CN102175156B - Automatic height measurement device for crops - Google Patents

Abstract

The invention discloses an automatic height measuring device for crops, which is used for automatic measurement of the height of crops. The device includes a base, a transmission part, a sensing part, a control part and a display part. The part is set on the base, the control part issues instructions to control the movement of the transmission part, drives the sensing part to scan and measure the crops, and then obtains the measurement data and returns it to the control part. Carry out calculation processing, obtain the crop height, and output to the display part for display. The invention can accurately determine the top of the crop canopy and complete the automatic measurement of the crop height while ensuring low hardware cost.

Description

Crop automatic height measuring device

technical field

The invention relates to a measuring device in the field of agricultural meteorological observation, in particular to an automatic height measuring device for crops.

Background technique

In the field of agricultural meteorological observation, plant growth height is one of the symbols to measure the growth rate of crops. Currently, during the entire growth period of the crops, the height of the crops is measured manually. This method is not only cumbersome to operate and imposes a heavy burden on observers, but also introduces human errors into the measurement results.

Patent document 200810059040.8 discloses a method for detecting the plant height of crops. The photoelectric scanning system is used to continuously scan the crops, and the state of the optical receiver is scanned from top to bottom to extract the edge height data of the current position of the plant. This method is more suitable for crop mechanization operations, such as top removal, etc., because it needs to be attached to a moving device, so this method is not suitable for long-term automatic observation of crop growth height. higher.

In addition, the article "Development of Automatic Measuring Device for Crop Height" published in the journal "Research on Agricultural Mechanization" in July 2004 also introduced a device for measuring crop height using a non-contact measurement method-ultrasonic ranging method . The measuring device places the ultrasonic ranging sensor above the crops, and obtains the distance between the crop canopy and the sensor by emitting ultrasonic waves vertically downward to calculate the height of the crops. Therefore, the device is only suitable for measuring the height of the crops directly below the sensor, and because the ultrasonic ranging sensor itself has some shortcomings, such as reflection problems, noise, crossing problems, etc., it will bring great influence to the determination of the top of the crop canopy. The error will affect the result of height measurement.

Contents of the invention

Aiming at the deficiencies and defects of the above prior art, the present invention designs an automatic crop height measuring device, which uses a microprocessor to control the rotation of the servo motor, so that it drives the sensor to automatically scan the crops, and completes the determination of the top of the crop canopy and the height measurement work. The invention can accurately determine the top of the crop canopy and complete the automatic measurement of the crop height while ensuring low hardware cost.

The present invention is achieved through the following technical solutions:

An automatic crop height measuring device includes five parts: a base part, a transmission part, a sensing part, a control part and a display part.

Wherein, the base part includes a base, a pillar and a cable rail, the pillar is fixed on the base, a groove is arranged on the vertical inner side of the pillar, and the cable rail is arranged and fixed in the groove.

The transmission part includes sliding bracket, winding, fixed pulley and servo motor; the sliding bracket is set on the cable rail and can slide up and down along the cable rail, the fixed pulley is fixed on the top of the pillar, and the 360-degree continuous rotation servo motor (the first servo Motor) is fixed on the base at the bottom of the post. The upper end of the sliding assembly is connected to one end of the winding wire, and the other end of the winding wire is connected to the 360-degree continuous rotation servo motor on the other side through a fixed pulley. The 360-degree continuous rotation of the servo motor can drive the sliding assembly to move vertically up and down.

The sliding bracket is welded by a panel, a stopper and a roller. The panel is mainly used to fix the 180-degree rotating servo motor (second servo motor) and infrared and ultrasonic distance measuring sensors. The stopper is mainly used to enable the sliding bracket to be set On the cable rails, rollers allow the sliding bracket to roll up and down against the posts.

