further preferred aspect of the present utility model: the carrying trolley is an AGV carrying trolley.

As a further preferred aspect of the present utility model: the automatic detection mechanism comprises a frame and a first servo motor;

the first servo motor is vertically upwards arranged in the carrying trolley, and an output shaft of the first servo motor is fixedly connected with the frame;

the automatic detection mechanism further comprises two driving mechanisms which are bilaterally symmetrical, and the driving mechanisms have three linear degrees of freedom.

As a further preferred aspect of the present utility model: the driving mechanism comprises a connecting plate, a first gear set, a second gear set, a first hinge frame, a second hinge frame, a hinge arm and a first hinge rod;

the connecting plate is hinged to the frame, the first gear set is arranged on the connecting plate and used for driving the connecting disc to adjust the whole circumference position, two second gear sets are respectively arranged at two ends of the driving T-shaped frame, the two second gear sets respectively drive the first hinge frame and the second hinge frame to adjust angles, two ends of the push rod are respectively hinged with the second hinge frame and the hinge arm, and the hinge arm penetrates through and is connected to the inner side wall of the first hinge frame in a sliding manner;

the outer surface of the electric clamping jaw is connected with the hinge arm.

As a further preferred aspect of the present utility model: the servo electric cylinder is arranged outside the connecting plate, and a piston rod and a cylinder body of the servo electric cylinder are respectively connected with the connecting plate and the frame.

As a further preferred aspect of the present utility model: the first gear set is driven by a second servo motor; the second gear set is driven by a second servo motor.

Compared with the prior art, the utility model has the beneficial effects that: according to the utility model, through mechanical linkage and mutual coordination among the automatic detection mechanisms, the self-propelled quantitative detection is adopted in the actual application process, and the manual sampling-detection-information transmission complete set of automatic working flow of workers is simulated in a bionic driving mode, so that the analysis can be accurately and quantitatively carried out without manual operation, and the actual use requirements and the practical requirements of the manual operation are effectively met.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of the present utility model;

FIG. 2 is a perspective view of another embodiment of the present utility model;

FIG. 3 is a schematic perspective view of an automatic inspection mechanism according to the present utility model;

FIG. 4 is a schematic perspective view of a driving mechanism according to the present utility model;

fig. 5 is a schematic perspective view of a driving mechanism part of the present utility model.

Reference numerals: 1. carrying trolley; 2. a test paper storage chamber; 3. an organic matter tester; 4. an automatic detection mechanism; 401. a frame; 402. a first servo motor; 5. a driving mechanism; 503. a connecting plate; 5031. a servo electric cylinder; 504. a first gear set; 5041. a T-shaped frame; 505. a second servo motor; 506. a second gear set; 507. a third servo motor; 508. a first hinge bracket; 509. a second hinge frame; 5091. a push rod; 510. an arm hinge; 6. and (5) an electric clamping jaw.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

It should be noted that the terms "first," "second," "symmetric," "array," and the like are used merely for distinguishing between description and location descriptions, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of features indicated. Thus, a feature defining "first," "symmetry," or the like, may explicitly or implicitly include one or more such feature; also, where certain features are not limited in number by words such as "two," "three," etc., it should be noted that the feature likewise pertains to the explicit or implicit inclusion of one or more feature quantities;

in the present utility model, unless explicitly specified and limited otherwise, terms such as "mounted," "connected," "secured," and the like are to be construed broadly; for example, the connection can be fixed connection, detachable connection or integrated molding; the connection may be mechanical, direct, welded, indirect via an intermediate medium, internal communication between two elements, or interaction between two elements. The specific meaning of the terms described above in the present utility model will be understood by those skilled in the art from the specification and drawings in combination with specific cases.