The sensing part includes an infrared distance measuring sensor and an ultrasonic distance measuring sensor; the top and the bottom of the pillar are respectively fixed with downward and upward infrared distance measuring sensors. Wherein the infrared ranging sensor is connected with the rotating shaft of the 180-degree rotating servo motor, and its ray emitting direction is horizontal, and the ultrasonic ranging sensor's sound wave emitting direction is vertically downward. The two infrared ranging sensors fixed on the top and bottom of the pillar are used to obtain the information of whether the sliding support has reached the top and bottom of the pillar at present, which is used for automatic judgment by the microprocessor.

The control part is a microprocessor; the microprocessor includes: a data input module, a data processing module, and a data output module. The specific functions are described as follows:

a. The data input module is used to receive the infrared ranging sensor and the ultrasonic ranging sensor data obtained by the microprocessor;

b. The data processing module automatically judges whether the top of the crop is found or whether it reaches the highest and lowest point of the pillar according to the received data. If the top of the crop is found, the servo motor stops rotating, and the current sensor data is saved, and the height value is calculated. The height value is output to the data output module. If the crop apex is not found, make the servo motor continue to rotate;

c. The data output module is used to display the acquired sensor data, including the final measured height value.

The display part is an LCD display. The LCD display and the microprocessor are respectively fixed on the side of the pillar and on the base.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention uses the infrared ranging sensor to determine the top of the crop canopy, which is more accurate than the ultrasonic ranging sensor, and combines the servo motor motion scanning to complete the ranging, which greatly reduces the cost of the equipment compared to using a sensor array ;

2. In addition to measuring the height of a single crop, the present invention can also measure the overall height of the crop in the fixed area in front of the measuring device, so the scope of application is wider;

3. The present invention can automatically complete the measurement of crop height without manual intervention, thus reducing the burden of agricultural meteorological observers and saving time and effort;

4. The present invention is suitable for long-term fixed-point observation. Compared with manual observation data, the crop height data obtained by the present invention is more accurate and complete, and can better serve the observation of crop growth conditions.

Description of drawings

Fig. 1 is a structural side view of the present invention.

Fig. 2 is a structural front view of the present invention.

Fig. 3 is a bottom view of the structure of the present invention.

Fig. 4 is a structural bottom view of the sliding bracket in the present invention.

Fig. 5 is a side view of the structure of the sliding bracket in the present invention.

Fig. 6 is a rear view of the structure of the sliding bracket in the present invention.

Fig. 7 is a structural block diagram of the microprocessor in the present invention.

Fig. 8 is a schematic diagram of crop height measurement in the present invention.

Fig. 9 is a flowchart of microprocessor processing in the present invention.

In Figures 1, 2, and 3: 11 base, 12 pillars, 13 cable rails, 21 sliding brackets, 22 winding wires, 23 fixed pulleys, 24180-degree rotating servo motors, 25360-degree continuous rotating servo motors, 31 infrared distance measuring sensors, 32 Infrared ranging sensor, 33 infrared ranging sensor, 34 ultrasonic ranging sensor, 41 microprocessor, 51LCD display.

Among Fig. 4,5,6: 211 panels, 212 stoppers, 213 rollers.

Detailed ways

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

This embodiment is carried out on the premise of the technical solution of the present invention, and the detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

As shown in Figures 1, 2 and 3, the automatic crop height measuring device of the present invention includes a base part, a transmission part, a sensing part, a control part and a display part. The base part is a basic support structure, and the transmission part, sensing part, control part and display part are arranged on the base part 1 . The control part controls the movement of the transmission part by issuing instructions, drives the sensing part to scan and measure the crops, obtains the measurement data and returns it to the control part 4, and the control part automatically calculates the returned measurement data, and calculates the processing result The output is displayed on the display section 5.

The base part includes a base 11, a pillar 12 and a cable rail 13, the pillar 12 is vertically fixed on the base 11, an outer side of the pillar 12 is provided with an axial groove, and the cable rail 13 is placed on the In this groove, a track that can move up and down along the pillar 12 is formed.