Examples

Referring to fig. 1-5, the present utility model provides a technical solution: a visual recognition device for automatically recognizing readings of organic matter test paper at a farmland head comprises a carrying trolley 1;

the carrying trolley 1 is responsible for driving all devices to carry out remote control, so as to realize self-walking detection of the large-area farmland;

wherein, the controller is arranged in the carrying trolley 1, and all electric elements in the device are controlled by pre-programming to perform automatic driving operation; meanwhile, a wireless transceiver module can be further arranged for linking an external worker to carry out remote control and receiving and transmitting detection and remote sensing distance data in real time;

meanwhile, a storage battery is arranged in the carrying trolley 1 and is used for supplying power to all electrical elements of the device;

the carrying trolley 1 can also be selected as an AGV carrying trolley, and patrol type operation is carried out by paving magnetic tracks;

wherein, mainly, the carrying trolley 1 is provided with an organic matter tester 3;

the organic matter tester 3 is connected with the controller to store or transmit detection data to external staff in real time; wherein the organic matter tester 3 is a conventional modularized device;

the carrying trolley 1 is provided with an automatic detection mechanism 4;

the automatic detection mechanism 4 mainly comprises three symmetrical linear degrees of freedom, drives the electric clamping jaw 6 to clamp test paper, samples the external field environment in a mode of motion of a bionic human arm, and is arranged in the organic matter tester 3 for detection;

the upper part of the carrying trolley 1 is provided with a test paper storage cavity 2 for storing an organic matter tester 3; the electric clamping jaw 6 can draw and clamp test paper from the test paper storage cavity 2; meanwhile, the test paper after detection can be placed into other test paper storage cavities 2;

wherein the automatic detection mechanism 4 comprises a frame 401 and a first servo motor 402;

the first servo motor 402 is vertically upwards arranged in the carrying trolley 1, and an output shaft of the first servo motor 402 is fixedly connected with the frame 401;

the whole circumferential angle adjustment of the automatic detection mechanism 4 is realized through a first servo motor 402;

in addition, the automatic detection mechanism 4 further includes two driving mechanisms 5 that are bilaterally symmetrical, and the driving mechanisms 5 have three linear degrees of freedom.

The driving mechanism 5 comprises a connecting plate 503, a first gear set 504, a second gear set 506, a first hinge bracket 508, a second hinge bracket 509, a hinge arm 510 and a first hinge rod 511;

the connecting plate 503 is hinged to the frame 401, the first gear set 504 is mounted on the connecting plate 503 and used for driving the connecting plate 503 to adjust the whole circumference position, two second gear sets 506 are respectively mounted at two ends of the driving T-shaped frame 5041, the two second gear sets 506 respectively drive the first hinge frame 508 and the second hinge frame 509 to adjust angles, two ends of the push rod 5091 are respectively hinged with the second hinge frame 509 and the hinge arm 510, and the hinge arm 510 penetrates through and is connected to the inner side wall of the first hinge frame 508 in a sliding manner;

the outer surface of the motorized jaw 6 is connected to a hinge arm 510.

In the above, a servo cylinder 5031 is mounted outside the connection plate 503, and a piston rod and a cylinder body of the servo cylinder 5031 are connected with the connection plate 503 and the frame 401, respectively.

In which the first gear set 504 is driven by a second servomotor 505; the second gear set 506 is driven by a third servomotor 507; and the first gear set 504 and the second gear set 506 are both composed of two gears; the specific parameters such as the number of teeth, the transmission ratio and the like can be selected according to actual conditions;

under the matched condition of the structure, the controller programs the first servo motor 402, the electric clamping jaw 6, the second servo motor 505, the third servo motor 507 and the servo electric cylinder 5031 in advance to control the respective output conditions (rotating speed, running time and the like), so that the sampling and detection actions of the field organic matters of the bionic human hands can be simulated according to the principle of the matched structure;

wherein, the servo electric cylinder 5031 is responsible for adjusting the pitching angle of the driving mechanism 5;

wherein, the second servo motor 505 of the driving mechanism 5 drives the first gear set 504, so that the elements of other driving mechanisms 5 can be controlled to adjust the whole circumference angle based on the current pitching angle;

the second servo motor 505 is installed on the connecting plate 503, and the driven wheel of the first gear set 504 is fixedly connected with the T-shaped frame 5041;

meanwhile, on the basis of the T-shaped frame 5041, driven wheels of a second gear set 506 at two ends of the T-shaped structure respectively drive a first hinge frame 508 and a second hinge frame 509 to perform angle adjustment, and respective third servo motors 507 are fixedly connected to the outside of the T-shaped frame 5041;