The transmission part includes a sliding bracket 21 , a winding wire 22 , a fixed pulley 23 , and servo motors 24 and 25 . The sliding bracket 21 is sleeved on the cable rail 13 and can slide up and down on the pillar 12 along the cable rail 13 . The fixed pulley 23 is fixed on the top of the pillar 12, and the servo motor 25 is fixed on the base 11 near the bottom of the pillar 12. The winding wire 22 is wound on the fixed pulley 23, the upper end of the sliding bracket 21 is connected to one end of the winding wire 22, and the other end of the winding wire 22 is connected to the servo motor 25 after bypassing the fixed pulley 23, and the rotation of the servo motor 25 can drive the sliding bracket 21 along the The cable rail 13 on the pillar 12 moves vertically up and down. The servo motor 24 is fixed on the sliding bracket 21 and moves together with the sliding bracket 21 .

Servo motor 24 is a 180-degree rotary servo motor, and the preferred model is the Huisheng servo motor of TowerPro SG5010. Servo motor 25 is a 360-degree continuous rotation servo motor, the preferred model is the Huisheng servo motor of TowerPro MG945;

As shown in Figures 4, 5 and 6, the sliding bracket 21 is welded by a panel 211, a stopper 212 and a roller 213; it can also be connected by other means, such as threaded connection, riveting or bonding. Described roller 213 can have many pairs, is all connected on the panel 211, and stopper 212 is arranged between the two rollers of roller pair, and rope rail 13 is enclosed within the space place between stopper 213 and panel 211, and servomotor 25 Driven by this gap, the sliding bracket 21 that is sleeved on the cable rail 13 moves up and down on the pillar 12 through the roller 213 .

The sensing part 3 includes infrared ranging sensors 31, 32, 33 and an ultrasonic ranging sensor 34; the infrared ranging sensors 31 and 33 are respectively fixed on the top and bottom of the pillar 12, and the directions are downward and upward respectively, and are used to obtain sliding The distance information between the bracket 21 and the top and bottom ends of the pillar 12 is used for the automatic judgment of the control part. The infrared distance measuring sensor 32 is connected with the rotating shaft of the servo motor 24, and its ray emission direction is the horizontal direction, which is used to measure the distance between the crop to be measured in front and the sensor 32; the ultrasonic distance measuring sensor 34 is arranged on the sliding support 21, The emission direction of the sound wave is vertically downward to obtain the distance between the sensor 34 and the base 11 . The servo motor 24 , the infrared ranging sensor 32 and the ultrasonic ranging sensor 34 are fixed on the panel 211 .

In the present embodiment, the preferred Sharp infrared ranging sensor (model: GP2D12) of infrared ranging sensors 31 and 33; the preferred Sharp infrared ranging sensor (model: GP2Y0A02YK0F) of infrared ranging sensor 32; the preferred U.S. Parallax ultrasonic wave of ultrasonic ranging sensor 34 Ranging sensor (model: RB URF v1.1).

The control part 4 includes: a data input module, a data processing module, and a data output module. As shown in Figure 7, the specific functions are described as follows:

The data input module is used to receive the data of the infrared ranging sensors 31, 32, 33 and the ultrasonic ranging sensor 34, and simultaneously transmit the received data to the output module;

The data processing module judges the top of the crop according to the received sensor data, and at the same time judges whether the highest and lowest points of the pillar 12 are reached. If the top of the crop is found, the servo motor stops rotating, and saves the current sensor data, calculates the height value, and The height value is output to the data output module; if the top of the crop is not found, the servo motor continues to rotate;

If it reaches the highest point of the pillar, it means that the height of the top of the crop exceeds the measurement range. At this time, the first servo motor 24 is stopped to rotate, and the second servo motor 25 is rotated to drive the sliding support 21 to drop to the initial position, and the measurement is not performed; if it reaches the pillar 12 At the lowest point, the second servo motor 25 is stopped to rotate, and the measurement ends.

The data output module is used for outputting each sensor data and the calculated height value to the display part, or remotely transmitting to other processing devices.

The control part 4 is preferably a microprocessor 41, such as an Arduino interactive controller (model: Duemilanove 2009ATmega328P-PU).

The display part 5 is a display 51 for displaying the data measured by the sensor and the crop height calculated by the control part. The display 51 is preferably an Arduino LCD1602 character liquid crystal expansion board v2.0.

The LCD display 51 and the microprocessor 41 are fixed on the side of the pillar 12 and the base 11 respectively.

As shown in Figure 8, the working principle of the present invention is as follows:

a. first place the device of the present invention in front of the crop to be measured, the horizontal distance between the device and the crop is determined according to the effective range L of measurement of the infrared distance measuring sensor 32, and the distance is less than L;

b. The microprocessor 41 issues instructions to control the rotation of the 360-degree continuous rotation servo motor 25, so that the sliding assembly moves vertically by one unit height from bottom to top, and then controls the 180-degree rotating servo motor 24 in the sliding assembly to drive the infrared distance measuring sensor 32 horizontally Swing back and forth once from left to right, and obtain the distance sampling data set between the obstacle in front and the infrared distance measuring sensor 32 while swinging;

c. input the distance data obtained by the horizontal sampling distance data set obtained by the infrared ranging sensor 32 and the ultrasonic ranging sensor 34 to the microprocessor 41, and the microprocessor 41 automatically judges whether to find the top of the crop;

d. If the top of the crop is found, stop the rotation of the 180-degree rotary servo motor 24 and the 360-degree continuous rotation servo motor 25, and obtain the crop height value according to the formula: H=h ₁ +h ₂ +h ₃ , and output the height value Displayed in the LCD display 51. Wherein, H is the crop height, _h1 is the height between the ultrasonic distance measuring sensor 34 and the infrared data sensor 32, _h2 is the distance value between the ultrasonic data sensor 34 and the base 11, and _h3 is the thickness of the base 11 .

e. If the top of the crop is not found, the microprocessor 41 continues to issue instructions to control the sliding assembly to move up a unit height, and so on, until the top of the crop is found.

f. If the highest point of the pillar is reached, but the top of the crop has not been found, it means that the height of the crop exceeds the measurement range. At this time, the 180-degree rotating servo motor 24 is stopped, and a command is issued to control the 360-degree continuous rotating servo motor 25 rotations to lower the sliding assembly back to Initial position, end measurement.

As shown in Figure 9, the processing flow of microprocessor 41 among the present invention is as follows:

a. At the beginning, the microprocessor sends out instructions to control the 360-degree continuous rotation of the servo motor for 25 rotations to raise the sliding assembly by one unit height;

b. Obtain the distance value of the infrared ranging sensor 31;

c. judging whether the distance value is less than a threshold value, which is the minimum value of the sliding assembly from the top of the pillar 12;

d. If the distance is less than the threshold value, the servo motor is stopped for 25 to rotate, and go to step k;

e. If the distance is greater than the threshold, go to step f;

f. Control the 180-degree rotating servo motor 24 to drive the infrared data sensor 32 to swing back and forth, and at the same time obtain the distance data set of the sensor;

g. judging whether the data in the data set is greater than the effective range L of the infrared ranging sensor 32;

h. If not, go to step a;

i. If the value of the data set is all greater than the effective ranging range L of the infrared ranging sensor 32, it means that the top of the crop has been found, and now the height value is calculated and the servo motor 25 is stopped;

j. display the height value in the LCD display 51;

k. Control the 360-degree continuous rotation servo motor 25 to drive the sliding assembly down, and simultaneously detect the distance value of the infrared ranging sensor 33;

l. judging whether the distance value is less than a threshold value, which is the distance value between the initial position of the sliding assembly and the infrared distance measuring sensor 33;

m. Go to step k if greater than the threshold;

n. If it is less than the threshold value, stop the 360-degree continuous rotation servo motor 25, and the processing flow ends.