specifically, the angle change of the second hinge bracket 509 pushes or pulls the push rod 5091 to perform feeding operation, which further pushes the hinge arm 510 to perform position adjustment, the hinge arm 510 at this time has an excessive degree of freedom, the synchronous angle change of the first hinge bracket 508 and the relationship matched with the hinge arm (the hinge arm 510 penetrates through and is slidingly connected to the inner side wall of the first hinge bracket 508) can eliminate the excessive degree of freedom, the hinge arm 510 and the first hinge bracket 508 are in a linkage state at this time, and the angle adjustment matching of the first hinge bracket 508 drives the electric clamping jaw 6 to perform relative pitch angle adjustment, and the angle adjustment matching of the hinge arm 510 drives the electric clamping jaw 6 to perform relative feeding interval adjustment;

at this time, three sets of degrees of freedom exist for the motorized clasps 6;

on the basis of the above, according to the pre-programmed driving, the electric clamping jaw 6 can be controlled to travel in a designated driving track in a designated space, and then the following actions can be realized:

s1, clamping test paper;

s2, carrying test paper to a designated position, and sampling the farmland heads;

s3, placing the carrying test paper into an organic matter tester 3 for detection;

and S4, after the detection is finished, taking out the test paper and setting the test paper.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims (7)

1. The visual identification device for automatically identifying the readings of the organic matter test paper at the farmland is characterized by comprising a carrying trolley (1), wherein an organic matter tester (3) is arranged on the carrying trolley (1), and an automatic detection mechanism (4) is arranged on the carrying trolley (1);

the automatic detection mechanism (4) is symmetrical and has three linear degrees of freedom, and drives the electric clamping jaw (6) to clamp test paper, samples the external field environment in a bionic human arm movement mode, and is arranged in the organic matter tester (3) for detection.

2. The visual recognition device for automatically recognizing readings of organic matter testing paper by using a farmland head according to claim 1, wherein: the upper part of the carrying trolley (1) is provided with a test paper storage cavity (2) for storing an organic matter tester (3).

3. The visual recognition device for automatically recognizing readings of organic matter testing paper by using a farmland head according to claim 1, wherein: the carrying trolley (1) is an AGV carrying trolley.

4. A visual recognition apparatus for automatically recognizing readings of organic matter test paper by a farmland according to any one of claims 1 to 3, characterized in that: the automatic detection mechanism (4) comprises a frame (401) and a first servo motor (402);

the first servo motor (402) is vertically upwards arranged in the carrying trolley (1), and an output shaft of the first servo motor (402) is fixedly connected with the frame (401);

the automatic detection mechanism (4) further comprises two driving mechanisms (5) which are symmetrical left and right, and the driving mechanisms (5) have three linear degrees of freedom.

5. The visual recognition device for automatically recognizing readings of organic matter testing paper by a farmland according to claim 4, wherein: the driving mechanism (5) comprises a connecting plate (503), a first gear set (504), a second gear set (506), a first hinge frame (508), a second hinge frame (509), a hinge arm (510) and a first hinge rod (511);

the connecting plate (503) is hinged to the frame (401), the first gear set (504) is installed on the connecting plate (503) and used for driving the connecting plate (503) to carry out whole-circle position adjustment, two second gear sets (506) are respectively installed at two ends of the driving T-shaped frame (5041), the two second gear sets (506) respectively drive the first hinge frame (508) and the second hinge frame (509) to carry out angle adjustment, two ends of the push rod (5091) are respectively hinged to the second hinge frame (509) and the hinge arm (510), and the hinge arm (510) penetrates through and is connected to the inner side wall of the first hinge frame (508) in a sliding mode;

the outer surface of the electric clamping jaw (6) is connected with the hinge arm (510).

6. The visual recognition device for automatically recognizing readings of organic matter testing paper by a farmland according to claim 5, wherein: a servo electric cylinder (5031) is arranged outside the connecting plate (503), and a piston rod and a cylinder body of the servo electric cylinder (5031) are respectively connected with the connecting plate (503) and the frame (401).

7. The visual recognition device for automatically recognizing readings of organic matter testing paper by a farmland according to claim 5, wherein: the first gear set (504) is driven by a second servo motor (505); the second gear set (506) is driven by a third servo motor (507).