Claims (6)

1. An automatic crop height measuring device, used for automatic measurement of crop height, the device includes a base, a transmission part, a sensing part, a control part and a display part, and the transmission part, the sensing part, the control part and the display part are set On the base, the control part issues instructions to control the movement of the transmission part, drives the sensing part to scan and measure the crops, and then obtains measurement data and returns it to the control part, and the control part calculates the returned measurement data Process, obtain the crop height, and output to the display part for display; Wherein, the base includes a base (11), a pillar (12) and a cable rail (13), the pillar (12) stands vertically on the base (11), and the outer surface of the pillar (12) is provided with a shaft To the groove, the cable rail (13) is arranged in the groove, and the groove and the cable rail (13) together form a channel that can be used to move up and down along the pillar (12); The transmission part includes a sliding bracket (21), a winding wire (22), a fixed pulley (23) and a first servo motor (25). The sliding bracket (21) is set on the cable rail (13) and can be moved along The cable rail (13) slides up and down in the channel, the fixed pulley (23) is fixed on the top of the pillar (12), and the first servo motor (25) is fixed on the base (11) Above, the winding wire (22) is wound on the fixed pulley (23), one end of the winding wire (22) is connected with the sliding bracket (21), and the other end of the winding wire (22) is connected to the fixed pulley (23) The first servo motor (25) is connected, and the first servo motor (25) drives the sliding bracket (21) to move up and down along the pillar (12) through the winding wire (22) when the first servo motor (25) works; The sliding bracket (21) includes a panel (211), a stopper (212) and a roller (213). The rollers (213) are at least one pair and are arranged on the panel (211). The stopper (212) Set between the two rollers (213) of the roller pair, the cable rail (13) passes through the gap between the stopper (212) and the panel (211) and is fixed on the sliding bracket (21). Driven by the servo motor (25), the sliding bracket (21) is driven to move up and down by rolling the rollers (213) in the channel. 2. The device according to claim 1, characterized in that the sensing part comprises three infrared distance measuring sensors (31, 32, 33) and one ultrasonic distance measuring sensor (34), wherein the first infrared distance measuring sensor (32) Set on the sliding bracket (21), the first infrared distance measuring sensor (32) is connected to the rotating shaft of the second servo motor (24), and is used to measure the front crop to be measured and the infrared distance measuring sensor (32), the second infrared distance measuring sensor (31) and the third infrared distance measuring sensor (33) are respectively fixed on the top and bottom of the pillar (12), respectively used to obtain the sliding bracket (21) and The distance between the top and bottom of the pillar (12), the ultrasonic distance measuring sensor (34) is arranged on the sliding support (21) to measure the distance between the ultrasonic distance measuring sensor (34) and the base (11). 3. The device according to claim 2, wherein the control part comprises: A data input module, configured to receive data from the three infrared distance measuring sensors (31, 32, 33) and the ultrasonic distance measuring sensor (34), and simultaneously transmit the received data to the output module; A data processing module, which judges the top of the crop according to the received sensor data, stops the first servo motor (25), saves the current sensor data, calculates the height value, and outputs the height value to the data output module; The data output module is used for outputting each sensor data and the calculated altitude value to the display part, or transmitting to a remote processing device. 4. The device according to claim 3, wherein the height value is calculated by the following formula: H= h ₁ +h ₂ +h ₃ Wherein, H is the crop height, _h1 is the height between the ultrasonic distance measuring sensor (34) and the first infrared data sensor (32), _h2 is the measured value of the ultrasonic data sensor (34), h ₃ is the thickness of the base (11) set on the ground. 5. The device according to claim 3 or 4, characterized in that the data processing module judges whether it has reached the top of the crop according to the measurement value of the first infrared data sensor (32). 6. The device according to claim 3 or 4, characterized in that the data processing module can judge according to the data received by the second infrared distance measuring sensor (31) and the third infrared distance measuring sensor (33) Whether the sliding support (21) reaches the highest point or the lowest point of the pillar (12).

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